diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 2bd1ccfd6..af67bdbe5 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,6 +1,6 @@ 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 +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 pip install ipython jupyter jupyterlab RUN cd /tmp && \ diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 7174ee280..3f5b38d12 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -14,6 +14,7 @@ "force_color_prompt": "1" }, "runArgs": [ + "--volume=/dev:/dev", "--volume=/tmp/.X11-unix:/tmp/.X11-unix", "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority", "--volume=${localEnv:HOME}/.comma:/home/batman/.comma", @@ -49,4 +50,4 @@ "mounts": [ "type=volume,source=scons_cache,target=/tmp/scons_cache" ] -} \ No newline at end of file +} diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 8316fedda..447e559c9 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -5,7 +5,7 @@ on: jobs: labeler: - name: apply labels + name: review permissions: contents: read pull-requests: write @@ -14,17 +14,17 @@ jobs: - uses: actions/checkout@v4 with: submodules: false + + # Label PRs - uses: actions/labeler@v5.0.0 with: dot: true configuration-path: .github/labeler.yaml - pr_branch_check: - name: check branch - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - steps: - - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5 + # Check PR target branch + - name: check branch + uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5 + if: github.repository == 'commaai/openpilot' env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} with: @@ -34,194 +34,20 @@ jobs: already-exists-action: close_this already-exists-comment: "Your PR should be made against the `master` branch" - comment: - runs-on: ubuntu-latest - steps: - - name: comment - uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 - if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' - with: - message: | - - Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: - * Convert your PR to a draft unless it's ready to review - * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) - * Before marking as "ready for review", ensure: - * the goal is clearly stated in the description - * all the tests are passing - * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) - * include a route or your device' dongle ID if relevant - comment_tag: run_id - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - - check-pr-template: - runs-on: ubuntu-latest - permissions: - contents: read - issues: write - pull-requests: write - actions: read - if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot' - steps: - - uses: actions/github-script@v7 - with: - script: | - // Comment to add to the PR if no template has been used - const NO_TEMPLATE_MESSAGE = - "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ - Also make sure that you didn't modify any of the checkboxes or headings within the template."; - // body data for future requests - const body_data = { - issue_number: context.issue.number, - owner: context.repo.owner, - repo: context.repo.repo, - }; - - // Utility function to extract all headings - const extractHeadings = (markdown) => { - const headingRegex = /^(#{1,6})\s+(.+)$/gm; - const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm; - const headings = []; - let headingMatch; - while ((headingMatch = headingRegex.exec(markdown))) { - headings.push(headingMatch[2].trim()); - } - let boldMatch; - while ((boldMatch = boldTextRegex.exec(markdown))) { - headings.push(boldMatch[1].trim()); - } - return headings; - }; - - // Utility function to extract all check box descriptions - const extractCheckBoxTexts = (markdown) => { - const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm; - const checkboxes = []; - let match; - while ((match = checkboxRegex.exec(markdown))) { - checkboxes.push(match[2].trim()); - } - return checkboxes; - }; - - // Utility function to check if a list is a subset of another list - isSubset = (subset, superset) => { - return subset.every((item) => superset.includes(item)); - }; - - // Utility function to check if a list of checkboxes is a subset of another list of checkboxes - isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => { - // Check if each template checkbox text is a substring of at least one PR checkbox text - // (user should be allowed to add additional text) - return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item))) - } - - // Get filenames of all currently checked-in PR templates - const template_contents = await github.rest.repos.getContent({ - owner: context.repo.owner, - repo: context.repo.repo, - path: ".github/PULL_REQUEST_TEMPLATE", - }); - var template_filenames = []; - for (const content of template_contents.data) { - template_filenames.push(content.path); - } - console.debug("Received template filenames: " + template_filenames); - // Retrieve templates - var templates = []; - for (const template_filename of template_filenames) { - const template_response = await github.rest.repos.getContent({ - owner: context.repo.owner, - repo: context.repo.repo, - path: template_filename, - }); - // Convert Base64 content back - const decoded_template = atob(template_response.data.content); - const headings = extractHeadings(decoded_template); - const checkboxes = extractCheckBoxTexts(decoded_template); - if (!headings.length && !checkboxes.length) { - console.warn( - "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" + - decoded_template - ); - } else { - templates.push({ headings: headings, checkboxes: checkboxes }); - } - } - // Retrieve the PR Body - const pull_request = await github.rest.issues.get({ - ...body_data, - }); - const pull_request_text = pull_request.data.body; - console.debug("Received Pull Request body: \n" + pull_request_text); - - /* Check if the PR Body matches one of the templates - A template is defined by all headings and checkboxes it contains - We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that - */ - const pr_headings = extractHeadings(pull_request_text); - const pr_checkboxes = extractCheckBoxTexts(pull_request_text); - console.debug("Found Headings in PR body:\n" + pr_headings); - console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes); - var template_found = false; - // Iterate over each template to check if it applies - for (const template of templates) { - console.log( - "Checking for headings: [" + - template.headings + - "] and checkboxes: [" + - template.checkboxes + "]" - ); - if ( - isCheckboxSubset(template.checkboxes, pr_checkboxes) && - isSubset(template.headings, pr_headings) - ) { - console.debug("Found matching template!"); - template_found = true; - } - } - - // List comments from previous runs - var existing_comments = []; - const comments = await github.rest.issues.listComments({ - ...body_data, - }); - for (const comment of comments.data) { - if (comment.body === NO_TEMPLATE_MESSAGE) { - existing_comments.push(comment); - } - } - - // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already) - if (!template_found) { - var comment_already_sent = false; - - // Add an 'in-bot-review' label since this PR doesn't have the template - github.rest.issues.addLabels({ - ...body_data, - labels: ["in-bot-review"], - }); - - if (existing_comments.length < 1) { - github.rest.issues.createComment({ - ...body_data, - body: NO_TEMPLATE_MESSAGE, - }); - } - } else { - // If template has been found, delete any old comment about missing template - for (const existing_comment of existing_comments) { - github.rest.issues.deleteComment({ - ...body_data, - comment_id: existing_comment.id, - }); - } - // Remove the 'in-bot-review' label after the review is done and the PR has passed - github.rest.issues.removeLabel({ - ...body_data, - name: "in-bot-review", - }).catch((error) => { - console.log("Label 'in-bot-review' not found, ignoring"); - }); - } - + # Welcome comment + - name: comment + uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 + if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + with: + message: | + + Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: + * Convert your PR to a draft unless it's ready to review + * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) + * Before marking as "ready for review", ensure: + * the goal is clearly stated in the description + * all the tests are passing + * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) + * include a route or your device' dongle ID if relevant + comment_tag: run_id + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2be83b165..35bab255c 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -26,7 +26,9 @@ env: jobs: build_release: name: build release - runs-on: ubuntu-latest + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -47,13 +49,13 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR - ${{ env.RUN }} "python selfdrive/manager/build.py" + ${{ env.RUN }} "python system/manager/build.py" - name: Run tests timeout-minutes: 3 run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST selfdrive/car" + MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car" - name: pre-commit timeout-minutes: 3 run: | @@ -62,38 +64,19 @@ jobs: cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit" + ${{ 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" build: strategy: matrix: - arch: ${{ fromJson( - ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} + arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404 + runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 with: submodules: true - - uses: ./.github/workflows/setup-with-retry - with: - 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 - - docker_push: - name: docker push - strategy: - matrix: - arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - name: Setup to push to repo + - name: Setup docker push + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" @@ -101,23 +84,8 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - - docker_push_multiarch: - name: docker push multiarch tag - runs-on: ubuntu-latest - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - needs: [docker_push] - steps: - - uses: actions/checkout@v4 - with: - submodules: false - - name: Setup docker - run: | - $DOCKER_LOGIN - - name: Merge x64 and arm64 tags - run: | - export PUSH_IMAGE=true - scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 + - 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 static_analysis: name: static analysis @@ -130,28 +98,12 @@ jobs: submodules: true - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" - name: pre-commit timeout-minutes: 4 run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" - valgrind: - name: valgrind - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Run valgrind - timeout-minutes: 1 - run: | - ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py" - - name: Print logs - if: always() - run: cat selfdrive/test/valgrind_logs.txt - unit_tests: name: unit tests runs-on: ${{ ((github.repository == 'commaai/openpilot') && @@ -175,7 +127,7 @@ jobs: $PYTEST --timeout 60 -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ - ./selfdrive/ui/tests/test_translations.py" + pytest ./selfdrive/ui/tests/test_translations.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 with: @@ -200,7 +152,7 @@ jobs: uses: actions/cache@v4 with: path: .ci_cache/comma_download_cache - key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} + key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }} - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" @@ -225,64 +177,18 @@ jobs: if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - - regen: - name: regen - runs-on: 'ubuntu-latest' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Cache test routes - id: dependency-cache - uses: actions/cache@v4 - with: - path: .ci_cache/comma_download_cache - key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }} - - name: Build base Docker image - run: eval "$BUILD" - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Run regen - timeout-minutes: 30 - run: | - ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ - chmod -R 777 /tmp/comma_download_cache" - - test_modeld: - name: model tests - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build base Docker image - run: eval "$BUILD" - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - name: Run model replay with ONNX timeout-minutes: 4 run: | ${{ env.RUN }} "unset PYTHONWARNINGS && \ - ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ - coverage combine && \ - coverage xml" - - name: Run unit tests + ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + coverage combine && coverage xml" + - name: Run regen timeout-minutes: 4 run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && \ - $PYTEST selfdrive/modeld" + ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ + chmod -R 777 /tmp/comma_download_cache" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 with: @@ -298,7 +204,7 @@ jobs: strategy: fail-fast: false matrix: - job: [0, 1, 2, 3, 4] + job: [0, 1] steps: - uses: actions/checkout@v4 with: @@ -313,12 +219,12 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models - timeout-minutes: 10 + timeout-minutes: 20 run: | ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: - NUM_JOBS: 5 + NUM_JOBS: 2 JOB_ID: ${{ matrix.job }} - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index ccd3368cb..c2f7d86e6 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -20,42 +20,6 @@ env: jobs: - plotjuggler: - name: plotjuggler - runs-on: ubuntu-latest - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - timeout-minutes: 5 - run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal" - - name: Test PlotJuggler - timeout-minutes: 2 - run: | - ${{ env.RUN }} "pytest tools/plotjuggler/" - - simulator_build: - name: simulator docker build - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Setup to push to repo - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - run: | - echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN - - name: Build and push sim image - run: | - selfdrive/test/docker_build.sh sim - simulator_driving: name: simulator driving runs-on: ubuntu-latest @@ -64,10 +28,7 @@ jobs: - uses: actions/checkout@v4 with: submodules: true - - run: git lfs pull - uses: ./.github/workflows/setup-with-retry - - name: Build base docker image - run: eval "$BUILD" - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" @@ -76,7 +37,26 @@ jobs: ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ source selfdrive/test/setup_xvfb.sh && \ source selfdrive/test/setup_vsound.sh && \ - CI=1 tools/sim/tests/test_metadrive_bridge.py" + CI=1 pytest tools/sim/tests/test_metadrive_bridge.py" + + test_python311: + name: test python3.11 support + runs-on: ubuntu-latest + timeout-minutes: 5 + steps: + - uses: actions/checkout@v4 + - name: Installing ubuntu dependencies + run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh + - name: Installing python + uses: actions/setup-python@v5 + with: + 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 devcontainer: name: devcontainer @@ -92,7 +72,7 @@ jobs: - name: Setup Dev Container CLI run: npm install -g @devcontainers/cli - name: Build dev container image - run: devcontainer build --workspace-folder . + run: ./scripts/retry.sh devcontainer build --workspace-folder . - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ @@ -104,21 +84,3 @@ jobs: devcontainer exec --workspace-folder . pip install pip-install-test devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json devcontainer exec --workspace-folder . sudo touch /root/test.txt - - notebooks: - name: notebooks - runs-on: ubuntu-latest - if: false && github.repository == 'commaai/openpilot' - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Test notebooks - timeout-minutes: 3 - run: | - ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" diff --git a/.gitignore b/.gitignore index 98fc70d02..f067893c7 100644 --- a/.gitignore +++ b/.gitignore @@ -40,8 +40,9 @@ compile_commands.json compare_runtime*.html persist -board/obj/ -selfdrive/boardd/boardd +selfdrive/pandad/pandad +cereal/services.h +cereal/gen selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd @@ -55,12 +56,8 @@ selfdrive/modeld/_modeld selfdrive/modeld/_dmonitoringmodeld /src/ -one notebooks -xx -yy hyperthneed -panda_jungle provisioning .coverage* @@ -86,3 +83,22 @@ build/ poetry.toml Pipfile + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets + +# Local History for Visual Studio Code +.history/ + +# Built Visual Studio Code Extensions +*.vsix + +### VisualStudioCode Patch ### +# Ignore all local history of files +.history +.ionide \ No newline at end of file diff --git a/.gitmodules b/.gitmodules index c92286bcb..2d253bfcf 100644 --- a/.gitmodules +++ b/.gitmodules @@ -4,9 +4,9 @@ [submodule "opendbc"] path = opendbc url = ../../commaai/opendbc.git -[submodule "cereal"] - path = cereal - url = ../../commaai/cereal.git +[submodule "msgq"] + path = msgq_repo + url = ../../commaai/msgq.git [submodule "rednose_repo"] path = rednose_repo url = ../../commaai/rednose.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 692c69456..61b782364 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -24,19 +24,19 @@ repos: - --maxkb=120 - --enforce-all - repo: https://github.com/codespell-project/codespell - rev: v2.2.6 + rev: v2.3.0 hooks: - id: codespell - exclude: '^(third_party/)|(body/)|(cereal/)|(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)|(poetry.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 + - -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: v0.4.4 + rev: v0.4.8 hooks: - id: ruff - exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' + exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: mypy @@ -47,7 +47,7 @@ repos: args: - --local-partial-types - --explicit-package-bases - exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' + exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck @@ -55,7 +55,7 @@ repos: entry: cppcheck language: system types: [c++] - exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)' + exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)' args: - --error-exitcode=1 - --language=c++ @@ -66,7 +66,7 @@ repos: rev: 1.6.1 hooks: - id: cpplint - exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' + exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' args: - --quiet - --counting=total @@ -78,7 +78,7 @@ repos: rev: v0.16.2 hooks: - id: cython-lint - exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' + exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' args: - --max-line-length=240 - --ignore=E111, E302, E305 @@ -86,10 +86,10 @@ repos: hooks: - id: test_translations name: test translations - entry: selfdrive/ui/tests/test_translations.py - language: script + entry: pytest selfdrive/ui/tests/test_translations.py + language: system pass_filenames: false - files: 'selfdrive/ui/translations/*' + files: '^selfdrive/ui/translations/' - repo: https://github.com/python-poetry/poetry rev: '1.8.0' hooks: @@ -98,6 +98,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.3 + rev: 0.28.4 hooks: - id: check-github-workflows diff --git a/.python-version b/.python-version deleted file mode 100644 index 0c7d5f5f5..000000000 --- a/.python-version +++ /dev/null @@ -1 +0,0 @@ -3.11.4 diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 1e15722bb..5d8f958c4 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -20,6 +20,8 @@ COPY ./release ${OPENPILOT_PATH}/release COPY ./common ${OPENPILOT_PATH}/common COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal +COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo +COPY ./msgq ${OPENPILOT_PATH}/msgq COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index a6c4c7179..45b29bdcb 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN cd /tmp && \ - tools/install_ubuntu_dependencies.sh && \ - rm -rf /var/lib/apt/lists/* && \ - rm -rf /tmp/* && \ - # remove unused architectures from gcc for panda +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 && \ - rm -rf arm/ && \ - rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp + rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp # Add OpenCL RUN apt-get update && apt-get install -y --no-install-recommends \ @@ -68,11 +64,11 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers USER $USER ENV POETRY_VIRTUALENVS_CREATE=false -ENV PYENV_VERSION=3.11.4 +ENV PYENV_VERSION=3.12.4 ENV PYENV_ROOT="/home/$USER/pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" -COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/ +COPY --chown=$USER pyproject.toml poetry.lock /tmp/ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ @@ -80,7 +76,7 @@ RUN cd /tmp && \ rm -rf /tmp/* && \ rm -rf /home/$USER/.cache && \ find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \ - rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test + rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test USER root -RUN sudo git config --global --add safe.directory /tmp/openpilot \ No newline at end of file +RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/Jenkinsfile b/Jenkinsfile index 2e672e1a2..321237716 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -183,7 +183,7 @@ node { deviceStage("onroad", "tici-needs-can", [], [ // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"], - ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["build openpilot", "cd system/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], @@ -191,54 +191,54 @@ node { }, 'HW + Unit Tests': { deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["build", "cd system/manager && ./build.py"], + ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"], ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"], - ["test manager", "pytest selfdrive/manager/test/test_manager.py"], + ["test manager", "pytest system/manager/test/test_manager.py"], ]) }, 'loopback': { deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [ - ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], + ["build openpilot", "cd system/manager && ./build.py"], + ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"], ]) }, 'camerad': { deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test camerad", "pytest system/camerad/test/test_camerad.py"], ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test camerad", "pytest system/camerad/test/test_camerad.py"], ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) }, 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) }, 'replay': { deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["model replay", "selfdrive/test/process_replay/model_replay.py"], ]) }, 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ - ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["build openpilot", "cd system/manager && ./build.py"], + ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"], + ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"], + ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"], diff --git a/RELEASES.md b/RELEASES.md index da22a87a4..57f697911 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,19 @@ -Version 0.9.7 (2024-05-XX) +Version 0.9.8 (2024-XX-XX) +======================== +* Added toggle to enable driver monitoring even when openpilot is not engaged + +Version 0.9.7 (2024-06-13) ======================== * New driving model + * Inputs the past curvature for smoother and more accurate lateral control + * Simplified neural network architecture in the model's last layers + * Minor fixes to desire augmentation and weight decay +* New driver monitoring model + * Improved end-to-end bit for phone detection * Adjust driving personality with the follow distance button * Support for hybrid variants of supported Ford models -* Added toggle to enable driver monitoring even when openpilot is not engaged * Fingerprinting without the OBD-II port on all cars +* Improved fuzzy fingerprinting for Ford and Volkswagen Version 0.9.6 (2024-02-27) ======================== @@ -634,7 +643,7 @@ Version 0.5.13 (2019-05-31) * Reduce CPU utilization by 20% and improve stability * Temporarily remove mapd functionalities to improve stability * Add openpilot record-only mode for unsupported cars - * Synchronize controlsd to boardd to reduce latency + * Synchronize controlsd to pandad to reduce latency * Remove panda support for Subaru giraffe Version 0.5.12 (2019-05-16) @@ -970,7 +979,7 @@ Version 0.2.8 (2017-02-27) Version 0.2.7 (2017-02-08) =========================== * Better performance and pictures at night - * Fix ptr alignment issue in boardd + * Fix ptr alignment issue in pandad * Fix brake error light, fix crash if too cold Version 0.2.6 (2017-01-31) @@ -1002,7 +1011,7 @@ Version 0.2.2 (2017-01-10) Version 0.2.1 (2016-12-14) =========================== * Performance improvements, removal of more numpy - * Fix boardd process priority + * Fix pandad process priority * Make counter timer reset on use of steering wheel Version 0.2 (2016-12-12) diff --git a/SConstruct b/SConstruct index 62c8aa473..4a51c59a6 100644 --- a/SConstruct +++ b/SConstruct @@ -67,7 +67,7 @@ AddOption('--pc-thneed', AddOption('--minimal', action='store_false', dest='extras', - default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link) + default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS) help='the minimum build to run openpilot. no tests, tools, etc.') ## Architecture name breakdown (arch) @@ -213,6 +213,7 @@ env = Environment( "#third_party/qrcode", "#third_party", "#cereal", + "#msgq", "#opendbc/can", "#third_party/maplibre-native-qt/include", f"#third_party/maplibre-native-qt/{arch}/include" @@ -227,10 +228,9 @@ env = Environment( CFLAGS=["-std=gnu11"] + cflags, CXXFLAGS=["-std=c++1z"] + cxxflags, LIBPATH=libpath + [ - "#cereal", + "#msgq_repo", "#third_party", - "#opendbc/can", - "#selfdrive/boardd", + "#selfdrive/pandad", "#common", "#rednose/helpers", ], @@ -360,8 +360,13 @@ gpucommon = [_gpucommon] Export('common', 'gpucommon') -# Build cereal and messaging +# Build messaging (cereal + msgq + socketmaster + their dependencies) +SConscript(['msgq_repo/SConscript']) SConscript(['cereal/SConscript']) +Import('socketmaster', 'msgq') +messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',] +Export('messaging') + # Build other submodules SConscript([ diff --git a/cereal b/cereal deleted file mode 160000 index 44e8ac676..000000000 --- a/cereal +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 44e8ac67609fa0ded831e3ba1783dbbca15d2a1a diff --git a/cereal/README.md b/cereal/README.md new file mode 100644 index 000000000..ad940facd --- /dev/null +++ b/cereal/README.md @@ -0,0 +1,51 @@ +# What is cereal? + +cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs. + + +## Messaging Spec + +You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`. + +All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type. + +### Best Practices + +- **All fields must describe quantities in SI units**, unless otherwise specified in the field name. +- In the context of the message they are in, field names should be completely unambiguous. +- All values should be easy to plot and be human-readable with minimal parsing. + +### Maintaining backwards-compatibility + +When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can +be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other +things are not. Read more details [here](https://capnproto.org/language.html). + +### Custom forks + +Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging +spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot +then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in +[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your +fork will remain backwards-compatible with all versions of mainline openpilot and your fork.** + +Example +--- +```python +import cereal.messaging as messaging + +# in subscriber +sm = messaging.SubMaster(['sensorEvents']) +while 1: + sm.update() + print(sm['sensorEvents']) + +``` + +```python +# in publisher +pm = messaging.PubMaster(['sensorEvents']) +dat = messaging.new_message('sensorEvents', size=1) +dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}} +pm.send('sensorEvents', dat) +``` diff --git a/cereal/SConscript b/cereal/SConscript new file mode 100644 index 000000000..be5f161de --- /dev/null +++ b/cereal/SConscript @@ -0,0 +1,31 @@ +Import('env', 'envCython', 'arch', 'common', 'msgq') + +import shutil + +cereal_dir = Dir('.') +gen_dir = Dir('gen') +other_dir = Dir('#msgq') + +# Build cereal +schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] +env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS") +env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], + schema_files, + f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") + +# TODO: remove non shared cereal and messaging +cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files]) + +cereal = env.Library('cereal', cereal_objects) +env.SharedLibrary('cereal_shared', cereal_objects) + +# Build messaging + +services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') +env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common]) + + +socketmaster = env.SharedObject(['messaging/socketmaster.cc']) +socketmaster = env.Library('socketmaster', socketmaster) + +Export('cereal', 'socketmaster') diff --git a/cereal/__init__.py b/cereal/__init__.py new file mode 100644 index 000000000..89c5cf38e --- /dev/null +++ b/cereal/__init__.py @@ -0,0 +1,9 @@ +import os +import capnp + +CEREAL_PATH = os.path.dirname(os.path.abspath(__file__)) +capnp.remove_import_hook() + +log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) +car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) +custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp")) diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 100644 index 000000000..7f3f64c91 --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1,706 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x8e2af1e708af8b8d; + +# ******* events causing controls state machine transition ******* + +struct CarEvent @0x9b1657f34caf3ad3 { + name @0 :EventName; + + # event types + enable @1 :Bool; + noEntry @2 :Bool; + warning @3 :Bool; # alerts presented only when enabled or soft disabling + userDisable @4 :Bool; + softDisable @5 :Bool; + immediateDisable @6 :Bool; + preEnable @7 :Bool; + permanent @8 :Bool; # alerts presented regardless of openpilot state + overrideLateral @10 :Bool; + overrideLongitudinal @9 :Bool; + + enum EventName @0xbaa8c5d505f727de { + canError @0; + steerUnavailable @1; + wrongGear @4; + doorOpen @5; + seatbeltNotLatched @6; + espDisabled @7; + wrongCarMode @8; + steerTempUnavailable @9; + reverseGear @10; + buttonCancel @11; + buttonEnable @12; + pedalPressed @13; # exits active state + preEnableStandstill @73; # added during pre-enable state with brake + gasPressedOverride @108; # added when user is pressing gas with no disengage on gas + steerOverride @114; + cruiseDisabled @14; + speedTooLow @17; + outOfSpace @18; + overheat @19; + calibrationIncomplete @20; + calibrationInvalid @21; + calibrationRecalibrating @117; + controlsMismatch @22; + pcmEnable @23; + pcmDisable @24; + radarFault @26; + brakeHold @28; + parkBrake @29; + manualRestart @30; + lowSpeedLockout @31; + joystickDebug @34; + steerTempUnavailableSilent @35; + resumeRequired @36; + preDriverDistracted @37; + promptDriverDistracted @38; + driverDistracted @39; + preDriverUnresponsive @43; + promptDriverUnresponsive @44; + driverUnresponsive @45; + belowSteerSpeed @46; + lowBattery @48; + accFaulted @51; + sensorDataInvalid @52; + commIssue @53; + commIssueAvgFreq @109; + tooDistracted @54; + posenetInvalid @55; + soundsUnavailable @56; + preLaneChangeLeft @57; + preLaneChangeRight @58; + laneChange @59; + lowMemory @63; + stockAeb @64; + ldw @65; + carUnrecognized @66; + invalidLkasSetting @69; + speedTooHigh @70; + laneChangeBlocked @71; + relayMalfunction @72; + stockFcw @74; + startup @75; + startupNoCar @76; + startupNoControl @77; + startupMaster @78; + startupNoFw @104; + fcw @79; + steerSaturated @80; + belowEngageSpeed @84; + noGps @85; + wrongCruiseMode @87; + modeldLagging @89; + deviceFalling @90; + fanMalfunction @91; + cameraMalfunction @92; + cameraFrameRate @110; + processNotRunning @95; + dashcamMode @96; + controlsInitializing @98; + usbError @99; + roadCameraError @100; + driverCameraError @101; + wideRoadCameraError @102; + highCpuUsage @105; + cruiseMismatch @106; + lkasDisabled @107; + canBusMissing @111; + controlsdLagging @112; + resumeBlocked @113; + steerTimeLimit @115; + vehicleSensorsInvalid @116; + locationdTemporaryError @103; + locationdPermanentError @118; + paramsdTemporaryError @50; + paramsdPermanentError @119; + actuatorsApiUnavailable @120; + + radarCanErrorDEPRECATED @15; + communityFeatureDisallowedDEPRECATED @62; + radarCommIssueDEPRECATED @67; + driverMonitorLowAccDEPRECATED @68; + gasUnavailableDEPRECATED @3; + dataNeededDEPRECATED @16; + modelCommIssueDEPRECATED @27; + ipasOverrideDEPRECATED @33; + geofenceDEPRECATED @40; + driverMonitorOnDEPRECATED @41; + driverMonitorOffDEPRECATED @42; + calibrationProgressDEPRECATED @47; + invalidGiraffeHondaDEPRECATED @49; + invalidGiraffeToyotaDEPRECATED @60; + internetConnectivityNeededDEPRECATED @61; + whitePandaUnsupportedDEPRECATED @81; + commIssueWarningDEPRECATED @83; + focusRecoverActiveDEPRECATED @86; + neosUpdateRequiredDEPRECATED @88; + modelLagWarningDEPRECATED @93; + startupOneplusDEPRECATED @82; + startupFuzzyFingerprintDEPRECATED @97; + noTargetDEPRECATED @25; + brakeUnavailableDEPRECATED @2; + plannerErrorDEPRECATED @32; + gpsMalfunctionDEPRECATED @94; + } +} + +# ******* main car state @ 100hz ******* +# all speeds in m/s + +struct CarState { + events @13 :List(CarEvent); + + # CAN health + canValid @26 :Bool; # invalid counter/checksums + canTimeout @40 :Bool; # CAN bus dropped out + canErrorCounter @48 :UInt32; + + # car speed + vEgo @1 :Float32; # best estimate of speed + aEgo @16 :Float32; # best estimate of acceleration + vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors + vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI + + yawRate @22 :Float32; # best estimate of yaw rate + standstill @18 :Bool; + wheelSpeeds @2 :WheelSpeeds; + + # gas pedal, 0.0-1.0 + gas @3 :Float32; # this is user pedal only + gasPressed @4 :Bool; # this is user pedal only + + engineRpm @46 :Float32; + + # brake pedal, 0.0-1.0 + brake @5 :Float32; # this is user pedal only + brakePressed @6 :Bool; # this is user pedal only + regenBraking @45 :Bool; # this is user pedal only + parkingBrake @39 :Bool; + brakeHoldActive @38 :Bool; + + # steering wheel + steeringAngleDeg @7 :Float32; + steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple + steeringRateDeg @15 :Float32; + steeringTorque @8 :Float32; # TODO: standardize units + steeringTorqueEps @27 :Float32; # TODO: standardize units + steeringPressed @9 :Bool; # if the user is using the steering wheel + steerFaultTemporary @35 :Bool; # temporary EPS fault + steerFaultPermanent @36 :Bool; # permanent EPS fault + stockAeb @30 :Bool; + stockFcw @31 :Bool; + espDisabled @32 :Bool; + accFaulted @42 :Bool; + carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable + + # cruise state + cruiseState @10 :CruiseState; + + # gear + gearShifter @14 :GearShifter; + + # button presses + buttonEvents @11 :List(ButtonEvent); + leftBlinker @20 :Bool; + rightBlinker @21 :Bool; + genericToggle @23 :Bool; + + # lock info + doorOpen @24 :Bool; + seatbeltUnlatched @25 :Bool; + + # clutch (manual transmission only) + clutchPressed @28 :Bool; + + # blindspot sensors + leftBlindspot @33 :Bool; # Is there something blocking the left lane change + rightBlindspot @34 :Bool; # Is there something blocking the right lane change + + fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 + charging @43 :Bool; + + # process meta + cumLagMs @50 :Float32; + + struct WheelSpeeds { + # optional wheel speeds + fl @0 :Float32; + fr @1 :Float32; + rl @2 :Float32; + rr @3 :Float32; + } + + struct CruiseState { + enabled @0 :Bool; + speed @1 :Float32; + speedCluster @6 :Float32; # Set speed as shown on instrument cluster + available @2 :Bool; + speedOffset @3 :Float32; + standstill @4 :Bool; + nonAdaptive @5 :Bool; + } + + enum GearShifter { + unknown @0; + park @1; + drive @2; + neutral @3; + reverse @4; + sport @5; + low @6; + brake @7; + eco @8; + manumatic @9; + } + + # send on change + struct ButtonEvent { + pressed @0 :Bool; + type @1 :Type; + + enum Type { + unknown @0; + leftBlinker @1; + rightBlinker @2; + accelCruise @3; + decelCruise @4; + cancel @5; + altButton1 @6; + altButton2 @7; + altButton3 @8; + setCruise @9; + resumeCruise @10; + gapAdjustCruise @11; + } + } + + # deprecated + errorsDEPRECATED @0 :List(CarEvent.EventName); + brakeLightsDEPRECATED @19 :Bool; + steeringRateLimitedDEPRECATED @29 :Bool; + canMonoTimesDEPRECATED @12: List(UInt64); + canRcvTimeoutDEPRECATED @49 :Bool; +} + +# ******* radar state @ 20hz ******* + +struct RadarData @0x888ad6581cf0aacb { + errors @0 :List(Error); + points @1 :List(RadarPoint); + + enum Error { + canError @0; + fault @1; + wrongConfig @2; + } + + # similar to LiveTracks + # is one timestamp valid for all? I think so + struct RadarPoint { + trackId @0 :UInt64; # no trackId reuse + + # these 3 are the minimum required + dRel @1 :Float32; # m from the front bumper of the car + yRel @2 :Float32; # m + vRel @3 :Float32; # m/s + + # these are optional and valid if they are not NaN + aRel @4 :Float32; # m/s^2 + yvRel @5 :Float32; # m/s + + # some radars flag measurements VS estimates + measured @6 :Bool; + } + + # deprecated + canMonoTimesDEPRECATED @2 :List(UInt64); +} + +# ******* car controls @ 100hz ******* + +struct CarControl { + # must be true for any actuator commands to work + enabled @0 :Bool; + latActive @11: Bool; + longActive @12: Bool; + + # Actuator commands as computed by controlsd + actuators @6 :Actuators; + + # moved to CarOutput + actuatorsOutputDEPRECATED @10 :Actuators; + + leftBlinker @15: Bool; + rightBlinker @16: Bool; + + orientationNED @13 :List(Float32); + angularVelocity @14 :List(Float32); + + cruiseControl @4 :CruiseControl; + hudControl @5 :HUDControl; + + struct Actuators { + # range from 0.0 - 1.0 + gas @0: Float32; + brake @1: Float32; + # range from -1.0 - 1.0 + steer @2: Float32; + # value sent over can to the car + steerOutputCan @8: Float32; + steeringAngleDeg @3: Float32; + + curvature @7: Float32; + + speed @6: Float32; # m/s + accel @4: Float32; # m/s^2 + longControlState @5: LongControlState; + + enum LongControlState @0xe40f3a917d908282{ + off @0; + pid @1; + stopping @2; + starting @3; + } + } + + struct CruiseControl { + cancel @0: Bool; + resume @1: Bool; + override @4: Bool; + speedOverrideDEPRECATED @2: Float32; + accelOverrideDEPRECATED @3: Float32; + } + + struct HUDControl { + speedVisible @0: Bool; + setSpeed @1: Float32; + lanesVisible @2: Bool; + leadVisible @3: Bool; + visualAlert @4: VisualAlert; + audibleAlert @5: AudibleAlert; + rightLaneVisible @6: Bool; + leftLaneVisible @7: Bool; + rightLaneDepart @8: Bool; + leftLaneDepart @9: Bool; + leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead + + enum VisualAlert { + # these are the choices from the Honda + # map as good as you can for your car + none @0; + fcw @1; + steerRequired @2; + brakePressed @3; + wrongGear @4; + seatbeltUnbuckled @5; + speedTooHigh @6; + ldw @7; + } + + enum AudibleAlert { + none @0; + + engage @1; + disengage @2; + refuse @3; + + warningSoft @4; + warningImmediate @5; + + prompt @6; + promptRepeat @7; + promptDistracted @8; + } + } + + gasDEPRECATED @1 :Float32; + brakeDEPRECATED @2 :Float32; + steeringTorqueDEPRECATED @3 :Float32; + activeDEPRECATED @7 :Bool; + rollDEPRECATED @8 :Float32; + pitchDEPRECATED @9 :Float32; +} + +struct CarOutput { + # Any car specific rate limits or quirks applied by + # the CarController are reflected in actuatorsOutput + # and matches what is sent to the car + actuatorsOutput @0 :CarControl.Actuators; +} + +# ****** car param ****** + +struct CarParams { + carName @0 :Text; + carFingerprint @1 :Text; + fuzzyFingerprint @55 :Bool; + + notCar @66 :Bool; # flag for non-car robotics platforms + + pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? + enableDsu @5 :Bool; # driving support unit + enableBsm @56 :Bool; # blind spot monitoring + flags @64 :UInt32; # flags for car specific quirks + experimentalLongitudinalAvailable @71 :Bool; + + minEnableSpeed @7 :Float32; + minSteerSpeed @8 :Float32; + safetyConfigs @62 :List(SafetyConfig); + alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas + + # Car docs fields + maxLateralAccel @68 :Float32; + autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically + + # things about the car in the manual + mass @17 :Float32; # [kg] curb weight: all fluids no cargo + wheelbase @18 :Float32; # [m] distance from rear axle to front axle + centerToFront @19 :Float32; # [m] distance from center of mass to front axle + steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle + steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0) + + # things we can derive + rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia + tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear] + tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff + tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff + + longitudinalTuning @25 :LongitudinalPIDTuning; + lateralParams @48 :LateralParams; + lateralTuning :union { + pid @26 :LateralPIDTuning; + indiDEPRECATED @27 :LateralINDITuning; + lqrDEPRECATED @40 :LateralLQRTuning; + torque @67 :LateralTorqueTuning; + } + + steerLimitAlert @28 :Bool; + steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued + + vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state + vEgoStarting @59 :Float32; # Speed at which the car goes into starting state + stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping + steerControlType @34 :SteerControlType; + radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out + stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary + stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop + startAccel @32 :Float32; # Required acceleration to get car moving + startingState @70 :Bool; # Does this car make use of special starting state + + steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds + longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds + openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? + carVin @38 :Text; # VIN number queried during fingerprinting + dashcamOnly @41: Bool; + passive @73: Bool; # is openpilot in control? + transmissionType @43 :TransmissionType; + carFw @44 :List(CarFw); + + radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard + fingerprintSource @49: FingerprintSource; + networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network + + wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + + struct SafetyConfig { + safetyModel @0 :SafetyModel; + safetyParam @3 :UInt16; + safetyParamDEPRECATED @1 :Int16; + safetyParam2DEPRECATED @2 :UInt32; + } + + struct LateralParams { + torqueBP @0 :List(Int32); + torqueV @1 :List(Int32); + } + + struct LateralPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @4 :Float32; + } + + struct LateralTorqueTuning { + useSteeringAngle @0 :Bool; + kp @1 :Float32; + ki @2 :Float32; + friction @3 :Float32; + kf @4 :Float32; + steeringAngleDeadzoneDeg @5 :Float32; + latAccelFactor @6 :Float32; + latAccelOffset @7 :Float32; + } + + struct LongitudinalPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @6 :Float32; + deadzoneBP @4 :List(Float32); + deadzoneV @5 :List(Float32); + } + + struct LateralINDITuning { + outerLoopGainBP @4 :List(Float32); + outerLoopGainV @5 :List(Float32); + innerLoopGainBP @6 :List(Float32); + innerLoopGainV @7 :List(Float32); + timeConstantBP @8 :List(Float32); + timeConstantV @9 :List(Float32); + actuatorEffectivenessBP @10 :List(Float32); + actuatorEffectivenessV @11 :List(Float32); + + outerLoopGainDEPRECATED @0 :Float32; + innerLoopGainDEPRECATED @1 :Float32; + timeConstantDEPRECATED @2 :Float32; + actuatorEffectivenessDEPRECATED @3 :Float32; + } + + struct LateralLQRTuning { + scale @0 :Float32; + ki @1 :Float32; + dcGain @2 :Float32; + + # State space system + a @3 :List(Float32); + b @4 :List(Float32); + c @5 :List(Float32); + + k @6 :List(Float32); # LQR gain + l @7 :List(Float32); # Kalman gain + } + + enum SafetyModel { + silent @0; + hondaNidec @1; + toyota @2; + elm327 @3; + gm @4; + hondaBoschGiraffe @5; + ford @6; + cadillac @7; + hyundai @8; + chrysler @9; + tesla @10; + subaru @11; + gmPassive @12; + mazda @13; + nissan @14; + volkswagen @15; + toyotaIpas @16; + allOutput @17; + gmAscm @18; + noOutput @19; # like silent but without silent CAN TXs + hondaBosch @20; + volkswagenPq @21; + subaruPreglobal @22; # pre-Global platform + hyundaiLegacy @23; + hyundaiCommunity @24; + volkswagenMlb @25; + hongqi @26; + body @27; + hyundaiCanfd @28; + volkswagenMqbEvo @29; + chryslerCusw @30; + psa @31; + } + + enum SteerControlType { + torque @0; + angle @1; + + curvatureDEPRECATED @2; + } + + enum TransmissionType { + unknown @0; + automatic @1; # Traditional auto, including DSG + manual @2; # True "stick shift" only + direct @3; # Electric vehicle or other direct drive + cvt @4; + } + + struct CarFw { + ecu @0 :Ecu; + fwVersion @1 :Data; + address @2 :UInt32; + subAddress @3 :UInt8; + responseAddress @4 :UInt32; + request @5 :List(Data); + brand @6 :Text; + bus @7 :UInt8; + logging @8 :Bool; + obdMultiplexing @9 :Bool; + } + + enum Ecu { + eps @0; + abs @1; + fwdRadar @2; + fwdCamera @3; + engine @4; + unknown @5; + transmission @8; # Transmission Control Module + hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer + srs @9; # airbag + gateway @10; # can gateway + hud @11; # heads up display + combinationMeter @12; # instrument cluster + electricBrakeBooster @15; + shiftByWire @16; + adas @19; + cornerRadar @21; + hvac @20; + parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. + epb @22; # electronic parking brake + telematics @23; + body @24; # body control module + + # Toyota only + dsu @6; + + # Honda only + vsa @13; # Vehicle Stability Assist + programmedFuelInjection @14; + + debug @17; + } + + enum FingerprintSource { + can @0; + fw @1; + fixed @2; + } + + enum NetworkLocation { + fwdCamera @0; # Standard/default integration at LKAS camera + gateway @1; # Integration at vehicle's CAN gateway + } + + enableGasInterceptorDEPRECATED @2 :Bool; + enableCameraDEPRECATED @4 :Bool; + enableApgsDEPRECATED @6 :Bool; + steerRateCostDEPRECATED @33 :Float32; + isPandaBlackDEPRECATED @39 :Bool; + hasStockCameraDEPRECATED @57 :Bool; + safetyParamDEPRECATED @10 :Int16; + safetyModelDEPRECATED @9 :SafetyModel; + safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; + minSpeedCanDEPRECATED @51 :Float32; + communityFeatureDEPRECATED @46: Bool; + startingAccelRateDEPRECATED @53 :Float32; + steerMaxBPDEPRECATED @11 :List(Float32); + steerMaxVDEPRECATED @12 :List(Float32); + gasMaxBPDEPRECATED @13 :List(Float32); + gasMaxVDEPRECATED @14 :List(Float32); + brakeMaxBPDEPRECATED @15 :List(Float32); + brakeMaxVDEPRECATED @16 :List(Float32); + directAccelControlDEPRECATED @30 :Bool; + maxSteeringAngleDegDEPRECATED @54 :Float32; + longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32; +} diff --git a/cereal/custom.capnp b/cereal/custom.capnp new file mode 100644 index 000000000..369222add --- /dev/null +++ b/cereal/custom.capnp @@ -0,0 +1,39 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xb526ba661d550a59; + +# custom.capnp: a home for empty structs reserved for custom forks +# These structs are guaranteed to remain reserved and empty in mainline +# cereal, so use these if you want custom events in your fork. + +# you can rename the struct, but don't change the identifier +struct CustomReserved0 @0x81c2f05a394cf4af { +} + +struct CustomReserved1 @0xaedffd8f31e7b55d { +} + +struct CustomReserved2 @0xf35cc4560bbf6ec2 { +} + +struct CustomReserved3 @0xda96579883444c35 { +} + +struct CustomReserved4 @0x80ae746ee2596b11 { +} + +struct CustomReserved5 @0xa5cd762cd951a455 { +} + +struct CustomReserved6 @0xf98d843bfd7004a3 { +} + +struct CustomReserved7 @0xb86e6369214c01c8 { +} + +struct CustomReserved8 @0xf416ec09499d9d19 { +} + +struct CustomReserved9 @0xa1680744031fdb2d { +} diff --git a/cereal/include/c++.capnp b/cereal/include/c++.capnp new file mode 100644 index 000000000..2bda54717 --- /dev/null +++ b/cereal/include/c++.capnp @@ -0,0 +1,26 @@ +# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors +# Licensed under the MIT License: +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +@0xbdf87d7bb8304e81; +$namespace("capnp::annotations"); + +annotation namespace(file): Text; +annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text; diff --git a/cereal/legacy.capnp b/cereal/legacy.capnp new file mode 100644 index 000000000..a8fa5e4a1 --- /dev/null +++ b/cereal/legacy.capnp @@ -0,0 +1,574 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x80ef1ec4889c2a63; + +# legacy.capnp: a home for deprecated structs + +struct LogRotate @0x9811e1f38f62f2d1 { + segmentNum @0 :Int32; + path @1 :Text; +} + +struct LiveUI @0xc08240f996aefced { + rearViewCam @0 :Bool; + alertText1 @1 :Text; + alertText2 @2 :Text; + awarenessStatus @3 :Float32; +} + +struct UiLayoutState @0x88dcce08ad29dda0 { + activeApp @0 :App; + sidebarCollapsed @1 :Bool; + mapEnabled @2 :Bool; + mockEngaged @3 :Bool; + + enum App @0x9917470acf94d285 { + home @0; + music @1; + nav @2; + settings @3; + none @4; + } +} + +struct OrbslamCorrection @0x8afd33dc9b35e1aa { + correctionMonoTime @0 :UInt64; + prePositionECEF @1 :List(Float64); + postPositionECEF @2 :List(Float64); + prePoseQuatECEF @3 :List(Float32); + postPoseQuatECEF @4 :List(Float32); + numInliers @5 :UInt32; +} + +struct EthernetPacket @0xa99a9d5b33cf5859 { + pkt @0 :Data; + ts @1 :Float32; +} + +struct CellInfo @0xcff7566681c277ce { + timestamp @0 :UInt64; + repr @1 :Text; # android toString() for now +} + +struct WifiScan @0xd4df5a192382ba0b { + bssid @0 :Text; + ssid @1 :Text; + capabilities @2 :Text; + frequency @3 :Int32; + level @4 :Int32; + timestamp @5 :Int64; + + centerFreq0 @6 :Int32; + centerFreq1 @7 :Int32; + channelWidth @8 :ChannelWidth; + operatorFriendlyName @9 :Text; + venueName @10 :Text; + is80211mcResponder @11 :Bool; + passpoint @12 :Bool; + + distanceCm @13 :Int32; + distanceSdCm @14 :Int32; + + enum ChannelWidth @0xcb6a279f015f6b51 { + w20Mhz @0; + w40Mhz @1; + w80Mhz @2; + w160Mhz @3; + w80Plus80Mhz @4; + } +} + +struct LiveEventData @0x94b7baa90c5c321e { + name @0 :Text; + value @1 :Int32; +} + +struct ModelData @0xb8aad62cffef28a9 { + frameId @0 :UInt32; + frameAge @12 :UInt32; + frameDropPerc @13 :Float32; + timestampEof @9 :UInt64; + modelExecutionTime @14 :Float32; + gpuExecutionTime @16 :Float32; + rawPred @15 :Data; + + path @1 :PathData; + leftLane @2 :PathData; + rightLane @3 :PathData; + lead @4 :LeadData; + freePath @6 :List(Float32); + + settings @5 :ModelSettings; + leadFuture @7 :LeadData; + speed @8 :List(Float32); + meta @10 :MetaData; + longitudinal @11 :LongitudinalData; + + struct PathData @0x8817eeea389e9f08 { + points @0 :List(Float32); + prob @1 :Float32; + std @2 :Float32; + stds @3 :List(Float32); + poly @4 :List(Float32); + validLen @5 :Float32; + } + + struct LeadData @0xd1c9bef96d26fa91 { + dist @0 :Float32; + prob @1 :Float32; + std @2 :Float32; + relVel @3 :Float32; + relVelStd @4 :Float32; + relY @5 :Float32; + relYStd @6 :Float32; + relA @7 :Float32; + relAStd @8 :Float32; + } + + struct ModelSettings @0xa26e3710efd3e914 { + bigBoxX @0 :UInt16; + bigBoxY @1 :UInt16; + bigBoxWidth @2 :UInt16; + bigBoxHeight @3 :UInt16; + boxProjection @4 :List(Float32); + yuvCorrection @5 :List(Float32); + inputTransform @6 :List(Float32); + } + + struct MetaData @0x9744f25fb60f2bf8 { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + brakeDisengageProb @2 :Float32; + gasDisengageProb @3 :Float32; + steerOverrideProb @4 :Float32; + desireState @5 :List(Float32); + } + + struct LongitudinalData @0xf98f999c6a071122 { + distances @2 :List(Float32); + speeds @0 :List(Float32); + accelerations @1 :List(Float32); + } +} + +struct ECEFPoint @0xc25bbbd524983447 { + x @0 :Float64; + y @1 :Float64; + z @2 :Float64; +} + +struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 { + x @0 :Float32; + y @1 :Float32; + z @2 :Float32; +} + +struct GPSPlannerPoints @0xab54c59699f8f9f3 { + curPosDEPRECATED @0 :ECEFPointDEPRECATED; + pointsDEPRECATED @1 :List(ECEFPointDEPRECATED); + curPos @6 :ECEFPoint; + points @7 :List(ECEFPoint); + valid @2 :Bool; + trackName @3 :Text; + speedLimit @4 :Float32; + accelTarget @5 :Float32; +} + +struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b { + valid @0 :Bool; + poly @1 :List(Float32); + trackName @2 :Text; + speed @3 :Float32; + acceleration @4 :Float32; + pointsDEPRECATED @5 :List(ECEFPointDEPRECATED); + points @6 :List(ECEFPoint); + xLookahead @7 :Float32; +} + +struct UiNavigationEvent @0x90c8426c3eaddd3b { + type @0: Type; + status @1: Status; + distanceTo @2: Float32; + endRoadPointDEPRECATED @3: ECEFPointDEPRECATED; + endRoadPoint @4: ECEFPoint; + + enum Type @0xe8db07dcf8fcea05 { + none @0; + laneChangeLeft @1; + laneChangeRight @2; + mergeLeft @3; + mergeRight @4; + turnLeft @5; + turnRight @6; + } + + enum Status @0xb9aa88c75ef99a1f { + none @0; + passive @1; + approaching @2; + active @3; + } +} + +struct LiveLocationData @0xb99b2bc7a57e8128 { + status @0 :UInt8; + + # 3D fix + lat @1 :Float64; + lon @2 :Float64; + alt @3 :Float32; # m + + # speed + speed @4 :Float32; # m/s + + # NED velocity components + vNED @5 :List(Float32); + + # roll, pitch, heading (x,y,z) + roll @6 :Float32; # WRT to center of earth? + pitch @7 :Float32; # WRT to center of earth? + heading @8 :Float32; # WRT to north? + + # what are these? + wanderAngle @9 :Float32; + trackAngle @10 :Float32; + + # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png + + # gyro, in car frame, deg/s + gyro @11 :List(Float32); + + # accel, in car frame, m/s^2 + accel @12 :List(Float32); + + accuracy @13 :Accuracy; + + source @14 :SensorSource; + # if we are fixing a location in the past + fixMonoTime @15 :UInt64; + + gpsWeek @16 :Int32; + timeOfWeek @17 :Float64; + + positionECEF @18 :List(Float64); + poseQuatECEF @19 :List(Float32); + pitchCalibration @20 :Float32; + yawCalibration @21 :Float32; + imuFrame @22 :List(Float32); + + struct Accuracy @0x943dc4625473b03f { + pNEDError @0 :List(Float32); + vNEDError @1 :List(Float32); + rollError @2 :Float32; + pitchError @3 :Float32; + headingError @4 :Float32; + ellipsoidSemiMajorError @5 :Float32; + ellipsoidSemiMinorError @6 :Float32; + ellipsoidOrientationError @7 :Float32; + } + + enum SensorSource @0xc871d3cc252af657 { + applanix @0; + kalman @1; + orbslam @2; + timing @3; + dummy @4; + } +} + +struct OrbOdometry @0xd7700859ed1f5b76 { + # timing first + startMonoTime @0 :UInt64; + endMonoTime @1 :UInt64; + + # fundamental matrix and error + f @2: List(Float64); + err @3: Float64; + + # number of inlier points + inliers @4: Int32; + + # for debug only + # indexed by endMonoTime features + # value is startMonoTime feature match + # -1 if no match + matches @5: List(Int16); +} + +struct OrbFeatures @0xcd60164a8a0159ef { + timestampEof @0 :UInt64; + # transposed arrays of normalized image coordinates + # len(xs) == len(ys) == len(descriptors) * 32 + xs @1 :List(Float32); + ys @2 :List(Float32); + descriptors @3 :Data; + octaves @4 :List(Int8); + + # match index to last OrbFeatures + # -1 if no match + timestampLastEof @5 :UInt64; + matches @6: List(Int16); +} + +struct OrbFeaturesSummary @0xd500d30c5803fa4f { + timestampEof @0 :UInt64; + timestampLastEof @1 :UInt64; + + featureCount @2 :UInt16; + matchCount @3 :UInt16; + computeNs @4 :UInt64; +} + +struct OrbKeyFrame @0xc8233c0345e27e24 { + # this is a globally unique id for the KeyFrame + id @0: UInt64; + + # this is the location of the KeyFrame + pos @1: ECEFPoint; + + # these are the features in the world + # len(dpos) == len(descriptors) * 32 + dpos @2 :List(ECEFPoint); + descriptors @3 :Data; +} + +struct KalmanOdometry @0x92e21bb7ea38793a { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame +} + +struct OrbObservation @0x9b326d4e436afec7 { + observationMonoTime @0 :UInt64; + normalizedCoordinates @1 :List(Float32); + locationECEF @2 :List(Float64); + matchDistance @3: UInt32; +} + +struct CalibrationFeatures @0x8fdfadb254ea867a { + frameId @0 :UInt32; + + p0 @1 :List(Float32); + p1 @2 :List(Float32); + status @3 :List(Int8); +} + +struct NavStatus @0xbd8822120928120c { + isNavigating @0 :Bool; + currentAddress @1 :Address; + + struct Address @0xce7cd672cacc7814 { + title @0 :Text; + lat @1 :Float64; + lng @2 :Float64; + house @3 :Text; + address @4 :Text; + street @5 :Text; + city @6 :Text; + state @7 :Text; + country @8 :Text; + } +} + +struct NavUpdate @0xdb98be6565516acb { + isNavigating @0 :Bool; + curSegment @1 :Int32; + segments @2 :List(Segment); + + struct LatLng @0x9eaef9187cadbb9b { + lat @0 :Float64; + lng @1 :Float64; + } + + struct Segment @0xa5b39b4fc4d7da3f { + from @0 :LatLng; + to @1 :LatLng; + updateTime @2 :Int32; + distance @3 :Int32; + crossTime @4 :Int32; + exitNo @5 :Int32; + instruction @6 :Instruction; + + parts @7 :List(LatLng); + + enum Instruction @0xc5417a637451246f { + turnLeft @0; + turnRight @1; + keepLeft @2; + keepRight @3; + straight @4; + roundaboutExitNumber @5; + roundaboutExit @6; + roundaboutTurnLeft @7; + unkn8 @8; + roundaboutStraight @9; + unkn10 @10; + roundaboutTurnRight @11; + unkn12 @12; + roundaboutUturn @13; + unkn14 @14; + arrive @15; + exitLeft @16; + exitRight @17; + unkn18 @18; + uturn @19; + # ... + } + } +} + +struct TrafficEvent @0xacfa74a094e62626 { + type @0 :Type; + distance @1 :Float32; + action @2 :Action; + resuming @3 :Bool; + + enum Type @0xd85d75253435bf4b { + stopSign @0; + lightRed @1; + lightYellow @2; + lightGreen @3; + stopLight @4; + } + + enum Action @0xa6f6ce72165ccb49 { + none @0; + yield @1; + stop @2; + resumeReady @3; + } + +} + + +struct AndroidGnss @0xdfdf30d03fc485bd { + union { + measurements @0 :Measurements; + navigationMessage @1 :NavigationMessage; + } + + struct Measurements @0xa20710d4f428d6cd { + clock @0 :Clock; + measurements @1 :List(Measurement); + + struct Clock @0xa0e27b453a38f450 { + timeNanos @0 :Int64; + hardwareClockDiscontinuityCount @1 :Int32; + + hasTimeUncertaintyNanos @2 :Bool; + timeUncertaintyNanos @3 :Float64; + + hasLeapSecond @4 :Bool; + leapSecond @5 :Int32; + + hasFullBiasNanos @6 :Bool; + fullBiasNanos @7 :Int64; + + hasBiasNanos @8 :Bool; + biasNanos @9 :Float64; + + hasBiasUncertaintyNanos @10 :Bool; + biasUncertaintyNanos @11 :Float64; + + hasDriftNanosPerSecond @12 :Bool; + driftNanosPerSecond @13 :Float64; + + hasDriftUncertaintyNanosPerSecond @14 :Bool; + driftUncertaintyNanosPerSecond @15 :Float64; + } + + struct Measurement @0xd949bf717d77614d { + svId @0 :Int32; + constellation @1 :Constellation; + + timeOffsetNanos @2 :Float64; + state @3 :Int32; + receivedSvTimeNanos @4 :Int64; + receivedSvTimeUncertaintyNanos @5 :Int64; + cn0DbHz @6 :Float64; + pseudorangeRateMetersPerSecond @7 :Float64; + pseudorangeRateUncertaintyMetersPerSecond @8 :Float64; + accumulatedDeltaRangeState @9 :Int32; + accumulatedDeltaRangeMeters @10 :Float64; + accumulatedDeltaRangeUncertaintyMeters @11 :Float64; + + hasCarrierFrequencyHz @12 :Bool; + carrierFrequencyHz @13 :Float32; + hasCarrierCycles @14 :Bool; + carrierCycles @15 :Int64; + hasCarrierPhase @16 :Bool; + carrierPhase @17 :Float64; + hasCarrierPhaseUncertainty @18 :Bool; + carrierPhaseUncertainty @19 :Float64; + hasSnrInDb @20 :Bool; + snrInDb @21 :Float64; + + multipathIndicator @22 :MultipathIndicator; + + enum Constellation @0x9ef1f3ff0deb5ffb { + unknown @0; + gps @1; + sbas @2; + glonass @3; + qzss @4; + beidou @5; + galileo @6; + } + + enum State @0xcbb9490adce12d72 { + unknown @0; + codeLock @1; + bitSync @2; + subframeSync @3; + towDecoded @4; + msecAmbiguous @5; + symbolSync @6; + gloStringSync @7; + gloTodDecoded @8; + bdsD2BitSync @9; + bdsD2SubframeSync @10; + galE1bcCodeLock @11; + galE1c2ndCodeLock @12; + galE1bPageSync @13; + sbasSync @14; + } + + enum MultipathIndicator @0xc04e7b6231d4caa8 { + unknown @0; + detected @1; + notDetected @2; + } + } + } + + struct NavigationMessage @0xe2517b083095fd4e { + type @0 :Int32; + svId @1 :Int32; + messageId @2 :Int32; + submessageId @3 :Int32; + data @4 :Data; + status @5 :Status; + + enum Status @0xec1ff7996b35366f { + unknown @0; + parityPassed @1; + parityRebuilt @2; + } + } +} + +struct LidarPts @0xe3d6685d4e9d8f7a { + r @0 :List(UInt16); # uint16 m*500.0 + theta @1 :List(UInt16); # uint16 deg*100.0 + reflect @2 :List(UInt8); # uint8 0-255 + + # For storing out of file. + idx @3 :UInt64; + + # For storing in file + pkt @4 :Data; +} + + diff --git a/cereal/log.capnp b/cereal/log.capnp new file mode 100644 index 000000000..67c6f836a --- /dev/null +++ b/cereal/log.capnp @@ -0,0 +1,2369 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +using Car = import "car.capnp"; +using Legacy = import "legacy.capnp"; +using Custom = import "custom.capnp"; + +@0xf3b1f17e25a4285b; + +const logVersion :Int32 = 1; + +struct Map(Key, Value) { + entries @0 :List(Entry); + struct Entry { + key @0 :Key; + value @1 :Value; + } +} + +enum LongitudinalPersonality { + aggressive @0; + standard @1; + relaxed @2; +} + +struct InitData { + kernelArgs @0 :List(Text); + kernelVersion @15 :Text; + osVersion @18 :Text; + + dongleId @2 :Text; + bootlogId @22 :Text; + + deviceType @3 :DeviceType; + version @4 :Text; + gitCommit @10 :Text; + gitCommitDate @21 :Text; + gitBranch @11 :Text; + gitRemote @13 :Text; + + androidProperties @16 :Map(Text, Text); + + pandaInfo @8 :PandaInfo; + + dirty @9 :Bool; + passive @12 :Bool; + params @17 :Map(Text, Data); + + commands @19 :Map(Text, Data); + + wallTimeNanos @20 :UInt64; + + enum DeviceType { + unknown @0; + neo @1; + chffrAndroid @2; + chffrIos @3; + tici @4; + pc @5; + tizi @6; + mici @7; + } + + struct PandaInfo { + hasPanda @0 :Bool; + dongleId @1 :Text; + stVersion @2 :Text; + espVersion @3 :Text; + } + + # ***** deprecated stuff ***** + gctxDEPRECATED @1 :Text; + androidBuildInfo @5 :AndroidBuildInfo; + androidSensorsDEPRECATED @6 :List(AndroidSensor); + chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra; + iosBuildInfoDEPRECATED @14 :IosBuildInfo; + + struct AndroidBuildInfo { + board @0 :Text; + bootloader @1 :Text; + brand @2 :Text; + device @3 :Text; + display @4 :Text; + fingerprint @5 :Text; + hardware @6 :Text; + host @7 :Text; + id @8 :Text; + manufacturer @9 :Text; + model @10 :Text; + product @11 :Text; + radioVersion @12 :Text; + serial @13 :Text; + supportedAbis @14 :List(Text); + tags @15 :Text; + time @16 :Int64; + type @17 :Text; + user @18 :Text; + + versionCodename @19 :Text; + versionRelease @20 :Text; + versionSdk @21 :Int32; + versionSecurityPatch @22 :Text; + } + + struct AndroidSensor { + id @0 :Int32; + name @1 :Text; + vendor @2 :Text; + version @3 :Int32; + handle @4 :Int32; + type @5 :Int32; + maxRange @6 :Float32; + resolution @7 :Float32; + power @8 :Float32; + minDelay @9 :Int32; + fifoReservedEventCount @10 :UInt32; + fifoMaxEventCount @11 :UInt32; + stringType @12 :Text; + maxDelay @13 :Int32; + } + + struct ChffrAndroidExtra { + allCameraCharacteristics @0 :Map(Text, Text); + } + + struct IosBuildInfo { + appVersion @0 :Text; + appBuild @1 :UInt32; + osVersion @2 :Text; + deviceModel @3 :Text; + } +} + +struct FrameData { + frameId @0 :UInt32; + frameIdSensor @25 :UInt32; + requestId @28 :UInt32; + encodeId @1 :UInt32; + + frameType @7 :FrameType; + + # Timestamps + timestampEof @2 :UInt64; + timestampSof @8 :UInt64; + processingTime @23 :Float32; + + # Exposure + integLines @4 :Int32; + highConversionGain @20 :Bool; + gain @15 :Float32; # This includes highConversionGain if enabled + measuredGreyFraction @21 :Float32; + targetGreyFraction @22 :Float32; + exposureValPercent @27 :Float32; + + transform @10 :List(Float32); + + image @6 :Data; + + temperaturesC @24 :List(Float32); + + enum FrameType { + unknown @0; + neo @1; + chffrAndroid @2; + front @3; + } + + sensor @26 :ImageSensor; + enum ImageSensor { + unknown @0; + ar0231 @1; + ox03c10 @2; + os04c10 @3; + } + + frameLengthDEPRECATED @3 :Int32; + globalGainDEPRECATED @5 :Int32; + androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; + lensPosDEPRECATED @11 :Int32; + lensSagDEPRECATED @12 :Float32; + lensErrDEPRECATED @13 :Float32; + lensTruePosDEPRECATED @14 :Float32; + focusValDEPRECATED @16 :List(Int16); + focusConfDEPRECATED @17 :List(UInt8); + sharpnessScoreDEPRECATED @18 :List(UInt16); + recoverStateDEPRECATED @19 :Int32; + struct AndroidCaptureResult { + sensitivity @0 :Int32; + frameDuration @1 :Int64; + exposureTime @2 :Int64; + rollingShutterSkew @3 :UInt64; + colorCorrectionTransform @4 :List(Int32); + colorCorrectionGains @5 :List(Float32); + displayRotation @6 :Int8; + } +} + +struct Thumbnail { + frameId @0 :UInt32; + timestampEof @1 :UInt64; + thumbnail @2 :Data; + encoding @3 :Encoding; + + enum Encoding { + unknown @0; + jpeg @1; + keyframe @2; + } +} + +struct GPSNMEAData { + timestamp @0 :Int64; + localWallTime @1 :UInt64; + nmea @2 :Text; +} + +# android sensor_event_t +struct SensorEventData { + version @0 :Int32; + sensor @1 :Int32; + type @2 :Int32; + timestamp @3 :Int64; + uncalibratedDEPRECATED @10 :Bool; + + union { + acceleration @4 :SensorVec; + magnetic @5 :SensorVec; + orientation @6 :SensorVec; + gyro @7 :SensorVec; + pressure @9 :SensorVec; + magneticUncalibrated @11 :SensorVec; + gyroUncalibrated @12 :SensorVec; + proximity @13: Float32; + light @14: Float32; + temperature @15: Float32; + } + source @8 :SensorSource; + + struct SensorVec { + v @0 :List(Float32); + status @1 :Int8; + } + + enum SensorSource { + android @0; + iOS @1; + fiber @2; + velodyne @3; # Velodyne IMU + bno055 @4; # Bosch accelerometer + lsm6ds3 @5; # includes LSM6DS3 and LSM6DS3TR, TR = tape reel + bmp280 @6; # barometer + mmc3416x @7; # magnetometer + bmx055 @8; + rpr0521 @9; + lsm6ds3trc @10; + mmc5603nj @11; + } +} + +# android struct GpsLocation +struct GpsLocationData { + # Contains module-specific flags. + flags @0 :UInt16; + + # Represents latitude in degrees. + latitude @1 :Float64; + + # Represents longitude in degrees. + longitude @2 :Float64; + + # Represents altitude in meters above the WGS 84 reference ellipsoid. + altitude @3 :Float64; + + # Represents speed in meters per second. + speed @4 :Float32; + + # Represents heading in degrees. + bearingDeg @5 :Float32; + + # Represents expected horizontal accuracy in meters. + horizontalAccuracy @6 :Float32; + + unixTimestampMillis @7 :Int64; + + source @8 :SensorSource; + + # Represents NED velocity in m/s. + vNED @9 :List(Float32); + + # Represents expected vertical accuracy in meters. (presumably 1 sigma?) + verticalAccuracy @10 :Float32; + + # Represents bearing accuracy in degrees. (presumably 1 sigma?) + bearingAccuracyDeg @11 :Float32; + + # Represents velocity accuracy in m/s. (presumably 1 sigma?) + speedAccuracy @12 :Float32; + + hasFix @13 :Bool; + + enum SensorSource { + android @0; + iOS @1; + car @2; + velodyne @3; # Velodyne IMU + fusion @4; + external @5; + ublox @6; + trimble @7; + qcomdiag @8; + unicore @9; + } +} + +enum Desire { + none @0; + turnLeft @1; + turnRight @2; + laneChangeLeft @3; + laneChangeRight @4; + keepLeft @5; + keepRight @6; +} + +enum LaneChangeState { + off @0; + preLaneChange @1; + laneChangeStarting @2; + laneChangeFinishing @3; +} + +enum LaneChangeDirection { + none @0; + left @1; + right @2; +} + +struct CanData { + address @0 :UInt32; + busTime @1 :UInt16; + dat @2 :Data; + src @3 :UInt8; +} + +struct DeviceState @0xa4d8b5af2aa492eb { + deviceType @45 :InitData.DeviceType; + + networkType @22 :NetworkType; + networkInfo @31 :NetworkInfo; + networkStrength @24 :NetworkStrength; + networkStats @43 :NetworkStats; + networkMetered @41 :Bool; + lastAthenaPingTime @32 :UInt64; + + started @11 :Bool; + startedMonoTime @13 :UInt64; + + # system utilization + freeSpacePercent @7 :Float32; + memoryUsagePercent @19 :Int8; + gpuUsagePercent @33 :Int8; + cpuUsagePercent @34 :List(Int8); # per-core cpu usage + + # power + offroadPowerUsageUwh @23 :UInt32; + carBatteryCapacityUwh @25 :UInt32; + powerDrawW @40 :Float32; + somPowerDrawW @42 :Float32; + + # device thermals + cpuTempC @26 :List(Float32); + gpuTempC @27 :List(Float32); + memoryTempC @28 :Float32; + nvmeTempC @35 :List(Float32); + modemTempC @36 :List(Float32); + pmicTempC @39 :List(Float32); + maxTempC @44 :Float32; # max of other temps, used to control fan + thermalZones @38 :List(ThermalZone); + thermalStatus @14 :ThermalStatus; + + fanSpeedPercentDesired @10 :UInt16; + screenBrightnessPercent @37 :Int8; + + struct ThermalZone { + name @0 :Text; + temp @1 :Float32; + } + + enum ThermalStatus { + green @0; + yellow @1; + red @2; + danger @3; + } + + enum NetworkType { + none @0; + wifi @1; + cell2G @2; + cell3G @3; + cell4G @4; + cell5G @5; + ethernet @6; + } + + enum NetworkStrength { + unknown @0; + poor @1; + moderate @2; + good @3; + great @4; + } + + struct NetworkInfo { + technology @0 :Text; + operator @1 :Text; + band @2 :Text; + channel @3 :UInt16; + extra @4 :Text; + state @5 :Text; + } + + struct NetworkStats { + wwanTx @0 :Int64; + wwanRx @1 :Int64; + } + + # deprecated + cpu0DEPRECATED @0 :UInt16; + cpu1DEPRECATED @1 :UInt16; + cpu2DEPRECATED @2 :UInt16; + cpu3DEPRECATED @3 :UInt16; + memDEPRECATED @4 :UInt16; + gpuDEPRECATED @5 :UInt16; + batDEPRECATED @6 :UInt32; + pa0DEPRECATED @21 :UInt16; + cpuUsagePercentDEPRECATED @20 :Int8; + batteryStatusDEPRECATED @9 :Text; + batteryVoltageDEPRECATED @16 :Int32; + batteryTempCDEPRECATED @29 :Float32; + batteryPercentDEPRECATED @8 :Int16; + batteryCurrentDEPRECATED @15 :Int32; + chargingErrorDEPRECATED @17 :Bool; + chargingDisabledDEPRECATED @18 :Bool; + usbOnlineDEPRECATED @12 :Bool; + ambientTempCDEPRECATED @30 :Float32; +} + +struct PandaState @0xa7649e2575e4591e { + ignitionLine @2 :Bool; + rxBufferOverflow @7 :UInt32; + txBufferOverflow @8 :UInt32; + pandaType @10 :PandaType; + ignitionCan @13 :Bool; + faultStatus @15 :FaultStatus; + powerSaveEnabled @16 :Bool; + uptime @17 :UInt32; + faults @18 :List(FaultType); + heartbeatLost @22 :Bool; + interruptLoad @25 :Float32; + fanPower @28 :UInt8; + fanStallCount @34 :UInt8; + + spiChecksumErrorCount @33 :UInt16; + + harnessStatus @21 :HarnessStatus; + sbu1Voltage @35 :Float32; + sbu2Voltage @36 :Float32; + + # can health + canState0 @29 :PandaCanState; + canState1 @30 :PandaCanState; + canState2 @31 :PandaCanState; + + # safety stuff + controlsAllowed @3 :Bool; + safetyRxInvalid @19 :UInt32; + safetyTxBlocked @24 :UInt32; + safetyModel @14 :Car.CarParams.SafetyModel; + safetyParam @27 :UInt16; + alternativeExperience @23 :Int16; + safetyRxChecksInvalid @32 :Bool; + + voltage @0 :UInt32; + current @1 :UInt32; + + enum FaultStatus { + none @0; + faultTemp @1; + faultPerm @2; + } + + enum FaultType { + relayMalfunction @0; + unusedInterruptHandled @1; + interruptRateCan1 @2; + interruptRateCan2 @3; + interruptRateCan3 @4; + interruptRateTach @5; + interruptRateGmlanDEPRECATED @6; + interruptRateInterrupts @7; + interruptRateSpiDma @8; + interruptRateSpiCs @9; + interruptRateUart1 @10; + interruptRateUart2 @11; + interruptRateUart3 @12; + interruptRateUart5 @13; + interruptRateUartDma @14; + interruptRateUsb @15; + interruptRateTim1 @16; + interruptRateTim3 @17; + registerDivergent @18; + interruptRateKlineInit @19; + interruptRateClockSource @20; + interruptRateTick @21; + interruptRateExti @22; + interruptRateSpi @23; + interruptRateUart7 @24; + sirenMalfunction @25; + heartbeatLoopWatchdog @26; + # Update max fault type in boardd when adding faults + } + + enum PandaType @0x8a58adf93e5b3751 { + unknown @0; + whitePanda @1; + greyPanda @2; + blackPanda @3; + pedal @4; + uno @5; + dos @6; + redPanda @7; + redPandaV2 @8; + tres @9; + cuatro @10; + } + + enum HarnessStatus { + notConnected @0; + normal @1; + flipped @2; + } + + struct PandaCanState { + busOff @0 :Bool; + busOffCnt @1 :UInt32; + errorWarning @2 :Bool; + errorPassive @3 :Bool; + lastError @4 :LecErrorCode; + lastStoredError @5 :LecErrorCode; + lastDataError @6 :LecErrorCode; + lastDataStoredError @7 :LecErrorCode; + receiveErrorCnt @8 :UInt8; + transmitErrorCnt @9 :UInt8; + totalErrorCnt @10 :UInt32; + totalTxLostCnt @11 :UInt32; + totalRxLostCnt @12 :UInt32; + totalTxCnt @13 :UInt32; + totalRxCnt @14 :UInt32; + totalFwdCnt @15 :UInt32; + canSpeed @16 :UInt16; + canDataSpeed @17 :UInt16; + canfdEnabled @18 :Bool; + brsEnabled @19 :Bool; + canfdNonIso @20 :Bool; + irq0CallRate @21 :UInt32; + irq1CallRate @22 :UInt32; + irq2CallRate @23 :UInt32; + canCoreResetCnt @24 :UInt32; + + enum LecErrorCode { + noError @0; + stuffError @1; + formError @2; + ackError @3; + bit1Error @4; + bit0Error @5; + crcError @6; + noChange @7; + } + } + + gasInterceptorDetectedDEPRECATED @4 :Bool; + startedSignalDetectedDEPRECATED @5 :Bool; + hasGpsDEPRECATED @6 :Bool; + gmlanSendErrsDEPRECATED @9 :UInt32; + fanSpeedRpmDEPRECATED @11 :UInt16; + usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; + safetyParamDEPRECATED @20 :Int16; + safetyParam2DEPRECATED @26 :UInt32; +} + +struct PeripheralState { + pandaType @0 :PandaState.PandaType; + voltage @1 :UInt32; + current @2 :UInt32; + fanSpeedRpm @3 :UInt16; + + usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED; + enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 { + none @0; + client @1; + cdp @2; + dcp @3; + } +} + +struct RadarState @0x9a185389d6fdd05f { + mdMonoTime @6 :UInt64; + carStateMonoTime @11 :UInt64; + radarErrors @12 :List(Car.RadarData.Error); + + leadOne @3 :LeadData; + leadTwo @4 :LeadData; + cumLagMs @5 :Float32; + + struct LeadData { + dRel @0 :Float32; + yRel @1 :Float32; + vRel @2 :Float32; + aRel @3 :Float32; + vLead @4 :Float32; + dPath @6 :Float32; + vLat @7 :Float32; + vLeadK @8 :Float32; + aLeadK @9 :Float32; + fcw @10 :Bool; + status @11 :Bool; + aLeadTau @12 :Float32; + modelProb @13 :Float32; + radar @14 :Bool; + radarTrackId @15 :Int32 = -1; + + aLeadDEPRECATED @5 :Float32; + } + + # deprecated + ftMonoTimeDEPRECATED @7 :UInt64; + warpMatrixDEPRECATED @0 :List(Float32); + angleOffsetDEPRECATED @1 :Float32; + calStatusDEPRECATED @2 :Int8; + calCycleDEPRECATED @8 :Int32; + calPercDEPRECATED @9 :Int8; + canMonoTimesDEPRECATED @10 :List(UInt64); +} + +struct LiveCalibrationData { + calStatus @11 :Status; + calCycle @2 :Int32; + calPerc @3 :Int8; + validBlocks @9 :Int32; + + # view_frame_from_road_frame + # ui's is inversed needs new + extrinsicMatrix @4 :List(Float32); + # the direction of travel vector in device frame + rpyCalib @7 :List(Float32); + rpyCalibSpread @8 :List(Float32); + wideFromDeviceEuler @10 :List(Float32); + height @12 :List(Float32); + + warpMatrixDEPRECATED @0 :List(Float32); + calStatusDEPRECATED @1 :Int8; + warpMatrix2DEPRECATED @5 :List(Float32); + warpMatrixBigDEPRECATED @6 :List(Float32); + + enum Status { + uncalibrated @0; + calibrated @1; + invalid @2; + recalibrating @3; + } +} + +struct LiveTracks { + trackId @0 :Int32; + dRel @1 :Float32; + yRel @2 :Float32; + vRel @3 :Float32; + aRel @4 :Float32; + timeStamp @5 :Float32; + status @6 :Float32; + currentTime @7 :Float32; + stationary @8 :Bool; + oncoming @9 :Bool; +} + +struct ControlsState @0x97ff69c53601abf1 { + startMonoTime @48 :UInt64; + longitudinalPlanMonoTime @28 :UInt64; + lateralPlanMonoTime @50 :UInt64; + + state @31 :OpenpilotState; + enabled @19 :Bool; + active @36 :Bool; + + experimentalMode @64 :Bool; + 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 + upAccelCmd @4 :Float32; + uiAccelCmd @5 :Float32; + ufAccelCmd @33 :Float32; + aTarget @35 :Float32; + curvature @37 :Float32; # path curvature from vehicle model + desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers + forceDecel @51 :Bool; + + # UI alerts + alertText1 @24 :Text; + alertText2 @25 :Text; + alertStatus @38 :AlertStatus; + alertSize @39 :AlertSize; + alertBlinkingRate @42 :Float32; + alertType @44 :Text; + alertSound @56 :Car.CarControl.HUDControl.AudibleAlert; + engageable @41 :Bool; # can OP be engaged? + + cumLagMs @15 :Float32; + + lateralControlState :union { + indiState @52 :LateralINDIState; + pidState @53 :LateralPIDState; + angleState @58 :LateralAngleState; + debugState @59 :LateralDebugState; + torqueState @60 :LateralTorqueState; + + curvatureStateDEPRECATED @65 :LateralCurvatureState; + lqrStateDEPRECATED @55 :LateralLQRState; + } + + enum OpenpilotState @0xdbe58b96d2d1ac61 { + disabled @0; + preEnabled @1; + enabled @2; + softDisabling @3; + overriding @4; # superset of overriding with steering or accelerator + } + + enum AlertStatus { + normal @0; # low priority alert for user's convenience + userPrompt @1; # mid priority alert that might require user intervention + critical @2; # high priority alert that needs immediate user intervention + } + + enum AlertSize { + none @0; # don't display the alert + small @1; # small box + mid @2; # mid screen + full @3; # full screen + } + + struct LateralINDIState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + steeringAccelDeg @3 :Float32; + rateSetPoint @4 :Float32; + accelSetPoint @5 :Float32; + accelError @6 :Float32; + delayedOutput @7 :Float32; + delta @8 :Float32; + output @9 :Float32; + saturated @10 :Bool; + steeringAngleDesiredDeg @11 :Float32; + steeringRateDesiredDeg @12 :Float32; + } + + struct LateralPIDState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + angleError @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + steeringAngleDesiredDeg @9 :Float32; + } + + struct LateralTorqueState { + active @0 :Bool; + error @1 :Float32; + errorRate @8 :Float32; + p @2 :Float32; + i @3 :Float32; + d @4 :Float32; + f @5 :Float32; + output @6 :Float32; + saturated @7 :Bool; + actualLateralAccel @9 :Float32; + desiredLateralAccel @10 :Float32; + } + + struct LateralLQRState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + i @2 :Float32; + output @3 :Float32; + lqrOutput @4 :Float32; + saturated @5 :Bool; + steeringAngleDesiredDeg @6 :Float32; + } + + struct LateralAngleState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + steeringAngleDesiredDeg @4 :Float32; + } + + struct LateralCurvatureState { + active @0 :Bool; + actualCurvature @1 :Float32; + desiredCurvature @2 :Float32; + error @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + } + + struct LateralDebugState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + } + + # deprecated + vEgoDEPRECATED @0 :Float32; + vEgoRawDEPRECATED @32 :Float32; + aEgoDEPRECATED @1 :Float32; + canMonoTimeDEPRECATED @16 :UInt64; + radarStateMonoTimeDEPRECATED @17 :UInt64; + mdMonoTimeDEPRECATED @18 :UInt64; + yActualDEPRECATED @6 :Float32; + yDesDEPRECATED @7 :Float32; + upSteerDEPRECATED @8 :Float32; + uiSteerDEPRECATED @9 :Float32; + ufSteerDEPRECATED @34 :Float32; + aTargetMinDEPRECATED @10 :Float32; + aTargetMaxDEPRECATED @11 :Float32; + rearViewCamDEPRECATED @23 :Bool; + driverMonitoringOnDEPRECATED @43 :Bool; + hudLeadDEPRECATED @14 :Int32; + alertSoundDEPRECATED @45 :Text; + angleModelBiasDEPRECATED @27 :Float32; + gpsPlannerActiveDEPRECATED @40 :Bool; + decelForTurnDEPRECATED @47 :Bool; + decelForModelDEPRECATED @54 :Bool; + awarenessStatusDEPRECATED @26 :Float32; + angleSteersDEPRECATED @13 :Float32; + vCurvatureDEPRECATED @46 :Float32; + mapValidDEPRECATED @49 :Bool; + jerkFactorDEPRECATED @12 :Float32; + steerOverrideDEPRECATED @20 :Bool; + steeringAngleDesiredDegDEPRECATED @29 :Float32; + canMonoTimesDEPRECATED @21 :List(UInt64); + desiredCurvatureRateDEPRECATED @62 :Float32; + canErrorCounterDEPRECATED @57 :UInt32; +} + +# All SI units and in device frame +struct XYZTData @0xc3cbae1fd505ae80 { + x @0 :List(Float32); + y @1 :List(Float32); + z @2 :List(Float32); + t @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + zStd @6 :List(Float32); +} + +struct ModelDataV2 { + frameId @0 :UInt32; + frameIdExtra @20 :UInt32; + frameAge @1 :UInt32; + frameDropPerc @2 :Float32; + timestampEof @3 :UInt64; + modelExecutionTime @15 :Float32; + gpuExecutionTime @17 :Float32; + rawPredictions @16 :Data; + + # predicted future position, orientation, etc.. + position @4 :XYZTData; + orientation @5 :XYZTData; + velocity @6 :XYZTData; + orientationRate @7 :XYZTData; + acceleration @19 :XYZTData; + + # prediction lanelines and road edges + laneLines @8 :List(XYZTData); + laneLineProbs @9 :List(Float32); + laneLineStds @13 :List(Float32); + roadEdges @10 :List(XYZTData); + roadEdgeStds @14 :List(Float32); + + # predicted lead cars + leads @11 :List(LeadDataV2); + leadsV3 @18 :List(LeadDataV3); + + meta @12 :MetaData; + confidence @23: ConfidenceClass; + + # Model perceived motion + temporalPose @21 :Pose; + + navEnabledDEPRECATED @22 :Bool; + locationMonoTimeDEPRECATED @24 :UInt64; + + # e2e lateral planner + lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; + action @26: Action; + + struct LeadDataV2 { + prob @0 :Float32; # probability that car is your lead at time t + t @1 :Float32; + + # x and y are relative position in device frame + # v is norm relative speed + # a is norm relative acceleration + xyva @2 :List(Float32); + xyvaStd @3 :List(Float32); + } + + struct LeadDataV3 { + prob @0 :Float32; # probability that car is your lead at time t + probTime @1 :Float32; + t @2 :List(Float32); + + # x and y are relative position in device frame + # v absolute norm speed + # a is derivative of v + x @3 :List(Float32); + xStd @4 :List(Float32); + y @5 :List(Float32); + yStd @6 :List(Float32); + v @7 :List(Float32); + vStd @8 :List(Float32); + a @9 :List(Float32); + aStd @10 :List(Float32); + } + + + struct MetaData { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + desireState @5 :List(Float32); + disengagePredictions @6 :DisengagePredictions; + hardBrakePredicted @7 :Bool; + laneChangeState @8 :LaneChangeState; + laneChangeDirection @9 :LaneChangeDirection; + + + # deprecated + brakeDisengageProbDEPRECATED @2 :Float32; + gasDisengageProbDEPRECATED @3 :Float32; + steerOverrideProbDEPRECATED @4 :Float32; + } + + enum ConfidenceClass { + red @0; + yellow @1; + green @2; + } + + struct DisengagePredictions { + t @0 :List(Float32); + brakeDisengageProbs @1 :List(Float32); + gasDisengageProbs @2 :List(Float32); + steerOverrideProbs @3 :List(Float32); + brake3MetersPerSecondSquaredProbs @4 :List(Float32); + brake4MetersPerSecondSquaredProbs @5 :List(Float32); + brake5MetersPerSecondSquaredProbs @6 :List(Float32); + } + + struct Pose { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame + } + + struct LateralPlannerSolution { + x @0 :List(Float32); + y @1 :List(Float32); + yaw @2 :List(Float32); + yawRate @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + yawStd @6 :List(Float32); + yawRateStd @7 :List(Float32); + } + + struct Action { + desiredCurvature @0 :Float32; + } +} + +struct EncodeIndex { + # picture from camera + frameId @0 :UInt32; + type @1 :Type; + # index of encoder from start of route + encodeId @2 :UInt32; + # minute long segment this frame is in + segmentNum @3 :Int32; + # index into camera file in segment in presentation order + segmentId @4 :UInt32; + # index into camera file in segment in encode order + segmentIdEncode @5 :UInt32; + timestampSof @6 :UInt64; + timestampEof @7 :UInt64; + + # encoder metadata + flags @8 :UInt32; + len @9 :UInt32; + + enum Type { + bigBoxLossless @0; + fullHEVC @1; + qcameraH264 @6; + livestreamH264 @7; + + # deprecated + bigBoxHEVCDEPRECATED @2; + chffrAndroidH264DEPRECATED @3; + fullLosslessClipDEPRECATED @4; + frontDEPRECATED @5; + + } +} + +struct AndroidLogEntry { + id @0 :UInt8; + ts @1 :UInt64; + priority @2 :UInt8; + pid @3 :Int32; + tid @4 :Int32; + tag @5 :Text; + message @6 :Text; +} + +struct LongitudinalPlan @0xe00b5b3eba12876c { + modelMonoTime @9 :UInt64; + hasLead @7 :Bool; + fcw @8 :Bool; + longitudinalPlanSource @15 :LongitudinalPlanSource; + processingDelay @29 :Float32; + + # desired speed/accel/jerk over next 2.5s + accels @32 :List(Float32); + speeds @33 :List(Float32); + jerks @34 :List(Float32); + + solverExecutionTime @35 :Float32; + + enum LongitudinalPlanSource { + cruise @0; + lead0 @1; + lead1 @2; + lead2 @3; + e2e @4; + } + + # deprecated + vCruiseDEPRECATED @16 :Float32; + aCruiseDEPRECATED @17 :Float32; + vTargetDEPRECATED @3 :Float32; + vTargetFutureDEPRECATED @14 :Float32; + aTargetDEPRECATED @18 :Float32; + vStartDEPRECATED @26 :Float32; + aStartDEPRECATED @27 :Float32; + vMaxDEPRECATED @20 :Float32; + radarStateMonoTimeDEPRECATED @10 :UInt64; + jerkFactorDEPRECATED @6 :Float32; + hasLeftLaneDEPRECATED @23 :Bool; + hasRightLaneDEPRECATED @24 :Bool; + aTargetMinDEPRECATED @4 :Float32; + aTargetMaxDEPRECATED @5 :Float32; + lateralValidDEPRECATED @0 :Bool; + longitudinalValidDEPRECATED @2 :Bool; + dPolyDEPRECATED @1 :List(Float32); + laneWidthDEPRECATED @11 :Float32; + vCurvatureDEPRECATED @21 :Float32; + decelForTurnDEPRECATED @22 :Bool; + mapValidDEPRECATED @25 :Bool; + radarValidDEPRECATED @28 :Bool; + radarCanErrorDEPRECATED @30 :Bool; + commIssueDEPRECATED @31 :Bool; + eventsDEPRECATED @13 :List(Car.CarEvent); + gpsTrajectoryDEPRECATED @12 :GpsTrajectory; + gpsPlannerActiveDEPRECATED @19 :Bool; + personalityDEPRECATED @36 :LongitudinalPersonality; + + struct GpsTrajectory { + x @0 :List(Float32); + y @1 :List(Float32); + } +} +struct UiPlan { + frameId @2 :UInt32; + position @0 :XYZTData; + accel @1 :List(Float32); +} + +struct LateralPlan @0xe1e9318e2ae8b51e { + modelMonoTime @31 :UInt64; + laneWidthDEPRECATED @0 :Float32; + lProbDEPRECATED @5 :Float32; + rProbDEPRECATED @7 :Float32; + dPathPoints @20 :List(Float32); + dProbDEPRECATED @21 :Float32; + + mpcSolutionValid @9 :Bool; + desire @17 :Desire; + laneChangeState @18 :LaneChangeState; + laneChangeDirection @19 :LaneChangeDirection; + useLaneLines @29 :Bool; + + # desired curvatures over next 2.5s in rad/m + psis @26 :List(Float32); + curvatures @27 :List(Float32); + curvatureRates @28 :List(Float32); + + solverExecutionTime @30 :Float32; + solverCost @32 :Float32; + solverState @33 :SolverState; + + struct SolverState { + x @0 :List(List(Float32)); + u @1 :List(Float32); + } + + # deprecated + curvatureDEPRECATED @22 :Float32; + curvatureRateDEPRECATED @23 :Float32; + rawCurvatureDEPRECATED @24 :Float32; + rawCurvatureRateDEPRECATED @25 :Float32; + cProbDEPRECATED @3 :Float32; + dPolyDEPRECATED @1 :List(Float32); + cPolyDEPRECATED @2 :List(Float32); + lPolyDEPRECATED @4 :List(Float32); + rPolyDEPRECATED @6 :List(Float32); + modelValidDEPRECATED @12 :Bool; + commIssueDEPRECATED @15 :Bool; + posenetValidDEPRECATED @16 :Bool; + sensorValidDEPRECATED @14 :Bool; + paramsValidDEPRECATED @10 :Bool; + steeringAngleDegDEPRECATED @8 :Float32; # deg + steeringRateDegDEPRECATED @13 :Float32; # deg/s + angleOffsetDegDEPRECATED @11 :Float32; +} + +struct LiveLocationKalman { + + # More info on reference frames: + # https://github.com/commaai/openpilot/tree/master/common/transformations + + positionECEF @0 : Measurement; + positionGeodetic @1 : Measurement; + velocityECEF @2 : Measurement; + velocityNED @3 : Measurement; + velocityDevice @4 : Measurement; + accelerationDevice @5: Measurement; + + + # These angles are all eulers and roll, pitch, yaw + # orientationECEF transforms to rot matrix: ecef_from_device + orientationECEF @6 : Measurement; + calibratedOrientationECEF @20 : Measurement; + orientationNED @7 : Measurement; + angularVelocityDevice @8 : Measurement; + + # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated + calibratedOrientationNED @9 : Measurement; + + # Calibrated frame is simply device frame + # aligned with the vehicle + velocityCalibrated @10 : Measurement; + accelerationCalibrated @11 : Measurement; + angularVelocityCalibrated @12 : Measurement; + + gpsWeek @13 :Int32; + gpsTimeOfWeek @14 :Float64; + status @15 :Status; + unixTimestampMillis @16 :Int64; + inputsOK @17 :Bool = true; + posenetOK @18 :Bool = true; + gpsOK @19 :Bool = true; + sensorsOK @21 :Bool = true; + deviceStable @22 :Bool = true; + timeSinceReset @23 :Float64; + excessiveResets @24 :Bool; + timeToFirstFix @25 :Float32; + + filterState @26 : Measurement; + + enum Status { + uninitialized @0; + uncalibrated @1; + valid @2; + } + + struct Measurement { + value @0 : List(Float64); + std @1 : List(Float64); + valid @2 : Bool; + } +} + +struct ProcLog { + cpuTimes @0 :List(CPUTimes); + mem @1 :Mem; + procs @2 :List(Process); + + struct Process { + pid @0 :Int32; + name @1 :Text; + state @2 :UInt8; + ppid @3 :Int32; + + cpuUser @4 :Float32; + cpuSystem @5 :Float32; + cpuChildrenUser @6 :Float32; + cpuChildrenSystem @7 :Float32; + priority @8 :Int64; + nice @9 :Int32; + numThreads @10 :Int32; + startTime @11 :Float64; + + memVms @12 :UInt64; + memRss @13 :UInt64; + + processor @14 :Int32; + + cmdline @15 :List(Text); + exe @16 :Text; + } + + struct CPUTimes { + cpuNum @0 :Int64; + user @1 :Float32; + nice @2 :Float32; + system @3 :Float32; + idle @4 :Float32; + iowait @5 :Float32; + irq @6 :Float32; + softirq @7 :Float32; + } + + struct Mem { + total @0 :UInt64; + free @1 :UInt64; + available @2 :UInt64; + buffers @3 :UInt64; + cached @4 :UInt64; + active @5 :UInt64; + inactive @6 :UInt64; + shared @7 :UInt64; + } +} + +struct GnssMeasurements { + measTime @0 :UInt64; + gpsWeek @1 :Int16; + gpsTimeOfWeek @2 :Float64; + + correctedMeasurements @3 :List(CorrectedMeasurement); + ephemerisStatuses @9 :List(EphemerisStatus); + + kalmanPositionECEF @4 :LiveLocationKalman.Measurement; + kalmanVelocityECEF @5 :LiveLocationKalman.Measurement; + positionECEF @6 :LiveLocationKalman.Measurement; + velocityECEF @7 :LiveLocationKalman.Measurement; + timeToFirstFix @8 :Float32; + # Todo sync this with timing pulse of ublox + + struct EphemerisStatus { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + type @2 :EphemerisType; + source @3 :EphemerisSource; + gpsWeek @4 : UInt16; + tow @5 :Float64; + } + + struct CorrectedMeasurement { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + # Is 0 when not Glonass constellation. + glonassFrequency @2 :Int8; + pseudorange @3 :Float64; + pseudorangeStd @4 :Float64; + pseudorangeRate @5 :Float64; + pseudorangeRateStd @6 :Float64; + # Satellite position and velocity [x,y,z] + satPos @7 :List(Float64); + satVel @8 :List(Float64); + ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED; + } + + struct EphemerisSourceDEPRECATED { + type @0 :EphemerisType; + # first epoch in file: + gpsWeek @1 :Int16; # -1 if Nav + gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs. + } + + enum ConstellationId { + # Satellite Constellation using the Ublox gnssid as index + gps @0; + sbas @1; + galileo @2; + beidou @3; + imes @4; + qznss @5; + glonass @6; + } + + enum EphemerisType { + nav @0; + # Different ultra-rapid files: + nasaUltraRapid @1; + glonassIacUltraRapid @2; + qcom @3; + } + + enum EphemerisSource { + gnssChip @0; + internet @1; + cache @2; + unknown @3; + } +} + +struct UbloxGnss { + union { + measurementReport @0 :MeasurementReport; + ephemeris @1 :Ephemeris; + ionoData @2 :IonoData; + hwStatus @3 :HwStatus; + hwStatus2 @4 :HwStatus2; + glonassEphemeris @5 :GlonassEphemeris; + satReport @6 :SatReport; + } + + struct SatReport { + #received time of week in gps time in seconds and gps week + iTow @0 :UInt32; + svs @1 :List(SatInfo); + + struct SatInfo { + svId @0 :UInt8; + gnssId @1 :UInt8; + flagsBitfield @2 :UInt32; + } + } + + struct MeasurementReport { + #received time of week in gps time in seconds and gps week + rcvTow @0 :Float64; + gpsWeek @1 :UInt16; + # leap seconds in seconds + leapSeconds @2 :UInt16; + # receiver status + receiverStatus @3 :ReceiverStatus; + # num of measurements to follow + numMeas @4 :UInt8; + measurements @5 :List(Measurement); + + struct ReceiverStatus { + # leap seconds have been determined + leapSecValid @0 :Bool; + # Clock reset applied + clkReset @1 :Bool; + } + + struct Measurement { + svId @0 :UInt8; + trackingStatus @1 :TrackingStatus; + # pseudorange in meters + pseudorange @2 :Float64; + # carrier phase measurement in cycles + carrierCycles @3 :Float64; + # doppler measurement in Hz + doppler @4 :Float32; + # GNSS id, 0 is gps + gnssId @5 :UInt8; + glonassFrequencyIndex @6 :UInt8; + # carrier phase locktime counter in ms + locktime @7 :UInt16; + # Carrier-to-noise density ratio (signal strength) in dBHz + cno @8 :UInt8; + # pseudorange standard deviation in meters + pseudorangeStdev @9 :Float32; + # carrier phase standard deviation in cycles + carrierPhaseStdev @10 :Float32; + # doppler standard deviation in Hz + dopplerStdev @11 :Float32; + sigId @12 :UInt8; + + struct TrackingStatus { + # pseudorange valid + pseudorangeValid @0 :Bool; + # carrier phase valid + carrierPhaseValid @1 :Bool; + # half cycle valid + halfCycleValid @2 :Bool; + # half cycle subtracted from phase + halfCycleSubtracted @3 :Bool; + } + } + } + + struct Ephemeris { + # This is according to the rinex (2?) format + svId @0 :UInt16; + year @1 :UInt16; + month @2 :UInt16; + day @3 :UInt16; + hour @4 :UInt16; + minute @5 :UInt16; + second @6 :Float32; + af0 @7 :Float64; + af1 @8 :Float64; + af2 @9 :Float64; + + iode @10 :Float64; + crs @11 :Float64; + deltaN @12 :Float64; + m0 @13 :Float64; + + cuc @14 :Float64; + ecc @15 :Float64; + cus @16 :Float64; + a @17 :Float64; # note that this is not the root!! + + toe @18 :Float64; + cic @19 :Float64; + omega0 @20 :Float64; + cis @21 :Float64; + + i0 @22 :Float64; + crc @23 :Float64; + omega @24 :Float64; + omegaDot @25 :Float64; + + iDot @26 :Float64; + codesL2 @27 :Float64; + gpsWeekDEPRECATED @28 :Float64; + l2 @29 :Float64; + + svAcc @30 :Float64; + svHealth @31 :Float64; + tgd @32 :Float64; + iodc @33 :Float64; + + transmissionTime @34 :Float64; + fitInterval @35 :Float64; + + toc @36 :Float64; + + ionoCoeffsValid @37 :Bool; + ionoAlpha @38 :List(Float64); + ionoBeta @39 :List(Float64); + + towCount @40 :UInt32; + toeWeek @41 :UInt16; + tocWeek @42 :UInt16; + } + + struct IonoData { + svHealth @0 :UInt32; + tow @1 :Float64; + gpsWeek @2 :Float64; + + ionoAlpha @3 :List(Float64); + ionoBeta @4 :List(Float64); + + healthValid @5 :Bool; + ionoCoeffsValid @6 :Bool; + } + + struct HwStatus { + noisePerMS @0 :UInt16; + agcCnt @1 :UInt16; + aStatus @2 :AntennaSupervisorState; + aPower @3 :AntennaPowerStatus; + jamInd @4 :UInt8; + flags @5 :UInt8; + + enum AntennaSupervisorState { + init @0; + dontknow @1; + ok @2; + short @3; + open @4; + } + + enum AntennaPowerStatus { + off @0; + on @1; + dontknow @2; + } + } + + struct HwStatus2 { + ofsI @0 :Int8; + magI @1 :UInt8; + ofsQ @2 :Int8; + magQ @3 :UInt8; + cfgSource @4 :ConfigSource; + lowLevCfg @5 :UInt32; + postStatus @6 :UInt32; + + enum ConfigSource { + undefined @0; + rom @1; + otp @2; + configpins @3; + flash @4; + } + } + + struct GlonassEphemeris { + svId @0 :UInt16; + year @1 :UInt16; + dayInYear @2 :UInt16; + hour @3 :UInt16; + minute @4 :UInt16; + second @5 :Float32; + + x @6 :Float64; + xVel @7 :Float64; + xAccel @8 :Float64; + y @9 :Float64; + yVel @10 :Float64; + yAccel @11 :Float64; + z @12 :Float64; + zVel @13 :Float64; + zAccel @14 :Float64; + + svType @15 :UInt8; + svURA @16 :Float32; + age @17 :UInt8; + + svHealth @18 :UInt8; + tkDEPRECATED @19 :UInt16; + tb @20 :UInt16; + + tauN @21 :Float64; + deltaTauN @22 :Float64; + gammaN @23 :Float64; + + p1 @24 :UInt8; + p2 @25 :UInt8; + p3 @26 :UInt8; + p4 @27 :UInt8; + + freqNumDEPRECATED @28 :UInt32; + + n4 @29 :UInt8; + nt @30 :UInt16; + freqNum @31 :Int16; + tkSeconds @32 :UInt32; + } +} + +struct QcomGnss @0xde94674b07ae51c1 { + logTs @0 :UInt64; + union { + measurementReport @1 :MeasurementReport; + clockReport @2 :ClockReport; + drMeasurementReport @3 :DrMeasurementReport; + drSvPoly @4 :DrSvPolyReport; + rawLog @5 :Data; + } + + enum MeasurementSource @0xd71a12b6faada7ee { + gps @0; + glonass @1; + beidou @2; + unknown3 @3; + unknown4 @4; + unknown5 @5; + sbas @6; + } + + enum SVObservationState @0xe81e829a0d6c83e9 { + idle @0; + search @1; + searchVerify @2; + bitEdge @3; + trackVerify @4; + track @5; + restart @6; + dpo @7; + glo10msBe @8; + glo10msAt @9; + } + + struct MeasurementStatus @0xe501010e1bcae83b { + subMillisecondIsValid @0 :Bool; + subBitTimeIsKnown @1 :Bool; + satelliteTimeIsKnown @2 :Bool; + bitEdgeConfirmedFromSignal @3 :Bool; + measuredVelocity @4 :Bool; + fineOrCoarseVelocity @5 :Bool; + lockPointValid @6 :Bool; + lockPointPositive @7 :Bool; + lastUpdateFromDifference @8 :Bool; + lastUpdateFromVelocityDifference @9 :Bool; + strongIndicationOfCrossCorelation @10 :Bool; + tentativeMeasurement @11 :Bool; + measurementNotUsable @12 :Bool; + sirCheckIsNeeded @13 :Bool; + probationMode @14 :Bool; + + glonassMeanderBitEdgeValid @15 :Bool; + glonassTimeMarkValid @16 :Bool; + + gpsRoundRobinRxDiversity @17 :Bool; + gpsRxDiversity @18 :Bool; + gpsLowBandwidthRxDiversityCombined @19 :Bool; + gpsHighBandwidthNu4 @20 :Bool; + gpsHighBandwidthNu8 @21 :Bool; + gpsHighBandwidthUniform @22 :Bool; + multipathIndicator @23 :Bool; + + imdJammingIndicator @24 :Bool; + lteB13TxJammingIndicator @25 :Bool; + freshMeasurementIndicator @26 :Bool; + + multipathEstimateIsValid @27 :Bool; + directionIsValid @28 :Bool; + } + + struct MeasurementReport @0xf580d7d86b7b8692 { + source @0 :MeasurementSource; + + fCount @1 :UInt32; + + gpsWeek @2 :UInt16; + glonassCycleNumber @3 :UInt8; + glonassNumberOfDays @4 :UInt16; + + milliseconds @5 :UInt32; + timeBias @6 :Float32; + clockTimeUncertainty @7 :Float32; + clockFrequencyBias @8 :Float32; + clockFrequencyUncertainty @9 :Float32; + + sv @10 :List(SV); + + struct SV @0xf10c595ae7bb2c27 { + svId @0 :UInt8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + gpsParityErrorCount @5 :UInt16; + glonassFrequencyIndex @1 :Int8; + glonassHemmingErrorCount @6 :UInt8; + filterStages @7 :UInt8; + carrierNoise @8 :UInt16; + latency @9 :Int16; + predetectInterval @10 :UInt8; + postdetections @11 :UInt16; + + unfilteredMeasurementIntegral @12 :UInt32; + unfilteredMeasurementFraction @13 :Float32; + unfilteredTimeUncertainty @14 :Float32; + unfilteredSpeed @15 :Float32; + unfilteredSpeedUncertainty @16 :Float32; + measurementStatus @17 :MeasurementStatus; + multipathEstimate @18 :UInt32; + azimuth @19 :Float32; + elevation @20 :Float32; + carrierPhaseCyclesIntegral @21 :Int32; + carrierPhaseCyclesFraction @22 :UInt16; + fineSpeed @23 :Float32; + fineSpeedUncertainty @24 :Float32; + cycleSlipCount @25 :UInt8; + } + + } + + struct ClockReport @0xca965e4add8f4f0b { + hasFCount @0 :Bool; + fCount @1 :UInt32; + + hasGpsWeek @2 :Bool; + gpsWeek @3 :UInt16; + hasGpsMilliseconds @4 :Bool; + gpsMilliseconds @5 :UInt32; + gpsTimeBias @6 :Float32; + gpsClockTimeUncertainty @7 :Float32; + gpsClockSource @8 :UInt8; + + hasGlonassYear @9 :Bool; + glonassYear @10 :UInt8; + hasGlonassDay @11 :Bool; + glonassDay @12 :UInt16; + hasGlonassMilliseconds @13 :Bool; + glonassMilliseconds @14 :UInt32; + glonassTimeBias @15 :Float32; + glonassClockTimeUncertainty @16 :Float32; + glonassClockSource @17 :UInt8; + + bdsWeek @18 :UInt16; + bdsMilliseconds @19 :UInt32; + bdsTimeBias @20 :Float32; + bdsClockTimeUncertainty @21 :Float32; + bdsClockSource @22 :UInt8; + + galWeek @23 :UInt16; + galMilliseconds @24 :UInt32; + galTimeBias @25 :Float32; + galClockTimeUncertainty @26 :Float32; + galClockSource @27 :UInt8; + + clockFrequencyBias @28 :Float32; + clockFrequencyUncertainty @29 :Float32; + frequencySource @30 :UInt8; + gpsLeapSeconds @31 :UInt8; + gpsLeapSecondsUncertainty @32 :UInt8; + gpsLeapSecondsSource @33 :UInt8; + + gpsToGlonassTimeBiasMilliseconds @34 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32; + gpsToBdsTimeBiasMilliseconds @36 :Float32; + gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32; + bdsToGloTimeBiasMilliseconds @38 :Float32; + bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32; + gpsToGalTimeBiasMilliseconds @40 :Float32; + gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32; + galToGloTimeBiasMilliseconds @42 :Float32; + galToGloTimeBiasMillisecondsUncertainty @43 :Float32; + galToBdsTimeBiasMilliseconds @44 :Float32; + galToBdsTimeBiasMillisecondsUncertainty @45 :Float32; + + hasRtcTime @46 :Bool; + systemRtcTime @47 :UInt32; + fCountOffset @48 :UInt32; + lpmRtcCount @49 :UInt32; + clockResets @50 :UInt32; + } + + struct DrMeasurementReport @0x8053c39445c6c75c { + + reason @0 :UInt8; + seqNum @1 :UInt8; + seqMax @2 :UInt8; + rfLoss @3 :UInt16; + + systemRtcValid @4 :Bool; + fCount @5 :UInt32; + clockResets @6 :UInt32; + systemRtcTime @7 :UInt64; + + gpsLeapSeconds @8 :UInt8; + gpsLeapSecondsUncertainty @9 :UInt8; + gpsToGlonassTimeBiasMilliseconds @10 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32; + + gpsWeek @12 :UInt16; + gpsMilliseconds @13 :UInt32; + gpsTimeBiasMs @14 :UInt32; + gpsClockTimeUncertaintyMs @15 :UInt32; + gpsClockSource @16 :UInt8; + + glonassClockSource @17 :UInt8; + glonassYear @18 :UInt8; + glonassDay @19 :UInt16; + glonassMilliseconds @20 :UInt32; + glonassTimeBias @21 :Float32; + glonassClockTimeUncertainty @22 :Float32; + + clockFrequencyBias @23 :Float32; + clockFrequencyUncertainty @24 :Float32; + frequencySource @25 :UInt8; + + source @26 :MeasurementSource; + + sv @27 :List(SV); + + struct SV @0xf08b81df8cbf459c { + svId @0 :UInt8; + glonassFrequencyIndex @1 :Int8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + filterStages @5 :UInt8; + predetectInterval @6 :UInt8; + cycleSlipCount @7 :UInt8; + postdetections @8 :UInt16; + + measurementStatus @9 :MeasurementStatus; + + carrierNoise @10 :UInt16; + rfLoss @11 :UInt16; + latency @12 :Int16; + + filteredMeasurementFraction @13 :Float32; + filteredMeasurementIntegral @14 :UInt32; + filteredTimeUncertainty @15 :Float32; + filteredSpeed @16 :Float32; + filteredSpeedUncertainty @17 :Float32; + + unfilteredMeasurementFraction @18 :Float32; + unfilteredMeasurementIntegral @19 :UInt32; + unfilteredTimeUncertainty @20 :Float32; + unfilteredSpeed @21 :Float32; + unfilteredSpeedUncertainty @22 :Float32; + + multipathEstimate @23 :UInt32; + azimuth @24 :Float32; + elevation @25 :Float32; + dopplerAcceleration @26 :Float32; + fineSpeed @27 :Float32; + fineSpeedUncertainty @28 :Float32; + + carrierPhase @29 :Float64; + fCount @30 :UInt32; + + parityErrorCount @31 :UInt16; + goodParity @32 :Bool; + } + } + + struct DrSvPolyReport @0xb1fb80811a673270 { + svId @0 :UInt16; + frequencyIndex @1 :Int8; + + hasPosition @2 :Bool; + hasIono @3 :Bool; + hasTropo @4 :Bool; + hasElevation @5 :Bool; + polyFromXtra @6 :Bool; + hasSbasIono @7 :Bool; + + iode @8 :UInt16; + t0 @9 :Float64; + xyz0 @10 :List(Float64); + xyzN @11 :List(Float64); + other @12 :List(Float32); + + positionUncertainty @13 :Float32; + ionoDelay @14 :Float32; + ionoDot @15 :Float32; + sbasIonoDelay @16 :Float32; + sbasIonoDot @17 :Float32; + tropoDelay @18 :Float32; + elevation @19 :Float32; + elevationDot @20 :Float32; + elevationUncertainty @21 :Float32; + velocityCoeff @22 :List(Float64); + + gpsWeek @23 :UInt16; + gpsTow @24 :Float64; + } +} + +struct Clocks { + wallTimeNanos @3 :UInt64; # unix epoch time + + bootTimeNanosDEPRECATED @0 :UInt64; + monotonicNanosDEPRECATED @1 :UInt64; + monotonicRawNanosDEPRECATD @2 :UInt64; + modemUptimeMillisDEPRECATED @4 :UInt64; +} + +struct LiveMpcData { + x @0 :List(Float32); + y @1 :List(Float32); + psi @2 :List(Float32); + curvature @3 :List(Float32); + qpIterations @4 :UInt32; + calculationTime @5 :UInt64; + cost @6 :Float64; +} + +struct LiveLongitudinalMpcData { + xEgo @0 :List(Float32); + vEgo @1 :List(Float32); + aEgo @2 :List(Float32); + xLead @3 :List(Float32); + vLead @4 :List(Float32); + aLead @5 :List(Float32); + aLeadTau @6 :Float32; # lead accel time constant + qpIterations @7 :UInt32; + mpcId @8 :UInt32; + calculationTime @9 :UInt64; + cost @10 :Float64; +} + +struct Joystick { + # convenient for debug and live tuning + axes @0: List(Float32); + buttons @1: List(Bool); +} + +struct DriverStateV2 { + frameId @0 :UInt32; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + rawPredictions @3 :Data; + + poorVisionProb @4 :Float32; + wheelOnRightProb @5 :Float32; + + leftDriverData @6 :DriverData; + rightDriverData @7 :DriverData; + + struct DriverData { + faceOrientation @0 :List(Float32); + faceOrientationStd @1 :List(Float32); + facePosition @2 :List(Float32); + facePositionStd @3 :List(Float32); + faceProb @4 :Float32; + leftEyeProb @5 :Float32; + rightEyeProb @6 :Float32; + leftBlinkProb @7 :Float32; + rightBlinkProb @8 :Float32; + sunglassesProb @9 :Float32; + occludedProb @10 :Float32; + readyProb @11 :List(Float32); + notReadyProb @12 :List(Float32); + } +} + +struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { + frameId @0 :UInt32; + modelExecutionTime @14 :Float32; + dspExecutionTime @16 :Float32; + rawPredictions @15 :Data; + + faceOrientation @3 :List(Float32); + facePosition @4 :List(Float32); + faceProb @5 :Float32; + leftEyeProb @6 :Float32; + rightEyeProb @7 :Float32; + leftBlinkProb @8 :Float32; + rightBlinkProb @9 :Float32; + faceOrientationStd @11 :List(Float32); + facePositionStd @12 :List(Float32); + sunglassesProb @13 :Float32; + poorVision @17 :Float32; + partialFace @18 :Float32; + distractedPose @19 :Float32; + distractedEyes @20 :Float32; + eyesOnRoad @21 :Float32; + phoneUse @22 :Float32; + occludedProb @23 :Float32; + + readyProb @24 :List(Float32); + notReadyProb @25 :List(Float32); + + irPwrDEPRECATED @10 :Float32; + descriptorDEPRECATED @1 :List(Float32); + stdDEPRECATED @2 :Float32; +} + +struct DriverMonitoringState @0xb83cda094a1da284 { + events @0 :List(Car.CarEvent); + faceDetected @1 :Bool; + isDistracted @2 :Bool; + distractedType @17 :UInt32; + awarenessStatus @3 :Float32; + posePitchOffset @6 :Float32; + posePitchValidCount @7 :UInt32; + poseYawOffset @8 :Float32; + poseYawValidCount @9 :UInt32; + stepChange @10 :Float32; + awarenessActive @11 :Float32; + awarenessPassive @12 :Float32; + isLowStd @13 :Bool; + hiStdCount @14 :UInt32; + isActiveMode @16 :Bool; + isRHD @4 :Bool; + + isPreviewDEPRECATED @15 :Bool; + rhdCheckedDEPRECATED @5 :Bool; +} + +struct Boot { + wallTimeNanos @0 :UInt64; + pstore @4 :Map(Text, Data); + commands @5 :Map(Text, Data); + launchLog @3 :Text; + + lastKmsgDEPRECATED @1 :Data; + lastPmsgDEPRECATED @2 :Data; +} + +struct LiveParametersData { + valid @0 :Bool; + gyroBias @1 :Float32; + angleOffsetDeg @2 :Float32; + angleOffsetAverageDeg @3 :Float32; + stiffnessFactor @4 :Float32; + steerRatio @5 :Float32; + sensorValid @6 :Bool; + posenetSpeed @8 :Float32; + posenetValid @9 :Bool; + angleOffsetFastStd @10 :Float32; + angleOffsetAverageStd @11 :Float32; + stiffnessFactorStd @12 :Float32; + steerRatioStd @13 :Float32; + roll @14 :Float32; + filterState @15 :LiveLocationKalman.Measurement; + + yawRateDEPRECATED @7 :Float32; +} + +struct LiveTorqueParametersData { + liveValid @0 :Bool; + latAccelFactorRaw @1 :Float32; + latAccelOffsetRaw @2 :Float32; + frictionCoefficientRaw @3 :Float32; + latAccelFactorFiltered @4 :Float32; + latAccelOffsetFiltered @5 :Float32; + frictionCoefficientFiltered @6 :Float32; + totalBucketPoints @7 :Float32; + decay @8 :Float32; + maxResets @9 :Float32; + points @10 :List(List(Float32)); + version @11 :Int32; + useParams @12 :Bool; +} + +struct LiveMapDataDEPRECATED { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedAdvisoryValid @12 :Bool; + speedAdvisory @13 :Float32; + speedLimitAheadValid @14 :Bool; + speedLimitAhead @15 :Float32; + speedLimitAheadDistance @16 :Float32; + curvatureValid @2 :Bool; + curvature @3 :Float32; + wayId @4 :UInt64; + roadX @5 :List(Float32); + roadY @6 :List(Float32); + lastGps @7: GpsLocationData; + roadCurvatureX @8 :List(Float32); + roadCurvature @9 :List(Float32); + distToTurn @10 :Float32; + mapValid @11 :Bool; +} + +struct CameraOdometry { + frameId @4 :UInt32; + timestampEof @5 :UInt64; + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame + wideFromDeviceEuler @6 :List(Float32); + wideFromDeviceEulerStd @7 :List(Float32); + roadTransformTrans @8 :List(Float32); + roadTransformTransStd @9 :List(Float32); +} + +struct Sentinel { + enum SentinelType { + endOfSegment @0; + endOfRoute @1; + startOfSegment @2; + startOfRoute @3; + } + type @0 :SentinelType; + signal @1 :Int32; +} + +struct UIDebug { + drawTimeMillis @0 :Float32; +} + +struct ManagerState { + processes @0 :List(ProcessState); + + struct ProcessState { + name @0 :Text; + pid @1 :Int32; + running @2 :Bool; + shouldBeRunning @4 :Bool; + exitCode @3 :Int32; + } +} + +struct UploaderState { + immediateQueueSize @0 :UInt32; + immediateQueueCount @1 :UInt32; + rawQueueSize @2 :UInt32; + rawQueueCount @3 :UInt32; + + # stats for last successfully uploaded file + lastTime @4 :Float32; # s + lastSpeed @5 :Float32; # MB/s + lastFilename @6 :Text; +} + +struct NavInstruction { + maneuverPrimaryText @0 :Text; + maneuverSecondaryText @1 :Text; + maneuverDistance @2 :Float32; # m + maneuverType @3 :Text; # TODO: Make Enum + maneuverModifier @4 :Text; # TODO: Make Enum + + distanceRemaining @5 :Float32; # m + timeRemaining @6 :Float32; # s + timeRemainingTypical @7 :Float32; # s + + lanes @8 :List(Lane); + showFull @9 :Bool; + + speedLimit @10 :Float32; # m/s + speedLimitSign @11 :SpeedLimitSign; + + allManeuvers @12 :List(Maneuver); + + struct Lane { + directions @0 :List(Direction); + active @1 :Bool; + activeDirection @2 :Direction; + } + + enum Direction { + none @0; + left @1; + right @2; + straight @3; + slightLeft @4; + slightRight @5; + } + + enum SpeedLimitSign { + mutcd @0; # US Style + vienna @1; # EU Style + } + + struct Maneuver { + distance @0 :Float32; + type @1 :Text; + modifier @2 :Text; + } +} + +struct NavRoute { + coordinates @0 :List(Coordinate); + + struct Coordinate { + latitude @0 :Float32; + longitude @1 :Float32; + } +} + +struct MapRenderState { + locationMonoTime @0 :UInt64; + renderTime @1 :Float32; + frameId @2: UInt32; +} + +struct NavModelData { + frameId @0 :UInt32; + locationMonoTime @6 :UInt64; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + features @3 :List(Float32); + # predicted future position + position @4 :XYData; + desirePrediction @5 :List(Float32); + + # All SI units and in device frame + struct XYData { + x @0 :List(Float32); + y @1 :List(Float32); + xStd @2 :List(Float32); + yStd @3 :List(Float32); + } +} + +struct EncodeData { + idx @0 :EncodeIndex; + data @1 :Data; + header @2 :Data; + unixTimestampNanos @3 :UInt64; + width @4 :UInt32; + height @5 :UInt32; +} + +struct UserFlag { +} + +struct Microphone { + soundPressure @0 :Float32; + + # uncalibrated, A-weighted + soundPressureWeighted @3 :Float32; + soundPressureWeightedDb @1 :Float32; + filteredSoundPressureWeightedDb @2 :Float32; +} + +struct Event { + logMonoTime @0 :UInt64; # nanoseconds + valid @67 :Bool = true; + + union { + # *********** log metadata *********** + initData @1 :InitData; + sentinel @73 :Sentinel; + + # *********** bootlog *********** + boot @60 :Boot; + + # ********** openpilot daemon msgs ********** + gpsNMEA @3 :GPSNMEAData; + can @5 :List(CanData); + controlsState @7 :ControlsState; + gyroscope @99 :SensorEventData; + gyroscope2 @100 :SensorEventData; + accelerometer @98 :SensorEventData; + accelerometer2 @101 :SensorEventData; + magnetometer @95 :SensorEventData; + lightSensor @96 :SensorEventData; + temperatureSensor @97 :SensorEventData; + temperatureSensor2 @123 :SensorEventData; + pandaStates @81 :List(PandaState); + peripheralState @80 :PeripheralState; + radarState @13 :RadarState; + liveTracks @16 :List(LiveTracks); + sendcan @17 :List(CanData); + liveCalibration @19 :LiveCalibrationData; + carState @22 :Car.CarState; + carControl @23 :Car.CarControl; + carOutput @127 :Car.CarOutput; + longitudinalPlan @24 :LongitudinalPlan; + ubloxGnss @34 :UbloxGnss; + ubloxRaw @39 :Data; + qcomGnss @31 :QcomGnss; + gpsLocationExternal @48 :GpsLocationData; + gpsLocation @21 :GpsLocationData; + gnssMeasurements @91 :GnssMeasurements; + liveParameters @61 :LiveParametersData; + liveTorqueParameters @94 :LiveTorqueParametersData; + cameraOdometry @63 :CameraOdometry; + thumbnail @66: Thumbnail; + onroadEvents @68: List(Car.CarEvent); + carParams @69: Car.CarParams; + driverMonitoringState @71: DriverMonitoringState; + liveLocationKalman @72 :LiveLocationKalman; + modelV2 @75 :ModelDataV2; + driverStateV2 @92 :DriverStateV2; + + # camera stuff, each camera state has a matching encode idx + roadCameraState @2 :FrameData; + driverCameraState @70: FrameData; + wideRoadCameraState @74: FrameData; + roadEncodeIdx @15 :EncodeIndex; + driverEncodeIdx @76 :EncodeIndex; + wideRoadEncodeIdx @77 :EncodeIndex; + qRoadEncodeIdx @90 :EncodeIndex; + + livestreamRoadEncodeIdx @117 :EncodeIndex; + livestreamWideRoadEncodeIdx @118 :EncodeIndex; + livestreamDriverEncodeIdx @119 :EncodeIndex; + + # microphone data + microphone @103 :Microphone; + + # systems stuff + androidLog @20 :AndroidLogEntry; + managerState @78 :ManagerState; + uploaderState @79 :UploaderState; + procLog @33 :ProcLog; + clocks @35 :Clocks; + deviceState @6 :DeviceState; + logMessage @18 :Text; + errorLogMessage @85 :Text; + + # navigation + navInstruction @82 :NavInstruction; + navRoute @83 :NavRoute; + navThumbnail @84: Thumbnail; + mapRenderState @105: MapRenderState; + + # UI services + userFlag @93 :UserFlag; + uiDebug @102 :UIDebug; + + # *********** debug *********** + testJoystick @52 :Joystick; + roadEncodeData @86 :EncodeData; + driverEncodeData @87 :EncodeData; + wideRoadEncodeData @88 :EncodeData; + qRoadEncodeData @89 :EncodeData; + + livestreamRoadEncodeData @120 :EncodeData; + livestreamWideRoadEncodeData @121 :EncodeData; + livestreamDriverEncodeData @122 :EncodeData; + + customReservedRawData0 @124 :Data; + customReservedRawData1 @125 :Data; + customReservedRawData2 @126 :Data; + + # *********** Custom: reserved for forks *********** + customReserved0 @107 :Custom.CustomReserved0; + customReserved1 @108 :Custom.CustomReserved1; + customReserved2 @109 :Custom.CustomReserved2; + customReserved3 @110 :Custom.CustomReserved3; + customReserved4 @111 :Custom.CustomReserved4; + customReserved5 @112 :Custom.CustomReserved5; + customReserved6 @113 :Custom.CustomReserved6; + customReserved7 @114 :Custom.CustomReserved7; + customReserved8 @115 :Custom.CustomReserved8; + customReserved9 @116 :Custom.CustomReserved9; + + # *********** legacy + deprecated *********** + model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated + liveMpcDEPRECATED @36 :LiveMpcData; + liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData; + liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData; + orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection; + liveUIDEPRECATED @14 :Legacy.LiveUI; + sensorEventDEPRECATED @4 :SensorEventData; + liveEventDEPRECATED @8 :List(Legacy.LiveEventData); + liveLocationDEPRECATED @25 :Legacy.LiveLocationData; + ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket); + cellInfoDEPRECATED @28 :List(Legacy.CellInfo); + wifiScanDEPRECATED @29 :List(Legacy.WifiScan); + uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent; + liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED; + gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints; + gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan; + applanixRawDEPRECATED @42 :Data; + androidGnssDEPRECATED @30 :Legacy.AndroidGnss; + lidarPtsDEPRECATED @32 :Legacy.LidarPts; + navStatusDEPRECATED @38 :Legacy.NavStatus; + trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent); + liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData; + liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData; + navUpdateDEPRECATED @27 :Legacy.NavUpdate; + orbObservationDEPRECATED @47 :List(Legacy.OrbObservation); + locationDEPRECATED @49 :Legacy.LiveLocationData; + orbOdometryDEPRECATED @53 :Legacy.OrbOdometry; + orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures; + applanixLocationDEPRECATED @55 :Legacy.LiveLocationData; + orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame; + orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary; + featuresDEPRECATED @10 :Legacy.CalibrationFeatures; + kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry; + uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState; + pandaStateDEPRECATED @12 :PandaState; + driverStateDEPRECATED @59 :DriverStateDEPRECATED; + sensorEventsDEPRECATED @11 :List(SensorEventData); + lateralPlanDEPRECATED @64 :LateralPlan; + navModelDEPRECATED @104 :NavModelData; + uiPlanDEPRECATED @106 :UiPlan; + } +} diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp new file mode 100644 index 000000000..c8a23a182 --- /dev/null +++ b/cereal/maptile.capnp @@ -0,0 +1,49 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xa086df597ef5d7a0; + +# Geometry +struct Point { + x @0: Float64; + y @1: Float64; + z @2: Float64; +} + +struct PolyLine { + points @0: List(Point); +} + +# Map features +struct Lane { + id @0 :Text; + + leftBoundary @1 :LaneBoundary; + rightBoundary @2 :LaneBoundary; + + leftAdjacentId @3 :Text; + rightAdjacentId @4 :Text; + + inboundIds @5 :List(Text); + outboundIds @6 :List(Text); + + struct LaneBoundary { + polyLine @0 :PolyLine; + startHeading @1 :Float32; # WRT north + } +} + +# Map tiles +struct TileSummary { + version @0 :Text; + updatedAt @1 :UInt64; # Millis since epoch + + level @2 :UInt8; + x @3 :UInt16; + y @4 :UInt16; +} + +struct MapTile { + summary @0 :TileSummary; + lanes @1 :List(Lane); +} diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore new file mode 100644 index 000000000..dbbe8e22a --- /dev/null +++ b/cereal/messaging/.gitignore @@ -0,0 +1,10 @@ +demo +bridge +test_runner +*.o +*.os +*.d +*.a +*.so +messaging_pyx.cpp +build/ diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py new file mode 100644 index 000000000..4ba55cf7b --- /dev/null +++ b/cereal/messaging/__init__.py @@ -0,0 +1,252 @@ +# must be built with scons +from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ + set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event +from msgq.ipc_pyx import MultiplePublishersError, IpcError +from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context + +import os +import capnp +import time + +from typing import Optional, List, Union, Dict, Deque +from collections import deque + +from cereal import log +from cereal.services import SERVICE_LIST + +NO_TRAVERSAL_LIMIT = 2**64-1 + + +def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader: + with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: + return msg + + +def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder: + args = { + 'valid': False, + 'logMonoTime': int(time.monotonic() * 1e9), + **kwargs + } + dat = log.Event.new_message(**args) + if service is not None: + if size is None: + dat.init(service) + else: + dat.init(service, size) + return dat + + +def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]: + """Receive all message currently available on the queue""" + msgs = drain_sock_raw(sock, wait_for_one=wait_for_one) + return [log_from_bytes(m) for m in msgs] + + +# TODO: print when we drop packets? +def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]: + """Same as drain sock, but only returns latest message. Consider using conflate instead.""" + dat = None + + while 1: + if wait and dat is None: + recv = sock.receive() + else: + recv = sock.receive(non_blocking=True) + + if recv is None: # Timeout hit + break + + dat = recv + + if dat is not None: + dat = log_from_bytes(dat) + + return dat + + +def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive() + if dat is not None: + dat = log_from_bytes(dat) + return dat + + +def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive(non_blocking=True) + if dat is not None: + dat = log_from_bytes(dat) + return dat + + +def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader: + """Keep receiving until we get a message""" + while True: + dat = sock.receive() + if dat is not None: + return log_from_bytes(dat) + + +class SubMaster: + def __init__(self, services: List[str], poll: Optional[str] = None, + ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None, + ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None): + self.frame = -1 + self.seen = {s: False for s in services} + self.updated = {s: False for s in services} + self.recv_time = {s: 0. for s in services} + self.recv_frame = {s: 0 for s in services} + self.alive = {s: False for s in services} + self.freq_ok = {s: False for s in services} + self.recv_dts: Dict[str, Deque[float]] = {} + self.sock = {} + self.data = {} + self.valid = {} + self.logMonoTime = {} + + self.max_freq = {} + self.min_freq = {} + + self.poller = Poller() + polled_services = set([poll, ] if poll is not None else services) + self.non_polled_services = set(services) - polled_services + + self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq + self.ignore_alive = [] if ignore_alive is None else ignore_alive + self.ignore_valid = [] if ignore_valid is None else ignore_valid + + self.simulation = bool(int(os.getenv("SIMULATION", "0"))) + + # if freq and poll aren't specified, assume the max to be conservative + assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used." + self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services]) + + for s in services: + p = self.poller if s not in self.non_polled_services else None + self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True) + + try: + data = new_message(s) + except capnp.lib.capnp.KjException: + data = new_message(s, 0) # lists + + self.data[s] = getattr(data.as_reader(), s) + self.logMonoTime[s] = 0 + self.valid[s] = True # FIXME: this should default to False + + freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.) + if s == poll: + max_freq = freq + min_freq = freq + else: + max_freq = min(freq, self.update_freq) + if SERVICE_LIST[s].frequency >= 2*self.update_freq: + min_freq = self.update_freq + elif self.update_freq >= 2*SERVICE_LIST[s].frequency: + min_freq = freq + else: + min_freq = min(freq, freq / 2.) + self.max_freq[s] = max_freq*1.2 + self.min_freq[s] = min_freq*0.8 + self.recv_dts[s] = deque(maxlen=int(10*freq)) + + def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader: + return self.data[s] + + def _check_avg_freq(self, s: str) -> bool: + return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive) + + def update(self, timeout: int = 100) -> None: + msgs = [] + for sock in self.poller.poll(timeout): + msgs.append(recv_one_or_none(sock)) + + # non-blocking receive for non-polled sockets + for s in self.non_polled_services: + msgs.append(recv_one_or_none(self.sock[s])) + self.update_msgs(time.monotonic(), msgs) + + def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None: + self.frame += 1 + self.updated = dict.fromkeys(self.updated, False) + for msg in msgs: + if msg is None: + continue + + s = msg.which() + self.seen[s] = True + self.updated[s] = True + + if self.recv_time[s] > 1e-5: + self.recv_dts[s].append(cur_time - self.recv_time[s]) + self.recv_time[s] = cur_time + self.recv_frame[s] = self.frame + self.data[s] = getattr(msg, s) + self.logMonoTime[s] = msg.logMonoTime + self.valid[s] = msg.valid + + for s in self.data: + if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation: + # alive if delay is within 10x the expected frequency + self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) + + # check average frequency; slow to fall, quick to recover + dts = self.recv_dts[s] + assert dts.maxlen is not None + recent_dts = list(dts)[-int(dts.maxlen / 10):] + try: + avg_freq = 1 / (sum(dts) / len(dts)) + avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts)) + except ZeroDivisionError: + avg_freq = 0 + avg_freq_recent = 0 + + avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s] + recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s] + self.freq_ok[s] = avg_freq_ok or recent_freq_ok + else: + self.freq_ok[s] = True + if self.simulation: + self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set + else: + self.alive[s] = True + + def all_alive(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.alive[s] for s in service_list if s not in self.ignore_alive) + + def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s)) + + def all_valid(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.valid[s] for s in service_list if s not in self.ignore_valid) + + def all_checks(self, service_list: Optional[List[str]] = None) -> bool: + return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list) + + +class PubMaster: + def __init__(self, services: List[str]): + self.sock = {} + for s in services: + self.sock[s] = pub_sock(s) + + def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None: + if not isinstance(dat, bytes): + dat = dat.to_bytes() + self.sock[s].send(dat) + + def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool: + for _ in range(int(timeout*(1./dt))): + if self.sock[s].all_readers_updated(): + return True + time.sleep(dt) + return False + + def all_readers_updated(self, s: str) -> bool: + return self.sock[s].all_readers_updated() # type: ignore diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc new file mode 100644 index 000000000..8619c1e22 --- /dev/null +++ b/cereal/messaging/bridge.cc @@ -0,0 +1,92 @@ +#include +#include +#include +#include +#include +#include + +typedef void (*sighandler_t)(int sig); + +#include "cereal/services.h" +#include "msgq/impl_msgq.h" +#include "msgq/impl_zmq.h" + +std::atomic do_exit = false; +static void set_do_exit(int sig) { + do_exit = true; +} + +void sigpipe_handler(int sig) { + assert(sig == SIGPIPE); + std::cout << "SIGPIPE received" << std::endl; +} + +static std::vector get_services(std::string whitelist_str, bool zmq_to_msgq) { + std::vector service_list; + for (const auto& it : services) { + std::string name = it.second.name; + bool in_whitelist = whitelist_str.find(name) != std::string::npos; + if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) { + continue; + } + service_list.push_back(name); + } + return service_list; +} + +int main(int argc, char** argv) { + signal(SIGPIPE, (sighandler_t)sigpipe_handler); + signal(SIGINT, (sighandler_t)set_do_exit); + signal(SIGTERM, (sighandler_t)set_do_exit); + + bool zmq_to_msgq = argc > 2; + std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1"; + std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : ""; + + Poller *poller; + Context *pub_context; + Context *sub_context; + if (zmq_to_msgq) { // republishes zmq debugging messages as msgq + poller = new ZMQPoller(); + pub_context = new MSGQContext(); + sub_context = new ZMQContext(); + } else { + poller = new MSGQPoller(); + pub_context = new ZMQContext(); + sub_context = new MSGQContext(); + } + + std::map sub2pub; + for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) { + PubSocket * pub_sock; + SubSocket * sub_sock; + if (zmq_to_msgq) { + pub_sock = new MSGQPubSocket(); + sub_sock = new ZMQSubSocket(); + } else { + pub_sock = new ZMQPubSocket(); + sub_sock = new MSGQSubSocket(); + } + pub_sock->connect(pub_context, endpoint); + sub_sock->connect(sub_context, endpoint, ip, false); + + poller->registerSocket(sub_sock); + sub2pub[sub_sock] = pub_sock; + } + + while (!do_exit) { + for (auto sub_sock : poller->poll(100)) { + Message * msg = sub_sock->receive(); + if (msg == NULL) continue; + int ret; + do { + ret = sub2pub[sub_sock]->sendMessage(msg); + } while (ret == -1 && errno == EINTR && !do_exit); + assert(ret >= 0 || do_exit); + delete msg; + + if (do_exit) break; + } + } + return 0; +} diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h new file mode 100644 index 000000000..f3850130e --- /dev/null +++ b/cereal/messaging/messaging.h @@ -0,0 +1,112 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include + +#include "cereal/gen/cpp/log.capnp.h" +#include "msgq/ipc.h" + +#ifdef __APPLE__ +#define CLOCK_BOOTTIME CLOCK_MONOTONIC +#endif + +#define MSG_MULTIPLE_PUBLISHERS 100 + + +class SubMaster { +public: + SubMaster(const std::vector &service_list, const std::vector &poll = {}, + const char *address = nullptr, const std::vector &ignore_alive = {}); + void update(int timeout = 1000); + void update_msgs(uint64_t current_time, const std::vector> &messages); + inline bool allAlive(const std::vector &service_list = {}) { return all_(service_list, false, true); } + inline bool allValid(const std::vector &service_list = {}) { return all_(service_list, true, false); } + inline bool allAliveAndValid(const std::vector &service_list = {}) { return all_(service_list, true, true); } + void drain(); + ~SubMaster(); + + uint64_t frame = 0; + bool updated(const char *name) const; + bool alive(const char *name) const; + bool valid(const char *name) const; + uint64_t rcv_frame(const char *name) const; + uint64_t rcv_time(const char *name) const; + cereal::Event::Reader &operator[](const char *name) const; + +private: + bool all_(const std::vector &service_list, bool valid, bool alive); + Poller *poller_ = nullptr; + struct SubMessage; + std::map messages_; + std::map services_; +}; + +class MessageBuilder : public capnp::MallocMessageBuilder { +public: + MessageBuilder() = default; + + cereal::Event::Builder initEvent(bool valid = true) { + cereal::Event::Builder event = initRoot(); + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec; + event.setLogMonoTime(current_time); + event.setValid(valid); + return event; + } + + kj::ArrayPtr toBytes() { + heapArray_ = capnp::messageToFlatArray(*this); + return heapArray_.asBytes(); + } + + size_t getSerializedSize() { + return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word); + } + + int serializeToBuffer(unsigned char *buffer, size_t buffer_size) { + size_t serialized_size = getSerializedSize(); + if (serialized_size > buffer_size) { return -1; } + kj::ArrayOutputStream out(kj::ArrayPtr(buffer, buffer_size)); + capnp::writeMessage(out, *this); + return serialized_size; + } + +private: + kj::Array heapArray_; +}; + +class PubMaster { +public: + PubMaster(const std::vector &service_list); + inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); } + int send(const char *name, MessageBuilder &msg); + ~PubMaster(); + +private: + std::map sockets_; +}; + +class AlignedBuffer { +public: + kj::ArrayPtr align(const char *data, const size_t size) { + words_size = size / sizeof(capnp::word) + 1; + if (aligned_buf.size() < words_size) { + aligned_buf = kj::heapArray(words_size < 512 ? 512 : words_size); + } + memcpy(aligned_buf.begin(), data, size); + return aligned_buf.slice(0, words_size); + } + inline kj::ArrayPtr align(Message *m) { + return align(m->getData(), m->getSize()); + } +private: + kj::Array aligned_buf; + size_t words_size; +}; diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc new file mode 100644 index 000000000..cd697b1f5 --- /dev/null +++ b/cereal/messaging/socketmaster.cc @@ -0,0 +1,211 @@ +#include +#include +#include +#include +#include + +#include "cereal/services.h" +#include "cereal/messaging/messaging.h" + + +const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1"); + +static inline uint64_t nanos_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline bool inList(const std::vector &list, const char *value) { + for (auto &v : list) { + if (strcmp(value, v) == 0) return true; + } + return false; +} + +class MessageContext { +public: + MessageContext() : ctx_(nullptr) {} + ~MessageContext() { delete ctx_; } + inline Context *context() { + std::call_once(init_flag, [=]() { ctx_ = Context::create(); }); + return ctx_; + } +private: + Context *ctx_; + std::once_flag init_flag; +}; + +MessageContext message_context; + +struct SubMaster::SubMessage { + std::string name; + SubSocket *socket = nullptr; + int freq = 0; + bool updated = false, alive = false, valid = true, ignore_alive; + uint64_t rcv_time = 0, rcv_frame = 0; + void *allocated_msg_reader = nullptr; + bool is_polled = false; + capnp::FlatArrayMessageReader *msg_reader = nullptr; + AlignedBuffer aligned_buf; + cereal::Event::Reader event; +}; + +SubMaster::SubMaster(const std::vector &service_list, const std::vector &poll, + const char *address, const std::vector &ignore_alive) { + poller_ = Poller::create(); + for (auto name : service_list) { + assert(services.count(std::string(name)) > 0); + + service serv = services.at(std::string(name)); + SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true); + assert(socket != 0); + bool is_polled = inList(poll, name) || poll.empty(); + if (is_polled) poller_->registerSocket(socket); + SubMessage *m = new SubMessage{ + .name = name, + .socket = socket, + .freq = serv.frequency, + .ignore_alive = inList(ignore_alive, name), + .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)), + .is_polled = is_polled}; + m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({}); + messages_[socket] = m; + services_[name] = m; + } +} + +void SubMaster::update(int timeout) { + for (auto &kv : messages_) kv.second->updated = false; + + auto sockets = poller_->poll(timeout); + + // add non-polled sockets for non-blocking receive + for (auto &kv : messages_) { + SubMessage *m = kv.second; + SubSocket *s = kv.first; + if (!m->is_polled) sockets.push_back(s); + } + + uint64_t current_time = nanos_since_boot(); + + std::vector> messages; + + for (auto s : sockets) { + Message *msg = s->receive(true); + if (msg == nullptr) continue; + + SubMessage *m = messages_.at(s); + + m->msg_reader->~FlatArrayMessageReader(); + capnp::ReaderOptions options; + options.traversalLimitInWords = kj::maxValue; // Don't limit + m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options); + delete msg; + messages.push_back({m->name, m->msg_reader->getRoot()}); + } + + update_msgs(current_time, messages); +} + +void SubMaster::update_msgs(uint64_t current_time, const std::vector> &messages){ + if (++frame == UINT64_MAX) frame = 1; + + for (auto &kv : messages) { + auto m_find = services_.find(kv.first); + if (m_find == services_.end()){ + continue; + } + SubMessage *m = m_find->second; + m->event = kv.second; + m->updated = true; + m->rcv_time = current_time; + m->rcv_frame = frame; + m->valid = m->event.getValid(); + if (SIMULATION) m->alive = true; + } + + if (!SIMULATION) { + for (auto &kv : messages_) { + SubMessage *m = kv.second; + m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq)); + } + } +} + +bool SubMaster::all_(const std::vector &service_list, bool valid, bool alive) { + int found = 0; + for (auto &kv : messages_) { + SubMessage *m = kv.second; + if (service_list.size() == 0 || inList(service_list, m->name.c_str())) { + found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive)); + } + } + return service_list.size() == 0 ? found == messages_.size() : found == service_list.size(); +} + +void SubMaster::drain() { + while (true) { + auto polls = poller_->poll(0); + if (polls.size() == 0) + break; + + for (auto sock : polls) { + Message *msg = sock->receive(true); + delete msg; + } + } +} + +bool SubMaster::updated(const char *name) const { + return services_.at(name)->updated; +} + +bool SubMaster::alive(const char *name) const { + return services_.at(name)->alive; +} + +bool SubMaster::valid(const char *name) const { + return services_.at(name)->valid; +} + +uint64_t SubMaster::rcv_frame(const char *name) const { + return services_.at(name)->rcv_frame; +} + +uint64_t SubMaster::rcv_time(const char *name) const { + return services_.at(name)->rcv_time; +} + +cereal::Event::Reader &SubMaster::operator[](const char *name) const { + return services_.at(name)->event; +} + +SubMaster::~SubMaster() { + delete poller_; + for (auto &kv : messages_) { + SubMessage *m = kv.second; + m->msg_reader->~FlatArrayMessageReader(); + free(m->allocated_msg_reader); + delete m->socket; + delete m; + } +} + +PubMaster::PubMaster(const std::vector &service_list) { + for (auto name : service_list) { + assert(services.count(name) > 0); + PubSocket *socket = PubSocket::create(message_context.context(), name); + assert(socket); + sockets_[name] = socket; + } +} + +int PubMaster::send(const char *name, MessageBuilder &msg) { + auto bytes = msg.toBytes(); + return send(name, bytes.begin(), bytes.size()); +} + +PubMaster::~PubMaster() { + for (auto s : sockets_) delete s.second; +} diff --git a/selfdrive/athena/__init__.py b/cereal/messaging/tests/__init__.py similarity index 100% rename from selfdrive/athena/__init__.py rename to cereal/messaging/tests/__init__.py diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py new file mode 100755 index 000000000..429c2d3c5 --- /dev/null +++ b/cereal/messaging/tests/test_messaging.py @@ -0,0 +1,195 @@ +#!/usr/bin/env python3 +import os +import capnp +import multiprocessing +import numbers +import random +import threading +import time +import unittest +from parameterized import parameterized + +from cereal import log, car +import cereal.messaging as messaging +from cereal.services import SERVICE_LIST + +events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()] + +def random_sock(): + return random.choice(events) + +def random_socks(num_socks=10): + return list({random_sock() for _ in range(num_socks)}) + +def random_bytes(length=1000): + return bytes([random.randrange(0xFF) for _ in range(length)]) + +def zmq_sleep(t=1): + if "ZMQ" in os.environ: + time.sleep(t) + +def zmq_expected_failure(func): + if "ZMQ" in os.environ: + return unittest.expectedFailure(func) + else: + return func + + +# TODO: this should take any capnp struct and returrn a msg with random populated data +def random_carstate(): + fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"] + msg = messaging.new_message("carState") + cs = msg.carState + for f in fields: + setattr(cs, f, random.random() * 10) + return msg + +# TODO: this should compare any capnp structs +def assert_carstate(cs1, cs2): + for f in car.CarState.schema.non_union_fields: + # TODO: check all types + val1, val2 = getattr(cs1, f), getattr(cs2, f) + if isinstance(val1, numbers.Number): + assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'" + +def delayed_send(delay, sock, dat): + def send_func(): + sock.send(dat) + threading.Timer(delay, send_func).start() + + +class TestMessaging(unittest.TestCase): + def setUp(self): + # TODO: ZMQ tests are too slow; all sleeps will need to be + # replaced with logic to block on the necessary condition + if "ZMQ" in os.environ: + raise unittest.SkipTest + + # ZMQ pub socket takes too long to die + # sleep to prevent multiple publishers error between tests + zmq_sleep() + + @parameterized.expand(events) + def test_new_message(self, evt): + try: + msg = messaging.new_message(evt) + except capnp.lib.capnp.KjException: + msg = messaging.new_message(evt, random.randrange(200)) + self.assertLess(time.monotonic() - msg.logMonoTime, 0.1) + self.assertFalse(msg.valid) + self.assertEqual(evt, msg.which()) + + @parameterized.expand(events) + def test_pub_sock(self, evt): + messaging.pub_sock(evt) + + @parameterized.expand(events) + def test_sub_sock(self, evt): + messaging.sub_sock(evt) + + @parameterized.expand([ + (messaging.drain_sock, capnp._DynamicStructReader), + (messaging.drain_sock_raw, bytes), + ]) + def test_drain_sock(self, func, expected_type): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=1000) + zmq_sleep() + + # no wait and no msgs in queue + msgs = func(sub_sock) + self.assertIsInstance(msgs, list) + self.assertEqual(len(msgs), 0) + + # no wait but msgs are queued up + num_msgs = random.randrange(3, 10) + for _ in range(num_msgs): + pub_sock.send(messaging.new_message(sock).to_bytes()) + time.sleep(0.1) + msgs = func(sub_sock) + self.assertIsInstance(msgs, list) + self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs)) + self.assertEqual(len(msgs), num_msgs) + + def test_recv_sock(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=100) + zmq_sleep() + + # no wait and no msg in queue, socket should timeout + recvd = messaging.recv_sock(sub_sock) + self.assertTrue(recvd is None) + + # no wait and one msg in queue + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + time.sleep(0.01) + recvd = messaging.recv_sock(sub_sock) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + # https://github.com/python/mypy/issues/13038 + assert_carstate(msg.carState, recvd.carState) + + def test_recv_one(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=1000) + zmq_sleep() + + # no msg in queue, socket should timeout + recvd = messaging.recv_one(sub_sock) + self.assertTrue(recvd is None) + + # one msg in queue + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + recvd = messaging.recv_one(sub_sock) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert_carstate(msg.carState, recvd.carState) + + @zmq_expected_failure + def test_recv_one_or_none(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock) + zmq_sleep() + + # no msg in queue, socket shouldn't block + recvd = messaging.recv_one_or_none(sub_sock) + self.assertTrue(recvd is None) + + # one msg in queue + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + recvd = messaging.recv_one_or_none(sub_sock) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert_carstate(msg.carState, recvd.carState) + + def test_recv_one_retry(self): + sock = "carState" + sock_timeout = 0.1 + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000)) + zmq_sleep() + + # this test doesn't work with ZMQ since multiprocessing interrupts it + if "ZMQ" not in os.environ: + # wait 15 socket timeouts and make sure it's still retrying + p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,)) + p.start() + time.sleep(sock_timeout*15) + self.assertTrue(p.is_alive()) + p.terminate() + + # wait 15 socket timeouts before sending + msg = random_carstate() + delayed_send(sock_timeout*15, pub_sock, msg.to_bytes()) + start_time = time.monotonic() + recvd = messaging.recv_one_retry(sub_sock) + self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert_carstate(msg.carState, recvd.carState) + +if __name__ == "__main__": + unittest.main() diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py new file mode 100755 index 000000000..81a1cf2d5 --- /dev/null +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python3 +import random +import time +from typing import Sized, cast +import unittest + +import cereal.messaging as messaging +from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \ + random_bytes, random_carstate, assert_carstate, \ + zmq_sleep + + +class TestSubMaster(unittest.TestCase): + + def setUp(self): + # ZMQ pub socket takes too long to die + # sleep to prevent multiple publishers error between tests + zmq_sleep(3) + + def test_init(self): + sm = messaging.SubMaster(events) + for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, + sm.sock, sm.data, sm.logMonoTime, sm.valid]: + self.assertEqual(len(cast(Sized, p)), len(events)) + + def test_init_state(self): + socks = random_socks() + sm = messaging.SubMaster(socks) + self.assertEqual(sm.frame, -1) + self.assertFalse(any(sm.updated.values())) + self.assertFalse(any(sm.alive.values())) + self.assertTrue(all(t == 0. for t in sm.recv_time.values())) + self.assertTrue(all(f == 0 for f in sm.recv_frame.values())) + self.assertTrue(all(t == 0 for t in sm.logMonoTime.values())) + + for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, + sm.sock, sm.data, sm.logMonoTime, sm.valid]: + self.assertEqual(len(cast(Sized, p)), len(socks)) + + def test_getitem(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sm = messaging.SubMaster([sock,]) + zmq_sleep() + + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + sm.update(1000) + assert_carstate(msg.carState, sm[sock]) + + # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs + def test_update(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sm = messaging.SubMaster([sock,]) + zmq_sleep() + + for i in range(10): + msg = messaging.new_message(sock) + pub_sock.send(msg.to_bytes()) + sm.update(1000) + self.assertEqual(sm.frame, i) + self.assertTrue(all(sm.updated.values())) + + def test_update_timeout(self): + sock = random_sock() + sm = messaging.SubMaster([sock,]) + for _ in range(5): + timeout = random.randrange(1000, 5000) + start_time = time.monotonic() + sm.update(timeout) + t = time.monotonic() - start_time + self.assertGreaterEqual(t, timeout/1000.) + self.assertLess(t, 5) + self.assertFalse(any(sm.updated.values())) + + def test_avg_frequency_checks(self): + for poll in (True, False): + sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"], + poll=("modelV2" if poll else None), + frequency=(20. if not poll else None)) + + checks = { + "carState": (20, 20), + "modelV2": (20, 20 if poll else 10), + "cameraOdometry": (20, 10), + "liveCalibration": (4, 4), + "carParams": (None, None), + } + + for service, (max_freq, min_freq) in checks.items(): + if max_freq is not None: + assert sm._check_avg_freq(service) + assert sm.max_freq[service] == max_freq*1.2 + assert sm.min_freq[service] == min_freq*0.8 + else: + assert not sm._check_avg_freq(service) + + def test_alive(self): + pass + + def test_ignore_alive(self): + pass + + def test_valid(self): + pass + + # SubMaster should always conflate + def test_conflate(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sm = messaging.SubMaster([sock,]) + + n = 10 + for i in range(n+1): + msg = messaging.new_message(sock) + msg.carState.vEgo = i + pub_sock.send(msg.to_bytes()) + time.sleep(0.01) + sm.update(1000) + self.assertEqual(sm[sock].vEgo, n) + + +class TestPubMaster(unittest.TestCase): + + def setUp(self): + # ZMQ pub socket takes too long to die + # sleep to prevent multiple publishers error between tests + zmq_sleep(3) + + def test_init(self): + messaging.PubMaster(events) + + def test_send(self): + socks = random_socks() + pm = messaging.PubMaster(socks) + sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks} + zmq_sleep() + + # PubMaster accepts either a capnp msg builder or bytes + for capnp in [True, False]: + for i in range(100): + sock = socks[i % len(socks)] + + if capnp: + try: + msg = messaging.new_message(sock) + except Exception: + msg = messaging.new_message(sock, random.randrange(50)) + else: + msg = random_bytes() + + pm.send(sock, msg) + recvd = sub_socks[sock].receive() + + if capnp: + msg.clear_write_flag() + msg = msg.to_bytes() + self.assertEqual(msg, recvd, i) + + +if __name__ == "__main__": + unittest.main() diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py new file mode 100755 index 000000000..0fac379e4 --- /dev/null +++ b/cereal/messaging/tests/test_services.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +import os +import tempfile +from typing import Dict +import unittest +from parameterized import parameterized + +import cereal.services as services +from cereal.services import SERVICE_LIST + + +class TestServices(unittest.TestCase): + + @parameterized.expand(SERVICE_LIST.keys()) + def test_services(self, s): + service = SERVICE_LIST[s] + self.assertTrue(service.frequency <= 104) + + def test_generated_header(self): + with tempfile.NamedTemporaryFile(suffix=".h") as f: + ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}") + self.assertEqual(ret, 0, "generated services header is not valid C") + +if __name__ == "__main__": + unittest.main() diff --git a/cereal/services.py b/cereal/services.py new file mode 100755 index 000000000..ca9139c43 --- /dev/null +++ b/cereal/services.py @@ -0,0 +1,117 @@ +#!/usr/bin/env python3 +from typing import Optional + + +class Service: + def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None): + self.should_log = should_log + self.frequency = frequency + self.decimation = decimation + + +_services: dict[str, tuple] = { + # service: (should_log, frequency, qlog decimation (optional)) + # note: the "EncodeIdx" packets will still be in the log + "gyroscope": (True, 104., 104), + "gyroscope2": (True, 100., 100), + "accelerometer": (True, 104., 104), + "accelerometer2": (True, 100., 100), + "magnetometer": (True, 25., 25), + "lightSensor": (True, 100., 100), + "temperatureSensor": (True, 2., 200), + "temperatureSensor2": (True, 2., 200), + "gpsNMEA": (True, 9.), + "deviceState": (True, 2., 1), + "can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment + "controlsState": (True, 100., 10), + "pandaStates": (True, 10., 1), + "peripheralState": (True, 2., 1), + "radarState": (True, 20., 5), + "roadEncodeIdx": (False, 20., 1), + "liveTracks": (True, 20.), + "sendcan": (True, 100., 139), + "logMessage": (True, 0.), + "errorLogMessage": (True, 0., 1), + "liveCalibration": (True, 4., 4), + "liveTorqueParameters": (True, 4., 1), + "androidLog": (True, 0.), + "carState": (True, 100., 10), + "carControl": (True, 100., 10), + "carOutput": (True, 100., 10), + "longitudinalPlan": (True, 20., 5), + "procLog": (True, 0.5, 15), + "gpsLocationExternal": (True, 10., 10), + "gpsLocation": (True, 1., 1), + "ubloxGnss": (True, 10.), + "qcomGnss": (True, 2.), + "gnssMeasurements": (True, 10., 10), + "clocks": (True, 0.1, 1), + "ubloxRaw": (True, 20.), + "liveLocationKalman": (True, 20., 5), + "liveParameters": (True, 20., 5), + "cameraOdometry": (True, 20., 5), + "thumbnail": (True, 0.2, 1), + "onroadEvents": (True, 1., 1), + "carParams": (True, 0.02, 1), + "roadCameraState": (True, 20., 20), + "driverCameraState": (True, 20., 20), + "driverEncodeIdx": (False, 20., 1), + "driverStateV2": (True, 20., 10), + "driverMonitoringState": (True, 20., 10), + "wideRoadEncodeIdx": (False, 20., 1), + "wideRoadCameraState": (True, 20., 20), + "modelV2": (True, 20., 40), + "managerState": (True, 2., 1), + "uploaderState": (True, 0., 1), + "navInstruction": (True, 1., 10), + "navRoute": (True, 0.), + "navThumbnail": (True, 0.), + "qRoadEncodeIdx": (False, 20.), + "userFlag": (True, 0., 1), + "microphone": (True, 10., 10), + + # debug + "uiDebug": (True, 0., 1), + "testJoystick": (True, 0.), + "roadEncodeData": (False, 20.), + "driverEncodeData": (False, 20.), + "wideRoadEncodeData": (False, 20.), + "qRoadEncodeData": (False, 20.), + "livestreamWideRoadEncodeIdx": (False, 20.), + "livestreamRoadEncodeIdx": (False, 20.), + "livestreamDriverEncodeIdx": (False, 20.), + "livestreamWideRoadEncodeData": (False, 20.), + "livestreamRoadEncodeData": (False, 20.), + "livestreamDriverEncodeData": (False, 20.), + "customReservedRawData0": (True, 0.), + "customReservedRawData1": (True, 0.), + "customReservedRawData2": (True, 0.), +} +SERVICE_LIST = {name: Service(*vals) for + idx, (name, vals) in enumerate(_services.items())} + + +def build_header(): + h = "" + h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n" + h += "#ifndef __SERVICES_H\n" + h += "#define __SERVICES_H\n" + + h += "#include \n" + h += "#include \n" + + h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n" + h += "static std::map services = {\n" + for k, v in SERVICE_LIST.items(): + should_log = "true" if v.should_log else "false" + decimation = -1 if v.decimation is None else v.decimation + h += ' { "%s", {"%s", %s, %d, %d}},\n' % \ + (k, k, should_log, v.frequency, decimation) + h += "};\n" + + h += "#endif\n" + return h + + +if __name__ == "__main__": + print(build_header()) diff --git a/common/api/__init__.py b/common/api/__init__.py index 79875023a..ac231400a 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -1,13 +1,13 @@ import jwt import os import requests -from datetime import datetime, timedelta +from datetime import datetime, timedelta, UTC from openpilot.system.hardware.hw import Paths from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') -class Api(): +class Api: def __init__(self, dongle_id): self.dongle_id = dongle_id with open(Paths.persist_root()+'/comma/id_rsa') as f: @@ -23,7 +23,7 @@ class Api(): return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params) def get_token(self, expiry_hours=1): - now = datetime.utcnow() + now = datetime.now(UTC).replace(tzinfo=None) payload = { 'identity': self.dongle_id, 'nbf': now, diff --git a/common/git.py b/common/git.py index bfb18ce25..4406bf96b 100644 --- a/common/git.py +++ b/common/git.py @@ -1,5 +1,5 @@ +from functools import cache import subprocess -from openpilot.common.utils import cache from openpilot.common.run import run_cmd, run_cmd_default diff --git a/common/gpio.py b/common/gpio.py index 68932cb87..66b2adf43 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,5 +1,5 @@ import os -from functools import lru_cache +from functools import cache def gpio_init(pin: int, output: bool) -> None: try: @@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None: except Exception: print(f"Failed to export gpio {pin}") -@lru_cache(maxsize=None) +@cache def get_irq_action(irq: int) -> list[str]: try: with open(f"/sys/kernel/irq/{irq}/actions") as f: diff --git a/common/markdown.py b/common/markdown.py new file mode 100644 index 000000000..f0f056d96 --- /dev/null +++ b/common/markdown.py @@ -0,0 +1,45 @@ +HTML_REPLACEMENTS = [ + (r'&', r'&'), + (r'"', r'"'), +] + +def parse_markdown(text: str, tab_length: int = 2) -> str: + lines = text.split("\n") + output: list[str] = [] + list_level = 0 + + def end_outstanding_lists(level: int, end_level: int) -> int: + while level > end_level: + level -= 1 + output.append("") + if level > 0: + output.append("") + return end_level + + for i, line in enumerate(lines): + if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading + output.append(f"

{line}

") + elif line.startswith("==="): + pass + elif line.lstrip().startswith("* "): # list + line_level = 1 + line.count(" " * tab_length, 0, line.index("*")) + if list_level >= line_level: + list_level = end_outstanding_lists(list_level, line_level) + else: + list_level += 1 + if list_level > 1: + output[-1] = output[-1].replace("", "") + output.append("
    ") + output.append(f"
  • {line.replace('*', '', 1).lstrip()}
    • ") + else: + list_level = end_outstanding_lists(list_level, 0) + if len(line) > 0: + output.append(line) + + end_outstanding_lists(list_level, 0) + output_str = "\n".join(output) + "\n" + + for (fr, to) in HTML_REPLACEMENTS: + output_str = output_str.replace(fr, to) + + return output_str diff --git a/common/prefix.h b/common/prefix.h index f5abe14b2..11d0bc106 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -5,6 +5,7 @@ #include "common/params.h" #include "common/util.h" +#include "system/hardware/hw.h" class OpenpilotPrefix { public: @@ -25,6 +26,10 @@ public: system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); unlink(param_path.c_str()); } + if (getenv("COMMA_CACHE") == nullptr) { + system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str()); + } + system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str()); system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); unsetenv("OPENPILOT_PREFIX"); } diff --git a/common/ratekeeper.h b/common/ratekeeper.h index b6e8ac66a..e7323c6ec 100644 --- a/common/ratekeeper.h +++ b/common/ratekeeper.h @@ -9,7 +9,7 @@ public: ~RateKeeper() {} bool keepTime(); bool monitorTime(); - inline double frame() const { return frame_; } + inline uint64_t frame() const { return frame_; } inline double remaining() const { return remaining_; } private: diff --git a/common/realtime.py b/common/realtime.py index 6b8587ff0..e7265406a 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -4,7 +4,7 @@ import os import time from collections import deque -from setproctitle import getproctitle +from openpilot.common.threadname import getthreadname from openpilot.system.hardware import PC @@ -12,7 +12,7 @@ from openpilot.system.hardware import PC # time step for each process DT_CTRL = 0.01 # controlsd DT_MDL = 0.05 # model -DT_TRML = 0.5 # thermald and manager +DT_HW = 0.5 # hardwared and manager DT_DMON = 0.05 # driver monitoring @@ -23,7 +23,7 @@ class Priority: CTRL_LOW = 51 # plannerd & radard # CORE 3 - # - boardd = 55 + # - pandad = 55 CTRL_HIGH = 53 @@ -52,7 +52,7 @@ class Ratekeeper: self._print_delay_threshold = print_delay_threshold self._frame = 0 self._remaining = 0.0 - self._process_name = getproctitle() + self._thread_name = getthreadname() self._dts = deque([self._interval], maxlen=100) self._last_monitor_time = time.monotonic() @@ -87,7 +87,7 @@ class Ratekeeper: remaining = self._next_frame_time - time.monotonic() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: - print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") + print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms") lagged = True self._frame += 1 self._remaining = remaining diff --git a/common/spinner.py b/common/spinner.py index 43d4bb2cc..dcf22641c 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -3,7 +3,7 @@ import subprocess from openpilot.common.basedir import BASEDIR -class Spinner(): +class Spinner: def __init__(self): try: self.spinner_proc = subprocess.Popen(["./spinner"], diff --git a/common/stat_live.py b/common/stat_live.py index a91c1819b..3901c448d 100644 --- a/common/stat_live.py +++ b/common/stat_live.py @@ -1,6 +1,6 @@ import numpy as np -class RunningStat(): +class RunningStat: # tracks realtime mean and standard deviation without storing any data def __init__(self, priors=None, max_trackable=-1): self.max_trackable = max_trackable @@ -51,7 +51,7 @@ class RunningStat(): def params_to_save(self): return [self.M, self.S, self.n] -class RunningStatFilter(): +class RunningStatFilter: def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1): self.raw_stat = RunningStat(raw_priors, -1) self.filtered_stat = RunningStat(filtered_priors, max_trackable) diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index 1817f77cd..a9977c236 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -1,11 +1,10 @@ import os -import unittest from uuid import uuid4 from openpilot.common.file_helpers import atomic_write_in_dir -class TestFileHelpers(unittest.TestCase): +class TestFileHelpers: def run_atomic_write_func(self, atomic_write_func): path = f"/tmp/tmp{uuid4()}" with atomic_write_func(path) as f: @@ -13,12 +12,8 @@ class TestFileHelpers(unittest.TestCase): assert not os.path.exists(path) with open(path) as f: - self.assertEqual(f.read(), "test") + assert f.read() == "test" os.remove(path) def test_atomic_write_in_dir(self): self.run_atomic_write_func(atomic_write_in_dir) - - -if __name__ == "__main__": - unittest.main() diff --git a/common/tests/test_markdown.py b/common/tests/test_markdown.py new file mode 100644 index 000000000..d3c7e02c6 --- /dev/null +++ b/common/tests/test_markdown.py @@ -0,0 +1,15 @@ +import os + +from openpilot.common.basedir import BASEDIR +from openpilot.common.markdown import parse_markdown + + +class TestMarkdown: + def test_all_release_notes(self): + with open(os.path.join(BASEDIR, "RELEASES.md")) as f: + release_notes = f.read().split("\n\n") + assert len(release_notes) > 10 + + for rn in release_notes: + md = parse_markdown(rn) + assert len(md) > 0 diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py index de7bb972e..aa53851db 100644 --- a/common/tests/test_numpy_fast.py +++ b/common/tests/test_numpy_fast.py @@ -1,10 +1,9 @@ import numpy as np -import unittest from openpilot.common.numpy_fast import interp -class InterpTest(unittest.TestCase): +class TestInterp: def test_correctness_controls(self): _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.]) _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30]) @@ -20,7 +19,3 @@ class InterpTest(unittest.TestCase): expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) np.testing.assert_equal(actual, expected) - - -if __name__ == "__main__": - unittest.main() diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 490ee122b..16cbc4529 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,13 +1,13 @@ +import pytest import os import threading import time import uuid -import unittest from openpilot.common.params import Params, ParamKeyType, UnknownKeyName -class TestParams(unittest.TestCase): - def setUp(self): +class TestParams: + def setup_method(self): self.params = Params() def test_params_put_and_get(self): @@ -49,16 +49,16 @@ class TestParams(unittest.TestCase): assert self.params.get("CarParams", True) == b"test" def test_params_unknown_key_fails(self): - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.get("swag") - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.get_bool("swag") - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.put("swag", "abc") - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.put_bool("swag", True) def test_remove_not_there(self): @@ -68,19 +68,19 @@ class TestParams(unittest.TestCase): def test_get_bool(self): self.params.remove("IsMetric") - self.assertFalse(self.params.get_bool("IsMetric")) + assert not self.params.get_bool("IsMetric") self.params.put_bool("IsMetric", True) - self.assertTrue(self.params.get_bool("IsMetric")) + assert self.params.get_bool("IsMetric") self.params.put_bool("IsMetric", False) - self.assertFalse(self.params.get_bool("IsMetric")) + assert not self.params.get_bool("IsMetric") self.params.put("IsMetric", "1") - self.assertTrue(self.params.get_bool("IsMetric")) + assert self.params.get_bool("IsMetric") self.params.put("IsMetric", "0") - self.assertFalse(self.params.get_bool("IsMetric")) + assert not self.params.get_bool("IsMetric") def test_put_non_blocking_with_get_block(self): q = Params() @@ -107,7 +107,3 @@ class TestParams(unittest.TestCase): assert len(keys) > 20 assert len(keys) == len(set(keys)) assert b"CarParams" in keys - - -if __name__ == "__main__": - unittest.main() diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py index f641cd19e..f4a967e58 100644 --- a/common/tests/test_simple_kalman.py +++ b/common/tests/test_simple_kalman.py @@ -1,10 +1,8 @@ -import unittest - from openpilot.common.simple_kalman import KF1D -class TestSimpleKalman(unittest.TestCase): - def setUp(self): +class TestSimpleKalman: + def setup_method(self): dt = 0.01 x0_0 = 0.0 x1_0 = 0.0 @@ -24,12 +22,8 @@ class TestSimpleKalman(unittest.TestCase): def test_getter_setter(self): self.kf.set_x([[1.0], [1.0]]) - self.assertEqual(self.kf.x, [[1.0], [1.0]]) + assert self.kf.x == [[1.0], [1.0]] def update_returns_state(self): x = self.kf.update(100) - self.assertEqual(x, self.kf.x) - - -if __name__ == "__main__": - unittest.main() + assert x == self.kf.x diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py new file mode 100644 index 000000000..38e5e1d49 --- /dev/null +++ b/common/tests/test_threadname.py @@ -0,0 +1,8 @@ +from openpilot.common.threadname import setthreadname, getthreadname, LINUX + +class TestThreadName: + def test_set_get_threadname(self): + if LINUX: + name = 'TESTING' + setthreadname(name) + assert name == getthreadname() diff --git a/common/threadname.py b/common/threadname.py new file mode 100644 index 000000000..7c415721f --- /dev/null +++ b/common/threadname.py @@ -0,0 +1,19 @@ +import ctypes +import os + +LINUX = os.name == 'posix' and os.uname().sysname == 'Linux' + +if LINUX: + libc = ctypes.CDLL('libc.so.6') + +def setthreadname(name: str) -> None: + if LINUX: + name = name[-15:] + '\0' + libc.prctl(15, str.encode(name), 0, 0, 0) + +def getthreadname() -> str: + if LINUX: + name = ctypes.create_string_buffer(16) + libc.prctl(16, name) + return name.value.decode('utf-8') + return "" diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py old mode 100755 new mode 100644 index 7ae79403b..11a6bf70e --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -1,7 +1,4 @@ -#!/usr/bin/env python3 - import numpy as np -import unittest import openpilot.common.transformations.coordinates as coord @@ -44,7 +41,7 @@ ned_offsets_batch = np.array([[ 53.88103168, 43.83445935, -46.27488057], [ 78.56272609, 18.53100158, -43.25290759]]) -class TestNED(unittest.TestCase): +class TestNED: def test_small_distances(self): start_geodetic = np.array([33.8042184, -117.888593, 0.0]) local_coord = coord.LocalCoord.from_geodetic(start_geodetic) @@ -54,13 +51,13 @@ class TestNED(unittest.TestCase): west_geodetic = start_geodetic + [0, -0.0005, 0] west_ned = local_coord.geodetic2ned(west_geodetic) - self.assertLess(np.abs(west_ned[0]), 1e-3) - self.assertLess(west_ned[1], 0) + assert np.abs(west_ned[0]) < 1e-3 + assert west_ned[1] < 0 southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0] southwest_ned = local_coord.geodetic2ned(southwest_geodetic) - self.assertLess(southwest_ned[0], 0) - self.assertLess(southwest_ned[1], 0) + assert southwest_ned[0] < 0 + assert southwest_ned[1] < 0 def test_ecef_geodetic(self): # testing single @@ -105,5 +102,3 @@ class TestNED(unittest.TestCase): np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch), ecef_positions_offset_batch, rtol=1e-9, atol=1e-7) -if __name__ == "__main__": - unittest.main() diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py old mode 100755 new mode 100644 index f77827d2f..55fbc6581 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -1,7 +1,4 @@ -#!/usr/bin/env python3 - import numpy as np -import unittest from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ @@ -32,7 +29,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808], [ 2.50450101, 0.36304151, 0.33136365]]) -class TestOrientation(unittest.TestCase): +class TestOrientation: def test_quat_euler(self): for i, eul in enumerate(eulers): np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7) @@ -62,7 +59,3 @@ class TestOrientation(unittest.TestCase): np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7) #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7) # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7) - - -if __name__ == "__main__": - unittest.main() diff --git a/common/utils.py b/common/utils.py index e37f2448c..b9de020ee 100644 --- a/common/utils.py +++ b/common/utils.py @@ -1,11 +1,3 @@ -from collections.abc import Callable -from functools import lru_cache -from typing import TypeVar - - -_RT = TypeVar("_RT") - - class Freezable: _frozen: bool = False @@ -17,7 +9,3 @@ class Freezable: if self._frozen: raise Exception("cannot modify frozen object") super().__setattr__(*args, **kwargs) - - -def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]: - return lru_cache(maxsize=None)(user_function) diff --git a/common/version.h b/common/version.h index 177882e31..1f651fb39 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.7" +#define COMMA_VERSION "0.9.8" diff --git a/conftest.py b/conftest.py index 0d2a4a8fc..fc4931fb5 100644 --- a/conftest.py +++ b/conftest.py @@ -5,7 +5,7 @@ import pytest import random from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.manager import manager +from openpilot.system.manager import manager from openpilot.system.hardware import TICI, HARDWARE diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index 7e7ee3b8d..31e19e120 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -9,6 +9,7 @@ Get paid to improve openpilot! * once you open a PR, the bounty is locked to you until you stop working on it * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders) +* for bounties >$100, the first PR gets a lock, which times out after a week of no progress We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation. @@ -56,10 +57,6 @@ The control doesn't have to be perfect, but it should generally do what it's sup Get a Rivian driving with openpilot. Requires a merged port with lateral control and at least a POC of longitudinal control. -#### Toyota SecOc - $5000 - -We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932). - #### Chevy Bolt with SuperCruise - $2500 The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port. diff --git a/docs/CARS.md b/docs/CARS.md index de9320594..3b163dcee 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 286 Supported Cars +# 288 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
     |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    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|Ioniq 6 (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || +|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || @@ -120,17 +120,18 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N 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|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N 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|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Hyundai N 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|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 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 Here
    || |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA 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
    || |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 FCA 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
    || |Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    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
    || |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || -|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || -|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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
    || -|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || +|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || +|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || +|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 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
    || +|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || |Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 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 Here
    || @@ -184,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 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
    || |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 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
    || -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Mazda 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
    || |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Mazda 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
    || |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 Nissan B connector
    - 1 RJ45 cable (7 ft)
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -236,7 +237,7 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -262,13 +263,14 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -277,7 +279,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 6e8808ec2..3b89fe987 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -14,12 +14,12 @@ cereal messaging ^^^^^^^^^ .. autodoxygenindex:: - :project: cereal_messaging + :project: msgq_repo_msgq visionipc ^^^^^^^^^ .. autodoxygenindex:: - :project: cereal_visionipc + :project: msgq_repo_msgq_visionipc selfdrive @@ -77,10 +77,10 @@ sensorsd .. autodoxygenindex:: :project: system_sensord_sensors -boardd +pandad ^^^^^^ .. autodoxygenindex:: - :project: selfdrive_boardd + :project: selfdrive_pandad rednose diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index a7f61411c..9256f463a 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -82,7 +82,7 @@ function launch { tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager - cd selfdrive/manager + cd system/manager if [ ! -f $DIR/prebuilt ]; then ./build.py fi diff --git a/msgq b/msgq new file mode 120000 index 000000000..df09146f6 --- /dev/null +++ b/msgq @@ -0,0 +1 @@ +msgq_repo/msgq \ No newline at end of file diff --git a/msgq_repo b/msgq_repo new file mode 160000 index 000000000..74074d650 --- /dev/null +++ b/msgq_repo @@ -0,0 +1 @@ +Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537 diff --git a/opendbc b/opendbc index 91a9bb482..776bca184 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 91a9bb4824381c39b8a15b443d5b265ec550b62b +Subproject commit 776bca184bc997b587afb20df71bc56a4890c4d8 diff --git a/poetry.lock b/poetry.lock index 978574a1e..7e772276e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. [[package]] name = "aiohttp" @@ -112,39 +112,42 @@ ifaddr = ">=0.2.0" [[package]] name = "aiortc" -version = "1.8.0" +version = "1.9.0" description = "An implementation of WebRTC and ORTC" optional = false python-versions = ">=3.8" files = [ - {file = "aiortc-1.8.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ac0bc48c9f98a744f6696be287b0403648deb3e20bd7f8fa91eb841e1c6c4e8d"}, - {file = "aiortc-1.8.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:639afa23b7d5c6f7d4f3f7af5fadb9cc67c82d56e17840b4433d2e5f73958bb5"}, - {file = "aiortc-1.8.0-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:173dcfa6f0e989f65eb9d38f151d8834677df0f696f9f4ad925ee9795e914eaf"}, - {file = "aiortc-1.8.0-cp38-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b453def215c246486747e8ba5c1307a538071d6bfbb2a4e74ebfef583771a429"}, - {file = "aiortc-1.8.0-cp38-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:22efeb53dab9eb58a1a6c2dcdeb72ae526de0a2b30334fc40782341df92a657d"}, - {file = "aiortc-1.8.0-cp38-abi3-win32.whl", hash = "sha256:4ec0c5c284c3345a9d994253ced4ad909acf9e375271a7ff01db165b09890ce8"}, - {file = "aiortc-1.8.0-cp38-abi3-win_amd64.whl", hash = "sha256:76454c55a59441a76f6ab7cd1218454389520d6a3cc9b0d13d428f6a3f2ebbcc"}, - {file = "aiortc-1.8.0-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b0eb1342595e386befcad56cd0f91cd5cd16daa7612ffc5c8abf7e5b58e529f5"}, - {file = "aiortc-1.8.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4cbbdf78ac55e05d838fe4de326ed095ca6df1cd10d571958d2ef8f23792203b"}, - {file = "aiortc-1.8.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0bb565acb623474d8052926f2ee768dbf1f87a71d271df78482319c0bec7c817"}, - {file = "aiortc-1.8.0-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bd50def722eb6b999ebc831eca7bea79019d2eda71dc79f4219a9ab19d65c961"}, - {file = "aiortc-1.8.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:4054f42f9ef875c67e38c0e86532e85e7ba528957052bc3d99e7c7caf273c456"}, - {file = "aiortc-1.8.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:ef40f132262a670169121b888a448e1973e892f1ed8a5f5980ab05a12ee78a32"}, - {file = "aiortc-1.8.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e53d9f999104a2438c0c23f2cbc991c5e15e46c0fe71476d60c222b62e4c5a70"}, - {file = "aiortc-1.8.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f3a1ef2e0d657aaca42106558c7c8d6e84c7088d0b70bc1fe3f93c555c242e38"}, - {file = "aiortc-1.8.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:454012e08c9ef5027c2543d4e97b6f1323ce027ec395202478a7e431b2519c5b"}, - {file = "aiortc-1.8.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:09dd2fad7a52f8fc66c86cdd2dd4d281b9815afd996e41301dd2706ccd57438a"}, - {file = "aiortc-1.8.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d669b635bbd8cf76fce63d3ceb83da5b219cea8bae4b566233f68618e69446cb"}, - {file = "aiortc-1.8.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8ccc4da8821e7ecdd2179bc5eb7fd5f12e50db8fc6affdbc8baa55f3f14dd377"}, - {file = "aiortc-1.8.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:29ba65bcb4c4cd1b25109d1e7ee5cf303654b757a3b7b59a28e162953e5f6c36"}, - {file = "aiortc-1.8.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1be4571e70e15b443f5b9ae651e24ac9dafb8b9abc1cdeb14e5f4bf028639944"}, - {file = "aiortc-1.8.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:2e20fe3cb4a8b6db4f5e8f625ff1eb9dafc67b7c0c9a0cb9969b646570aebd34"}, - {file = "aiortc-1.8.0.tar.gz", hash = "sha256:2363c08d1d2cb3aaed563c1fb256f5dae9f3ba75b70ad5e5df6d448504122591"}, + {file = "aiortc-1.9.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e3e67c1970c2cffacac53c8f161df264efc62b22721c64a621940935028ee087"}, + {file = "aiortc-1.9.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:d893cb3d4ffa0ff4f9bb03a88f0a700cdbcd4c0dc060a46c59a27ccd1c890663"}, + {file = "aiortc-1.9.0-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:176b4eb38d833667f87cf719a7a3e105e25a35b138b30893294418c1c96e38db"}, + {file = "aiortc-1.9.0-cp38-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c44b610f36b8d17123855dfbe915fa6874201765b8a2c7fd9cf72d14cf417740"}, + {file = "aiortc-1.9.0-cp38-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:55505adb31d56cba19a1ef8ad6aa9b727ccdba2a83bfbfb4aa79ef3c472026a6"}, + {file = "aiortc-1.9.0-cp38-abi3-win32.whl", hash = "sha256:680b703e35870e301535c930bfe32e7d012224a91ce51531aba45a3124ef07cc"}, + {file = "aiortc-1.9.0-cp38-abi3-win_amd64.whl", hash = "sha256:de5e7020cfc2d2d9fb95690926ff2e3b3c30cd4f5f5bc68d5b6756a8eebb686e"}, + {file = "aiortc-1.9.0-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:34c516ae4e70e8f64494305057af09311444325722fe6938ec38dd1e111adca9"}, + {file = "aiortc-1.9.0-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:40e61c1b84914d6f4c2968ff49353a22eed9419de74b151237cdb71af431209c"}, + {file = "aiortc-1.9.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1924e130a441507b1315956aff05c504a274f1a09802def225d0f3a3d1870320"}, + {file = "aiortc-1.9.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbb62950e396c311e398925149fa76bc90b8d6525b4eccf28cba704e7ded8bf5"}, + {file = "aiortc-1.9.0-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5234177e8d3126a0190ed9b6f8d0288daedcc0158c45cc279b4e6ac7d97f43f8"}, + {file = "aiortc-1.9.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:0e31575eb050aa68e0ea4c519aef101770b2297954f49e64a5c3d73ef27702ea"}, + {file = "aiortc-1.9.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:33018ce36186142e8a5eccca53189ff30c6d48d3d4d0c3df952fbf80f59f17d7"}, + {file = "aiortc-1.9.0-pp38-pypy38_pp73-macosx_11_0_arm64.whl", hash = "sha256:7d8cec50d8dcb1ea089378f885cb780357842ac39b7cb0e9361e5143c0126ecc"}, + {file = "aiortc-1.9.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a8f73ee2d738208c10bb9be8bd2dc0d7da7621de1bbd5ab709216dfa681f4585"}, + {file = "aiortc-1.9.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84f16cb2a654d4e5018c8aba45e77882c75bf50c6af4eee3048ddb35af7f0c8f"}, + {file = "aiortc-1.9.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:23df191d42b2937214263471a796502fcb8f86980e6b676aedbd188107e2a11d"}, + {file = "aiortc-1.9.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:9e7bf1c892f7b0a474e85f7e2c462775dbb5a79d6bd6450cf0d0784804629020"}, + {file = "aiortc-1.9.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:bc9692a1b67f4eea8d3f22785b6ac9bc9c3d98478fd2326f99247ebf432b05d1"}, + {file = "aiortc-1.9.0-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:4d0321824d24e3db918d2e494d44f2bc4467c8abd70646bbd57a5a5a49b72583"}, + {file = "aiortc-1.9.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c7eeabe29472c9e3bb73fb58d5ad3b017269046d43189532e6ec64359c5697b8"}, + {file = "aiortc-1.9.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c51f030e175569962df436d61953162da7a7c5e3d691adec660b5eee72dbba56"}, + {file = "aiortc-1.9.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:928f136647e609eca0028f7aaf3812fff4e3a4e0fe78abdc19dd0786e65ffac8"}, + {file = "aiortc-1.9.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:1107acead0fa97e2f039d3cf00179a8b12b35822372b922f6b9f007145b171d3"}, + {file = "aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303"}, ] [package.dependencies] aioice = ">=0.9.0,<1.0.0" -av = ">=9.0.0,<12.0.0" +av = ">=9.0.0,<13.0.0" cffi = ">=1.0.0" cryptography = ">=42.0.0" google-crc32c = ">=1.1" @@ -201,67 +204,71 @@ tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "p [[package]] name = "av" -version = "11.0.0" +version = "12.1.0" description = "Pythonic bindings for FFmpeg's libraries." optional = false python-versions = ">=3.8" files = [ - {file = "av-11.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:a01f13b37eb6d181e03bbbbda29093fe2d68f10755795188220acdc89560ec27"}, - {file = "av-11.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b2236faee1b5d71dff3cdef81ef6eec22cc8b71dbfb45eb037e6437fe80f24e7"}, - {file = "av-11.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:40543a08e5c84aecd2bc84da5d43548743201897f0ba21bf5ae3a4dcddefca2b"}, - {file = "av-11.0.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2907376884d956376aaf3bc1905fa4e0dcb9ba4e0d183e519392a19d89317d1b"}, - {file = "av-11.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8d5581dcdc81cd601e3ce036809f14da82c46ff187bcefe981ec819390e0ab0"}, - {file = "av-11.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:150490f2a62cfa470f3cb60f3a0060ff93afd807e2b7b3b0eeeb5a992eb8d67b"}, - {file = "av-11.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:d9bac0de62f09e2cb4e2132b5a46a89bc31c898189aa285b484c17351d991afe"}, - {file = "av-11.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2122ff8bdace4ce50207920f37de472517921e2ca1f0503464f748fdb8e20506"}, - {file = "av-11.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:527d840697fee6ad4cf47eba987eaf30cd76bd96b2d20eaa907e166b9b8065c8"}, - {file = "av-11.0.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:abeaedddfca9101886eb6fc47318c5f5ece8480d330d73aacf6917d7421981a2"}, - {file = "av-11.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:13790fbb889b955baf885fe3761e923e85537ef414173465ec293177cedb7b99"}, - {file = "av-11.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:fc27e27f52480287f44226ad4ae3eb53346bf027959d0f00a9154530bd98b371"}, - {file = "av-11.0.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:892583e2c6b8c2500e5d24310f499caefcdaa2e48c8f7169ad41041aaaf4da11"}, - {file = "av-11.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6943679d70a9f4de974049e7ae2cf0b20afe0d7ddab650526c02a6cf9adcd08f"}, - {file = "av-11.0.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e6d73b038ccf1df5c16bc643eee5c694fb7732e09375e2f4903c1f4ce90dfb72"}, - {file = "av-11.0.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c83422db3333e97b9680700df5185139352fc3a568b14179da3bdcbeb2f0e91b"}, - {file = "av-11.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8413900f6a3639e0088c018a3a516a1656d4d16799e7aa759a16ddf3bd268e2b"}, - {file = "av-11.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:908e49ee336223801d8f2f7dca5a1deb64e9d8256138b8e7a79013b682a6ebb5"}, - {file = "av-11.0.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:82411ae4a562da07b76028d2f349fb0e6a86aa78ad2b18d2d7bf5b06b17fba14"}, - {file = "av-11.0.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:621104bd63e38fa4eca554da3722b1aac329619de39152f27eec8999acc72342"}, - {file = "av-11.0.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:442878990c094455a16c10127edcc54bc4e78d355e6a13ad2a27608b0ecda38f"}, - {file = "av-11.0.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:658199c92987dc72511f5ee8ade62faef6234b7a04c8b5788de99e366be5e073"}, - {file = "av-11.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ad4b381665c49267b46f87297573898b85e5c41384750fee2e70267fbc4ba318"}, - {file = "av-11.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:60de14f71293e36ca4e297cc8a8460f0cf74f38a201694f3c6fc7f40301582f2"}, - {file = "av-11.0.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a90f04af96374dab94028a7471597bdfcf03083338b9be2eb8ca4805a8ec7ab5"}, - {file = "av-11.0.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:8821ab2d23e4cb5c8abea6b08d2b1bfceca6af2d88fab1d1dc1b3ec7b34933c7"}, - {file = "av-11.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a92342ed307eeaf9509a6b0f3bafd4337c4880c851b50acc18df48c625b63b6"}, - {file = "av-11.0.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bbe3502975bc844f5d432c1f24d331bf6ef3e05532ebf06f7ed08b60719b8ea5"}, - {file = "av-11.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c278b3a4fd111b4c9190abe6b1a5ca358d5f91e851d470b62577b957e0187b09"}, - {file = "av-11.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:478aa1d54fbc3058ea65ff41086b6adbe1326b456a027d2f3b59dbe60b4ac2ca"}, - {file = "av-11.0.0-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:e8df10bb2d56a981d02a8a0b41491912b76dad06305d174a2575ef55ad451100"}, - {file = "av-11.0.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b30c51e597785a89241bd61865faff2dbd3327856a8285a1e120dbf60e18348b"}, - {file = "av-11.0.0-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a8b8bd92edb096699b306e7b090ad096925ca3bdae6f89656f023fa2a2da627d"}, - {file = "av-11.0.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9383af733abfc44f6fc29307a6c922fbf671ee343dc97b78b74eac6a2346a46d"}, - {file = "av-11.0.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:a9df4a60579198b560f641cdfe4c2139948a70193ddc096b275f2cf6d94e3e04"}, - {file = "av-11.0.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:8ae5f7ae0a7093fb813686d4aa4c554531f80a28480427f5c155da51b747eff0"}, - {file = "av-11.0.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:50fb7d606f8236891d773c701d5650b93af8dbf78eeaac36fc7e1f7f64a9d664"}, - {file = "av-11.0.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:543e0f9bf6ff02dedbe66d906fbc89c8907c80a8ea7413fc3fed68ce4a6e9b44"}, - {file = "av-11.0.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:daa279c884457ab194ce78bdd89c0aa391af733da95fb3258d4c6eb8c258299a"}, - {file = "av-11.0.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:1aacc21f4cf96447117a61edfb776afb73186750a5e08a21484ddfc3599aefb5"}, - {file = "av-11.0.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2568b38eef777b916a5d02e42b8f67f92e12023531239ddd32e1ca4f3cdf8c5b"}, - {file = "av-11.0.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:747c6d347e27c59cc2e78c9c505d23cd88eceff0cc9386be73693ae9009a577c"}, - {file = "av-11.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4bbd8f4941b9d3450eff40003b9b9d904667aec7ab085fa31f0f9bca32d755e0"}, - {file = "av-11.0.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:f39c1244ba0cf185b2722aeec116b8a98a2ee5728ce687cec0bda60ee0360dfc"}, - {file = "av-11.0.0.tar.gz", hash = "sha256:48223f000a252070f8e700ff634bb7fb3aa1b7bc7e450373029fbdd6f369ac31"}, + {file = "av-12.1.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c0df2ad330ccf63ed8192d637306f13123cdf1c06717168d1de8b9a084d62f70"}, + {file = "av-12.1.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9e66ad48dc3f618cf4a75cc14dd7e119d1151ff3c13b9b064014c79bad20df85"}, + {file = "av-12.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f0e8fbbe3cffd04dcbfaf7f9e0469c8c9d3ae962728487aae0dbbac9ebb62567"}, + {file = "av-12.1.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:93c24d21b116e3af45e2f4b3a7ff1c96ae9a266bcde33a689ace0c52888e74d9"}, + {file = "av-12.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1eff59d1eb0ba263e9efe8e460ca239c6ee2285f1b92c6b3c64f002c1b2ffd56"}, + {file = "av-12.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:09f8bd1fd124e389a266c770d209b5b4333f69c4b5a66b9aa2d09a561b0b54ab"}, + {file = "av-12.1.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:e4c409639699d75e85a5b4b9fbb0538388bb009c8b426f7976b218731815e645"}, + {file = "av-12.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f624a61d8062bb7128a4b0af018ef5c7642acff2af7cea1bb6cc5aa663954b77"}, + {file = "av-12.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:73c61635e959dd50857f1ae3ad28984ce813688262672a5188376686dd293333"}, + {file = "av-12.1.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7f8dcf20ecdfed62cb8b31790d3f394c76f05d5d58d5cc516f7b37c8608b78e2"}, + {file = "av-12.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ebb11aba1ef2acb945713be5f4f7a359439230dc566243c354dddb2b06361367"}, + {file = "av-12.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:a309994db77f632b606fe22c5bac03302e3dbe48d53c195abc435ccc56192746"}, + {file = "av-12.1.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:08401e59a9e33a42511d28cf1fdc570c31d3416426a2d73f4f4aaaaca5945c54"}, + {file = "av-12.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:efd45e3aa1e478ccbaafd84baf7d95d660b9cef30d850816129fd37d76813589"}, + {file = "av-12.1.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1ab553ce72c631477181d6c08c6e710afa44fa3452e61b82d9a75be07b1b2fef"}, + {file = "av-12.1.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:555f3240306ff02169ff209b152f97b071b57957868c3004c65e25c28130d593"}, + {file = "av-12.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:07706499489f2047b54a4675dd04e2cf88322caef904b7b6eb03f480e682cf15"}, + {file = "av-12.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f669f5fb2515e9a4c9ee05b24ffbe3168d33c241bda93c84c8e384ca682a5cde"}, + {file = "av-12.1.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:876302ee793a457a03c4faa8281012671bb52dec843062bec59d6f0ae3735ba6"}, + {file = "av-12.1.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:e6ad88e1e61e65c69d92ff1db8826686f913f147b427c99aa3202b027e766128"}, + {file = "av-12.1.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:49a8f88b26d3d25140633a8ec48328a9467bbe001d01c54472394484cdb60b10"}, + {file = "av-12.1.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:97873f344344b9b6aef786b22b57fb42c6eaa4ea0798d2020c5ed061f29ab3d6"}, + {file = "av-12.1.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fdf4c54354580abbea9390e23a471a346e9a4b4ca19c6929ad11a59d525e2ad3"}, + {file = "av-12.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:dc1a82e7d43495be6d34b50fd917989a72de7c3a7434d8ec72af0952c1ad4ea3"}, + {file = "av-12.1.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:41d13494401bd3968255f7f9af2af203c30b684efc5a7ed92ebe9ec37f9f9264"}, + {file = "av-12.1.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:fc36f7b74e88db8e73fa69dc869331da74abc4f034ecd55f85f6232fcdddca60"}, + {file = "av-12.1.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:81ff7a43ce921f2cc3c794810b148c4fa2cfd7ff10f4404072c94cf57b39b13d"}, + {file = "av-12.1.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ce02915698d605c19c372314b7894033a451e838300d0a45c2708a550044e2d1"}, + {file = "av-12.1.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eadd5c7c374c9ff889a9116802cdda7ef9d574b623338f4045effc0f3f3c2cbc"}, + {file = "av-12.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:f32893849fe34300f3cec51c4ae71c45b0acac448d36336d3452a5bb4f7e11bf"}, + {file = "av-12.1.0-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a0a2a8693fdaa3bbb00255cda388f110f7a0b00817470a8cd8f1aa5c8dcbc3c9"}, + {file = "av-12.1.0-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:615f440856cbc5b96b8ae52c75ba722f082b898c3ab837eae024a06a0914e8a6"}, + {file = "av-12.1.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:257fe519b0ffb4e900b737515137fb9ae0490edca7d70818b6c71c3cd79994ca"}, + {file = "av-12.1.0-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:04afe8f9005bb42f95717bcfbb22a8950b4b942a862444edb1f0bab71ea702e9"}, + {file = "av-12.1.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:63cbeaedc0184094b7d36bd4267cd61e6c69c18cb3464cc726ce6a8a438ac87a"}, + {file = "av-12.1.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:0a0e056baa87037f932d12de3d3f258cbc4284d18d85099ccd845b333ac1bb91"}, + {file = "av-12.1.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:7d549c2e6e9035022ea2280b781150a8c81acc4a03c69bde20b2f53262041a88"}, + {file = "av-12.1.0-pp38-pypy38_pp73-macosx_11_0_arm64.whl", hash = "sha256:3b1e02715cbb985b0efe6b6aaf134f9d1fee760822a07fd19e995a8e461909f4"}, + {file = "av-12.1.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b348264ba26152d7b06f2aaf0b2a11c90b13c628a447f6daa2a6770b9443fb0"}, + {file = "av-12.1.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c6a3b3e4138cd1977f14e3d16c5f89979de8efa251d7558e2dc10a51cfcc0100"}, + {file = "av-12.1.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:105b017958eb5b6a128a5399200a4ec2b1040c2047e0b5f5e3714cd64fe7046e"}, + {file = "av-12.1.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:00596e53db3082193142e32fbdf47349724221de117645b0ed8fcaaec508adf4"}, + {file = "av-12.1.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:ed7c48d2d79961d70ea59f44fcff453bb2444a152793f80d2ceaa17af4331b9c"}, + {file = "av-12.1.0-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:d2c486adf83fc5b8e444efcc32f3eef27eefd6d0966ef68607d41205adcd8ec0"}, + {file = "av-12.1.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:abe9475dd2c8bea47338d5e90d6a45a28930d0fe3820ed2d3d09dfbb3316d476"}, + {file = "av-12.1.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0130a8391aa258eee60da3c09d69eb5c9480f14a9f1b1b5312336bac879edd2a"}, + {file = "av-12.1.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:669f206cfdd5696d0edf2c81c5d220acc40b4153b71cf6662618c376e00b6d3a"}, + {file = "av-12.1.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:e322533f585c2e8df07aa708c594fcb67f5f27a2f8b4107a7e6a6f90606190c7"}, + {file = "av-12.1.0.tar.gz", hash = "sha256:67adab9fdabcb8a86bd542787196580e38ed4132331ee9e82234b23cea9546b3"}, ] [[package]] name = "azure-core" -version = "1.30.1" +version = "1.30.2" description = "Microsoft Azure Core Library for Python" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "azure-core-1.30.1.tar.gz", hash = "sha256:26273a254131f84269e8ea4464f3560c731f29c0c1f69ac99010845f239c1a8f"}, - {file = "azure_core-1.30.1-py3-none-any.whl", hash = "sha256:7c5ee397e48f281ec4dd773d67a0a47a0962ed6fa833036057f9ea067f688e74"}, + {file = "azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472"}, + {file = "azure_core-1.30.2-py3-none-any.whl", hash = "sha256:cf019c1ca832e96274ae85abd3d9f752397194d9fea3b41487290562ac8abe4a"}, ] [package.dependencies] @@ -274,13 +281,13 @@ aio = ["aiohttp (>=3.0)"] [[package]] name = "azure-identity" -version = "1.16.0" +version = "1.16.1" description = "Microsoft Azure Identity Library for Python" optional = false python-versions = ">=3.8" files = [ - {file = "azure-identity-1.16.0.tar.gz", hash = "sha256:6ff1d667cdcd81da1ceab42f80a0be63ca846629f518a922f7317a7e3c844e1b"}, - {file = "azure_identity-1.16.0-py3-none-any.whl", hash = "sha256:722fdb60b8fdd55fa44dc378b8072f4b419b56a5e54c0de391f644949f3a826f"}, + {file = "azure-identity-1.16.1.tar.gz", hash = "sha256:6d93f04468f240d59246d8afde3091494a5040d4f141cad0f49fc0c399d0d91e"}, + {file = "azure_identity-1.16.1-py3-none-any.whl", hash = "sha256:8fb07c25642cd4ac422559a8b50d3e77f73dcc2bbfaba419d06d6c9d7cff6726"}, ] [package.dependencies] @@ -400,13 +407,13 @@ numpy = "*" [[package]] name = "certifi" -version = "2024.2.2" +version = "2024.6.2" description = "Python package for providing Mozilla's CA Bundle." optional = false python-versions = ">=3.6" files = [ - {file = "certifi-2024.2.2-py3-none-any.whl", hash = "sha256:dc383c07b76109f368f6106eee2b593b04a011ea4d55f652c6ca24a754d1cdd1"}, - {file = "certifi-2024.2.2.tar.gz", hash = "sha256:0569859f95fc761b18b45ef421b1290a0f65f147e92a1e5eb3e635f9a5e4e66f"}, + {file = "certifi-2024.6.2-py3-none-any.whl", hash = "sha256:ddc6c8ce995e6987e7faf5e3f1b02b302836a0e5d98ece18392cb1a36c72ad56"}, + {file = "certifi-2024.6.2.tar.gz", hash = "sha256:3cd43f1c6fa7dedc5899d69d3ad0398fd018ad1a17fba83ddaf78aa46c747516"}, ] [[package]] @@ -756,63 +763,63 @@ test = ["pytest", "pytest-timeout"] [[package]] name = "coverage" -version = "7.5.1" +version = "7.5.3" description = "Code coverage measurement for Python" optional = false python-versions = ">=3.8" files = [ - {file = "coverage-7.5.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c0884920835a033b78d1c73b6d3bbcda8161a900f38a488829a83982925f6c2e"}, - {file = "coverage-7.5.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:39afcd3d4339329c5f58de48a52f6e4e50f6578dd6099961cf22228feb25f38f"}, - {file = "coverage-7.5.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4a7b0ceee8147444347da6a66be737c9d78f3353b0681715b668b72e79203e4a"}, - {file = "coverage-7.5.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4a9ca3f2fae0088c3c71d743d85404cec8df9be818a005ea065495bedc33da35"}, - {file = "coverage-7.5.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5fd215c0c7d7aab005221608a3c2b46f58c0285a819565887ee0b718c052aa4e"}, - {file = "coverage-7.5.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:4bf0655ab60d754491004a5efd7f9cccefcc1081a74c9ef2da4735d6ee4a6223"}, - {file = "coverage-7.5.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:61c4bf1ba021817de12b813338c9be9f0ad5b1e781b9b340a6d29fc13e7c1b5e"}, - {file = "coverage-7.5.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:db66fc317a046556a96b453a58eced5024af4582a8dbdc0c23ca4dbc0d5b3146"}, - {file = "coverage-7.5.1-cp310-cp310-win32.whl", hash = "sha256:b016ea6b959d3b9556cb401c55a37547135a587db0115635a443b2ce8f1c7228"}, - {file = "coverage-7.5.1-cp310-cp310-win_amd64.whl", hash = "sha256:df4e745a81c110e7446b1cc8131bf986157770fa405fe90e15e850aaf7619bc8"}, - {file = "coverage-7.5.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:796a79f63eca8814ca3317a1ea443645c9ff0d18b188de470ed7ccd45ae79428"}, - {file = "coverage-7.5.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4fc84a37bfd98db31beae3c2748811a3fa72bf2007ff7902f68746d9757f3746"}, - {file = "coverage-7.5.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6175d1a0559986c6ee3f7fccfc4a90ecd12ba0a383dcc2da30c2b9918d67d8a3"}, - {file = "coverage-7.5.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1fc81d5878cd6274ce971e0a3a18a8803c3fe25457165314271cf78e3aae3aa2"}, - {file = "coverage-7.5.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:556cf1a7cbc8028cb60e1ff0be806be2eded2daf8129b8811c63e2b9a6c43bca"}, - {file = "coverage-7.5.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:9981706d300c18d8b220995ad22627647be11a4276721c10911e0e9fa44c83e8"}, - {file = "coverage-7.5.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:d7fed867ee50edf1a0b4a11e8e5d0895150e572af1cd6d315d557758bfa9c057"}, - {file = "coverage-7.5.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:ef48e2707fb320c8f139424a596f5b69955a85b178f15af261bab871873bb987"}, - {file = "coverage-7.5.1-cp311-cp311-win32.whl", hash = "sha256:9314d5678dcc665330df5b69c1e726a0e49b27df0461c08ca12674bcc19ef136"}, - {file = "coverage-7.5.1-cp311-cp311-win_amd64.whl", hash = "sha256:5fa567e99765fe98f4e7d7394ce623e794d7cabb170f2ca2ac5a4174437e90dd"}, - {file = "coverage-7.5.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:b6cf3764c030e5338e7f61f95bd21147963cf6aa16e09d2f74f1fa52013c1206"}, - {file = "coverage-7.5.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:2ec92012fefebee89a6b9c79bc39051a6cb3891d562b9270ab10ecfdadbc0c34"}, - {file = "coverage-7.5.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:16db7f26000a07efcf6aea00316f6ac57e7d9a96501e990a36f40c965ec7a95d"}, - {file = "coverage-7.5.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:beccf7b8a10b09c4ae543582c1319c6df47d78fd732f854ac68d518ee1fb97fa"}, - {file = "coverage-7.5.1-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8748731ad392d736cc9ccac03c9845b13bb07d020a33423fa5b3a36521ac6e4e"}, - {file = "coverage-7.5.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:7352b9161b33fd0b643ccd1f21f3a3908daaddf414f1c6cb9d3a2fd618bf2572"}, - {file = "coverage-7.5.1-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:7a588d39e0925f6a2bff87154752481273cdb1736270642aeb3635cb9b4cad07"}, - {file = "coverage-7.5.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:68f962d9b72ce69ea8621f57551b2fa9c70509af757ee3b8105d4f51b92b41a7"}, - {file = "coverage-7.5.1-cp312-cp312-win32.whl", hash = "sha256:f152cbf5b88aaeb836127d920dd0f5e7edff5a66f10c079157306c4343d86c19"}, - {file = "coverage-7.5.1-cp312-cp312-win_amd64.whl", hash = "sha256:5a5740d1fb60ddf268a3811bcd353de34eb56dc24e8f52a7f05ee513b2d4f596"}, - {file = "coverage-7.5.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:e2213def81a50519d7cc56ed643c9e93e0247f5bbe0d1247d15fa520814a7cd7"}, - {file = "coverage-7.5.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:5037f8fcc2a95b1f0e80585bd9d1ec31068a9bcb157d9750a172836e98bc7a90"}, - {file = "coverage-7.5.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5c3721c2c9e4c4953a41a26c14f4cef64330392a6d2d675c8b1db3b645e31f0e"}, - {file = "coverage-7.5.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ca498687ca46a62ae590253fba634a1fe9836bc56f626852fb2720f334c9e4e5"}, - {file = "coverage-7.5.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0cdcbc320b14c3e5877ee79e649677cb7d89ef588852e9583e6b24c2e5072661"}, - {file = "coverage-7.5.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:57e0204b5b745594e5bc14b9b50006da722827f0b8c776949f1135677e88d0b8"}, - {file = "coverage-7.5.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:8fe7502616b67b234482c3ce276ff26f39ffe88adca2acf0261df4b8454668b4"}, - {file = "coverage-7.5.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:9e78295f4144f9dacfed4f92935fbe1780021247c2fabf73a819b17f0ccfff8d"}, - {file = "coverage-7.5.1-cp38-cp38-win32.whl", hash = "sha256:1434e088b41594baa71188a17533083eabf5609e8e72f16ce8c186001e6b8c41"}, - {file = "coverage-7.5.1-cp38-cp38-win_amd64.whl", hash = "sha256:0646599e9b139988b63704d704af8e8df7fa4cbc4a1f33df69d97f36cb0a38de"}, - {file = "coverage-7.5.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:4cc37def103a2725bc672f84bd939a6fe4522310503207aae4d56351644682f1"}, - {file = "coverage-7.5.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:fc0b4d8bfeabd25ea75e94632f5b6e047eef8adaed0c2161ada1e922e7f7cece"}, - {file = "coverage-7.5.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0d0a0f5e06881ecedfe6f3dd2f56dcb057b6dbeb3327fd32d4b12854df36bf26"}, - {file = "coverage-7.5.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9735317685ba6ec7e3754798c8871c2f49aa5e687cc794a0b1d284b2389d1bd5"}, - {file = "coverage-7.5.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d21918e9ef11edf36764b93101e2ae8cc82aa5efdc7c5a4e9c6c35a48496d601"}, - {file = "coverage-7.5.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c3e757949f268364b96ca894b4c342b41dc6f8f8b66c37878aacef5930db61be"}, - {file = "coverage-7.5.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:79afb6197e2f7f60c4824dd4b2d4c2ec5801ceb6ba9ce5d2c3080e5660d51a4f"}, - {file = "coverage-7.5.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:d1d0d98d95dd18fe29dc66808e1accf59f037d5716f86a501fc0256455219668"}, - {file = "coverage-7.5.1-cp39-cp39-win32.whl", hash = "sha256:1cc0fe9b0b3a8364093c53b0b4c0c2dd4bb23acbec4c9240b5f284095ccf7981"}, - {file = "coverage-7.5.1-cp39-cp39-win_amd64.whl", hash = "sha256:dde0070c40ea8bb3641e811c1cfbf18e265d024deff6de52c5950677a8fb1e0f"}, - {file = "coverage-7.5.1-pp38.pp39.pp310-none-any.whl", hash = "sha256:6537e7c10cc47c595828b8a8be04c72144725c383c4702703ff4e42e44577312"}, - {file = "coverage-7.5.1.tar.gz", hash = "sha256:54de9ef3a9da981f7af93eafde4ede199e0846cd819eb27c88e2b712aae9708c"}, + {file = "coverage-7.5.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:a6519d917abb15e12380406d721e37613e2a67d166f9fb7e5a8ce0375744cd45"}, + {file = "coverage-7.5.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:aea7da970f1feccf48be7335f8b2ca64baf9b589d79e05b9397a06696ce1a1ec"}, + {file = "coverage-7.5.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:923b7b1c717bd0f0f92d862d1ff51d9b2b55dbbd133e05680204465f454bb286"}, + {file = "coverage-7.5.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:62bda40da1e68898186f274f832ef3e759ce929da9a9fd9fcf265956de269dbc"}, + {file = "coverage-7.5.3-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d8b7339180d00de83e930358223c617cc343dd08e1aa5ec7b06c3a121aec4e1d"}, + {file = "coverage-7.5.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:25a5caf742c6195e08002d3b6c2dd6947e50efc5fc2c2205f61ecb47592d2d83"}, + {file = "coverage-7.5.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:05ac5f60faa0c704c0f7e6a5cbfd6f02101ed05e0aee4d2822637a9e672c998d"}, + {file = "coverage-7.5.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:239a4e75e09c2b12ea478d28815acf83334d32e722e7433471fbf641c606344c"}, + {file = "coverage-7.5.3-cp310-cp310-win32.whl", hash = "sha256:a5812840d1d00eafae6585aba38021f90a705a25b8216ec7f66aebe5b619fb84"}, + {file = "coverage-7.5.3-cp310-cp310-win_amd64.whl", hash = "sha256:33ca90a0eb29225f195e30684ba4a6db05dbef03c2ccd50b9077714c48153cac"}, + {file = "coverage-7.5.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:f81bc26d609bf0fbc622c7122ba6307993c83c795d2d6f6f6fd8c000a770d974"}, + {file = "coverage-7.5.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:7cec2af81f9e7569280822be68bd57e51b86d42e59ea30d10ebdbb22d2cb7232"}, + {file = "coverage-7.5.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:55f689f846661e3f26efa535071775d0483388a1ccfab899df72924805e9e7cd"}, + {file = "coverage-7.5.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:50084d3516aa263791198913a17354bd1dc627d3c1639209640b9cac3fef5807"}, + {file = "coverage-7.5.3-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:341dd8f61c26337c37988345ca5c8ccabeff33093a26953a1ac72e7d0103c4fb"}, + {file = "coverage-7.5.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:ab0b028165eea880af12f66086694768f2c3139b2c31ad5e032c8edbafca6ffc"}, + {file = "coverage-7.5.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:5bc5a8c87714b0c67cfeb4c7caa82b2d71e8864d1a46aa990b5588fa953673b8"}, + {file = "coverage-7.5.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:38a3b98dae8a7c9057bd91fbf3415c05e700a5114c5f1b5b0ea5f8f429ba6614"}, + {file = "coverage-7.5.3-cp311-cp311-win32.whl", hash = "sha256:fcf7d1d6f5da887ca04302db8e0e0cf56ce9a5e05f202720e49b3e8157ddb9a9"}, + {file = "coverage-7.5.3-cp311-cp311-win_amd64.whl", hash = "sha256:8c836309931839cca658a78a888dab9676b5c988d0dd34ca247f5f3e679f4e7a"}, + {file = "coverage-7.5.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:296a7d9bbc598e8744c00f7a6cecf1da9b30ae9ad51c566291ff1314e6cbbed8"}, + {file = "coverage-7.5.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:34d6d21d8795a97b14d503dcaf74226ae51eb1f2bd41015d3ef332a24d0a17b3"}, + {file = "coverage-7.5.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8e317953bb4c074c06c798a11dbdd2cf9979dbcaa8ccc0fa4701d80042d4ebf1"}, + {file = "coverage-7.5.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:705f3d7c2b098c40f5b81790a5fedb274113373d4d1a69e65f8b68b0cc26f6db"}, + {file = "coverage-7.5.3-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b1196e13c45e327d6cd0b6e471530a1882f1017eb83c6229fc613cd1a11b53cd"}, + {file = "coverage-7.5.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:015eddc5ccd5364dcb902eaecf9515636806fa1e0d5bef5769d06d0f31b54523"}, + {file = "coverage-7.5.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:fd27d8b49e574e50caa65196d908f80e4dff64d7e592d0c59788b45aad7e8b35"}, + {file = "coverage-7.5.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:33fc65740267222fc02975c061eb7167185fef4cc8f2770267ee8bf7d6a42f84"}, + {file = "coverage-7.5.3-cp312-cp312-win32.whl", hash = "sha256:7b2a19e13dfb5c8e145c7a6ea959485ee8e2204699903c88c7d25283584bfc08"}, + {file = "coverage-7.5.3-cp312-cp312-win_amd64.whl", hash = "sha256:0bbddc54bbacfc09b3edaec644d4ac90c08ee8ed4844b0f86227dcda2d428fcb"}, + {file = "coverage-7.5.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f78300789a708ac1f17e134593f577407d52d0417305435b134805c4fb135adb"}, + {file = "coverage-7.5.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:b368e1aee1b9b75757942d44d7598dcd22a9dbb126affcbba82d15917f0cc155"}, + {file = "coverage-7.5.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f836c174c3a7f639bded48ec913f348c4761cbf49de4a20a956d3431a7c9cb24"}, + {file = "coverage-7.5.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:244f509f126dc71369393ce5fea17c0592c40ee44e607b6d855e9c4ac57aac98"}, + {file = "coverage-7.5.3-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4c2872b3c91f9baa836147ca33650dc5c172e9273c808c3c3199c75490e709d"}, + {file = "coverage-7.5.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:dd4b3355b01273a56b20c219e74e7549e14370b31a4ffe42706a8cda91f19f6d"}, + {file = "coverage-7.5.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:f542287b1489c7a860d43a7d8883e27ca62ab84ca53c965d11dac1d3a1fab7ce"}, + {file = "coverage-7.5.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:75e3f4e86804023e991096b29e147e635f5e2568f77883a1e6eed74512659ab0"}, + {file = "coverage-7.5.3-cp38-cp38-win32.whl", hash = "sha256:c59d2ad092dc0551d9f79d9d44d005c945ba95832a6798f98f9216ede3d5f485"}, + {file = "coverage-7.5.3-cp38-cp38-win_amd64.whl", hash = "sha256:fa21a04112c59ad54f69d80e376f7f9d0f5f9123ab87ecd18fbb9ec3a2beed56"}, + {file = "coverage-7.5.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f5102a92855d518b0996eb197772f5ac2a527c0ec617124ad5242a3af5e25f85"}, + {file = "coverage-7.5.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:d1da0a2e3b37b745a2b2a678a4c796462cf753aebf94edcc87dcc6b8641eae31"}, + {file = "coverage-7.5.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8383a6c8cefba1b7cecc0149415046b6fc38836295bc4c84e820872eb5478b3d"}, + {file = "coverage-7.5.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9aad68c3f2566dfae84bf46295a79e79d904e1c21ccfc66de88cd446f8686341"}, + {file = "coverage-7.5.3-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2e079c9ec772fedbade9d7ebc36202a1d9ef7291bc9b3a024ca395c4d52853d7"}, + {file = "coverage-7.5.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:bde997cac85fcac227b27d4fb2c7608a2c5f6558469b0eb704c5726ae49e1c52"}, + {file = "coverage-7.5.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:990fb20b32990b2ce2c5f974c3e738c9358b2735bc05075d50a6f36721b8f303"}, + {file = "coverage-7.5.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:3d5a67f0da401e105753d474369ab034c7bae51a4c31c77d94030d59e41df5bd"}, + {file = "coverage-7.5.3-cp39-cp39-win32.whl", hash = "sha256:e08c470c2eb01977d221fd87495b44867a56d4d594f43739a8028f8646a51e0d"}, + {file = "coverage-7.5.3-cp39-cp39-win_amd64.whl", hash = "sha256:1d2a830ade66d3563bb61d1e3c77c8def97b30ed91e166c67d0632c018f380f0"}, + {file = "coverage-7.5.3-pp38.pp39.pp310-none-any.whl", hash = "sha256:3538d8fb1ee9bdd2e2692b3b18c22bb1c19ffbefd06880f5ac496e42d7bb3884"}, + {file = "coverage-7.5.3.tar.gz", hash = "sha256:04aefca5190d1dc7a53a4c1a5a7f8568811306d7a8ee231c42fb69215571944f"}, ] [package.extras] @@ -830,43 +837,43 @@ files = [ [[package]] name = "cryptography" -version = "42.0.7" +version = "42.0.8" description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers." optional = false python-versions = ">=3.7" files = [ - {file = "cryptography-42.0.7-cp37-abi3-macosx_10_12_universal2.whl", hash = "sha256:a987f840718078212fdf4504d0fd4c6effe34a7e4740378e59d47696e8dfb477"}, - {file = "cryptography-42.0.7-cp37-abi3-macosx_10_12_x86_64.whl", hash = "sha256:bd13b5e9b543532453de08bcdc3cc7cebec6f9883e886fd20a92f26940fd3e7a"}, - {file = "cryptography-42.0.7-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a79165431551042cc9d1d90e6145d5d0d3ab0f2d66326c201d9b0e7f5bf43604"}, - {file = "cryptography-42.0.7-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a47787a5e3649008a1102d3df55424e86606c9bae6fb77ac59afe06d234605f8"}, - {file = "cryptography-42.0.7-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:02c0eee2d7133bdbbc5e24441258d5d2244beb31da5ed19fbb80315f4bbbff55"}, - {file = "cryptography-42.0.7-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:5e44507bf8d14b36b8389b226665d597bc0f18ea035d75b4e53c7b1ea84583cc"}, - {file = "cryptography-42.0.7-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:7f8b25fa616d8b846aef64b15c606bb0828dbc35faf90566eb139aa9cff67af2"}, - {file = "cryptography-42.0.7-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:93a3209f6bb2b33e725ed08ee0991b92976dfdcf4e8b38646540674fc7508e13"}, - {file = "cryptography-42.0.7-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:e6b8f1881dac458c34778d0a424ae5769de30544fc678eac51c1c8bb2183e9da"}, - {file = "cryptography-42.0.7-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:3de9a45d3b2b7d8088c3fbf1ed4395dfeff79d07842217b38df14ef09ce1d8d7"}, - {file = "cryptography-42.0.7-cp37-abi3-win32.whl", hash = "sha256:789caea816c6704f63f6241a519bfa347f72fbd67ba28d04636b7c6b7da94b0b"}, - {file = "cryptography-42.0.7-cp37-abi3-win_amd64.whl", hash = "sha256:8cb8ce7c3347fcf9446f201dc30e2d5a3c898d009126010cbd1f443f28b52678"}, - {file = "cryptography-42.0.7-cp39-abi3-macosx_10_12_universal2.whl", hash = "sha256:a3a5ac8b56fe37f3125e5b72b61dcde43283e5370827f5233893d461b7360cd4"}, - {file = "cryptography-42.0.7-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:779245e13b9a6638df14641d029add5dc17edbef6ec915688f3acb9e720a5858"}, - {file = "cryptography-42.0.7-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0d563795db98b4cd57742a78a288cdbdc9daedac29f2239793071fe114f13785"}, - {file = "cryptography-42.0.7-cp39-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:31adb7d06fe4383226c3e963471f6837742889b3c4caa55aac20ad951bc8ffda"}, - {file = "cryptography-42.0.7-cp39-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:efd0bf5205240182e0f13bcaea41be4fdf5c22c5129fc7ced4a0282ac86998c9"}, - {file = "cryptography-42.0.7-cp39-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:a9bc127cdc4ecf87a5ea22a2556cab6c7eda2923f84e4f3cc588e8470ce4e42e"}, - {file = "cryptography-42.0.7-cp39-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:3577d029bc3f4827dd5bf8bf7710cac13527b470bbf1820a3f394adb38ed7d5f"}, - {file = "cryptography-42.0.7-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:2e47577f9b18723fa294b0ea9a17d5e53a227867a0a4904a1a076d1646d45ca1"}, - {file = "cryptography-42.0.7-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:1a58839984d9cb34c855197043eaae2c187d930ca6d644612843b4fe8513c886"}, - {file = "cryptography-42.0.7-cp39-abi3-win32.whl", hash = "sha256:e6b79d0adb01aae87e8a44c2b64bc3f3fe59515280e00fb6d57a7267a2583cda"}, - {file = "cryptography-42.0.7-cp39-abi3-win_amd64.whl", hash = "sha256:16268d46086bb8ad5bf0a2b5544d8a9ed87a0e33f5e77dd3c3301e63d941a83b"}, - {file = "cryptography-42.0.7-pp310-pypy310_pp73-macosx_10_12_x86_64.whl", hash = "sha256:2954fccea107026512b15afb4aa664a5640cd0af630e2ee3962f2602693f0c82"}, - {file = "cryptography-42.0.7-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:362e7197754c231797ec45ee081f3088a27a47c6c01eff2ac83f60f85a50fe60"}, - {file = "cryptography-42.0.7-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:4f698edacf9c9e0371112792558d2f705b5645076cc0aaae02f816a0171770fd"}, - {file = "cryptography-42.0.7-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:5482e789294854c28237bba77c4c83be698be740e31a3ae5e879ee5444166582"}, - {file = "cryptography-42.0.7-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:e9b2a6309f14c0497f348d08a065d52f3020656f675819fc405fb63bbcd26562"}, - {file = "cryptography-42.0.7-pp39-pypy39_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:d8e3098721b84392ee45af2dd554c947c32cc52f862b6a3ae982dbb90f577f14"}, - {file = "cryptography-42.0.7-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:c65f96dad14f8528a447414125e1fc8feb2ad5a272b8f68477abbcc1ea7d94b9"}, - {file = "cryptography-42.0.7-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:36017400817987670037fbb0324d71489b6ead6231c9604f8fc1f7d008087c68"}, - {file = "cryptography-42.0.7.tar.gz", hash = "sha256:ecbfbc00bf55888edda9868a4cf927205de8499e7fabe6c050322298382953f2"}, + {file = "cryptography-42.0.8-cp37-abi3-macosx_10_12_universal2.whl", hash = "sha256:81d8a521705787afe7a18d5bfb47ea9d9cc068206270aad0b96a725022e18d2e"}, + {file = "cryptography-42.0.8-cp37-abi3-macosx_10_12_x86_64.whl", hash = "sha256:961e61cefdcb06e0c6d7e3a1b22ebe8b996eb2bf50614e89384be54c48c6b63d"}, + {file = "cryptography-42.0.8-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e3ec3672626e1b9e55afd0df6d774ff0e953452886e06e0f1eb7eb0c832e8902"}, + {file = "cryptography-42.0.8-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e599b53fd95357d92304510fb7bda8523ed1f79ca98dce2f43c115950aa78801"}, + {file = "cryptography-42.0.8-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:5226d5d21ab681f432a9c1cf8b658c0cb02533eece706b155e5fbd8a0cdd3949"}, + {file = "cryptography-42.0.8-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:6b7c4f03ce01afd3b76cf69a5455caa9cfa3de8c8f493e0d3ab7d20611c8dae9"}, + {file = "cryptography-42.0.8-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:2346b911eb349ab547076f47f2e035fc8ff2c02380a7cbbf8d87114fa0f1c583"}, + {file = "cryptography-42.0.8-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:ad803773e9df0b92e0a817d22fd8a3675493f690b96130a5e24f1b8fabbea9c7"}, + {file = "cryptography-42.0.8-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:2f66d9cd9147ee495a8374a45ca445819f8929a3efcd2e3df6428e46c3cbb10b"}, + {file = "cryptography-42.0.8-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:d45b940883a03e19e944456a558b67a41160e367a719833c53de6911cabba2b7"}, + {file = "cryptography-42.0.8-cp37-abi3-win32.whl", hash = "sha256:a0c5b2b0585b6af82d7e385f55a8bc568abff8923af147ee3c07bd8b42cda8b2"}, + {file = "cryptography-42.0.8-cp37-abi3-win_amd64.whl", hash = "sha256:57080dee41209e556a9a4ce60d229244f7a66ef52750f813bfbe18959770cfba"}, + {file = "cryptography-42.0.8-cp39-abi3-macosx_10_12_universal2.whl", hash = "sha256:dea567d1b0e8bc5764b9443858b673b734100c2871dc93163f58c46a97a83d28"}, + {file = "cryptography-42.0.8-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c4783183f7cb757b73b2ae9aed6599b96338eb957233c58ca8f49a49cc32fd5e"}, + {file = "cryptography-42.0.8-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a0608251135d0e03111152e41f0cc2392d1e74e35703960d4190b2e0f4ca9c70"}, + {file = "cryptography-42.0.8-cp39-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:dc0fdf6787f37b1c6b08e6dfc892d9d068b5bdb671198c72072828b80bd5fe4c"}, + {file = "cryptography-42.0.8-cp39-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:9c0c1716c8447ee7dbf08d6db2e5c41c688544c61074b54fc4564196f55c25a7"}, + {file = "cryptography-42.0.8-cp39-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:fff12c88a672ab9c9c1cf7b0c80e3ad9e2ebd9d828d955c126be4fd3e5578c9e"}, + {file = "cryptography-42.0.8-cp39-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:cafb92b2bc622cd1aa6a1dce4b93307792633f4c5fe1f46c6b97cf67073ec961"}, + {file = "cryptography-42.0.8-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:31f721658a29331f895a5a54e7e82075554ccfb8b163a18719d342f5ffe5ecb1"}, + {file = "cryptography-42.0.8-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:b297f90c5723d04bcc8265fc2a0f86d4ea2e0f7ab4b6994459548d3a6b992a14"}, + {file = "cryptography-42.0.8-cp39-abi3-win32.whl", hash = "sha256:2f88d197e66c65be5e42cd72e5c18afbfae3f741742070e3019ac8f4ac57262c"}, + {file = "cryptography-42.0.8-cp39-abi3-win_amd64.whl", hash = "sha256:fa76fbb7596cc5839320000cdd5d0955313696d9511debab7ee7278fc8b5c84a"}, + {file = "cryptography-42.0.8-pp310-pypy310_pp73-macosx_10_12_x86_64.whl", hash = "sha256:ba4f0a211697362e89ad822e667d8d340b4d8d55fae72cdd619389fb5912eefe"}, + {file = "cryptography-42.0.8-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:81884c4d096c272f00aeb1f11cf62ccd39763581645b0812e99a91505fa48e0c"}, + {file = "cryptography-42.0.8-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:c9bb2ae11bfbab395bdd072985abde58ea9860ed84e59dbc0463a5d0159f5b71"}, + {file = "cryptography-42.0.8-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:7016f837e15b0a1c119d27ecd89b3515f01f90a8615ed5e9427e30d9cdbfed3d"}, + {file = "cryptography-42.0.8-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:5a94eccb2a81a309806027e1670a358b99b8fe8bfe9f8d329f27d72c094dde8c"}, + {file = "cryptography-42.0.8-pp39-pypy39_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:dec9b018df185f08483f294cae6ccac29e7a6e0678996587363dc352dc65c842"}, + {file = "cryptography-42.0.8-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:343728aac38decfdeecf55ecab3264b015be68fc2816ca800db649607aeee648"}, + {file = "cryptography-42.0.8-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:013629ae70b40af70c9a7a5db40abe5d9054e6f4380e50ce769947b73bf3caad"}, + {file = "cryptography-42.0.8.tar.gz", hash = "sha256:8d09d05439ce7baa8e9e95b07ec5b6c886f548deb7e0f69ef25f64b3bce842f2"}, ] [package.dependencies] @@ -1152,53 +1159,53 @@ files = [ [[package]] name = "fonttools" -version = "4.51.0" +version = "4.53.0" description = "Tools to manipulate font files" optional = false python-versions = ">=3.8" files = [ - {file = "fonttools-4.51.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:84d7751f4468dd8cdd03ddada18b8b0857a5beec80bce9f435742abc9a851a74"}, - {file = "fonttools-4.51.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:8b4850fa2ef2cfbc1d1f689bc159ef0f45d8d83298c1425838095bf53ef46308"}, - {file = "fonttools-4.51.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b5b48a1121117047d82695d276c2af2ee3a24ffe0f502ed581acc2673ecf1037"}, - {file = "fonttools-4.51.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:180194c7fe60c989bb627d7ed5011f2bef1c4d36ecf3ec64daec8302f1ae0716"}, - {file = "fonttools-4.51.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:96a48e137c36be55e68845fc4284533bda2980f8d6f835e26bca79d7e2006438"}, - {file = "fonttools-4.51.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:806e7912c32a657fa39d2d6eb1d3012d35f841387c8fc6cf349ed70b7c340039"}, - {file = "fonttools-4.51.0-cp310-cp310-win32.whl", hash = "sha256:32b17504696f605e9e960647c5f64b35704782a502cc26a37b800b4d69ff3c77"}, - {file = "fonttools-4.51.0-cp310-cp310-win_amd64.whl", hash = "sha256:c7e91abdfae1b5c9e3a543f48ce96013f9a08c6c9668f1e6be0beabf0a569c1b"}, - {file = "fonttools-4.51.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:a8feca65bab31479d795b0d16c9a9852902e3a3c0630678efb0b2b7941ea9c74"}, - {file = "fonttools-4.51.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:8ac27f436e8af7779f0bb4d5425aa3535270494d3bc5459ed27de3f03151e4c2"}, - {file = "fonttools-4.51.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0e19bd9e9964a09cd2433a4b100ca7f34e34731e0758e13ba9a1ed6e5468cc0f"}, - {file = "fonttools-4.51.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b2b92381f37b39ba2fc98c3a45a9d6383bfc9916a87d66ccb6553f7bdd129097"}, - {file = "fonttools-4.51.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:5f6bc991d1610f5c3bbe997b0233cbc234b8e82fa99fc0b2932dc1ca5e5afec0"}, - {file = "fonttools-4.51.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:9696fe9f3f0c32e9a321d5268208a7cc9205a52f99b89479d1b035ed54c923f1"}, - {file = "fonttools-4.51.0-cp311-cp311-win32.whl", hash = "sha256:3bee3f3bd9fa1d5ee616ccfd13b27ca605c2b4270e45715bd2883e9504735034"}, - {file = "fonttools-4.51.0-cp311-cp311-win_amd64.whl", hash = "sha256:0f08c901d3866a8905363619e3741c33f0a83a680d92a9f0e575985c2634fcc1"}, - {file = "fonttools-4.51.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:4060acc2bfa2d8e98117828a238889f13b6f69d59f4f2d5857eece5277b829ba"}, - {file = "fonttools-4.51.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1250e818b5f8a679ad79660855528120a8f0288f8f30ec88b83db51515411fcc"}, - {file = "fonttools-4.51.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:76f1777d8b3386479ffb4a282e74318e730014d86ce60f016908d9801af9ca2a"}, - {file = "fonttools-4.51.0-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8b5ad456813d93b9c4b7ee55302208db2b45324315129d85275c01f5cb7e61a2"}, - {file = "fonttools-4.51.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:68b3fb7775a923be73e739f92f7e8a72725fd333eab24834041365d2278c3671"}, - {file = "fonttools-4.51.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8e2f1a4499e3b5ee82c19b5ee57f0294673125c65b0a1ff3764ea1f9db2f9ef5"}, - {file = "fonttools-4.51.0-cp312-cp312-win32.whl", hash = "sha256:278e50f6b003c6aed19bae2242b364e575bcb16304b53f2b64f6551b9c000e15"}, - {file = "fonttools-4.51.0-cp312-cp312-win_amd64.whl", hash = "sha256:b3c61423f22165541b9403ee39874dcae84cd57a9078b82e1dce8cb06b07fa2e"}, - {file = "fonttools-4.51.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:1621ee57da887c17312acc4b0e7ac30d3a4fb0fec6174b2e3754a74c26bbed1e"}, - {file = "fonttools-4.51.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:e9d9298be7a05bb4801f558522adbe2feea1b0b103d5294ebf24a92dd49b78e5"}, - {file = "fonttools-4.51.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ee1af4be1c5afe4c96ca23badd368d8dc75f611887fb0c0dac9f71ee5d6f110e"}, - {file = "fonttools-4.51.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c18b49adc721a7d0b8dfe7c3130c89b8704baf599fb396396d07d4aa69b824a1"}, - {file = "fonttools-4.51.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:de7c29bdbdd35811f14493ffd2534b88f0ce1b9065316433b22d63ca1cd21f14"}, - {file = "fonttools-4.51.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:cadf4e12a608ef1d13e039864f484c8a968840afa0258b0b843a0556497ea9ed"}, - {file = "fonttools-4.51.0-cp38-cp38-win32.whl", hash = "sha256:aefa011207ed36cd280babfaa8510b8176f1a77261833e895a9d96e57e44802f"}, - {file = "fonttools-4.51.0-cp38-cp38-win_amd64.whl", hash = "sha256:865a58b6e60b0938874af0968cd0553bcd88e0b2cb6e588727117bd099eef836"}, - {file = "fonttools-4.51.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:60a3409c9112aec02d5fb546f557bca6efa773dcb32ac147c6baf5f742e6258b"}, - {file = "fonttools-4.51.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f7e89853d8bea103c8e3514b9f9dc86b5b4120afb4583b57eb10dfa5afbe0936"}, - {file = "fonttools-4.51.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:56fc244f2585d6c00b9bcc59e6593e646cf095a96fe68d62cd4da53dd1287b55"}, - {file = "fonttools-4.51.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0d145976194a5242fdd22df18a1b451481a88071feadf251221af110ca8f00ce"}, - {file = "fonttools-4.51.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c5b8cab0c137ca229433570151b5c1fc6af212680b58b15abd797dcdd9dd5051"}, - {file = "fonttools-4.51.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:54dcf21a2f2d06ded676e3c3f9f74b2bafded3a8ff12f0983160b13e9f2fb4a7"}, - {file = "fonttools-4.51.0-cp39-cp39-win32.whl", hash = "sha256:0118ef998a0699a96c7b28457f15546815015a2710a1b23a7bf6c1be60c01636"}, - {file = "fonttools-4.51.0-cp39-cp39-win_amd64.whl", hash = "sha256:599bdb75e220241cedc6faebfafedd7670335d2e29620d207dd0378a4e9ccc5a"}, - {file = "fonttools-4.51.0-py3-none-any.whl", hash = "sha256:15c94eeef6b095831067f72c825eb0e2d48bb4cea0647c1b05c981ecba2bf39f"}, - {file = "fonttools-4.51.0.tar.gz", hash = "sha256:dc0673361331566d7a663d7ce0f6fdcbfbdc1f59c6e3ed1165ad7202ca183c68"}, + {file = "fonttools-4.53.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:52a6e0a7a0bf611c19bc8ec8f7592bdae79c8296c70eb05917fd831354699b20"}, + {file = "fonttools-4.53.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:099634631b9dd271d4a835d2b2a9e042ccc94ecdf7e2dd9f7f34f7daf333358d"}, + {file = "fonttools-4.53.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e40013572bfb843d6794a3ce076c29ef4efd15937ab833f520117f8eccc84fd6"}, + {file = "fonttools-4.53.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:715b41c3e231f7334cbe79dfc698213dcb7211520ec7a3bc2ba20c8515e8a3b5"}, + {file = "fonttools-4.53.0-cp310-cp310-musllinux_1_2_aarch64.whl", hash = "sha256:74ae2441731a05b44d5988d3ac2cf784d3ee0a535dbed257cbfff4be8bb49eb9"}, + {file = "fonttools-4.53.0-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:95db0c6581a54b47c30860d013977b8a14febc206c8b5ff562f9fe32738a8aca"}, + {file = "fonttools-4.53.0-cp310-cp310-win32.whl", hash = "sha256:9cd7a6beec6495d1dffb1033d50a3f82dfece23e9eb3c20cd3c2444d27514068"}, + {file = "fonttools-4.53.0-cp310-cp310-win_amd64.whl", hash = "sha256:daaef7390e632283051e3cf3e16aff2b68b247e99aea916f64e578c0449c9c68"}, + {file = "fonttools-4.53.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:a209d2e624ba492df4f3bfad5996d1f76f03069c6133c60cd04f9a9e715595ec"}, + {file = "fonttools-4.53.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4f520d9ac5b938e6494f58a25c77564beca7d0199ecf726e1bd3d56872c59749"}, + {file = "fonttools-4.53.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:eceef49f457253000e6a2d0f7bd08ff4e9fe96ec4ffce2dbcb32e34d9c1b8161"}, + {file = "fonttools-4.53.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fa1f3e34373aa16045484b4d9d352d4c6b5f9f77ac77a178252ccbc851e8b2ee"}, + {file = "fonttools-4.53.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:28d072169fe8275fb1a0d35e3233f6df36a7e8474e56cb790a7258ad822b6fd6"}, + {file = "fonttools-4.53.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:4a2a6ba400d386e904fd05db81f73bee0008af37799a7586deaa4aef8cd5971e"}, + {file = "fonttools-4.53.0-cp311-cp311-win32.whl", hash = "sha256:bb7273789f69b565d88e97e9e1da602b4ee7ba733caf35a6c2affd4334d4f005"}, + {file = "fonttools-4.53.0-cp311-cp311-win_amd64.whl", hash = "sha256:9fe9096a60113e1d755e9e6bda15ef7e03391ee0554d22829aa506cdf946f796"}, + {file = "fonttools-4.53.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:d8f191a17369bd53a5557a5ee4bab91d5330ca3aefcdf17fab9a497b0e7cff7a"}, + {file = "fonttools-4.53.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:93156dd7f90ae0a1b0e8871032a07ef3178f553f0c70c386025a808f3a63b1f4"}, + {file = "fonttools-4.53.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bff98816cb144fb7b85e4b5ba3888a33b56ecef075b0e95b95bcd0a5fbf20f06"}, + {file = "fonttools-4.53.0-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:973d030180eca8255b1bce6ffc09ef38a05dcec0e8320cc9b7bcaa65346f341d"}, + {file = "fonttools-4.53.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:c4ee5a24e281fbd8261c6ab29faa7fd9a87a12e8c0eed485b705236c65999109"}, + {file = "fonttools-4.53.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:bd5bc124fae781a4422f61b98d1d7faa47985f663a64770b78f13d2c072410c2"}, + {file = "fonttools-4.53.0-cp312-cp312-win32.whl", hash = "sha256:a239afa1126b6a619130909c8404070e2b473dd2b7fc4aacacd2e763f8597fea"}, + {file = "fonttools-4.53.0-cp312-cp312-win_amd64.whl", hash = "sha256:45b4afb069039f0366a43a5d454bc54eea942bfb66b3fc3e9a2c07ef4d617380"}, + {file = "fonttools-4.53.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:93bc9e5aaa06ff928d751dc6be889ff3e7d2aa393ab873bc7f6396a99f6fbb12"}, + {file = "fonttools-4.53.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:2367d47816cc9783a28645bc1dac07f8ffc93e0f015e8c9fc674a5b76a6da6e4"}, + {file = "fonttools-4.53.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:907fa0b662dd8fc1d7c661b90782ce81afb510fc4b7aa6ae7304d6c094b27bce"}, + {file = "fonttools-4.53.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3e0ad3c6ea4bd6a289d958a1eb922767233f00982cf0fe42b177657c86c80a8f"}, + {file = "fonttools-4.53.0-cp38-cp38-musllinux_1_2_aarch64.whl", hash = "sha256:73121a9b7ff93ada888aaee3985a88495489cc027894458cb1a736660bdfb206"}, + {file = "fonttools-4.53.0-cp38-cp38-musllinux_1_2_x86_64.whl", hash = "sha256:ee595d7ba9bba130b2bec555a40aafa60c26ce68ed0cf509983e0f12d88674fd"}, + {file = "fonttools-4.53.0-cp38-cp38-win32.whl", hash = "sha256:fca66d9ff2ac89b03f5aa17e0b21a97c21f3491c46b583bb131eb32c7bab33af"}, + {file = "fonttools-4.53.0-cp38-cp38-win_amd64.whl", hash = "sha256:31f0e3147375002aae30696dd1dc596636abbd22fca09d2e730ecde0baad1d6b"}, + {file = "fonttools-4.53.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:7d6166192dcd925c78a91d599b48960e0a46fe565391c79fe6de481ac44d20ac"}, + {file = "fonttools-4.53.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:ef50ec31649fbc3acf6afd261ed89d09eb909b97cc289d80476166df8438524d"}, + {file = "fonttools-4.53.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7f193f060391a455920d61684a70017ef5284ccbe6023bb056e15e5ac3de11d1"}, + {file = "fonttools-4.53.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba9f09ff17f947392a855e3455a846f9855f6cf6bec33e9a427d3c1d254c712f"}, + {file = "fonttools-4.53.0-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:0c555e039d268445172b909b1b6bdcba42ada1cf4a60e367d68702e3f87e5f64"}, + {file = "fonttools-4.53.0-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:5a4788036201c908079e89ae3f5399b33bf45b9ea4514913f4dbbe4fac08efe0"}, + {file = "fonttools-4.53.0-cp39-cp39-win32.whl", hash = "sha256:d1a24f51a3305362b94681120c508758a88f207fa0a681c16b5a4172e9e6c7a9"}, + {file = "fonttools-4.53.0-cp39-cp39-win_amd64.whl", hash = "sha256:1e677bfb2b4bd0e5e99e0f7283e65e47a9814b0486cb64a41adf9ef110e078f2"}, + {file = "fonttools-4.53.0-py3-none-any.whl", hash = "sha256:6b4f04b1fbc01a3569d63359f2227c89ab294550de277fd09d8fca6185669fa4"}, + {file = "fonttools-4.53.0.tar.gz", hash = "sha256:c93ed66d32de1559b6fc348838c7572d5c0ac1e4a258e76763a5caddd8944002"}, ] [package.extras] @@ -1301,50 +1308,6 @@ files = [ {file = "frozenlist-1.4.1.tar.gz", hash = "sha256:c037a86e8513059a2613aaba4d817bb90b9d9b6b69aace3ce9c877e8c8ed402b"}, ] -[[package]] -name = "ft4222" -version = "1.10.0" -description = "Python wrapper around libFT4222." -optional = false -python-versions = "*" -files = [ - {file = "ft4222-1.10.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:dd003a91ecaf20bc4d4ce8f0aea4a5ecfbc17a3840d41b0ce27410e027530cd0"}, - {file = "ft4222-1.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1cedabcd6c554e78f3479350153c5a347355ccc977ceeb24726edc37d3e7edb7"}, - {file = "ft4222-1.10.0-cp310-cp310-win32.whl", hash = "sha256:a039d4230926fa9b600baa12903843c53d6b238eb93e99ae68eeeb450d6f4bdc"}, - {file = "ft4222-1.10.0-cp310-cp310-win_amd64.whl", hash = "sha256:b05e499fd3f1baef225671f3afd25bf93e1f287fa17326c90c1f8db70abb3e89"}, - {file = "ft4222-1.10.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:df9da4d5575d51511ba58e73ee434061dc709ce69491656ec109d995ce304167"}, - {file = "ft4222-1.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:20f2cb89e63ea755d69a4d41c2dcba94d2f720b6e736ea51bdf681f1e809763c"}, - {file = "ft4222-1.10.0-cp311-cp311-win32.whl", hash = "sha256:806d4117d0814c390c7f280345aa99168ec989ca49b20259ce593ea79bcd246f"}, - {file = "ft4222-1.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:ad626507e9b1520f2f3b6f98ddca0d257c93b844824a1ab7cbb58759b0fbca84"}, - {file = "ft4222-1.10.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:4ecaae4e5ec3bedcdbe04a5792bf08119040669cf58c02df947395e6a96bd18c"}, - {file = "ft4222-1.10.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:c8c2655fe7192eb80ef25ab750123139f591e0f079fe2a5e6f31b7cd6f015a9f"}, - {file = "ft4222-1.10.0-cp312-cp312-win32.whl", hash = "sha256:fe668caa43bcacfbf3287cff8b4b11bb586a71d4722307e574f60180bb4a351e"}, - {file = "ft4222-1.10.0-cp312-cp312-win_amd64.whl", hash = "sha256:4d7a49febc2b96ebed4b843262ab1f00843d158d6f4877c8ee19219f1c41f0da"}, - {file = "ft4222-1.10.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:18a6f99e31c767b6ccb7e2f0e7f6cc51d15c9b685e2b81fd12ab08cac0924289"}, - {file = "ft4222-1.10.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:83efcb50649a7ab4c7e045467357029f16ef0be064d46ffe7ea1e06eb9ad85f8"}, - {file = "ft4222-1.10.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:e051c89cb45f964640e355506efa74b41c424e9ea9046367534180075be0a95c"}, - {file = "ft4222-1.10.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9cae991a917602635238c144395bb59a516b7684b6599da251a88cfe37a5ed8f"}, - {file = "ft4222-1.10.0-cp37-cp37m-win32.whl", hash = "sha256:713ed85fbb8f11755ae7ed932302192a34d2aa8834ffa45a7c345d3a5ba8f67b"}, - {file = "ft4222-1.10.0-cp37-cp37m-win_amd64.whl", hash = "sha256:6f2458e6c62d251b6219cfa0fbcfb9ccfa22854c5d7463b862f11b268019ec66"}, - {file = "ft4222-1.10.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:db4b489cd434b92748e45695c1313716db4e00bdda4f70b6bcf99cdc042a34d8"}, - {file = "ft4222-1.10.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:b0bd0632063b0e4bb2852ccde3fb95252ea7f0a0bfd3e4c3ee677f4ec63c2520"}, - {file = "ft4222-1.10.0-cp38-cp38-win32.whl", hash = "sha256:057c88eaa2db14a05163b90a7ba2938c0aa6e3870fec31c70051fb791cfbbc22"}, - {file = "ft4222-1.10.0-cp38-cp38-win_amd64.whl", hash = "sha256:648a739bb5c0ca53b5cb0698e0ebb54ddaea090878a02cbe9039b3d80cf818ba"}, - {file = "ft4222-1.10.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:88170a0aaa321ae8c974a664b2316fab00f86dd8249ff5927ea4d58a2ed7fa23"}, - {file = "ft4222-1.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:69fa55d8b5bc7da5a20254d480d4764dbcaa1ca74cd2d10bbc0ce39d39891f2a"}, - {file = "ft4222-1.10.0-cp39-cp39-win32.whl", hash = "sha256:9eb40e86fd43ab8d12b33d092369419e275292a6d57f1ef7de30e63cd8dc9bd5"}, - {file = "ft4222-1.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:875478f2c8c0fa128037c389969375ede546dde8cf7a5ae796421832aa6dd634"}, - {file = "ft4222-1.10.0-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:834b9e549d66f3cc0bbe75983b32e756258523b70363bb67970a7be21c9e3d8f"}, - {file = "ft4222-1.10.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:7af52e4d61e2bcaa10b802e6f1af29823da12a27f520c799823490e6fd9ebb19"}, - {file = "ft4222-1.10.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ca8c5aff74e213d8b658e7cdd8df3012e55023a2d379b5074628f6bb8947359a"}, - {file = "ft4222-1.10.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:755a70ab2c5d3fd94030e51fd82c332bc2463c6c455adf093d12e2f3803ea207"}, - {file = "ft4222-1.10.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:035ea7fc9ad627b44be57c31e87bc8d445ebd7cf6ac991d750fedc999683d64e"}, - {file = "ft4222-1.10.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:2df65d174200c1451f5646a109e683aada9d7a076bf5f7ce682145d10725445a"}, - {file = "ft4222-1.10.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:99ef3c412017a85ef9f90d8fc884ba66dae71e85433c8890da6aec38eb0288ab"}, - {file = "ft4222-1.10.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d00b36bdac3960c377f3a625fc352eca20e36825ddff178feaae97c2d9a8846c"}, - {file = "ft4222-1.10.0.tar.gz", hash = "sha256:74eab32dfc5c012d11952c8645b72157f8828685972669ef3c22025491d96001"}, -] - [[package]] name = "future-fstrings" version = "1.2.0" @@ -1460,34 +1423,33 @@ testing = ["pytest"] [[package]] name = "gymnasium" -version = "0.28.1" +version = "0.29.1" description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)." optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "gymnasium-0.28.1-py3-none-any.whl", hash = "sha256:7bc9a5bce1022f997d1dbc152fc91d1ac977bad9cc7794cdc25437010867cabf"}, - {file = "gymnasium-0.28.1.tar.gz", hash = "sha256:4c2c745808792c8f45c6e88ad0a5504774394e0c126f6e3db555e720d3da6f24"}, + {file = "gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e"}, + {file = "gymnasium-0.29.1.tar.gz", hash = "sha256:1a532752efcb7590478b1cc7aa04f608eb7a2fdad5570cd217b66b6a35274bb1"}, ] [package.dependencies] cloudpickle = ">=1.2.0" farama-notifications = ">=0.0.1" -jax-jumpy = ">=1.0.0" numpy = ">=1.21.0" typing-extensions = ">=4.3.0" [package.extras] accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"] -all = ["box2d-py (==2.3.5)", "imageio (>=2.14.1)", "jax (==0.3.24)", "jaxlib (==0.3.24)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.3.2)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.3)", "shimmy[atari] (>=0.1.0,<1.0)", "swig (==4.*)", "torch (>=1.0.0)"] +all = ["box2d-py (==2.3.5)", "cython (<3)", "imageio (>=2.14.1)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.3.3)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (>=2.1.3)", "shimmy[atari] (>=0.1.0,<1.0)", "swig (==4.*)", "torch (>=1.0.0)"] atari = ["shimmy[atari] (>=0.1.0,<1.0)"] -box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.3)", "swig (==4.*)"] -classic-control = ["pygame (==2.1.3)", "pygame (==2.1.3)"] -jax = ["jax (==0.3.24)", "jaxlib (==0.3.24)"] -mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.2)"] -mujoco-py = ["mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"] +box2d = ["box2d-py (==2.3.5)", "pygame (>=2.1.3)", "swig (==4.*)"] +classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"] +jax = ["jax (>=0.4.0)", "jaxlib (>=0.4.0)"] +mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.3)"] +mujoco-py = ["cython (<3)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"] other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)", "torch (>=1.0.0)"] -testing = ["pytest (==7.1.3)", "scipy (==1.7.3)"] -toy-text = ["pygame (==2.1.3)", "pygame (==2.1.3)"] +testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"] +toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"] [[package]] name = "h3" @@ -1687,24 +1649,6 @@ files = [ [package.dependencies] six = "*" -[[package]] -name = "jax-jumpy" -version = "1.0.0" -description = "Common backend for Jax or Numpy." -optional = false -python-versions = ">=3.7" -files = [ - {file = "jax-jumpy-1.0.0.tar.gz", hash = "sha256:195fb955cc4c2b7f0b1453e3cb1fb1c414a51a407ffac7a51e69a73cb30d59ad"}, - {file = "jax_jumpy-1.0.0-py3-none-any.whl", hash = "sha256:ab7e01454bba462de3c4d098e3e585c302a8f06bc36d9182ab4e7e4aa7067c5e"}, -] - -[package.dependencies] -numpy = ">=1.18.0" - -[package.extras] -jax = ["jax (>=0.3.24)", "jaxlib (>=0.3.24)"] -testing = ["pytest (==7.1.3)"] - [[package]] name = "jinja2" version = "3.1.4" @@ -2033,9 +1977,13 @@ files = [ {file = "lxml-5.2.2-cp36-cp36m-win_amd64.whl", hash = "sha256:edcfa83e03370032a489430215c1e7783128808fd3e2e0a3225deee278585196"}, {file = "lxml-5.2.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:28bf95177400066596cdbcfc933312493799382879da504633d16cf60bba735b"}, {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3a745cc98d504d5bd2c19b10c79c61c7c3df9222629f1b6210c0368177589fb8"}, + {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1b590b39ef90c6b22ec0be925b211298e810b4856909c8ca60d27ffbca6c12e6"}, {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b336b0416828022bfd5a2e3083e7f5ba54b96242159f83c7e3eebaec752f1716"}, + {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_28_aarch64.whl", hash = "sha256:c2faf60c583af0d135e853c86ac2735ce178f0e338a3c7f9ae8f622fd2eb788c"}, {file = "lxml-5.2.2-cp37-cp37m-manylinux_2_28_x86_64.whl", hash = "sha256:4bc6cb140a7a0ad1f7bc37e018d0ed690b7b6520ade518285dc3171f7a117905"}, + {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:7ff762670cada8e05b32bf1e4dc50b140790909caa8303cfddc4d702b71ea184"}, {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:57f0a0bbc9868e10ebe874e9f129d2917750adf008fe7b9c1598c0fbbfdde6a6"}, + {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_2_aarch64.whl", hash = "sha256:a6d2092797b388342c1bc932077ad232f914351932353e2e8706851c870bca1f"}, {file = "lxml-5.2.2-cp37-cp37m-musllinux_1_2_x86_64.whl", hash = "sha256:60499fe961b21264e17a471ec296dcbf4365fbea611bf9e303ab69db7159ce61"}, {file = "lxml-5.2.2-cp37-cp37m-win32.whl", hash = "sha256:d9b342c76003c6b9336a80efcc766748a333573abf9350f4094ee46b006ec18f"}, {file = "lxml-5.2.2-cp37-cp37m-win_amd64.whl", hash = "sha256:b16db2770517b8799c79aa80f4053cd6f8b716f21f8aca962725a9565ce3ee40"}, @@ -2201,39 +2149,40 @@ files = [ [[package]] name = "matplotlib" -version = "3.8.4" +version = "3.9.0" description = "Python plotting package" optional = false python-versions = ">=3.9" files = [ - {file = "matplotlib-3.8.4-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:abc9d838f93583650c35eca41cfcec65b2e7cb50fd486da6f0c49b5e1ed23014"}, - {file = "matplotlib-3.8.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:8f65c9f002d281a6e904976007b2d46a1ee2bcea3a68a8c12dda24709ddc9106"}, - {file = "matplotlib-3.8.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ce1edd9f5383b504dbc26eeea404ed0a00656c526638129028b758fd43fc5f10"}, - {file = "matplotlib-3.8.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ecd79298550cba13a43c340581a3ec9c707bd895a6a061a78fa2524660482fc0"}, - {file = "matplotlib-3.8.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:90df07db7b599fe7035d2f74ab7e438b656528c68ba6bb59b7dc46af39ee48ef"}, - {file = "matplotlib-3.8.4-cp310-cp310-win_amd64.whl", hash = "sha256:ac24233e8f2939ac4fd2919eed1e9c0871eac8057666070e94cbf0b33dd9c338"}, - {file = "matplotlib-3.8.4-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:72f9322712e4562e792b2961971891b9fbbb0e525011e09ea0d1f416c4645661"}, - {file = "matplotlib-3.8.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:232ce322bfd020a434caaffbd9a95333f7c2491e59cfc014041d95e38ab90d1c"}, - {file = "matplotlib-3.8.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6addbd5b488aedb7f9bc19f91cd87ea476206f45d7116fcfe3d31416702a82fa"}, - {file = "matplotlib-3.8.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cc4ccdc64e3039fc303defd119658148f2349239871db72cd74e2eeaa9b80b71"}, - {file = "matplotlib-3.8.4-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:b7a2a253d3b36d90c8993b4620183b55665a429da8357a4f621e78cd48b2b30b"}, - {file = "matplotlib-3.8.4-cp311-cp311-win_amd64.whl", hash = "sha256:8080d5081a86e690d7688ffa542532e87f224c38a6ed71f8fbed34dd1d9fedae"}, - {file = "matplotlib-3.8.4-cp312-cp312-macosx_10_12_x86_64.whl", hash = "sha256:6485ac1f2e84676cff22e693eaa4fbed50ef5dc37173ce1f023daef4687df616"}, - {file = "matplotlib-3.8.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:c89ee9314ef48c72fe92ce55c4e95f2f39d70208f9f1d9db4e64079420d8d732"}, - {file = "matplotlib-3.8.4-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:50bac6e4d77e4262c4340d7a985c30912054745ec99756ce213bfbc3cb3808eb"}, - {file = "matplotlib-3.8.4-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f51c4c869d4b60d769f7b4406eec39596648d9d70246428745a681c327a8ad30"}, - {file = "matplotlib-3.8.4-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:b12ba985837e4899b762b81f5b2845bd1a28f4fdd1a126d9ace64e9c4eb2fb25"}, - {file = "matplotlib-3.8.4-cp312-cp312-win_amd64.whl", hash = "sha256:7a6769f58ce51791b4cb8b4d7642489df347697cd3e23d88266aaaee93b41d9a"}, - {file = "matplotlib-3.8.4-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:843cbde2f0946dadd8c5c11c6d91847abd18ec76859dc319362a0964493f0ba6"}, - {file = "matplotlib-3.8.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:1c13f041a7178f9780fb61cc3a2b10423d5e125480e4be51beaf62b172413b67"}, - {file = "matplotlib-3.8.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fb44f53af0a62dc80bba4443d9b27f2fde6acfdac281d95bc872dc148a6509cc"}, - {file = "matplotlib-3.8.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:606e3b90897554c989b1e38a258c626d46c873523de432b1462f295db13de6f9"}, - {file = "matplotlib-3.8.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:9bb0189011785ea794ee827b68777db3ca3f93f3e339ea4d920315a0e5a78d54"}, - {file = "matplotlib-3.8.4-cp39-cp39-win_amd64.whl", hash = "sha256:6209e5c9aaccc056e63b547a8152661324404dd92340a6e479b3a7f24b42a5d0"}, - {file = "matplotlib-3.8.4-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:c7064120a59ce6f64103c9cefba8ffe6fba87f2c61d67c401186423c9a20fd35"}, - {file = "matplotlib-3.8.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a0e47eda4eb2614300fc7bb4657fced3e83d6334d03da2173b09e447418d499f"}, - {file = "matplotlib-3.8.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:493e9f6aa5819156b58fce42b296ea31969f2aab71c5b680b4ea7a3cb5c07d94"}, - {file = "matplotlib-3.8.4.tar.gz", hash = "sha256:8aac397d5e9ec158960e31c381c5ffc52ddd52bd9a47717e2a694038167dffea"}, + {file = "matplotlib-3.9.0-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:2bcee1dffaf60fe7656183ac2190bd630842ff87b3153afb3e384d966b57fe56"}, + {file = "matplotlib-3.9.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:3f988bafb0fa39d1074ddd5bacd958c853e11def40800c5824556eb630f94d3b"}, + {file = "matplotlib-3.9.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fe428e191ea016bb278758c8ee82a8129c51d81d8c4bc0846c09e7e8e9057241"}, + {file = "matplotlib-3.9.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eaf3978060a106fab40c328778b148f590e27f6fa3cd15a19d6892575bce387d"}, + {file = "matplotlib-3.9.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:2e7f03e5cbbfacdd48c8ea394d365d91ee8f3cae7e6ec611409927b5ed997ee4"}, + {file = "matplotlib-3.9.0-cp310-cp310-win_amd64.whl", hash = "sha256:13beb4840317d45ffd4183a778685e215939be7b08616f431c7795276e067463"}, + {file = "matplotlib-3.9.0-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:063af8587fceeac13b0936c42a2b6c732c2ab1c98d38abc3337e430e1ff75e38"}, + {file = "matplotlib-3.9.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:9a2fa6d899e17ddca6d6526cf6e7ba677738bf2a6a9590d702c277204a7c6152"}, + {file = "matplotlib-3.9.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:550cdda3adbd596078cca7d13ed50b77879104e2e46392dcd7c75259d8f00e85"}, + {file = "matplotlib-3.9.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:76cce0f31b351e3551d1f3779420cf8f6ec0d4a8cf9c0237a3b549fd28eb4abb"}, + {file = "matplotlib-3.9.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c53aeb514ccbbcbab55a27f912d79ea30ab21ee0531ee2c09f13800efb272674"}, + {file = "matplotlib-3.9.0-cp311-cp311-win_amd64.whl", hash = "sha256:a5be985db2596d761cdf0c2eaf52396f26e6a64ab46bd8cd810c48972349d1be"}, + {file = "matplotlib-3.9.0-cp312-cp312-macosx_10_12_x86_64.whl", hash = "sha256:c79f3a585f1368da6049318bdf1f85568d8d04b2e89fc24b7e02cc9b62017382"}, + {file = "matplotlib-3.9.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:bdd1ecbe268eb3e7653e04f451635f0fb0f77f07fd070242b44c076c9106da84"}, + {file = "matplotlib-3.9.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d38e85a1a6d732f645f1403ce5e6727fd9418cd4574521d5803d3d94911038e5"}, + {file = "matplotlib-3.9.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0a490715b3b9984fa609116481b22178348c1a220a4499cda79132000a79b4db"}, + {file = "matplotlib-3.9.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8146ce83cbc5dc71c223a74a1996d446cd35cfb6a04b683e1446b7e6c73603b7"}, + {file = "matplotlib-3.9.0-cp312-cp312-win_amd64.whl", hash = "sha256:d91a4ffc587bacf5c4ce4ecfe4bcd23a4b675e76315f2866e588686cc97fccdf"}, + {file = "matplotlib-3.9.0-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:616fabf4981a3b3c5a15cd95eba359c8489c4e20e03717aea42866d8d0465956"}, + {file = "matplotlib-3.9.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:cd53c79fd02f1c1808d2cfc87dd3cf4dbc63c5244a58ee7944497107469c8d8a"}, + {file = "matplotlib-3.9.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:06a478f0d67636554fa78558cfbcd7b9dba85b51f5c3b5a0c9be49010cf5f321"}, + {file = "matplotlib-3.9.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:81c40af649d19c85f8073e25e5806926986806fa6d54be506fbf02aef47d5a89"}, + {file = "matplotlib-3.9.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:52146fc3bd7813cc784562cb93a15788be0b2875c4655e2cc6ea646bfa30344b"}, + {file = "matplotlib-3.9.0-cp39-cp39-win_amd64.whl", hash = "sha256:0fc51eaa5262553868461c083d9adadb11a6017315f3a757fc45ec6ec5f02888"}, + {file = "matplotlib-3.9.0-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:bd4f2831168afac55b881db82a7730992aa41c4f007f1913465fb182d6fb20c0"}, + {file = "matplotlib-3.9.0-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:290d304e59be2b33ef5c2d768d0237f5bd132986bdcc66f80bc9bcc300066a03"}, + {file = "matplotlib-3.9.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7ff2e239c26be4f24bfa45860c20ffccd118d270c5b5d081fa4ea409b5469fcd"}, + {file = "matplotlib-3.9.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:af4001b7cae70f7eaacfb063db605280058246de590fa7874f00f62259f2df7e"}, + {file = "matplotlib-3.9.0.tar.gz", hash = "sha256:e6d29ea6c19e34b30fb7d88b7081f869a03014f66fe06d62cc77d5a6ea88ed7a"}, ] [package.dependencies] @@ -2241,12 +2190,15 @@ contourpy = ">=1.0.1" cycler = ">=0.10" fonttools = ">=4.22.0" kiwisolver = ">=1.3.1" -numpy = ">=1.21" +numpy = ">=1.23" packaging = ">=20.0" pillow = ">=8" pyparsing = ">=2.3.1" python-dateutil = ">=2.7" +[package.extras] +dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"] + [[package]] name = "mdit-py-plugins" version = "0.4.1" @@ -2282,21 +2234,19 @@ name = "metadrive-simulator" version = "0.4.2.3" description = "An open-ended driving simulator with infinite scenes" optional = false -python-versions = ">=3.6, <3.12" -files = [ - {file = "metadrive-simulator-0.4.2.3.tar.gz", hash = "sha256:bcda7d07146128161b0bc2cc337e01612b9222202706370043b52f7936a8a277"}, - {file = "metadrive_simulator-0.4.2.3-py3-none-any.whl", hash = "sha256:f6fff20b931bb956c55e0e81bf1f6b641169a84a4c853435a8b26bd51c8e9876"}, -] +python-versions = ">=3.6, <4" +files = [] +develop = false [package.dependencies] filelock = "*" geopandas = "*" -gymnasium = ">=0.28,<0.29" +gymnasium = ">=0.28" lxml = "*" matplotlib = "*" -numpy = ">=1.21.6,<=1.24.2" +numpy = ">=1.21.6" opencv-python = "*" -panda3d = "1.10.13" +panda3d = "1.10.14" panda3d-gltf = "0.13" pandas = "*" pillow = "*" @@ -2317,6 +2267,12 @@ cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==1 gym = ["gym (>=0.19.0,<=0.26.0)"] ros = ["zmq"] +[package.source] +type = "git" +url = "https://github.com/commaai/metadrive.git" +reference = "python3.12" +resolved_reference = "0823c7491a1ab870bcd53d10a41e985a3ad1b968" + [[package]] name = "mouseinfo" version = "0.1.3" @@ -2366,22 +2322,22 @@ tests = ["pytest (>=4.6)"] [[package]] name = "msal" -version = "1.28.0" +version = "1.28.1" description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect." optional = false python-versions = ">=3.7" files = [ - {file = "msal-1.28.0-py3-none-any.whl", hash = "sha256:3064f80221a21cd535ad8c3fafbb3a3582cd9c7e9af0bb789ae14f726a0ca99b"}, - {file = "msal-1.28.0.tar.gz", hash = "sha256:80bbabe34567cb734efd2ec1869b2d98195c927455369d8077b3c542088c5c9d"}, + {file = "msal-1.28.1-py3-none-any.whl", hash = "sha256:563c2d70de77a2ca9786aab84cb4e133a38a6897e6676774edc23d610bfc9e7b"}, + {file = "msal-1.28.1.tar.gz", hash = "sha256:d72bbfe2d5c2f2555f4bc6205be4450ddfd12976610dd9a16a9ab0f05c68b64d"}, ] [package.dependencies] -cryptography = ">=0.6,<45" +cryptography = ">=2.5,<45" PyJWT = {version = ">=1.0.0,<3", extras = ["crypto"]} requests = ">=2.0.0,<3" [package.extras] -broker = ["pymsalruntime (>=0.13.2,<0.15)"] +broker = ["pymsalruntime (>=0.13.2,<0.17)"] [[package]] name = "msal-extensions" @@ -2601,93 +2557,93 @@ icu = ["PyICU (>=1.0.0)"] [[package]] name = "nodeenv" -version = "1.8.0" +version = "1.9.1" description = "Node.js virtual environment builder" optional = false -python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*" +python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7" files = [ - {file = "nodeenv-1.8.0-py2.py3-none-any.whl", hash = "sha256:df865724bb3c3adc86b3876fa209771517b0cfe596beff01a92700e0e8be4cec"}, - {file = "nodeenv-1.8.0.tar.gz", hash = "sha256:d51e0c37e64fbf47d017feac3145cdbb58836d7eee8c6f6d3b6880c5456227d2"}, + {file = "nodeenv-1.9.1-py2.py3-none-any.whl", hash = "sha256:ba11c9782d29c27c70ffbdda2d7415098754709be8a7056d79a737cd901155c9"}, + {file = "nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f"}, ] -[package.dependencies] -setuptools = "*" - [[package]] name = "numpy" -version = "1.24.2" +version = "1.26.4" description = "Fundamental package for array computing in Python" optional = false -python-versions = ">=3.8" +python-versions = ">=3.9" files = [ - {file = "numpy-1.24.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:eef70b4fc1e872ebddc38cddacc87c19a3709c0e3e5d20bf3954c147b1dd941d"}, - {file = "numpy-1.24.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:e8d2859428712785e8a8b7d2b3ef0a1d1565892367b32f915c4a4df44d0e64f5"}, - {file = "numpy-1.24.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6524630f71631be2dabe0c541e7675db82651eb998496bbe16bc4f77f0772253"}, - {file = "numpy-1.24.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a51725a815a6188c662fb66fb32077709a9ca38053f0274640293a14fdd22978"}, - {file = "numpy-1.24.2-cp310-cp310-win32.whl", hash = "sha256:2620e8592136e073bd12ee4536149380695fbe9ebeae845b81237f986479ffc9"}, - {file = "numpy-1.24.2-cp310-cp310-win_amd64.whl", hash = "sha256:97cf27e51fa078078c649a51d7ade3c92d9e709ba2bfb97493007103c741f1d0"}, - {file = "numpy-1.24.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:7de8fdde0003f4294655aa5d5f0a89c26b9f22c0a58790c38fae1ed392d44a5a"}, - {file = "numpy-1.24.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4173bde9fa2a005c2c6e2ea8ac1618e2ed2c1c6ec8a7657237854d42094123a0"}, - {file = "numpy-1.24.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4cecaed30dc14123020f77b03601559fff3e6cd0c048f8b5289f4eeabb0eb281"}, - {file = "numpy-1.24.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9a23f8440561a633204a67fb44617ce2a299beecf3295f0d13c495518908e910"}, - {file = "numpy-1.24.2-cp311-cp311-win32.whl", hash = "sha256:e428c4fbfa085f947b536706a2fc349245d7baa8334f0c5723c56a10595f9b95"}, - {file = "numpy-1.24.2-cp311-cp311-win_amd64.whl", hash = "sha256:557d42778a6869c2162deb40ad82612645e21d79e11c1dc62c6e82a2220ffb04"}, - {file = "numpy-1.24.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d0a2db9d20117bf523dde15858398e7c0858aadca7c0f088ac0d6edd360e9ad2"}, - {file = "numpy-1.24.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:c72a6b2f4af1adfe193f7beb91ddf708ff867a3f977ef2ec53c0ffb8283ab9f5"}, - {file = "numpy-1.24.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c29e6bd0ec49a44d7690ecb623a8eac5ab8a923bce0bea6293953992edf3a76a"}, - {file = "numpy-1.24.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2eabd64ddb96a1239791da78fa5f4e1693ae2dadc82a76bc76a14cbb2b966e96"}, - {file = "numpy-1.24.2-cp38-cp38-win32.whl", hash = "sha256:e3ab5d32784e843fc0dd3ab6dcafc67ef806e6b6828dc6af2f689be0eb4d781d"}, - {file = "numpy-1.24.2-cp38-cp38-win_amd64.whl", hash = "sha256:76807b4063f0002c8532cfeac47a3068a69561e9c8715efdad3c642eb27c0756"}, - {file = "numpy-1.24.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:4199e7cfc307a778f72d293372736223e39ec9ac096ff0a2e64853b866a8e18a"}, - {file = "numpy-1.24.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:adbdce121896fd3a17a77ab0b0b5eedf05a9834a18699db6829a64e1dfccca7f"}, - {file = "numpy-1.24.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:889b2cc88b837d86eda1b17008ebeb679d82875022200c6e8e4ce6cf549b7acb"}, - {file = "numpy-1.24.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f64bb98ac59b3ea3bf74b02f13836eb2e24e48e0ab0145bbda646295769bd780"}, - {file = "numpy-1.24.2-cp39-cp39-win32.whl", hash = "sha256:63e45511ee4d9d976637d11e6c9864eae50e12dc9598f531c035265991910468"}, - {file = "numpy-1.24.2-cp39-cp39-win_amd64.whl", hash = "sha256:a77d3e1163a7770164404607b7ba3967fb49b24782a6ef85d9b5f54126cc39e5"}, - {file = "numpy-1.24.2-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:92011118955724465fb6853def593cf397b4a1367495e0b59a7e69d40c4eb71d"}, - {file = "numpy-1.24.2-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f9006288bcf4895917d02583cf3411f98631275bc67cce355a7f39f8c14338fa"}, - {file = "numpy-1.24.2-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:150947adbdfeceec4e5926d956a06865c1c690f2fd902efede4ca6fe2e657c3f"}, - {file = "numpy-1.24.2.tar.gz", hash = "sha256:003a9f530e880cb2cd177cba1af7220b9aa42def9c4afc2a2fc3ee6be7eb2b22"}, + {file = "numpy-1.26.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9ff0f4f29c51e2803569d7a51c2304de5554655a60c5d776e35b4a41413830d0"}, + {file = "numpy-1.26.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2e4ee3380d6de9c9ec04745830fd9e2eccb3e6cf790d39d7b98ffd19b0dd754a"}, + {file = "numpy-1.26.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d209d8969599b27ad20994c8e41936ee0964e6da07478d6c35016bc386b66ad4"}, + {file = "numpy-1.26.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ffa75af20b44f8dba823498024771d5ac50620e6915abac414251bd971b4529f"}, + {file = "numpy-1.26.4-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:62b8e4b1e28009ef2846b4c7852046736bab361f7aeadeb6a5b89ebec3c7055a"}, + {file = "numpy-1.26.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:a4abb4f9001ad2858e7ac189089c42178fcce737e4169dc61321660f1a96c7d2"}, + {file = "numpy-1.26.4-cp310-cp310-win32.whl", hash = "sha256:bfe25acf8b437eb2a8b2d49d443800a5f18508cd811fea3181723922a8a82b07"}, + {file = "numpy-1.26.4-cp310-cp310-win_amd64.whl", hash = "sha256:b97fe8060236edf3662adfc2c633f56a08ae30560c56310562cb4f95500022d5"}, + {file = "numpy-1.26.4-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:4c66707fabe114439db9068ee468c26bbdf909cac0fb58686a42a24de1760c71"}, + {file = "numpy-1.26.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:edd8b5fe47dab091176d21bb6de568acdd906d1887a4584a15a9a96a1dca06ef"}, + {file = "numpy-1.26.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7ab55401287bfec946ced39700c053796e7cc0e3acbef09993a9ad2adba6ca6e"}, + {file = "numpy-1.26.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:666dbfb6ec68962c033a450943ded891bed2d54e6755e35e5835d63f4f6931d5"}, + {file = "numpy-1.26.4-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:96ff0b2ad353d8f990b63294c8986f1ec3cb19d749234014f4e7eb0112ceba5a"}, + {file = "numpy-1.26.4-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:60dedbb91afcbfdc9bc0b1f3f402804070deed7392c23eb7a7f07fa857868e8a"}, + {file = "numpy-1.26.4-cp311-cp311-win32.whl", hash = "sha256:1af303d6b2210eb850fcf03064d364652b7120803a0b872f5211f5234b399f20"}, + {file = "numpy-1.26.4-cp311-cp311-win_amd64.whl", hash = "sha256:cd25bcecc4974d09257ffcd1f098ee778f7834c3ad767fe5db785be9a4aa9cb2"}, + {file = "numpy-1.26.4-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:b3ce300f3644fb06443ee2222c2201dd3a89ea6040541412b8fa189341847218"}, + {file = "numpy-1.26.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b"}, + {file = "numpy-1.26.4-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9fad7dcb1aac3c7f0584a5a8133e3a43eeb2fe127f47e3632d43d677c66c102b"}, + {file = "numpy-1.26.4-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:675d61ffbfa78604709862923189bad94014bef562cc35cf61d3a07bba02a7ed"}, + {file = "numpy-1.26.4-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:ab47dbe5cc8210f55aa58e4805fe224dac469cde56b9f731a4c098b91917159a"}, + {file = "numpy-1.26.4-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:1dda2e7b4ec9dd512f84935c5f126c8bd8b9f2fc001e9f54af255e8c5f16b0e0"}, + {file = "numpy-1.26.4-cp312-cp312-win32.whl", hash = "sha256:50193e430acfc1346175fcbdaa28ffec49947a06918b7b92130744e81e640110"}, + {file = "numpy-1.26.4-cp312-cp312-win_amd64.whl", hash = "sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818"}, + {file = "numpy-1.26.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:7349ab0fa0c429c82442a27a9673fc802ffdb7c7775fad780226cb234965e53c"}, + {file = "numpy-1.26.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:52b8b60467cd7dd1e9ed082188b4e6bb35aa5cdd01777621a1658910745b90be"}, + {file = "numpy-1.26.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d5241e0a80d808d70546c697135da2c613f30e28251ff8307eb72ba696945764"}, + {file = "numpy-1.26.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f870204a840a60da0b12273ef34f7051e98c3b5961b61b0c2c1be6dfd64fbcd3"}, + {file = "numpy-1.26.4-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:679b0076f67ecc0138fd2ede3a8fd196dddc2ad3254069bcb9faf9a79b1cebcd"}, + {file = "numpy-1.26.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:47711010ad8555514b434df65f7d7b076bb8261df1ca9bb78f53d3b2db02e95c"}, + {file = "numpy-1.26.4-cp39-cp39-win32.whl", hash = "sha256:a354325ee03388678242a4d7ebcd08b5c727033fcff3b2f536aea978e15ee9e6"}, + {file = "numpy-1.26.4-cp39-cp39-win_amd64.whl", hash = "sha256:3373d5d70a5fe74a2c1bb6d2cfd9609ecf686d47a2d7b1d37a8f3b6bf6003aea"}, + {file = "numpy-1.26.4-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:afedb719a9dcfc7eaf2287b839d8198e06dcd4cb5d276a3df279231138e83d30"}, + {file = "numpy-1.26.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:95a7476c59002f2f6c590b9b7b998306fba6a5aa646b1e22ddfeaf8f78c3a29c"}, + {file = "numpy-1.26.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7e50d0a0cc3189f9cb0aeb3a6a6af18c16f59f004b866cd2be1c14b36134a4a0"}, + {file = "numpy-1.26.4.tar.gz", hash = "sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010"}, ] [[package]] name = "onnx" -version = "1.16.0" +version = "1.16.1" description = "Open Neural Network Exchange" optional = false python-versions = ">=3.8" files = [ - {file = "onnx-1.16.0-cp310-cp310-macosx_10_15_universal2.whl", hash = "sha256:9eadbdce25b19d6216f426d6d99b8bc877a65ed92cbef9707751c6669190ba4f"}, - {file = "onnx-1.16.0-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:034ae21a2aaa2e9c14119a840d2926d213c27aad29e5e3edaa30145a745048e1"}, - {file = "onnx-1.16.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ec22a43d74eb1f2303373e2fbe7fbcaa45fb225f4eb146edfed1356ada7a9aea"}, - {file = "onnx-1.16.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:298f28a2b5ac09145fa958513d3d1e6b349ccf86a877dbdcccad57713fe360b3"}, - {file = "onnx-1.16.0-cp310-cp310-win32.whl", hash = "sha256:66300197b52beca08bc6262d43c103289c5d45fde43fb51922ed1eb83658cf0c"}, - {file = "onnx-1.16.0-cp310-cp310-win_amd64.whl", hash = "sha256:ae0029f5e47bf70a1a62e7f88c80bca4ef39b844a89910039184221775df5e43"}, - {file = "onnx-1.16.0-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:f51179d4af3372b4f3800c558d204b592c61e4b4a18b8f61e0eea7f46211221a"}, - {file = "onnx-1.16.0-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:5202559070afec5144332db216c20f2fff8323cf7f6512b0ca11b215eacc5bf3"}, - {file = "onnx-1.16.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:77579e7c15b4df39d29465b216639a5f9b74026bdd9e4b6306cd19a32dcfe67c"}, - {file = "onnx-1.16.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e60ca76ac24b65c25860d0f2d2cdd96d6320d062a01dd8ce87c5743603789b8"}, - {file = "onnx-1.16.0-cp311-cp311-win32.whl", hash = "sha256:81b4ee01bc554e8a2b11ac6439882508a5377a1c6b452acd69a1eebb83571117"}, - {file = "onnx-1.16.0-cp311-cp311-win_amd64.whl", hash = "sha256:7449241e70b847b9c3eb8dae622df8c1b456d11032a9d7e26e0ee8a698d5bf86"}, - {file = "onnx-1.16.0-cp312-cp312-macosx_10_15_universal2.whl", hash = "sha256:03a627488b1a9975d95d6a55582af3e14c7f3bb87444725b999935ddd271d352"}, - {file = "onnx-1.16.0-cp312-cp312-macosx_10_15_x86_64.whl", hash = "sha256:c392faeabd9283ee344ccb4b067d1fea9dfc614fa1f0de7c47589efd79e15e78"}, - {file = "onnx-1.16.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0efeb46985de08f0efe758cb54ad3457e821a05c2eaf5ba2ccb8cd1602c08084"}, - {file = "onnx-1.16.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ddf14a3d32234f23e44abb73a755cb96a423fac7f004e8f046f36b10214151ee"}, - {file = "onnx-1.16.0-cp312-cp312-win32.whl", hash = "sha256:62a2e27ae8ba5fc9b4a2620301446a517b5ffaaf8566611de7a7c2160f5bcf4c"}, - {file = "onnx-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:3e0860fea94efde777e81a6f68f65761ed5e5f3adea2e050d7fbe373a9ae05b3"}, - {file = "onnx-1.16.0-cp38-cp38-macosx_10_15_universal2.whl", hash = "sha256:70a90649318f3470985439ea078277c9fb2a2e6e2fd7c8f3f2b279402ad6c7e6"}, - {file = "onnx-1.16.0-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:71839546b7f93be4fa807995b182ab4b4414c9dbf049fee11eaaced16fcf8df2"}, - {file = "onnx-1.16.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7665217c45a61eb44718c8e9349d2ad004efa0cb9fbc4be5c6d5e18b9fe12b52"}, - {file = "onnx-1.16.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e5752bbbd5717304a7643643dba383a2fb31e8eb0682f4e7b7d141206328a73b"}, - {file = "onnx-1.16.0-cp38-cp38-win32.whl", hash = "sha256:257858cbcb2055284f09fa2ae2b1cfd64f5850367da388d6e7e7b05920a40c90"}, - {file = "onnx-1.16.0-cp38-cp38-win_amd64.whl", hash = "sha256:209fe84995a28038e29ae8369edd35f33e0ef1ebc3bddbf6584629823469deb1"}, - {file = "onnx-1.16.0-cp39-cp39-macosx_10_15_universal2.whl", hash = "sha256:8cf3e518b1b1b960be542e7c62bed4e5219e04c85d540817b7027029537dec92"}, - {file = "onnx-1.16.0-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:30f02beaf081c7d9fa3a8c566a912fc4408e28fc33b1452d58f890851691d364"}, - {file = "onnx-1.16.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7fb29a9a692b522deef1f6b8f2145da62c0c43ea1ed5b4c0f66f827fdc28847d"}, - {file = "onnx-1.16.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7755cbd5f4e47952e37276ea5978a46fc8346684392315902b5ed4a719d87d06"}, - {file = "onnx-1.16.0-cp39-cp39-win32.whl", hash = "sha256:7532343dc5b8b5e7c3e3efa441a3100552f7600155c4db9120acd7574f64ffbf"}, - {file = "onnx-1.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:d7886c05aa6d583ec42f6287678923c1e343afc4350e49d5b36a0023772ffa22"}, - {file = "onnx-1.16.0.tar.gz", hash = "sha256:237c6987c6c59d9f44b6136f5819af79574f8d96a760a1fa843bede11f3822f7"}, + {file = "onnx-1.16.1-cp310-cp310-macosx_11_0_universal2.whl", hash = "sha256:bb2d392e5b7060082c2fb38eb5c44f67eb34ff5f0681bd6f45beff9abc6f7094"}, + {file = "onnx-1.16.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:15abf94a7868eed6db15a8b5024ba570c891cae77ca4d0e7258dabdad76980df"}, + {file = "onnx-1.16.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6251910e554f811fdd070164b0bc76d76b067b95576cb9dad4d52ae64fe014b5"}, + {file = "onnx-1.16.1-cp310-cp310-win32.whl", hash = "sha256:c11e3b15eee46cd20767e505cc3ba97457ef5ac93c3e459cdfb77943ff8fe9a7"}, + {file = "onnx-1.16.1-cp310-cp310-win_amd64.whl", hash = "sha256:b3d10405706807ec2ef493b2a78519fa0264cf190363e89478585aac1179b596"}, + {file = "onnx-1.16.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:006ba5059c85ce43e89a1486cc0276d0f1a8ec9c6efd1a9334fd3fa0f6e33b64"}, + {file = "onnx-1.16.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1521ea7cd3497ecaf57d3b5e72d637ca5ebca632122a0806a9df99bedbeecdf8"}, + {file = "onnx-1.16.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:45cf20421aeac03872bea5fd6ebf92abe15c4d1461a2572eb839add5059e2a09"}, + {file = "onnx-1.16.1-cp311-cp311-win32.whl", hash = "sha256:f98e275b4f46a617a9c527e60c02531eae03cf67a04c26db8a1c20acee539533"}, + {file = "onnx-1.16.1-cp311-cp311-win_amd64.whl", hash = "sha256:95aa20aa65a9035d7543e81713e8b0f611e213fc02171959ef4ee09311d1bf28"}, + {file = "onnx-1.16.1-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:32e11d39bee04f927fab09f74c46cf76584094462311bab1aca9ccdae6ed3366"}, + {file = "onnx-1.16.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8884bf53b552873c0c9b072cb8625e7d4e8f3cc0529191632d24e3de58a3b93a"}, + {file = "onnx-1.16.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:595b2830093f81361961295f7b0ebb6000423bcd04123d516d081c306002e387"}, + {file = "onnx-1.16.1-cp312-cp312-win32.whl", hash = "sha256:2fde4dd5bc278b3fc8148f460bce8807b2874c66f48529df9444cdbc9ecf456b"}, + {file = "onnx-1.16.1-cp312-cp312-win_amd64.whl", hash = "sha256:e69ad8c110d8c37d759cad019d498fdf3fd24e0bfaeb960e52fed0469a5d2974"}, + {file = "onnx-1.16.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:0fc189195a40b5862fb77d97410c89823197fe19c1088ce150444eec72f200c1"}, + {file = "onnx-1.16.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:496ba17b16a74711081772e1b03f3207959972e351298e51abdc600051027a22"}, + {file = "onnx-1.16.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0f3faf239b48418b3ea6fe73bd4d86807b903d0b2ebd20b8b8c84f83741b0f18"}, + {file = "onnx-1.16.1-cp38-cp38-win32.whl", hash = "sha256:18b22143836838591f6551b089196e69f60c47fabce52b4b72b4cb37522645aa"}, + {file = "onnx-1.16.1-cp38-cp38-win_amd64.whl", hash = "sha256:8c2b70d602acfb90056fbdc60ef26f4658f964591212a4e9dbbda922ff43061b"}, + {file = "onnx-1.16.1-cp39-cp39-macosx_11_0_universal2.whl", hash = "sha256:2bed6fe05905b073206cabbb4463c58050cf8d544192303c09927b229f93ac14"}, + {file = "onnx-1.16.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5798414332534a41404a7ff83677d49ced01d70160e1541484cce647f2295051"}, + {file = "onnx-1.16.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:aa7518d6d27f357261a4014079dec364cad6fef827d0b3fe1d3ff59939a68394"}, + {file = "onnx-1.16.1-cp39-cp39-win32.whl", hash = "sha256:67f372db4fe8fe61e00b762af5b0833aa72b5baa37e7e2f47d8668964ebff411"}, + {file = "onnx-1.16.1-cp39-cp39-win_amd64.whl", hash = "sha256:1c059fea6229c44d2d39c8f6e2f2f0d676d587c97f4c854c86f3e7bc97e0b31c"}, + {file = "onnx-1.16.1.tar.gz", hash = "sha256:8299193f0f2a3849bfc069641aa8e4f93696602da8d165632af8ee48ec7556b6"}, ] [package.dependencies] @@ -2699,36 +2655,36 @@ reference = ["Pillow", "google-re2"] [[package]] name = "onnxruntime" -version = "1.17.3" +version = "1.18.0" description = "ONNX Runtime is a runtime accelerator for Machine Learning models" optional = false python-versions = "*" files = [ - {file = "onnxruntime-1.17.3-cp310-cp310-macosx_11_0_universal2.whl", hash = "sha256:d86dde9c0bb435d709e51bd25991c9fe5b9a5b168df45ce119769edc4d198b15"}, - {file = "onnxruntime-1.17.3-cp310-cp310-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:9d87b68bf931ac527b2d3c094ead66bb4381bac4298b65f46c54fe4d1e255865"}, - {file = "onnxruntime-1.17.3-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:26e950cf0333cf114a155f9142e71da344d2b08dfe202763a403ae81cc02ebd1"}, - {file = "onnxruntime-1.17.3-cp310-cp310-win32.whl", hash = "sha256:0962a4d0f5acebf62e1f0bf69b6e0adf16649115d8de854c1460e79972324d68"}, - {file = "onnxruntime-1.17.3-cp310-cp310-win_amd64.whl", hash = "sha256:468ccb8a0faa25c681a41787b1594bf4448b0252d3efc8b62fd8b2411754340f"}, - {file = "onnxruntime-1.17.3-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:e8cd90c1c17d13d47b89ab076471e07fb85467c01dcd87a8b8b5cdfbcb40aa51"}, - {file = "onnxruntime-1.17.3-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a058b39801baefe454eeb8acf3ada298c55a06a4896fafc224c02d79e9037f60"}, - {file = "onnxruntime-1.17.3-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:2f823d5eb4807007f3da7b27ca972263df6a1836e6f327384eb266274c53d05d"}, - {file = "onnxruntime-1.17.3-cp311-cp311-win32.whl", hash = "sha256:b66b23f9109e78ff2791628627a26f65cd335dcc5fbd67ff60162733a2f7aded"}, - {file = "onnxruntime-1.17.3-cp311-cp311-win_amd64.whl", hash = "sha256:570760ca53a74cdd751ee49f13de70d1384dcf73d9888b8deac0917023ccda6d"}, - {file = "onnxruntime-1.17.3-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:77c318178d9c16e9beadd9a4070d8aaa9f57382c3f509b01709f0f010e583b99"}, - {file = "onnxruntime-1.17.3-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:23da8469049b9759082e22c41a444f44a520a9c874b084711b6343672879f50b"}, - {file = "onnxruntime-1.17.3-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:2949730215af3f9289008b2e31e9bbef952012a77035b911c4977edea06f3f9e"}, - {file = "onnxruntime-1.17.3-cp312-cp312-win32.whl", hash = "sha256:6c7555a49008f403fb3b19204671efb94187c5085976ae526cb625f6ede317bc"}, - {file = "onnxruntime-1.17.3-cp312-cp312-win_amd64.whl", hash = "sha256:58672cf20293a1b8a277a5c6c55383359fcdf6119b2f14df6ce3b140f5001c39"}, - {file = "onnxruntime-1.17.3-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:4395ba86e3c1e93c794a00619ef1aec597ab78f5a5039f3c6d2e9d0695c0a734"}, - {file = "onnxruntime-1.17.3-cp38-cp38-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:bdf354c04344ec38564fc22394e1fe08aa6d70d790df00159205a0055c4a4d3f"}, - {file = "onnxruntime-1.17.3-cp38-cp38-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:a94b600b7af50e922d44b95a57981e3e35103c6e3693241a03d3ca204740bbda"}, - {file = "onnxruntime-1.17.3-cp38-cp38-win32.whl", hash = "sha256:5a335c76f9c002a8586c7f38bc20fe4b3725ced21f8ead835c3e4e507e42b2ab"}, - {file = "onnxruntime-1.17.3-cp38-cp38-win_amd64.whl", hash = "sha256:8f56a86fbd0ddc8f22696ddeda0677b041381f4168a2ca06f712ef6ec6050d6d"}, - {file = "onnxruntime-1.17.3-cp39-cp39-macosx_11_0_universal2.whl", hash = "sha256:e0ae39f5452278cd349520c296e7de3e90d62dc5b0157c6868e2748d7f28b871"}, - {file = "onnxruntime-1.17.3-cp39-cp39-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:3ff2dc012bd930578aff5232afd2905bf16620815f36783a941aafabf94b3702"}, - {file = "onnxruntime-1.17.3-cp39-cp39-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:cf6c37483782e4785019b56e26224a25e9b9a35b849d0169ce69189867a22bb1"}, - {file = "onnxruntime-1.17.3-cp39-cp39-win32.whl", hash = "sha256:351bf5a1140dcc43bfb8d3d1a230928ee61fcd54b0ea664c8e9a889a8e3aa515"}, - {file = "onnxruntime-1.17.3-cp39-cp39-win_amd64.whl", hash = "sha256:57a3de15778da8d6cc43fbf6cf038e1e746146300b5f0b1fbf01f6f795dc6440"}, + {file = "onnxruntime-1.18.0-cp310-cp310-macosx_11_0_universal2.whl", hash = "sha256:5a3b7993a5ecf4a90f35542a4757e29b2d653da3efe06cdd3164b91167bbe10d"}, + {file = "onnxruntime-1.18.0-cp310-cp310-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:15b944623b2cdfe7f7945690bfb71c10a4531b51997c8320b84e7b0bb59af902"}, + {file = "onnxruntime-1.18.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:2e61ce5005118064b1a0ed73ebe936bc773a102f067db34108ea6c64dd62a179"}, + {file = "onnxruntime-1.18.0-cp310-cp310-win32.whl", hash = "sha256:a4fc8a2a526eb442317d280610936a9f73deece06c7d5a91e51570860802b93f"}, + {file = "onnxruntime-1.18.0-cp310-cp310-win_amd64.whl", hash = "sha256:71ed219b768cab004e5cd83e702590734f968679bf93aa488c1a7ffbe6e220c3"}, + {file = "onnxruntime-1.18.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:3d24bd623872a72a7fe2f51c103e20fcca2acfa35d48f2accd6be1ec8633d960"}, + {file = "onnxruntime-1.18.0-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:f15e41ca9b307a12550bfd2ec93f88905d9fba12bab7e578f05138ad0ae10d7b"}, + {file = "onnxruntime-1.18.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:1f45ca2887f62a7b847d526965686b2923efa72538c89b7703c7b3fe970afd59"}, + {file = "onnxruntime-1.18.0-cp311-cp311-win32.whl", hash = "sha256:9e24d9ecc8781323d9e2eeda019b4b24babc4d624e7d53f61b1fe1a929b0511a"}, + {file = "onnxruntime-1.18.0-cp311-cp311-win_amd64.whl", hash = "sha256:f8608398976ed18aef450d83777ff6f77d0b64eced1ed07a985e1a7db8ea3771"}, + {file = "onnxruntime-1.18.0-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:f1d79941f15fc40b1ee67738b2ca26b23e0181bf0070b5fb2984f0988734698f"}, + {file = "onnxruntime-1.18.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:99e8caf3a8565c853a22d323a3eebc2a81e3de7591981f085a4f74f7a60aab2d"}, + {file = "onnxruntime-1.18.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:498d2b8380635f5e6ebc50ec1b45f181588927280f32390fb910301d234f97b8"}, + {file = "onnxruntime-1.18.0-cp312-cp312-win32.whl", hash = "sha256:ba7cc0ce2798a386c082aaa6289ff7e9bedc3dee622eef10e74830cff200a72e"}, + {file = "onnxruntime-1.18.0-cp312-cp312-win_amd64.whl", hash = "sha256:1fa175bd43f610465d5787ae06050c81f7ce09da2bf3e914eb282cb8eab363ef"}, + {file = "onnxruntime-1.18.0-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:0284c579c20ec8b1b472dd190290a040cc68b6caec790edb960f065d15cf164a"}, + {file = "onnxruntime-1.18.0-cp38-cp38-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d47353d036d8c380558a5643ea5f7964d9d259d31c86865bad9162c3e916d1f6"}, + {file = "onnxruntime-1.18.0-cp38-cp38-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:885509d2b9ba4b01f08f7fa28d31ee54b6477953451c7ccf124a84625f07c803"}, + {file = "onnxruntime-1.18.0-cp38-cp38-win32.whl", hash = "sha256:8614733de3695656411d71fc2f39333170df5da6c7efd6072a59962c0bc7055c"}, + {file = "onnxruntime-1.18.0-cp38-cp38-win_amd64.whl", hash = "sha256:47af3f803752fce23ea790fd8d130a47b2b940629f03193f780818622e856e7a"}, + {file = "onnxruntime-1.18.0-cp39-cp39-macosx_11_0_universal2.whl", hash = "sha256:9153eb2b4d5bbab764d0aea17adadffcfc18d89b957ad191b1c3650b9930c59f"}, + {file = "onnxruntime-1.18.0-cp39-cp39-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:2c7fd86eca727c989bb8d9c5104f3c45f7ee45f445cc75579ebe55d6b99dfd7c"}, + {file = "onnxruntime-1.18.0-cp39-cp39-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ac67a4de9c1326c4d87bcbfb652c923039b8a2446bb28516219236bec3b494f5"}, + {file = "onnxruntime-1.18.0-cp39-cp39-win32.whl", hash = "sha256:6ffb445816d06497df7a6dd424b20e0b2c39639e01e7fe210e247b82d15a23b9"}, + {file = "onnxruntime-1.18.0-cp39-cp39-win_amd64.whl", hash = "sha256:46de6031cb6745f33f7eca9e51ab73e8c66037fb7a3b6b4560887c5b55ab5d5d"}, ] [package.dependencies] @@ -2741,21 +2697,21 @@ sympy = "*" [[package]] name = "onnxruntime-gpu" -version = "1.17.1" +version = "1.18.0" description = "ONNX Runtime is a runtime accelerator for Machine Learning models" optional = false python-versions = "*" files = [ - {file = "onnxruntime_gpu-1.17.1-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:a55fe84ee11a59ea069c6a790ee960f1c7da0d7d6c74822b2a8b357027c93646"}, - {file = "onnxruntime_gpu-1.17.1-cp310-cp310-win_amd64.whl", hash = "sha256:a9abefceb32879cbee9f57977d6bb8d58cbac501f8a64bf96bca2f4fdff157fe"}, - {file = "onnxruntime_gpu-1.17.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:b2cd54f2b0a05e6bc9ab30182b859364d30115a19c31be24aa2edef40be00277"}, - {file = "onnxruntime_gpu-1.17.1-cp311-cp311-win_amd64.whl", hash = "sha256:bdffcced8a5f6275c0df202220e9232138b336f868cd671c9d2c571e834d2a80"}, - {file = "onnxruntime_gpu-1.17.1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:a1c871e8d0ae4121ea6528fc9410a5a7cbc5e43714b30521d5514fd10b987c83"}, - {file = "onnxruntime_gpu-1.17.1-cp312-cp312-win_amd64.whl", hash = "sha256:9a0a94eda080e9f4a8e5035fdf0b3c24f5533e7861d88833a94493e63fca0812"}, - {file = "onnxruntime_gpu-1.17.1-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:624fdb65a632833f13de36854855818680be4f77942d8114524491d58f60d3ab"}, - {file = "onnxruntime_gpu-1.17.1-cp38-cp38-win_amd64.whl", hash = "sha256:29fa78d232bbb5a5be3a3e0a022148a7b3df2ca66b4c21a11eef56e6f22859e9"}, - {file = "onnxruntime_gpu-1.17.1-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:b0f8c70f2f9aeae825f3a397cc0c5f45124f9ae7c173263cf13c495982b0b99a"}, - {file = "onnxruntime_gpu-1.17.1-cp39-cp39-win_amd64.whl", hash = "sha256:b1a27a104334461b690e4fc62775e1e71c68936399874932225d7fea21a0c261"}, + {file = "onnxruntime_gpu-1.18.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:ebee59886d4a63d54cec673c73bdcc58b5496f9946e3c539af51550c6f222e88"}, + {file = "onnxruntime_gpu-1.18.0-cp310-cp310-win_amd64.whl", hash = "sha256:c33a2bfd100bd2b82542c72deaaed40d3de858ac9624dc5730e548869dac2f2f"}, + {file = "onnxruntime_gpu-1.18.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:aa673c044f450b21163265cca2e35eb1ded03d48fb01dec6be1c412811e9b2b0"}, + {file = "onnxruntime_gpu-1.18.0-cp311-cp311-win_amd64.whl", hash = "sha256:1dfb1172de0043f7bdc32724619f5bc151dbdc5bb8e50e806271d2efa8d72715"}, + {file = "onnxruntime_gpu-1.18.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:40ce4aec8499352b96f8c67d1f2fe4ac170dbc9281dd8ebe36339d9e1c0bcdb7"}, + {file = "onnxruntime_gpu-1.18.0-cp312-cp312-win_amd64.whl", hash = "sha256:97df451777322a534dbedff49d43a4f6f74bd5258ccf31b2161e1af606bc724d"}, + {file = "onnxruntime_gpu-1.18.0-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:05b5f17bc78586741715903b5ec7fcef4c64d136aee94d6583dd17035190d550"}, + {file = "onnxruntime_gpu-1.18.0-cp38-cp38-win_amd64.whl", hash = "sha256:40fab33312d02fdaa93b8cc14ffb1fc3aceaef5db50383a579fd8b7ad5a03b17"}, + {file = "onnxruntime_gpu-1.18.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:e0d9e200afe57c69c6407c90189c7f16a55ce326d1ac45864353e13bfe574b3c"}, + {file = "onnxruntime_gpu-1.18.0-cp39-cp39-win_amd64.whl", hash = "sha256:a7d13f0983eec46857acab8bdace7e3178428d17ad3c6d5b84b5b211c98e5acd"}, ] [package.dependencies] @@ -2768,136 +2724,132 @@ sympy = "*" [[package]] name = "opencv-python" -version = "4.9.0.80" +version = "4.10.0.82" description = "Wrapper package for OpenCV python bindings." optional = false python-versions = ">=3.6" files = [ - {file = "opencv-python-4.9.0.80.tar.gz", hash = "sha256:1a9f0e6267de3a1a1db0c54213d022c7c8b5b9ca4b580e80bdc58516c922c9e1"}, - {file = "opencv_python-4.9.0.80-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:7e5f7aa4486651a6ebfa8ed4b594b65bd2d2f41beeb4241a3e4b1b85acbbbadb"}, - {file = "opencv_python-4.9.0.80-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:71dfb9555ccccdd77305fc3dcca5897fbf0cf28b297c51ee55e079c065d812a3"}, - {file = "opencv_python-4.9.0.80-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7b34a52e9da36dda8c151c6394aed602e4b17fa041df0b9f5b93ae10b0fcca2a"}, - {file = "opencv_python-4.9.0.80-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e4088cab82b66a3b37ffc452976b14a3c599269c247895ae9ceb4066d8188a57"}, - {file = "opencv_python-4.9.0.80-cp37-abi3-win32.whl", hash = "sha256:dcf000c36dd1651118a2462257e3a9e76db789a78432e1f303c7bac54f63ef6c"}, - {file = "opencv_python-4.9.0.80-cp37-abi3-win_amd64.whl", hash = "sha256:3f16f08e02b2a2da44259c7cc712e779eff1dd8b55fdb0323e8cab09548086c0"}, + {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"}, + {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"}, + {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"}, + {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"}, + {file = "opencv_python-4.10.0.82-cp37-abi3-win32.whl", hash = "sha256:ff54adc9e4daaf438e669664af08bec4a268c7b7356079338b8e4fae03810f2c"}, + {file = "opencv_python-4.10.0.82-cp37-abi3-win_amd64.whl", hash = "sha256:2e3c2557b176f1e528417520a52c0600a92c1bb1c359f3df8e6411ab4293f065"}, ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""}, +] [[package]] name = "opencv-python-headless" -version = "4.9.0.80" +version = "4.10.0.82" description = "Wrapper package for OpenCV python bindings." optional = false python-versions = ">=3.6" files = [ - {file = "opencv-python-headless-4.9.0.80.tar.gz", hash = "sha256:71a4cd8cf7c37122901d8e81295db7fb188730e33a0e40039a4e59c1030b0958"}, - {file = "opencv_python_headless-4.9.0.80-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:2ea8a2edc4db87841991b2fbab55fc07b97ecb602e0f47d5d485bd75cee17c1a"}, - {file = "opencv_python_headless-4.9.0.80-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:e0ee54e27be493e8f7850847edae3128e18b540dac1d7b2e4001b8944e11e1c6"}, - {file = "opencv_python_headless-4.9.0.80-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:57ce2865e8fec431c6f97a81e9faaf23fa5be61011d0a75ccf47a3c0d65fa73d"}, - {file = "opencv_python_headless-4.9.0.80-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:976656362d68d9f40a5c66f83901430538002465f7db59142784f3893918f3df"}, - {file = "opencv_python_headless-4.9.0.80-cp37-abi3-win32.whl", hash = "sha256:11e3849d83e6651d4e7699aadda9ec7ed7c38957cbbcb99db074f2a2d2de9670"}, - {file = "opencv_python_headless-4.9.0.80-cp37-abi3-win_amd64.whl", hash = "sha256:a8056c2cb37cd65dfcdf4153ca16f7362afcf3a50d600d6bb69c660fc61ee29c"}, + {file = "opencv-python-headless-4.10.0.82.tar.gz", hash = "sha256:de9e742c1b9540816fbd115b0b03841d41ed0c65566b0d7a5371f98b131b7e6d"}, + {file = "opencv_python_headless-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:977a5fd21e1fe0d3d2134887db4441f8725abeae95150126302f31fcd9f548fa"}, + {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db4ec6755838b0be12510bfc9ffb014779c612418f11f4f7e6f505c36124a3aa"}, + {file = "opencv_python_headless-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10a37fa5276967ecf6eb297295b16b28b7a2eb3b568ca0ee469fb1a5954de298"}, + {file = "opencv_python_headless-4.10.0.82-cp37-abi3-win32.whl", hash = "sha256:94736e9b322d13db4768fd35588ad5e8995e78e207263076bfbee18aac835ad5"}, + {file = "opencv_python_headless-4.10.0.82-cp37-abi3-win_amd64.whl", hash = "sha256:c1822fa23d1641c0249ed5eb906f4c385f7959ff1bd601a776d56b0c18914af4"}, ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""}, +] [[package]] name = "packaging" -version = "24.0" +version = "24.1" description = "Core utilities for Python packages" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "packaging-24.0-py3-none-any.whl", hash = "sha256:2ddfb553fdf02fb784c234c7ba6ccc288296ceabec964ad2eae3777778130bc5"}, - {file = "packaging-24.0.tar.gz", hash = "sha256:eb82c5e3e56209074766e6885bb04b8c38a0c015d0a30036ebe7ece34c9989e9"}, + {file = "packaging-24.1-py3-none-any.whl", hash = "sha256:5b8f2217dbdbd2f7f384c41c628544e6d52f2d0f53c6d0c3ea61aa5d1d7ff124"}, + {file = "packaging-24.1.tar.gz", hash = "sha256:026ed72c8ed3fcce5bf8950572258698927fd1dbda10a5e981cdf0ac37f4f002"}, ] [[package]] name = "panda3d" -version = "1.10.13" +version = "1.10.14" description = "Panda3D is a framework for 3D rendering and game development for Python and C++ programs." optional = false python-versions = "*" files = [ - {file = "panda3d-1.10.13-cp27-cp27m-macosx_10_6_i386.whl", hash = "sha256:697555595a01c3f5468d49a1ee1f05f57df31e63a251a9ba47a8f534faf0ba15"}, - {file = "panda3d-1.10.13-cp27-cp27m-macosx_10_6_x86_64.whl", hash = "sha256:ccfa288a3575c2996ad7f409f14e8ceb8541a9b1b39bb0162e30f73b1fa0884b"}, - {file = "panda3d-1.10.13-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:b2d9870c044e8ac0f6a65e96b6814d122a560adfe045b6ad500bc107aa361726"}, - {file = "panda3d-1.10.13-cp27-cp27m-win32.whl", hash = "sha256:1c35d8676caa1a2c11f91592a6abd8cf18c3ac9496437082e79b4b0671603857"}, - {file = "panda3d-1.10.13-cp27-cp27m-win_amd64.whl", hash = "sha256:f7423bf86d3369f5f7578ec70199f6674ba9f81f80f3eea83d0b27ec7d2522fc"}, - {file = "panda3d-1.10.13-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:017c2a9d40c024de3d68359926dfbb0fef51e219bd2bc6d021464051bba9c80e"}, - {file = "panda3d-1.10.13-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:8028fd67c0fc524eae3b7dbfba0b433e3d811e386ba51adbccf1f95a79ef32cb"}, - {file = "panda3d-1.10.13-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:50427b08d6dcbe91e95c719b3eb32abe5e806fe265a2cfa66f5b704d22776409"}, - {file = "panda3d-1.10.13-cp310-cp310-macosx_11_0_universal2.whl", hash = "sha256:597332377b09cb97a1699fed2514c99bcc4241924ce7c21e7577685164576afc"}, - {file = "panda3d-1.10.13-cp310-cp310-manylinux2010_i686.whl", hash = "sha256:fd64c7995fc9d3f07100d4fe225498106cf3851f77bd54be3131193965768041"}, - {file = "panda3d-1.10.13-cp310-cp310-manylinux2010_x86_64.whl", hash = "sha256:acbcdf204ff75abe75b66af5c025b2f42e7777c2acb6cb17375cf7c66751a062"}, - {file = "panda3d-1.10.13-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:73905d348b486675706ac53e454b34138a3ab12faa1058720b6bf40110973be1"}, - {file = "panda3d-1.10.13-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:870da8fb7654f60d04ff5a85c75e80f89f14406c7f8812f4916f5781d1caeb25"}, - {file = "panda3d-1.10.13-cp310-cp310-win32.whl", hash = "sha256:5f75c18323ba3d36236e4756a98cba68268b0dd4ac6e4b889d87904a65b4fbbc"}, - {file = "panda3d-1.10.13-cp310-cp310-win_amd64.whl", hash = "sha256:7d8a28b10167990d55ac696275b08b21b06fb35e7f5f64d482c9b76410373e96"}, - {file = "panda3d-1.10.13-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:52f4b9014235ef5abbd6b5714389dc887ad45828316c42c83af53937179360d8"}, - {file = "panda3d-1.10.13-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:d4cbd179bf442fab572bd9a486f866147ce38579e78dd5c01e1f59887bea64b8"}, - {file = "panda3d-1.10.13-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:b4419faa2ca1747fccca8e76ca37700c1e011a38a8bad5be104fc703d1216bc3"}, - {file = "panda3d-1.10.13-cp311-cp311-manylinux2014_x86_64.whl", hash = "sha256:68e9e215c4192ca14ab1304be79f86657f43d6d663b3dbe3af209caf8eb9793c"}, - {file = "panda3d-1.10.13-cp311-cp311-win32.whl", hash = "sha256:3a4df33d18fad4bfbc70907e6f7d6ef27f20ef4d0f3dfb3c17d7e4d46abd78f5"}, - {file = "panda3d-1.10.13-cp311-cp311-win_amd64.whl", hash = "sha256:55efa8ae9a04260358257e94f29c506e338af0197c5b75dae29b0112dfdd67ac"}, - {file = "panda3d-1.10.13-cp34-cp34m-macosx_10_6_i386.whl", hash = "sha256:f6f016870c22ba0a250958fb09c49843eb17d5620dd1bfa86f38dfd200af9401"}, - {file = "panda3d-1.10.13-cp34-cp34m-macosx_10_6_x86_64.whl", hash = "sha256:fd901d3a822824a9b288392ba6ade77143c8024e208d3ce73a554e364f03cadb"}, - {file = "panda3d-1.10.13-cp34-cp34m-manylinux1_i686.whl", hash = "sha256:4e46ad41febad38f57e4948912f9642838f5bff196c7c336194904e13165172d"}, - {file = "panda3d-1.10.13-cp34-cp34m-manylinux1_x86_64.whl", hash = "sha256:dc7cd2ee0bd8ca9f7e957b2672f2d8ee1132cd6ddc2f8287d9579efa682b8b01"}, - {file = "panda3d-1.10.13-cp34-cp34m-win32.whl", hash = "sha256:190bd5c58184cae94cf158900106215f20d579f84a1b7ce1474bfbcb797b4a0b"}, - {file = "panda3d-1.10.13-cp34-cp34m-win_amd64.whl", hash = "sha256:372ac3770ada07f1c92848f36f13359c2c00f3eefa525b0b3cad4804ec64c6ca"}, - {file = "panda3d-1.10.13-cp35-cp35m-macosx_10_6_i386.whl", hash = "sha256:496147561f15a738a9a212a69ce3dda340ff1d8ae8bfd0501507945a94153bd8"}, - {file = "panda3d-1.10.13-cp35-cp35m-macosx_10_6_x86_64.whl", hash = "sha256:b78acc42a2ee7006dd9618d52ea2657e03d6e39fe4d8c9b4c48342a1d866bbfd"}, - {file = "panda3d-1.10.13-cp35-cp35m-macosx_10_9_x86_64.whl", hash = "sha256:35bb1a847a9012e218b1fa768632e4e52644e87ac8daf08fbd4c49feff0672b4"}, - {file = "panda3d-1.10.13-cp35-cp35m-manylinux1_i686.whl", hash = "sha256:fdd564b7f154a78310d6d08920a9a6f405d9e7e9f74fd4b53c9eb73a007d2dea"}, - {file = "panda3d-1.10.13-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:730e5c6b8fb20448478ac1af117cc4aadd8e9dfa2558b5f9e89a69f83ce5f284"}, - {file = "panda3d-1.10.13-cp35-cp35m-win32.whl", hash = "sha256:4da16ba0a2c9615c9d68afdee47681454ece21bf252039078b4662dca856b8f0"}, - {file = "panda3d-1.10.13-cp35-cp35m-win_amd64.whl", hash = "sha256:526a1db71fcf1a2b4eaafb36642c710eb5d2425c9ec96d1afb7fadde4b1af619"}, - {file = "panda3d-1.10.13-cp36-cp36m-macosx_10_6_i386.whl", hash = "sha256:3298dcbfc8a9e87565d35129e3942ba0d076c6c7a504b32f656ccea39b876eb4"}, - {file = "panda3d-1.10.13-cp36-cp36m-macosx_10_6_x86_64.whl", hash = "sha256:36c55f8aeb1b4eb305c3f76e0704678bdad80e37d46db71d3f723cbe4aa1eecf"}, - {file = "panda3d-1.10.13-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:e4a7549e3583cd009a1a3ce33f84ed68f9ffd5b3f34f67606af6e8d6dafa32d5"}, - {file = "panda3d-1.10.13-cp36-cp36m-manylinux1_i686.whl", hash = "sha256:1711c7edc7620a8ca2f4fee2e6e448522726678cc5318d59de00d0d1e3f35ea6"}, - {file = "panda3d-1.10.13-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:4c9da46324813e23b1108c0c3906460aa73a052c2934643a0e4a406a1a93dc03"}, - {file = "panda3d-1.10.13-cp36-cp36m-manylinux2010_i686.whl", hash = "sha256:c1c77315e2a998f9173fe86d3af63b0affc1e7399a03226881d39ff758cc6b2d"}, - {file = "panda3d-1.10.13-cp36-cp36m-manylinux2010_x86_64.whl", hash = "sha256:017fdcb16c1a786f12b45a39bd33666423689a94060d1fc6135539d826146eb3"}, - {file = "panda3d-1.10.13-cp36-cp36m-manylinux2014_aarch64.whl", hash = "sha256:b112c8d0ecdc85b14a93f6bae57dbb31043a3bbf1cd3ce3905b143e76ffbfc84"}, - {file = "panda3d-1.10.13-cp36-cp36m-manylinux2014_x86_64.whl", hash = "sha256:1e18194c78b9b519da885620ddcc7f6709e139645f665f08309b7eff58a5a0ee"}, - {file = "panda3d-1.10.13-cp36-cp36m-win32.whl", hash = "sha256:8eda3bd2402d75fb52962051c157f9495742f1f85c49c38b9bc47091fc0639b0"}, - {file = "panda3d-1.10.13-cp36-cp36m-win_amd64.whl", hash = "sha256:39652709ae0b8167aaf253edacc78898109cce96e872d9e7be33257dd5f98485"}, - {file = "panda3d-1.10.13-cp37-cp37m-macosx_10_6_i386.whl", hash = "sha256:d8c9668f257da744f301bf83ff44b2cdc8bd635e732fadf2f9b09200655cd3e4"}, - {file = "panda3d-1.10.13-cp37-cp37m-macosx_10_6_x86_64.whl", hash = "sha256:ece8eb268a0be1fa45b6ef1e6cfa1ae89f25ee926e866893baf8bf391708c02d"}, - {file = "panda3d-1.10.13-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:508df5128cb63163eeee8f3cb6cb2984aefe473ee7e8e328f25a8bf205d54de2"}, - {file = "panda3d-1.10.13-cp37-cp37m-manylinux1_i686.whl", hash = "sha256:d8a7beb7b88f1fc4ec0061be28018f6da1511783eb6a9911442d2a3435e50f7d"}, - {file = "panda3d-1.10.13-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:a1cae74294394aa4afe93414c799798be77777e5bba77a45368bb1973ca65d2e"}, - {file = "panda3d-1.10.13-cp37-cp37m-manylinux2010_i686.whl", hash = "sha256:94d59874924de7b6765d427ea833ffea38fbb1b72a35679f81ef76c34ddf584d"}, - {file = "panda3d-1.10.13-cp37-cp37m-manylinux2010_x86_64.whl", hash = "sha256:23806bb1b289ad31f1ec1c206ddbdddd484ecdf8fdb09a4f89bc1c61af6b19ba"}, - {file = "panda3d-1.10.13-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:6013bf0049bb6b30b0ff17ca5dc6bde621b553f0d1815481ced186ba710aa3b6"}, - {file = "panda3d-1.10.13-cp37-cp37m-manylinux2014_x86_64.whl", hash = "sha256:e208d1ac385acb48e24f557badfdb6244b0122bc25511c512b893c55ccb1bed3"}, - {file = "panda3d-1.10.13-cp37-cp37m-win32.whl", hash = "sha256:1dea56806643077e863abd8735e7056019ffd2b935990670607b44f996ef8456"}, - {file = "panda3d-1.10.13-cp37-cp37m-win_amd64.whl", hash = "sha256:08f7729e3b13d7417a07b14a3532ee93e4c50293de45392d9783038dcc24cfd4"}, - {file = "panda3d-1.10.13-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8099b2bc211a98ff1d26a91c26d126d538896a59ad29d4de50dea19ccaf31b1b"}, - {file = "panda3d-1.10.13-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:bc41bd97e3a2dd04d0f664ae0ea1a7677ce7c6a718ab4d3b3ff79ef06f0a22c9"}, - {file = "panda3d-1.10.13-cp38-cp38-manylinux1_i686.whl", hash = "sha256:2027d6d8ac86db0989fbcbafa9f4f1e1a4de79a94f087325e43ccf9e65da12a9"}, - {file = "panda3d-1.10.13-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:dbfccaf3ff52b4e5de66d33bf06aa489af43cb139367b77fa6bc79ac774d23dc"}, - {file = "panda3d-1.10.13-cp38-cp38-manylinux2010_i686.whl", hash = "sha256:c0785bfa3ad3e87f837433737679dce5e0d1a33accbfcb0dcb0393ce3a7a68f2"}, - {file = "panda3d-1.10.13-cp38-cp38-manylinux2010_x86_64.whl", hash = "sha256:e384ed11490d479095cbad2f27ad61f536ca75aeb702557ce83b67381d4448bd"}, - {file = "panda3d-1.10.13-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:8cd5e47e18f56dd6dab7ed1acb21c07f356b7220db72b820f02363050ee3bdfd"}, - {file = "panda3d-1.10.13-cp38-cp38-manylinux2014_x86_64.whl", hash = "sha256:094ccf20cdfb2a2f44cde56a1ab9a1287a09cfd33dd4fe094cb255aaacfb678f"}, - {file = "panda3d-1.10.13-cp38-cp38-win32.whl", hash = "sha256:83c39308ee95951616dd5ab1e2ee730853fca9b4331a7c9ea9d92c9af3321aa9"}, - {file = "panda3d-1.10.13-cp38-cp38-win_amd64.whl", hash = "sha256:2ae1bd477a8882c80bdb6d63d6738ae2c4c335f0d88af592a051a9705434c75d"}, - {file = "panda3d-1.10.13-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:df904a0ca374fd7667727a3d3743c386e913e6e80b8efe67fe0fcd01f904e4c3"}, - {file = "panda3d-1.10.13-cp39-cp39-macosx_11_0_universal2.whl", hash = "sha256:db8cc33163112722cdf313d06939ff30b260c7a5e2a404b38bddc7558e6e8a26"}, - {file = "panda3d-1.10.13-cp39-cp39-manylinux1_i686.whl", hash = "sha256:029d7c698114da30d0d5ecd57e0c92423d319848e4197e6a86ac54b9ae43c424"}, - {file = "panda3d-1.10.13-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:4927f23e8c1469e6a17c3f05a81ac0c6fa7c23b2d39bffee5277ecabfb2da10f"}, - {file = "panda3d-1.10.13-cp39-cp39-manylinux2010_i686.whl", hash = "sha256:2683fc8ad1e98a98ae692dbd82896c3f055743351e7a61a8ecd22557ddef643e"}, - {file = "panda3d-1.10.13-cp39-cp39-manylinux2010_x86_64.whl", hash = "sha256:809881853087d36211f380245499778a4838f2f1748a4f8d90546debed294f8b"}, - {file = "panda3d-1.10.13-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:05be45eeddc81fb4879b0e6b206422b810e2de0f6639ab04522f660270eb202a"}, - {file = "panda3d-1.10.13-cp39-cp39-manylinux2014_x86_64.whl", hash = "sha256:a00823d1ae2490dba0643109f10e7347b15e6c2554de0b1bed0a085950fa6ed0"}, - {file = "panda3d-1.10.13-cp39-cp39-win32.whl", hash = "sha256:2d5d3e2160d8fa667ef548171695be84e7de25f51817ae31c61cf2e869a2f6c6"}, - {file = "panda3d-1.10.13-cp39-cp39-win_amd64.whl", hash = "sha256:839d8b2724a149d56a31f621c6397a1fed597a7dacee478922c711426160990e"}, + {file = "panda3d-1.10.14-cp27-cp27m-macosx_10_6_i386.whl", hash = "sha256:cf47bcbe5d6270107e80f5f18b88186cc40de83e4e90c86e7e516d2289a68dd1"}, + {file = "panda3d-1.10.14-cp27-cp27m-macosx_10_6_x86_64.whl", hash = "sha256:c371a3df183b2e382cb6dbf07efb744b05bdb0d89101457f350ea9a7a9a481f1"}, + {file = "panda3d-1.10.14-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:ba49c6f213a5f0287e4cbdb66714cdf3b4aa5bdbe4e1a55034e74d0dda9f0250"}, + {file = "panda3d-1.10.14-cp27-cp27m-win32.whl", hash = "sha256:adb54216a9234f3736693d49032783d7fb8952a15510f1397f992a5c94cdf897"}, + {file = "panda3d-1.10.14-cp27-cp27m-win_amd64.whl", hash = "sha256:f94dd5f557166b6571969883bd2ffd3a555e8ac720f0f3e347d2081222bc0997"}, + {file = "panda3d-1.10.14-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:c98d2143755e52d4be3b474b932207c830e473aa0e10052831bc82784f1dd17c"}, + {file = "panda3d-1.10.14-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:b7f8c6524e1381bd28a15e5e2ed7aaba8ed3b6fa29d4ea5a4b215c4639b49438"}, + {file = "panda3d-1.10.14-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:b0e2aacb148b7033c08929bbf89bb497c2bed1811aa9f7e5efc167dbf57c90ae"}, + {file = "panda3d-1.10.14-cp310-cp310-macosx_11_0_universal2.whl", hash = "sha256:2c60139139654a51dab213ce1c9f67abd73153fc9e0a0514c0758741b2d2bd96"}, + {file = "panda3d-1.10.14-cp310-cp310-manylinux2010_i686.whl", hash = "sha256:f5da02fb5735294193eb1794ecbe619f20f87712f1b2c5d6e4d1a269f652ebeb"}, + {file = "panda3d-1.10.14-cp310-cp310-manylinux2010_x86_64.whl", hash = "sha256:d6a65b1930e144d5901cdd20d2779dc157897a730f0c9674692d61ad50e31213"}, + {file = "panda3d-1.10.14-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:182a309537cd76c514b9f4d0dfd54bc9cb35d06a32234084bab6f3f0b0db3985"}, + {file = "panda3d-1.10.14-cp310-cp310-win32.whl", hash = "sha256:2a2b872a180ed84ff337147d6d46c14aceccbcfd1149135ba57e15136350d87f"}, + {file = "panda3d-1.10.14-cp310-cp310-win_amd64.whl", hash = "sha256:385d12a1f0924e91a39ebd6053104712a1acd91e089638d292b533e36f402c48"}, + {file = "panda3d-1.10.14-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:54b8ef9fe3684960a2c7d47b0d63c0354c17bc516795e59db6c1e5bda8c16c1c"}, + {file = "panda3d-1.10.14-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:93414675894b18eea8d27edc1bbd1dc719eae207d45ec263d47195504bc4705f"}, + {file = "panda3d-1.10.14-cp311-cp311-manylinux2014_x86_64.whl", hash = "sha256:d1bc0d926f90c8fa14a1587fa9dbe5f89a4eda8c9684fa183a8eaa35fc8e891a"}, + {file = "panda3d-1.10.14-cp311-cp311-win32.whl", hash = "sha256:1039340a4a7965fe4c3e904edb4fff691584df435a154fecccf534587cd07a34"}, + {file = "panda3d-1.10.14-cp311-cp311-win_amd64.whl", hash = "sha256:1ddf01040b9c5497fb8659e3c5ef793a26c869cfdfb1b75e6d04d6fba0c03b73"}, + {file = "panda3d-1.10.14-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1bfbcee77779f12ecce6a3d5a856e573b25d6343f8c4b107e814d9702e70a65d"}, + {file = "panda3d-1.10.14-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:bc6540c5559d7e14a8992eff7de0157b7c42406b7ba221941ed224289496841c"}, + {file = "panda3d-1.10.14-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:143daab1ce6bedcba711ea3f6cab0ebe5082f22c5f43e7178fadd2dd01209da7"}, + {file = "panda3d-1.10.14-cp312-cp312-manylinux2014_x86_64.whl", hash = "sha256:3c4399a286a142de7ff86f9356d7e526bbbd38892d7f7d39fecb5c33064972bc"}, + {file = "panda3d-1.10.14-cp312-cp312-win32.whl", hash = "sha256:e92e0dd907e2af33085a2c31ca2263dc8023b1b7bc70ce1b9fbc84631e130e51"}, + {file = "panda3d-1.10.14-cp312-cp312-win_amd64.whl", hash = "sha256:a5f2defd822d38848f8ae1956115adcb6cc7f464f03a67e73681cc72df125ef4"}, + {file = "panda3d-1.10.14-cp34-cp34m-macosx_10_6_i386.whl", hash = "sha256:84ca5855e03173f521a2b4edc84e62ad5ffb31e9454bd809efb8e71a5c32df4f"}, + {file = "panda3d-1.10.14-cp34-cp34m-macosx_10_6_x86_64.whl", hash = "sha256:9082e3d66a653589ffab7c5bd7a50eb46ab168104e08a86c77b58bbd77030d50"}, + {file = "panda3d-1.10.14-cp34-cp34m-manylinux1_i686.whl", hash = "sha256:f1a46ca8427ffb9267b3951af81f6774b7259b7e8f89210af6366b208e5762e6"}, + {file = "panda3d-1.10.14-cp34-cp34m-manylinux1_x86_64.whl", hash = "sha256:c23694788696d7bfe291ced98dd87e57532a23f821e71f7b2d0c2004a4648c8f"}, + {file = "panda3d-1.10.14-cp34-cp34m-win32.whl", hash = "sha256:f14455c459730f396e524d8b9e62875438481e1dc7dfd2083e9522a3bad45f28"}, + {file = "panda3d-1.10.14-cp34-cp34m-win_amd64.whl", hash = "sha256:110a33b20f15aa6333c8e72e30bcf0dc9afaef809a325d247bb7470de3942dae"}, + {file = "panda3d-1.10.14-cp35-cp35m-macosx_10_6_i386.whl", hash = "sha256:d91e37d43242d5132886c3850aa4a2f3ee7401de2360cb8313616b45ab78ecba"}, + {file = "panda3d-1.10.14-cp35-cp35m-macosx_10_6_x86_64.whl", hash = "sha256:f4bcf78223df3c13e9a627a25856c91bdbf28f75b021630e5ca37a961eeabb27"}, + {file = "panda3d-1.10.14-cp35-cp35m-macosx_10_9_x86_64.whl", hash = "sha256:e0a7a1d7cbe10474cad720898b384d642dcd3d7a07b3dbe09154107a5651be49"}, + {file = "panda3d-1.10.14-cp35-cp35m-manylinux1_i686.whl", hash = "sha256:78404da82a5d93641b0f2a89790cad235b087e7e2e37bbe83c995e99495635cd"}, + {file = "panda3d-1.10.14-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:aa1381f4c06b789b8a725185773397b0c7a2508eeb8156874537c07171e5cb99"}, + {file = "panda3d-1.10.14-cp35-cp35m-win32.whl", hash = "sha256:8a497dd7401b50fa372664c724f1cb949b8d8bc3ed6d9b6433af19086bcf9325"}, + {file = "panda3d-1.10.14-cp35-cp35m-win_amd64.whl", hash = "sha256:293c5441e4f2720da480abdb3c99e55e96a7616d8867ac9c7b94526694a5812e"}, + {file = "panda3d-1.10.14-cp36-cp36m-macosx_10_6_i386.whl", hash = "sha256:15083e9c82d884c279bca897576ed91848323f951617f7bbb43d2dba32e6d662"}, + {file = "panda3d-1.10.14-cp36-cp36m-macosx_10_6_x86_64.whl", hash = "sha256:b8a20828a45a9215f7ecb59baec18a79adda56ad1b25eb99b9958d26d8ab2a40"}, + {file = "panda3d-1.10.14-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:d4c555a5c47ffcaaed518c52b3bb9d5729a5dc4492f51e8a46b076ca54adcae0"}, + {file = "panda3d-1.10.14-cp36-cp36m-manylinux1_i686.whl", hash = "sha256:0c43a4dfd6b12323359439ea7c60e8fbf84ff0aa75abaccd5179cc6b27baa2b7"}, + {file = "panda3d-1.10.14-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:06a4595f1737170d316829b451cbfb01a130918a04481b1f217212c485c64586"}, + {file = "panda3d-1.10.14-cp36-cp36m-manylinux2014_x86_64.whl", hash = "sha256:24d2a38f9068f868ac23101a8601d88f3c137ededed2be222d5e711a4b114467"}, + {file = "panda3d-1.10.14-cp36-cp36m-win32.whl", hash = "sha256:d7d722fb5a62531e62f6b98db2b3e399deddde945f84c954aefac73989c75e4c"}, + {file = "panda3d-1.10.14-cp36-cp36m-win_amd64.whl", hash = "sha256:7d17fe989aaed3f35a7992742a4c4536936fb0a70a87d4625b92f185f0318c45"}, + {file = "panda3d-1.10.14-cp37-cp37m-macosx_10_6_i386.whl", hash = "sha256:0ab75f828daef54678e9f2a15bccfe4e7b090991ee025689be324194266fd82e"}, + {file = "panda3d-1.10.14-cp37-cp37m-macosx_10_6_x86_64.whl", hash = "sha256:f04af7a7becaf30c0c256a0177a7493ab91247ea5a2798345b2df2ec71aeff23"}, + {file = "panda3d-1.10.14-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:d41579867cb2998f4273bdece282c641dac6f40ca2e713dafa3fb9ce3ef12162"}, + {file = "panda3d-1.10.14-cp37-cp37m-manylinux1_i686.whl", hash = "sha256:4db1b920d501d3524e92467a21ecb08cc0063566a681991cc683f2070068f128"}, + {file = "panda3d-1.10.14-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:db28161d1f40adf0b0998f7064ac784e49a2f2ec3bb04810c2757ba938c7d2cf"}, + {file = "panda3d-1.10.14-cp37-cp37m-manylinux2014_x86_64.whl", hash = "sha256:0cbdbc41229fa7d075925a716477e7a8d1a17a2523fc88e97fa010c4e0706442"}, + {file = "panda3d-1.10.14-cp37-cp37m-win32.whl", hash = "sha256:145cd28de41261e0ac2bc24323417f8b21623f48de0bb7a9e0d70ff386c34c84"}, + {file = "panda3d-1.10.14-cp37-cp37m-win_amd64.whl", hash = "sha256:fadb6eb4106dc3fecea81a1e81186b3cc3ee0019d0b5435273113a18aec2352c"}, + {file = "panda3d-1.10.14-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a61c973d8d58305a502d05a82dc3ec6cf2b5e01ada7151a83415c51a959ff774"}, + {file = "panda3d-1.10.14-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:3e82b2f904efb9f7f78dbf6d88bc5ebc83c5c0fbc9e477a8ef2b154bd7935591"}, + {file = "panda3d-1.10.14-cp38-cp38-manylinux1_i686.whl", hash = "sha256:96d1ce3483a51ec5aebc43f3e30e552deacb660606d2b36e86ed3a9756e3eccf"}, + {file = "panda3d-1.10.14-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:b658d75a5342ff175703ce780e8b383da438ff68ea941d0e5dff68c5189d38ec"}, + {file = "panda3d-1.10.14-cp38-cp38-manylinux2014_x86_64.whl", hash = "sha256:3e564c44d879b01d01a7fcdc03977affcf3b1dabcf2d6e5c678e06b9de8855ac"}, + {file = "panda3d-1.10.14-cp38-cp38-win32.whl", hash = "sha256:06007592951730b52852771e98b306b3c1de9dc51abf0bab183c3ec3ac404131"}, + {file = "panda3d-1.10.14-cp38-cp38-win_amd64.whl", hash = "sha256:b05713b5acfcfcbf1dc87c19b1d5babf926d21f83b3772180e7a5de83f45b454"}, + {file = "panda3d-1.10.14-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:d55c7d52bd07e54a16219bb88a7cf34a5b9e7c720dce585e9de8427cc54d9dd2"}, + {file = "panda3d-1.10.14-cp39-cp39-macosx_11_0_universal2.whl", hash = "sha256:39abf9330ebcfcff07c29ebcf397cf43c2e5be6c148cf45a0a025d3297c43289"}, + {file = "panda3d-1.10.14-cp39-cp39-manylinux1_i686.whl", hash = "sha256:0f69c7232713f50a552b00ada4cbb03780bb97ec1ddb640e5162df61d1b26a2b"}, + {file = "panda3d-1.10.14-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:9dda6736e8c180fa9caab70aa9461d7042b74764f73e4d2c59fe560751989341"}, + {file = "panda3d-1.10.14-cp39-cp39-manylinux2014_x86_64.whl", hash = "sha256:a91ab520fa8bd206460f0b7acfa6329440d72669048bac3eab4bb4d8dcd09991"}, + {file = "panda3d-1.10.14-cp39-cp39-win32.whl", hash = "sha256:2de074b0a3e0f243e4c1fba0376a26489d585cc71fd79986de274e282e3913d8"}, + {file = "panda3d-1.10.14-cp39-cp39-win_amd64.whl", hash = "sha256:356c55c25c2227bb2cf20a9613410c470f4e9de887543ec8b3765c848af4bff0"}, ] [[package]] @@ -2972,7 +2924,10 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.2", markers = "python_version == \"3.11\""} +numpy = [ + {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, + {version = ">=1.23.2", markers = "python_version == \"3.11\""}, +] python-dateutil = ">=2.8.2" pytz = ">=2020.1" tzdata = ">=2022.7" @@ -3104,13 +3059,13 @@ xmp = ["defusedxml"] [[package]] name = "platformdirs" -version = "4.2.1" +version = "4.2.2" description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`." optional = false python-versions = ">=3.8" files = [ - {file = "platformdirs-4.2.1-py3-none-any.whl", hash = "sha256:17d5a1161b3fd67b390023cb2d3b026bbd40abde6fdb052dfbd3a29c3ba22ee1"}, - {file = "platformdirs-4.2.1.tar.gz", hash = "sha256:031cd18d4ec63ec53e82dceaac0417d218a6863f7745dfcc9efe7793b7039bdf"}, + {file = "platformdirs-4.2.2-py3-none-any.whl", hash = "sha256:2d7a1657e36a80ea911db832a8a6ece5ee53d8de21edd5cc5879af6530b1bfee"}, + {file = "platformdirs-4.2.2.tar.gz", hash = "sha256:38b7b51f512eed9e84a22788b4bce1de17c0adb134d6becb09836e37d8654cd3"}, ] [package.extras] @@ -3167,16 +3122,6 @@ docs = ["sphinx (>=1.7.1)"] redis = ["redis"] tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)", "types-redis"] -[[package]] -name = "pprofile" -version = "2.1.0" -description = "Line-granularity, thread-aware deterministic and statistic pure-python profiler" -optional = false -python-versions = "*" -files = [ - {file = "pprofile-2.1.0.tar.gz", hash = "sha256:b2bb56603dadf40c0bc0f61621f22c20e41638425f729945d9b7f8e4ae8cdd4a"}, -] - [[package]] name = "pre-commit" version = "3.7.1" @@ -3207,22 +3152,22 @@ files = [ [[package]] name = "protobuf" -version = "5.26.1" +version = "5.27.1" description = "" optional = false python-versions = ">=3.8" files = [ - {file = "protobuf-5.26.1-cp310-abi3-win32.whl", hash = "sha256:3c388ea6ddfe735f8cf69e3f7dc7611e73107b60bdfcf5d0f024c3ccd3794e23"}, - {file = "protobuf-5.26.1-cp310-abi3-win_amd64.whl", hash = "sha256:e6039957449cb918f331d32ffafa8eb9255769c96aa0560d9a5bf0b4e00a2a33"}, - {file = "protobuf-5.26.1-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:38aa5f535721d5bb99861166c445c4105c4e285c765fbb2ac10f116e32dcd46d"}, - {file = "protobuf-5.26.1-cp37-abi3-manylinux2014_aarch64.whl", hash = "sha256:fbfe61e7ee8c1860855696e3ac6cfd1b01af5498facc6834fcc345c9684fb2ca"}, - {file = "protobuf-5.26.1-cp37-abi3-manylinux2014_x86_64.whl", hash = "sha256:f7417703f841167e5a27d48be13389d52ad705ec09eade63dfc3180a959215d7"}, - {file = "protobuf-5.26.1-cp38-cp38-win32.whl", hash = "sha256:d693d2504ca96750d92d9de8a103102dd648fda04540495535f0fec7577ed8fc"}, - {file = "protobuf-5.26.1-cp38-cp38-win_amd64.whl", hash = "sha256:9b557c317ebe6836835ec4ef74ec3e994ad0894ea424314ad3552bc6e8835b4e"}, - {file = "protobuf-5.26.1-cp39-cp39-win32.whl", hash = "sha256:b9ba3ca83c2e31219ffbeb9d76b63aad35a3eb1544170c55336993d7a18ae72c"}, - {file = "protobuf-5.26.1-cp39-cp39-win_amd64.whl", hash = "sha256:7ee014c2c87582e101d6b54260af03b6596728505c79f17c8586e7523aaa8f8c"}, - {file = "protobuf-5.26.1-py3-none-any.whl", hash = "sha256:da612f2720c0183417194eeaa2523215c4fcc1a1949772dc65f05047e08d5932"}, - {file = "protobuf-5.26.1.tar.gz", hash = "sha256:8ca2a1d97c290ec7b16e4e5dff2e5ae150cc1582f55b5ab300d45cb0dfa90e51"}, + {file = "protobuf-5.27.1-cp310-abi3-win32.whl", hash = "sha256:3adc15ec0ff35c5b2d0992f9345b04a540c1e73bfee3ff1643db43cc1d734333"}, + {file = "protobuf-5.27.1-cp310-abi3-win_amd64.whl", hash = "sha256:25236b69ab4ce1bec413fd4b68a15ef8141794427e0b4dc173e9d5d9dffc3bcd"}, + {file = "protobuf-5.27.1-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:4e38fc29d7df32e01a41cf118b5a968b1efd46b9c41ff515234e794011c78b17"}, + {file = "protobuf-5.27.1-cp38-abi3-manylinux2014_aarch64.whl", hash = "sha256:917ed03c3eb8a2d51c3496359f5b53b4e4b7e40edfbdd3d3f34336e0eef6825a"}, + {file = "protobuf-5.27.1-cp38-abi3-manylinux2014_x86_64.whl", hash = "sha256:ee52874a9e69a30271649be88ecbe69d374232e8fd0b4e4b0aaaa87f429f1631"}, + {file = "protobuf-5.27.1-cp38-cp38-win32.whl", hash = "sha256:7a97b9c5aed86b9ca289eb5148df6c208ab5bb6906930590961e08f097258107"}, + {file = "protobuf-5.27.1-cp38-cp38-win_amd64.whl", hash = "sha256:f6abd0f69968792da7460d3c2cfa7d94fd74e1c21df321eb6345b963f9ec3d8d"}, + {file = "protobuf-5.27.1-cp39-cp39-win32.whl", hash = "sha256:dfddb7537f789002cc4eb00752c92e67885badcc7005566f2c5de9d969d3282d"}, + {file = "protobuf-5.27.1-cp39-cp39-win_amd64.whl", hash = "sha256:39309898b912ca6febb0084ea912e976482834f401be35840a008da12d189340"}, + {file = "protobuf-5.27.1-py3-none-any.whl", hash = "sha256:4ac7249a1530a2ed50e24201d6630125ced04b30619262f06224616e0030b6cf"}, + {file = "protobuf-5.27.1.tar.gz", hash = "sha256:df5e5b8e39b7d1c25b186ffdf9f44f40f810bbcc9d2b71d9d3156fee5a9adf15"}, ] [[package]] @@ -3253,6 +3198,54 @@ files = [ [package.extras] test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"] +[[package]] +name = "pyarrow" +version = "16.1.0" +description = "Python library for Apache Arrow" +optional = false +python-versions = ">=3.8" +files = [ + {file = "pyarrow-16.1.0-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:17e23b9a65a70cc733d8b738baa6ad3722298fa0c81d88f63ff94bf25eaa77b9"}, + {file = "pyarrow-16.1.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:4740cc41e2ba5d641071d0ab5e9ef9b5e6e8c7611351a5cb7c1d175eaf43674a"}, + {file = "pyarrow-16.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:98100e0268d04e0eec47b73f20b39c45b4006f3c4233719c3848aa27a03c1aef"}, + {file = "pyarrow-16.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f68f409e7b283c085f2da014f9ef81e885d90dcd733bd648cfba3ef265961848"}, + {file = "pyarrow-16.1.0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:a8914cd176f448e09746037b0c6b3a9d7688cef451ec5735094055116857580c"}, + {file = "pyarrow-16.1.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:48be160782c0556156d91adbdd5a4a7e719f8d407cb46ae3bb4eaee09b3111bd"}, + {file = "pyarrow-16.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:9cf389d444b0f41d9fe1444b70650fea31e9d52cfcb5f818b7888b91b586efff"}, + {file = "pyarrow-16.1.0-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:d0ebea336b535b37eee9eee31761813086d33ed06de9ab6fc6aaa0bace7b250c"}, + {file = "pyarrow-16.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2e73cfc4a99e796727919c5541c65bb88b973377501e39b9842ea71401ca6c1c"}, + {file = "pyarrow-16.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bf9251264247ecfe93e5f5a0cd43b8ae834f1e61d1abca22da55b20c788417f6"}, + {file = "pyarrow-16.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ddf5aace92d520d3d2a20031d8b0ec27b4395cab9f74e07cc95edf42a5cc0147"}, + {file = "pyarrow-16.1.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:25233642583bf658f629eb230b9bb79d9af4d9f9229890b3c878699c82f7d11e"}, + {file = "pyarrow-16.1.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:a33a64576fddfbec0a44112eaf844c20853647ca833e9a647bfae0582b2ff94b"}, + {file = "pyarrow-16.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:185d121b50836379fe012753cf15c4ba9638bda9645183ab36246923875f8d1b"}, + {file = "pyarrow-16.1.0-cp312-cp312-macosx_10_15_x86_64.whl", hash = "sha256:2e51ca1d6ed7f2e9d5c3c83decf27b0d17bb207a7dea986e8dc3e24f80ff7d6f"}, + {file = "pyarrow-16.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:06ebccb6f8cb7357de85f60d5da50e83507954af617d7b05f48af1621d331c9a"}, + {file = "pyarrow-16.1.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b04707f1979815f5e49824ce52d1dceb46e2f12909a48a6a753fe7cafbc44a0c"}, + {file = "pyarrow-16.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0d32000693deff8dc5df444b032b5985a48592c0697cb6e3071a5d59888714e2"}, + {file = "pyarrow-16.1.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:8785bb10d5d6fd5e15d718ee1d1f914fe768bf8b4d1e5e9bf253de8a26cb1628"}, + {file = "pyarrow-16.1.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:e1369af39587b794873b8a307cc6623a3b1194e69399af0efd05bb202195a5a7"}, + {file = "pyarrow-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:febde33305f1498f6df85e8020bca496d0e9ebf2093bab9e0f65e2b4ae2b3444"}, + {file = "pyarrow-16.1.0-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:b5f5705ab977947a43ac83b52ade3b881eb6e95fcc02d76f501d549a210ba77f"}, + {file = "pyarrow-16.1.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:0d27bf89dfc2576f6206e9cd6cf7a107c9c06dc13d53bbc25b0bd4556f19cf5f"}, + {file = "pyarrow-16.1.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0d07de3ee730647a600037bc1d7b7994067ed64d0eba797ac74b2bc77384f4c2"}, + {file = "pyarrow-16.1.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fbef391b63f708e103df99fbaa3acf9f671d77a183a07546ba2f2c297b361e83"}, + {file = "pyarrow-16.1.0-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:19741c4dbbbc986d38856ee7ddfdd6a00fc3b0fc2d928795b95410d38bb97d15"}, + {file = "pyarrow-16.1.0-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:f2c5fb249caa17b94e2b9278b36a05ce03d3180e6da0c4c3b3ce5b2788f30eed"}, + {file = "pyarrow-16.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:e6b6d3cd35fbb93b70ade1336022cc1147b95ec6af7d36906ca7fe432eb09710"}, + {file = "pyarrow-16.1.0-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:18da9b76a36a954665ccca8aa6bd9f46c1145f79c0bb8f4f244f5f8e799bca55"}, + {file = "pyarrow-16.1.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:99f7549779b6e434467d2aa43ab2b7224dd9e41bdde486020bae198978c9e05e"}, + {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f07fdffe4fd5b15f5ec15c8b64584868d063bc22b86b46c9695624ca3505b7b4"}, + {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ddfe389a08ea374972bd4065d5f25d14e36b43ebc22fc75f7b951f24378bf0b5"}, + {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:3b20bd67c94b3a2ea0a749d2a5712fc845a69cb5d52e78e6449bbd295611f3aa"}, + {file = "pyarrow-16.1.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:ba8ac20693c0bb0bf4b238751d4409e62852004a8cf031c73b0e0962b03e45e3"}, + {file = "pyarrow-16.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:31a1851751433d89a986616015841977e0a188662fcffd1a5677453f1df2de0a"}, + {file = "pyarrow-16.1.0.tar.gz", hash = "sha256:15fbb22ea96d11f0b5768504a3f961edab25eaf4197c341720c4a387f6c60315"}, +] + +[package.dependencies] +numpy = ">=1.16.6" + [[package]] name = "pyaudio" version = "0.2.14" @@ -3628,2822 +3621,2897 @@ files = [ [[package]] name = "pyobjc" -version = "10.2" +version = "10.3.1" description = "Python<->ObjC Interoperability Module" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-10.2-py3-none-any.whl", hash = "sha256:976c8f8af49a91195307b3efbc2d63517be63aae2b4b3689dcff4f317669c23a"}, - {file = "pyobjc-10.2.tar.gz", hash = "sha256:bfea9891750ce3af6439ee102e8e417917f1a7ed7fc4f54b5da9d7457fbb7fc6"}, + {file = "pyobjc-10.3.1-py3-none-any.whl", hash = "sha256:dfa9ff44a353b9d0bf1245c25c94d1eee6d0cb26d9c5433bbcd67a265f7654ae"}, + {file = "pyobjc-10.3.1.tar.gz", hash = "sha256:476dd5c72394e4cfcdac6dfd756839011a0159353247f45e3e07cc0b3536c9d4"}, ] [package.dependencies] -pyobjc-core = "10.2" -pyobjc-framework-Accessibility = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-Accounts = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-AddressBook = "10.2" -pyobjc-framework-AdServices = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-AdSupport = {version = "10.2", markers = "platform_release >= \"18.0\""} -pyobjc-framework-AppleScriptKit = "10.2" -pyobjc-framework-AppleScriptObjC = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-ApplicationServices = "10.2" -pyobjc-framework-AppTrackingTransparency = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-AudioVideoBridging = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-AuthenticationServices = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-AutomaticAssessmentConfiguration = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-Automator = "10.2" -pyobjc-framework-AVFoundation = {version = "10.2", markers = "platform_release >= \"11.0\""} -pyobjc-framework-AVKit = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-AVRouting = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-BackgroundAssets = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-BrowserEngineKit = {version = "10.2", markers = "platform_release >= \"23.4\""} -pyobjc-framework-BusinessChat = {version = "10.2", markers = "platform_release >= \"18.0\""} -pyobjc-framework-CalendarStore = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-CallKit = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-CFNetwork = "10.2" -pyobjc-framework-Cinematic = {version = "10.2", markers = "platform_release >= \"23.0\""} -pyobjc-framework-ClassKit = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-CloudKit = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-Cocoa = "10.2" -pyobjc-framework-Collaboration = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-ColorSync = {version = "10.2", markers = "platform_release >= \"17.0\""} -pyobjc-framework-Contacts = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-ContactsUI = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-CoreAudio = "10.2" -pyobjc-framework-CoreAudioKit = "10.2" -pyobjc-framework-CoreBluetooth = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-CoreData = "10.2" -pyobjc-framework-CoreHaptics = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-CoreLocation = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-CoreMedia = {version = "10.2", markers = "platform_release >= \"11.0\""} -pyobjc-framework-CoreMediaIO = {version = "10.2", markers = "platform_release >= \"11.0\""} -pyobjc-framework-CoreMIDI = "10.2" -pyobjc-framework-CoreML = {version = "10.2", markers = "platform_release >= \"17.0\""} -pyobjc-framework-CoreMotion = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-CoreServices = "10.2" -pyobjc-framework-CoreSpotlight = {version = "10.2", markers = "platform_release >= \"17.0\""} -pyobjc-framework-CoreText = "10.2" -pyobjc-framework-CoreWLAN = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-CryptoTokenKit = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-DataDetection = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-DeviceCheck = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-DictionaryServices = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-DiscRecording = "10.2" -pyobjc-framework-DiscRecordingUI = "10.2" -pyobjc-framework-DiskArbitration = "10.2" -pyobjc-framework-DVDPlayback = "10.2" -pyobjc-framework-EventKit = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-ExceptionHandling = "10.2" -pyobjc-framework-ExecutionPolicy = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-ExtensionKit = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-ExternalAccessory = {version = "10.2", markers = "platform_release >= \"17.0\""} -pyobjc-framework-FileProvider = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-FileProviderUI = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-FinderSync = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-FSEvents = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-GameCenter = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-GameController = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-GameKit = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-GameplayKit = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-HealthKit = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-ImageCaptureCore = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-InputMethodKit = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-InstallerPlugins = "10.2" -pyobjc-framework-InstantMessage = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-Intents = {version = "10.2", markers = "platform_release >= \"16.0\""} -pyobjc-framework-IntentsUI = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-IOBluetooth = "10.2" -pyobjc-framework-IOBluetoothUI = "10.2" -pyobjc-framework-IOSurface = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-iTunesLibrary = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-KernelManagement = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-LatentSemanticMapping = "10.2" -pyobjc-framework-LaunchServices = "10.2" -pyobjc-framework-libdispatch = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-libxpc = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-LinkPresentation = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-LocalAuthentication = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-LocalAuthenticationEmbeddedUI = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-MailKit = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-MapKit = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-MediaAccessibility = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-MediaLibrary = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-MediaPlayer = {version = "10.2", markers = "platform_release >= \"16.0\""} -pyobjc-framework-MediaToolbox = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-Metal = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-MetalFX = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-MetalKit = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-MetalPerformanceShaders = {version = "10.2", markers = "platform_release >= \"17.0\""} -pyobjc-framework-MetalPerformanceShadersGraph = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-MetricKit = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-MLCompute = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-ModelIO = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-MultipeerConnectivity = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-NaturalLanguage = {version = "10.2", markers = "platform_release >= \"18.0\""} -pyobjc-framework-NetFS = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-Network = {version = "10.2", markers = "platform_release >= \"18.0\""} -pyobjc-framework-NetworkExtension = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-NotificationCenter = {version = "10.2", markers = "platform_release >= \"14.0\""} -pyobjc-framework-OpenDirectory = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-OSAKit = "10.2" -pyobjc-framework-OSLog = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-PassKit = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-PencilKit = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-PHASE = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-Photos = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-PhotosUI = {version = "10.2", markers = "platform_release >= \"15.0\""} -pyobjc-framework-PreferencePanes = "10.2" -pyobjc-framework-PubSub = {version = "10.2", markers = "platform_release >= \"9.0\" and platform_release < \"18.0\""} -pyobjc-framework-PushKit = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-Quartz = "10.2" -pyobjc-framework-QuickLookThumbnailing = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-ReplayKit = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-SafariServices = {version = "10.2", markers = "platform_release >= \"16.0\""} -pyobjc-framework-SafetyKit = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-SceneKit = {version = "10.2", markers = "platform_release >= \"11.0\""} -pyobjc-framework-ScreenCaptureKit = {version = "10.2", markers = "platform_release >= \"21.4\""} -pyobjc-framework-ScreenSaver = "10.2" -pyobjc-framework-ScreenTime = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-ScriptingBridge = {version = "10.2", markers = "platform_release >= \"9.0\""} -pyobjc-framework-SearchKit = "10.2" -pyobjc-framework-Security = "10.2" -pyobjc-framework-SecurityFoundation = "10.2" -pyobjc-framework-SecurityInterface = "10.2" -pyobjc-framework-SensitiveContentAnalysis = {version = "10.2", markers = "platform_release >= \"23.0\""} -pyobjc-framework-ServiceManagement = {version = "10.2", markers = "platform_release >= \"10.0\""} -pyobjc-framework-SharedWithYou = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-SharedWithYouCore = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-ShazamKit = {version = "10.2", markers = "platform_release >= \"21.0\""} -pyobjc-framework-Social = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-SoundAnalysis = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-Speech = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-SpriteKit = {version = "10.2", markers = "platform_release >= \"13.0\""} -pyobjc-framework-StoreKit = {version = "10.2", markers = "platform_release >= \"11.0\""} -pyobjc-framework-Symbols = {version = "10.2", markers = "platform_release >= \"23.0\""} -pyobjc-framework-SyncServices = "10.2" -pyobjc-framework-SystemConfiguration = "10.2" -pyobjc-framework-SystemExtensions = {version = "10.2", markers = "platform_release >= \"19.0\""} -pyobjc-framework-ThreadNetwork = {version = "10.2", markers = "platform_release >= \"22.0\""} -pyobjc-framework-UniformTypeIdentifiers = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-UserNotifications = {version = "10.2", markers = "platform_release >= \"18.0\""} -pyobjc-framework-UserNotificationsUI = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-VideoSubscriberAccount = {version = "10.2", markers = "platform_release >= \"18.0\""} -pyobjc-framework-VideoToolbox = {version = "10.2", markers = "platform_release >= \"12.0\""} -pyobjc-framework-Virtualization = {version = "10.2", markers = "platform_release >= \"20.0\""} -pyobjc-framework-Vision = {version = "10.2", markers = "platform_release >= \"17.0\""} -pyobjc-framework-WebKit = "10.2" +pyobjc-core = "10.3.1" +pyobjc-framework-Accessibility = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-Accounts = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-AddressBook = "10.3.1" +pyobjc-framework-AdServices = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-AdSupport = {version = "10.3.1", markers = "platform_release >= \"18.0\""} +pyobjc-framework-AppleScriptKit = "10.3.1" +pyobjc-framework-AppleScriptObjC = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-ApplicationServices = "10.3.1" +pyobjc-framework-AppTrackingTransparency = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-AudioVideoBridging = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-AuthenticationServices = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-AutomaticAssessmentConfiguration = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-Automator = "10.3.1" +pyobjc-framework-AVFoundation = {version = "10.3.1", markers = "platform_release >= \"11.0\""} +pyobjc-framework-AVKit = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-AVRouting = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-BackgroundAssets = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-BrowserEngineKit = {version = "10.3.1", markers = "platform_release >= \"23.4\""} +pyobjc-framework-BusinessChat = {version = "10.3.1", markers = "platform_release >= \"18.0\""} +pyobjc-framework-CalendarStore = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-CallKit = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-CFNetwork = "10.3.1" +pyobjc-framework-Cinematic = {version = "10.3.1", markers = "platform_release >= \"23.0\""} +pyobjc-framework-ClassKit = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-CloudKit = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-Cocoa = "10.3.1" +pyobjc-framework-Collaboration = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-ColorSync = {version = "10.3.1", markers = "platform_release >= \"17.0\""} +pyobjc-framework-Contacts = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-ContactsUI = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-CoreAudio = "10.3.1" +pyobjc-framework-CoreAudioKit = "10.3.1" +pyobjc-framework-CoreBluetooth = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-CoreData = "10.3.1" +pyobjc-framework-CoreHaptics = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-CoreLocation = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-CoreMedia = {version = "10.3.1", markers = "platform_release >= \"11.0\""} +pyobjc-framework-CoreMediaIO = {version = "10.3.1", markers = "platform_release >= \"11.0\""} +pyobjc-framework-CoreMIDI = "10.3.1" +pyobjc-framework-CoreML = {version = "10.3.1", markers = "platform_release >= \"17.0\""} +pyobjc-framework-CoreMotion = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-CoreServices = "10.3.1" +pyobjc-framework-CoreSpotlight = {version = "10.3.1", markers = "platform_release >= \"17.0\""} +pyobjc-framework-CoreText = "10.3.1" +pyobjc-framework-CoreWLAN = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-CryptoTokenKit = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-DataDetection = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-DeviceCheck = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-DictionaryServices = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-DiscRecording = "10.3.1" +pyobjc-framework-DiscRecordingUI = "10.3.1" +pyobjc-framework-DiskArbitration = "10.3.1" +pyobjc-framework-DVDPlayback = "10.3.1" +pyobjc-framework-EventKit = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-ExceptionHandling = "10.3.1" +pyobjc-framework-ExecutionPolicy = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-ExtensionKit = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-ExternalAccessory = {version = "10.3.1", markers = "platform_release >= \"17.0\""} +pyobjc-framework-FileProvider = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-FileProviderUI = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-FinderSync = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-FSEvents = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-GameCenter = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-GameController = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-GameKit = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-GameplayKit = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-HealthKit = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-ImageCaptureCore = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-InputMethodKit = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-InstallerPlugins = "10.3.1" +pyobjc-framework-InstantMessage = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-Intents = {version = "10.3.1", markers = "platform_release >= \"16.0\""} +pyobjc-framework-IntentsUI = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-IOBluetooth = "10.3.1" +pyobjc-framework-IOBluetoothUI = "10.3.1" +pyobjc-framework-IOSurface = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-iTunesLibrary = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-KernelManagement = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-LatentSemanticMapping = "10.3.1" +pyobjc-framework-LaunchServices = "10.3.1" +pyobjc-framework-libdispatch = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-libxpc = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-LinkPresentation = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-LocalAuthentication = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-LocalAuthenticationEmbeddedUI = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-MailKit = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-MapKit = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-MediaAccessibility = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-MediaLibrary = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-MediaPlayer = {version = "10.3.1", markers = "platform_release >= \"16.0\""} +pyobjc-framework-MediaToolbox = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-Metal = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-MetalFX = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-MetalKit = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-MetalPerformanceShaders = {version = "10.3.1", markers = "platform_release >= \"17.0\""} +pyobjc-framework-MetalPerformanceShadersGraph = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-MetricKit = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-MLCompute = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-ModelIO = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-MultipeerConnectivity = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-NaturalLanguage = {version = "10.3.1", markers = "platform_release >= \"18.0\""} +pyobjc-framework-NetFS = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-Network = {version = "10.3.1", markers = "platform_release >= \"18.0\""} +pyobjc-framework-NetworkExtension = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-NotificationCenter = {version = "10.3.1", markers = "platform_release >= \"14.0\""} +pyobjc-framework-OpenDirectory = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-OSAKit = "10.3.1" +pyobjc-framework-OSLog = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-PassKit = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-PencilKit = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-PHASE = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-Photos = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-PhotosUI = {version = "10.3.1", markers = "platform_release >= \"15.0\""} +pyobjc-framework-PreferencePanes = "10.3.1" +pyobjc-framework-PubSub = {version = "10.3.1", markers = "platform_release >= \"9.0\" and platform_release < \"18.0\""} +pyobjc-framework-PushKit = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-Quartz = "10.3.1" +pyobjc-framework-QuickLookThumbnailing = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-ReplayKit = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-SafariServices = {version = "10.3.1", markers = "platform_release >= \"16.0\""} +pyobjc-framework-SafetyKit = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-SceneKit = {version = "10.3.1", markers = "platform_release >= \"11.0\""} +pyobjc-framework-ScreenCaptureKit = {version = "10.3.1", markers = "platform_release >= \"21.4\""} +pyobjc-framework-ScreenSaver = "10.3.1" +pyobjc-framework-ScreenTime = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-ScriptingBridge = {version = "10.3.1", markers = "platform_release >= \"9.0\""} +pyobjc-framework-SearchKit = "10.3.1" +pyobjc-framework-Security = "10.3.1" +pyobjc-framework-SecurityFoundation = "10.3.1" +pyobjc-framework-SecurityInterface = "10.3.1" +pyobjc-framework-SensitiveContentAnalysis = {version = "10.3.1", markers = "platform_release >= \"23.0\""} +pyobjc-framework-ServiceManagement = {version = "10.3.1", markers = "platform_release >= \"10.0\""} +pyobjc-framework-SharedWithYou = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-SharedWithYouCore = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-ShazamKit = {version = "10.3.1", markers = "platform_release >= \"21.0\""} +pyobjc-framework-Social = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-SoundAnalysis = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-Speech = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-SpriteKit = {version = "10.3.1", markers = "platform_release >= \"13.0\""} +pyobjc-framework-StoreKit = {version = "10.3.1", markers = "platform_release >= \"11.0\""} +pyobjc-framework-Symbols = {version = "10.3.1", markers = "platform_release >= \"23.0\""} +pyobjc-framework-SyncServices = "10.3.1" +pyobjc-framework-SystemConfiguration = "10.3.1" +pyobjc-framework-SystemExtensions = {version = "10.3.1", markers = "platform_release >= \"19.0\""} +pyobjc-framework-ThreadNetwork = {version = "10.3.1", markers = "platform_release >= \"22.0\""} +pyobjc-framework-UniformTypeIdentifiers = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-UserNotifications = {version = "10.3.1", markers = "platform_release >= \"18.0\""} +pyobjc-framework-UserNotificationsUI = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-VideoSubscriberAccount = {version = "10.3.1", markers = "platform_release >= \"18.0\""} +pyobjc-framework-VideoToolbox = {version = "10.3.1", markers = "platform_release >= \"12.0\""} +pyobjc-framework-Virtualization = {version = "10.3.1", markers = "platform_release >= \"20.0\""} +pyobjc-framework-Vision = {version = "10.3.1", markers = "platform_release >= \"17.0\""} +pyobjc-framework-WebKit = "10.3.1" [package.extras] -allbindings = ["pyobjc-core (==10.2)", "pyobjc-framework-AVFoundation (==10.2)", "pyobjc-framework-AVKit (==10.2)", "pyobjc-framework-AVRouting (==10.2)", "pyobjc-framework-Accessibility (==10.2)", "pyobjc-framework-Accounts (==10.2)", "pyobjc-framework-AdServices (==10.2)", "pyobjc-framework-AdSupport (==10.2)", "pyobjc-framework-AddressBook (==10.2)", "pyobjc-framework-AppTrackingTransparency (==10.2)", "pyobjc-framework-AppleScriptKit (==10.2)", "pyobjc-framework-AppleScriptObjC (==10.2)", "pyobjc-framework-ApplicationServices (==10.2)", "pyobjc-framework-AudioVideoBridging (==10.2)", "pyobjc-framework-AuthenticationServices (==10.2)", "pyobjc-framework-AutomaticAssessmentConfiguration (==10.2)", "pyobjc-framework-Automator (==10.2)", "pyobjc-framework-BackgroundAssets (==10.2)", "pyobjc-framework-BrowserEngineKit (==10.2)", "pyobjc-framework-BusinessChat (==10.2)", "pyobjc-framework-CFNetwork (==10.2)", "pyobjc-framework-CalendarStore (==10.2)", "pyobjc-framework-CallKit (==10.2)", "pyobjc-framework-Cinematic (==10.2)", "pyobjc-framework-ClassKit (==10.2)", "pyobjc-framework-CloudKit (==10.2)", "pyobjc-framework-Cocoa (==10.2)", "pyobjc-framework-Collaboration (==10.2)", "pyobjc-framework-ColorSync (==10.2)", "pyobjc-framework-Contacts (==10.2)", "pyobjc-framework-ContactsUI (==10.2)", "pyobjc-framework-CoreAudio (==10.2)", "pyobjc-framework-CoreAudioKit (==10.2)", "pyobjc-framework-CoreBluetooth (==10.2)", "pyobjc-framework-CoreData (==10.2)", "pyobjc-framework-CoreHaptics (==10.2)", "pyobjc-framework-CoreLocation (==10.2)", "pyobjc-framework-CoreMIDI (==10.2)", "pyobjc-framework-CoreML (==10.2)", "pyobjc-framework-CoreMedia (==10.2)", "pyobjc-framework-CoreMediaIO (==10.2)", "pyobjc-framework-CoreMotion (==10.2)", "pyobjc-framework-CoreServices (==10.2)", "pyobjc-framework-CoreSpotlight (==10.2)", "pyobjc-framework-CoreText (==10.2)", "pyobjc-framework-CoreWLAN (==10.2)", "pyobjc-framework-CryptoTokenKit (==10.2)", "pyobjc-framework-DVDPlayback (==10.2)", "pyobjc-framework-DataDetection (==10.2)", "pyobjc-framework-DeviceCheck (==10.2)", "pyobjc-framework-DictionaryServices (==10.2)", "pyobjc-framework-DiscRecording (==10.2)", "pyobjc-framework-DiscRecordingUI (==10.2)", "pyobjc-framework-DiskArbitration (==10.2)", "pyobjc-framework-EventKit (==10.2)", "pyobjc-framework-ExceptionHandling (==10.2)", "pyobjc-framework-ExecutionPolicy (==10.2)", "pyobjc-framework-ExtensionKit (==10.2)", "pyobjc-framework-ExternalAccessory (==10.2)", "pyobjc-framework-FSEvents (==10.2)", "pyobjc-framework-FileProvider (==10.2)", "pyobjc-framework-FileProviderUI (==10.2)", "pyobjc-framework-FinderSync (==10.2)", "pyobjc-framework-GameCenter (==10.2)", "pyobjc-framework-GameController (==10.2)", "pyobjc-framework-GameKit (==10.2)", "pyobjc-framework-GameplayKit (==10.2)", "pyobjc-framework-HealthKit (==10.2)", "pyobjc-framework-IOBluetooth (==10.2)", "pyobjc-framework-IOBluetoothUI (==10.2)", "pyobjc-framework-IOSurface (==10.2)", "pyobjc-framework-ImageCaptureCore (==10.2)", "pyobjc-framework-InputMethodKit (==10.2)", "pyobjc-framework-InstallerPlugins (==10.2)", "pyobjc-framework-InstantMessage (==10.2)", "pyobjc-framework-Intents (==10.2)", "pyobjc-framework-IntentsUI (==10.2)", "pyobjc-framework-KernelManagement (==10.2)", "pyobjc-framework-LatentSemanticMapping (==10.2)", "pyobjc-framework-LaunchServices (==10.2)", "pyobjc-framework-LinkPresentation (==10.2)", "pyobjc-framework-LocalAuthentication (==10.2)", "pyobjc-framework-LocalAuthenticationEmbeddedUI (==10.2)", "pyobjc-framework-MLCompute (==10.2)", "pyobjc-framework-MailKit (==10.2)", "pyobjc-framework-MapKit (==10.2)", "pyobjc-framework-MediaAccessibility (==10.2)", "pyobjc-framework-MediaLibrary (==10.2)", "pyobjc-framework-MediaPlayer (==10.2)", "pyobjc-framework-MediaToolbox (==10.2)", "pyobjc-framework-Metal (==10.2)", "pyobjc-framework-MetalFX (==10.2)", "pyobjc-framework-MetalKit (==10.2)", "pyobjc-framework-MetalPerformanceShaders (==10.2)", "pyobjc-framework-MetalPerformanceShadersGraph (==10.2)", "pyobjc-framework-MetricKit (==10.2)", "pyobjc-framework-ModelIO (==10.2)", "pyobjc-framework-MultipeerConnectivity (==10.2)", "pyobjc-framework-NaturalLanguage (==10.2)", "pyobjc-framework-NetFS (==10.2)", "pyobjc-framework-Network (==10.2)", "pyobjc-framework-NetworkExtension (==10.2)", "pyobjc-framework-NotificationCenter (==10.2)", "pyobjc-framework-OSAKit (==10.2)", "pyobjc-framework-OSLog (==10.2)", "pyobjc-framework-OpenDirectory (==10.2)", "pyobjc-framework-PHASE (==10.2)", "pyobjc-framework-PassKit (==10.2)", "pyobjc-framework-PencilKit (==10.2)", "pyobjc-framework-Photos (==10.2)", "pyobjc-framework-PhotosUI (==10.2)", "pyobjc-framework-PreferencePanes (==10.2)", "pyobjc-framework-PubSub (==10.2)", "pyobjc-framework-PushKit (==10.2)", "pyobjc-framework-Quartz (==10.2)", "pyobjc-framework-QuickLookThumbnailing (==10.2)", "pyobjc-framework-ReplayKit (==10.2)", "pyobjc-framework-SafariServices (==10.2)", "pyobjc-framework-SafetyKit (==10.2)", "pyobjc-framework-SceneKit (==10.2)", "pyobjc-framework-ScreenCaptureKit (==10.2)", "pyobjc-framework-ScreenSaver (==10.2)", "pyobjc-framework-ScreenTime (==10.2)", "pyobjc-framework-ScriptingBridge (==10.2)", "pyobjc-framework-SearchKit (==10.2)", "pyobjc-framework-Security (==10.2)", "pyobjc-framework-SecurityFoundation (==10.2)", "pyobjc-framework-SecurityInterface (==10.2)", "pyobjc-framework-SensitiveContentAnalysis (==10.2)", "pyobjc-framework-ServiceManagement (==10.2)", "pyobjc-framework-SharedWithYou (==10.2)", "pyobjc-framework-SharedWithYouCore (==10.2)", "pyobjc-framework-ShazamKit (==10.2)", "pyobjc-framework-Social (==10.2)", "pyobjc-framework-SoundAnalysis (==10.2)", "pyobjc-framework-Speech (==10.2)", "pyobjc-framework-SpriteKit (==10.2)", "pyobjc-framework-StoreKit (==10.2)", "pyobjc-framework-Symbols (==10.2)", "pyobjc-framework-SyncServices (==10.2)", "pyobjc-framework-SystemConfiguration (==10.2)", "pyobjc-framework-SystemExtensions (==10.2)", "pyobjc-framework-ThreadNetwork (==10.2)", "pyobjc-framework-UniformTypeIdentifiers (==10.2)", "pyobjc-framework-UserNotifications (==10.2)", "pyobjc-framework-UserNotificationsUI (==10.2)", "pyobjc-framework-VideoSubscriberAccount (==10.2)", "pyobjc-framework-VideoToolbox (==10.2)", "pyobjc-framework-Virtualization (==10.2)", "pyobjc-framework-Vision (==10.2)", "pyobjc-framework-WebKit (==10.2)", "pyobjc-framework-iTunesLibrary (==10.2)", "pyobjc-framework-libdispatch (==10.2)", "pyobjc-framework-libxpc (==10.2)"] +allbindings = ["pyobjc-core (==10.3.1)", "pyobjc-framework-AVFoundation (==10.3.1)", "pyobjc-framework-AVKit (==10.3.1)", "pyobjc-framework-AVRouting (==10.3.1)", "pyobjc-framework-Accessibility (==10.3.1)", "pyobjc-framework-Accounts (==10.3.1)", "pyobjc-framework-AdServices (==10.3.1)", "pyobjc-framework-AdSupport (==10.3.1)", "pyobjc-framework-AddressBook (==10.3.1)", "pyobjc-framework-AppTrackingTransparency (==10.3.1)", "pyobjc-framework-AppleScriptKit (==10.3.1)", "pyobjc-framework-AppleScriptObjC (==10.3.1)", "pyobjc-framework-ApplicationServices (==10.3.1)", "pyobjc-framework-AudioVideoBridging (==10.3.1)", "pyobjc-framework-AuthenticationServices (==10.3.1)", "pyobjc-framework-AutomaticAssessmentConfiguration (==10.3.1)", "pyobjc-framework-Automator (==10.3.1)", "pyobjc-framework-BackgroundAssets (==10.3.1)", "pyobjc-framework-BrowserEngineKit (==10.3.1)", "pyobjc-framework-BusinessChat (==10.3.1)", "pyobjc-framework-CFNetwork (==10.3.1)", "pyobjc-framework-CalendarStore (==10.3.1)", "pyobjc-framework-CallKit (==10.3.1)", "pyobjc-framework-Cinematic (==10.3.1)", "pyobjc-framework-ClassKit (==10.3.1)", "pyobjc-framework-CloudKit (==10.3.1)", "pyobjc-framework-Cocoa (==10.3.1)", "pyobjc-framework-Collaboration (==10.3.1)", "pyobjc-framework-ColorSync (==10.3.1)", "pyobjc-framework-Contacts (==10.3.1)", "pyobjc-framework-ContactsUI (==10.3.1)", "pyobjc-framework-CoreAudio (==10.3.1)", "pyobjc-framework-CoreAudioKit (==10.3.1)", "pyobjc-framework-CoreBluetooth (==10.3.1)", "pyobjc-framework-CoreData (==10.3.1)", "pyobjc-framework-CoreHaptics (==10.3.1)", "pyobjc-framework-CoreLocation (==10.3.1)", "pyobjc-framework-CoreMIDI (==10.3.1)", "pyobjc-framework-CoreML (==10.3.1)", "pyobjc-framework-CoreMedia (==10.3.1)", "pyobjc-framework-CoreMediaIO (==10.3.1)", "pyobjc-framework-CoreMotion (==10.3.1)", "pyobjc-framework-CoreServices (==10.3.1)", "pyobjc-framework-CoreSpotlight (==10.3.1)", "pyobjc-framework-CoreText (==10.3.1)", "pyobjc-framework-CoreWLAN (==10.3.1)", "pyobjc-framework-CryptoTokenKit (==10.3.1)", "pyobjc-framework-DVDPlayback (==10.3.1)", "pyobjc-framework-DataDetection (==10.3.1)", "pyobjc-framework-DeviceCheck (==10.3.1)", "pyobjc-framework-DictionaryServices (==10.3.1)", "pyobjc-framework-DiscRecording (==10.3.1)", "pyobjc-framework-DiscRecordingUI (==10.3.1)", "pyobjc-framework-DiskArbitration (==10.3.1)", "pyobjc-framework-EventKit (==10.3.1)", "pyobjc-framework-ExceptionHandling (==10.3.1)", "pyobjc-framework-ExecutionPolicy (==10.3.1)", "pyobjc-framework-ExtensionKit (==10.3.1)", "pyobjc-framework-ExternalAccessory (==10.3.1)", "pyobjc-framework-FSEvents (==10.3.1)", "pyobjc-framework-FileProvider (==10.3.1)", "pyobjc-framework-FileProviderUI (==10.3.1)", "pyobjc-framework-FinderSync (==10.3.1)", "pyobjc-framework-GameCenter (==10.3.1)", "pyobjc-framework-GameController (==10.3.1)", "pyobjc-framework-GameKit (==10.3.1)", "pyobjc-framework-GameplayKit (==10.3.1)", "pyobjc-framework-HealthKit (==10.3.1)", "pyobjc-framework-IOBluetooth (==10.3.1)", "pyobjc-framework-IOBluetoothUI (==10.3.1)", "pyobjc-framework-IOSurface (==10.3.1)", "pyobjc-framework-ImageCaptureCore (==10.3.1)", "pyobjc-framework-InputMethodKit (==10.3.1)", "pyobjc-framework-InstallerPlugins (==10.3.1)", "pyobjc-framework-InstantMessage (==10.3.1)", "pyobjc-framework-Intents (==10.3.1)", "pyobjc-framework-IntentsUI (==10.3.1)", "pyobjc-framework-KernelManagement (==10.3.1)", "pyobjc-framework-LatentSemanticMapping (==10.3.1)", "pyobjc-framework-LaunchServices (==10.3.1)", "pyobjc-framework-LinkPresentation (==10.3.1)", "pyobjc-framework-LocalAuthentication (==10.3.1)", "pyobjc-framework-LocalAuthenticationEmbeddedUI (==10.3.1)", "pyobjc-framework-MLCompute (==10.3.1)", "pyobjc-framework-MailKit (==10.3.1)", "pyobjc-framework-MapKit (==10.3.1)", "pyobjc-framework-MediaAccessibility (==10.3.1)", "pyobjc-framework-MediaLibrary (==10.3.1)", "pyobjc-framework-MediaPlayer (==10.3.1)", "pyobjc-framework-MediaToolbox (==10.3.1)", "pyobjc-framework-Metal (==10.3.1)", "pyobjc-framework-MetalFX (==10.3.1)", "pyobjc-framework-MetalKit (==10.3.1)", "pyobjc-framework-MetalPerformanceShaders (==10.3.1)", "pyobjc-framework-MetalPerformanceShadersGraph (==10.3.1)", "pyobjc-framework-MetricKit (==10.3.1)", "pyobjc-framework-ModelIO (==10.3.1)", "pyobjc-framework-MultipeerConnectivity (==10.3.1)", "pyobjc-framework-NaturalLanguage (==10.3.1)", "pyobjc-framework-NetFS (==10.3.1)", "pyobjc-framework-Network (==10.3.1)", "pyobjc-framework-NetworkExtension (==10.3.1)", "pyobjc-framework-NotificationCenter (==10.3.1)", "pyobjc-framework-OSAKit (==10.3.1)", "pyobjc-framework-OSLog (==10.3.1)", "pyobjc-framework-OpenDirectory (==10.3.1)", "pyobjc-framework-PHASE (==10.3.1)", "pyobjc-framework-PassKit (==10.3.1)", "pyobjc-framework-PencilKit (==10.3.1)", "pyobjc-framework-Photos (==10.3.1)", "pyobjc-framework-PhotosUI (==10.3.1)", "pyobjc-framework-PreferencePanes (==10.3.1)", "pyobjc-framework-PubSub (==10.3.1)", "pyobjc-framework-PushKit (==10.3.1)", "pyobjc-framework-Quartz (==10.3.1)", "pyobjc-framework-QuickLookThumbnailing (==10.3.1)", "pyobjc-framework-ReplayKit (==10.3.1)", "pyobjc-framework-SafariServices (==10.3.1)", "pyobjc-framework-SafetyKit (==10.3.1)", "pyobjc-framework-SceneKit (==10.3.1)", "pyobjc-framework-ScreenCaptureKit (==10.3.1)", "pyobjc-framework-ScreenSaver (==10.3.1)", "pyobjc-framework-ScreenTime (==10.3.1)", "pyobjc-framework-ScriptingBridge (==10.3.1)", "pyobjc-framework-SearchKit (==10.3.1)", "pyobjc-framework-Security (==10.3.1)", "pyobjc-framework-SecurityFoundation (==10.3.1)", "pyobjc-framework-SecurityInterface (==10.3.1)", "pyobjc-framework-SensitiveContentAnalysis (==10.3.1)", "pyobjc-framework-ServiceManagement (==10.3.1)", "pyobjc-framework-SharedWithYou (==10.3.1)", "pyobjc-framework-SharedWithYouCore (==10.3.1)", "pyobjc-framework-ShazamKit (==10.3.1)", "pyobjc-framework-Social (==10.3.1)", "pyobjc-framework-SoundAnalysis (==10.3.1)", "pyobjc-framework-Speech (==10.3.1)", "pyobjc-framework-SpriteKit (==10.3.1)", "pyobjc-framework-StoreKit (==10.3.1)", "pyobjc-framework-Symbols (==10.3.1)", "pyobjc-framework-SyncServices (==10.3.1)", "pyobjc-framework-SystemConfiguration (==10.3.1)", "pyobjc-framework-SystemExtensions (==10.3.1)", "pyobjc-framework-ThreadNetwork (==10.3.1)", "pyobjc-framework-UniformTypeIdentifiers (==10.3.1)", "pyobjc-framework-UserNotifications (==10.3.1)", "pyobjc-framework-UserNotificationsUI (==10.3.1)", "pyobjc-framework-VideoSubscriberAccount (==10.3.1)", "pyobjc-framework-VideoToolbox (==10.3.1)", "pyobjc-framework-Virtualization (==10.3.1)", "pyobjc-framework-Vision (==10.3.1)", "pyobjc-framework-WebKit (==10.3.1)", "pyobjc-framework-iTunesLibrary (==10.3.1)", "pyobjc-framework-libdispatch (==10.3.1)", "pyobjc-framework-libxpc (==10.3.1)"] [[package]] name = "pyobjc-core" -version = "10.2" +version = "10.3.1" description = "Python<->ObjC Interoperability Module" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-core-10.2.tar.gz", hash = "sha256:0153206e15d0e0d7abd53ee8a7fbaf5606602a032e177a028fc8589516a8771c"}, - {file = "pyobjc_core-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b8eab50ce7f17017a0f1d68c3b7e88bb1bb033415fdff62b8e0a9ee4ab72f242"}, - {file = "pyobjc_core-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f2115971463073426ab926416e17e5c16de5b90d1a1f2a2d8724637eb1c21308"}, - {file = "pyobjc_core-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:a70546246177c23acb323c9324330e37638f1a0a3d13664abcba3bb75e43012c"}, - {file = "pyobjc_core-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a9b5a215080d13bd7526031d21d5eb27a410780878d863f486053a0eba7ca9a5"}, - {file = "pyobjc_core-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:eb1ab700a44bcc4ceb125091dfaae0b998b767b49990df5fdc83eb58158d8e3f"}, - {file = "pyobjc_core-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:c9a7163aff9c47d654f835f80361c1b112886ec754800d34e75d1e02ff52c3d7"}, + {file = "pyobjc_core-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:ea46d2cda17921e417085ac6286d43ae448113158afcf39e0abe484c58fb3d78"}, + {file = "pyobjc_core-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:899d3c84d2933d292c808f385dc881a140cf08632907845043a333a9d7c899f9"}, + {file = "pyobjc_core-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:6ff5823d13d0a534cdc17fa4ad47cf5bee4846ce0fd27fc40012e12b46db571b"}, + {file = "pyobjc_core-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:2581e8e68885bcb0e11ec619e81ef28e08ee3fac4de20d8cc83bc5af5bcf4a90"}, + {file = "pyobjc_core-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ea98d4c2ec39ca29e62e0327db21418696161fb138ee6278daf2acbedf7ce504"}, + {file = "pyobjc_core-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:4c179c26ee2123d0aabffb9dbc60324b62b6f8614fb2c2328b09386ef59ef6d8"}, + {file = "pyobjc_core-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:cb901fce65c9be420c40d8a6ee6fff5ff27c6945f44fd7191989b982baa66dea"}, + {file = "pyobjc_core-10.3.1.tar.gz", hash = "sha256:b204a80ccc070f9ab3f8af423a3a25a6fd787e228508d00c4c30f8ac538ba720"}, ] [[package]] name = "pyobjc-framework-accessibility" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Accessibility on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Accessibility-10.2.tar.gz", hash = "sha256:275c9ac0df1350bf751dbddc81d98f7702cf03ad66e0271876cef9aa70ca5c24"}, - {file = "pyobjc_framework_Accessibility-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c801ad06fadc17f281102408d8a98a844739b3496b9799e2cef2b630a8bec312"}, - {file = "pyobjc_framework_Accessibility-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:861c6f7683c1bd769df85e677905a051f17f01a99a59cbba63b68c2f4bf46066"}, - {file = "pyobjc_framework_Accessibility-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:7e0a716b0cc89fbfb68d4ac0eba4bbd9c50a092255efa2794c4bb93b27b05b98"}, + {file = "pyobjc_framework_Accessibility-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4a1b10d2098b5e3887d4e52b13c2d7619f248ceeaa4e78bb21c51c25c7d391c3"}, + {file = "pyobjc_framework_Accessibility-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4926eeef40d750215f0787d2124407a4c65bc03407e402ea47901b713e8765e5"}, + {file = "pyobjc_framework_Accessibility-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b5b9d7373d1a8a06f57baca2f67279c3b0c61ecfb17fa6da964e0e275e7d18ed"}, + {file = "pyobjc_framework_Accessibility-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:94dbc5f223e6485820c14e7dee99d8f4d5cbf0600353033822dcab7ec4bc998e"}, + {file = "pyobjc_framework_accessibility-10.3.1.tar.gz", hash = "sha256:c973306417441e6bed5f9be6154e6399aa7f38fa9b6bcf3368fa42d92ef3030b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-accounts" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Accounts on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Accounts-10.2.tar.gz", hash = "sha256:40c8d7299b58b2300db0a6189a7c7056d38385e58700cb40137a744bb03708b7"}, - {file = "pyobjc_framework_Accounts-10.2-py2.py3-none-any.whl", hash = "sha256:9616c8c27f08baadfeea7c27fb1efac043e0785fbbbfbe05f20021402ac5295f"}, + {file = "pyobjc_framework_Accounts-10.3.1-py2.py3-none-any.whl", hash = "sha256:451488f91263afd23233287f223ba00c0ee5c93d64cd10e133d72bc6a0fc48aa"}, + {file = "pyobjc_framework_accounts-10.3.1.tar.gz", hash = "sha256:3d55738e7b3290af8cd4993fd2b670242a952deb995a69911be2a1be4c509a86"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-addressbook" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AddressBook on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AddressBook-10.2.tar.gz", hash = "sha256:d6969fcbde1d78ec9fa0ebcefc2f453090e35d7590c4b4baf62174e060de6bce"}, - {file = "pyobjc_framework_AddressBook-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:6558b05e9d40a7f40650cddde9b71cb6fb536edf891985c977d4abc626f07a63"}, - {file = "pyobjc_framework_AddressBook-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c57347c04b11310f980e3d6cadc84ebc701d2216853108f9b708c03b0d295a59"}, - {file = "pyobjc_framework_AddressBook-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ba6eff580e4764dc9616b73cf4794cd44b4389b98f95696bac0bb5190f6a1211"}, + {file = "pyobjc_framework_AddressBook-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:02ab8cb2300d55beaddee4f113a5c4a78ef737eda6c704678487529e391062e2"}, + {file = "pyobjc_framework_AddressBook-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:1cfa893c21920f5420f3e57da314315e92c855a83f0718482dc33bdb859b9f24"}, + {file = "pyobjc_framework_AddressBook-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:7aa89a352f1729de1cb4d7841906487d9db752c2802af5695596b1cf5290acfb"}, + {file = "pyobjc_framework_AddressBook-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f25864847b4a81289dd08e7052455699ee011a4df98f4da0b07f46523c212592"}, + {file = "pyobjc_framework_addressbook-10.3.1.tar.gz", hash = "sha256:cde99b855c39b56ca52479b0a1e2daa3ef5de12cebfe780c3c802a5f59a484cc"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-adservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AdServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AdServices-10.2.tar.gz", hash = "sha256:76eafba018c819c1770f88daa68d25fc5f06dc93a9f5e369d329d0f341dec3af"}, - {file = "pyobjc_framework_AdServices-10.2-py2.py3-none-any.whl", hash = "sha256:b03fcd460b632fc1b3fd8275060255e518933d1d0da06d6eda9b128b4e2999ec"}, + {file = "pyobjc_framework_AdServices-10.3.1-py2.py3-none-any.whl", hash = "sha256:c839c4267ad8443393e4d138396026764ee43776164da8a8ed9ac248b7d9c0d9"}, + {file = "pyobjc_framework_adservices-10.3.1.tar.gz", hash = "sha256:28123eb111d023f708e1d86f5f3f76bd4f6bb0d932466863f84b3e322b11537a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-adsupport" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AdSupport on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AdSupport-10.2.tar.gz", hash = "sha256:1eb76dc039d081e6d25b4fd334a3987bd9f73527a17844c421bcc8289dd16968"}, - {file = "pyobjc_framework_AdSupport-10.2-py2.py3-none-any.whl", hash = "sha256:4883ac30f1d78d764b57aacb46af78018f2302b9f7e8f4e1fccb25c3cb44ab74"}, + {file = "pyobjc_framework_AdSupport-10.3.1-py2.py3-none-any.whl", hash = "sha256:0e403ec206ada472b2c0b129ed656342a97c20110ca8398ab907100516b0e48c"}, + {file = "pyobjc_framework_adsupport-10.3.1.tar.gz", hash = "sha256:ba85a00cf20c42501d8083092f7ca0fcd1e616b1725e6512e75bcb60a6d58528"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-applescriptkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AppleScriptKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AppleScriptKit-10.2.tar.gz", hash = "sha256:871452c17b15ce33337cd7ebd293fe31daef9f02f16ebb649efc36165cfb02da"}, - {file = "pyobjc_framework_AppleScriptKit-10.2-py2.py3-none-any.whl", hash = "sha256:15af7d97f017563ff3771127a2b7c515496aa6083497415cbe8c27dd5811c50f"}, + {file = "pyobjc_framework_AppleScriptKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:97ce878ff334b6853405a62e164debb9e6695110e64db5ed596008c0fde84970"}, + {file = "pyobjc_framework_applescriptkit-10.3.1.tar.gz", hash = "sha256:add2e63598b699666bcf00ac59f6f1046266df1665bec71b142cd21b89037064"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-applescriptobjc" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AppleScriptObjC on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AppleScriptObjC-10.2.tar.gz", hash = "sha256:71f90e41be6beb392a833d915d3af13d10526bfb29bf35cb9af1578b5ec52566"}, - {file = "pyobjc_framework_AppleScriptObjC-10.2-py2.py3-none-any.whl", hash = "sha256:41156fcc36acc3ca7bd0a62af47af4ab8089330c6072db6047b91b52f815f049"}, + {file = "pyobjc_framework_AppleScriptObjC-10.3.1-py2.py3-none-any.whl", hash = "sha256:2d64c74a4af48656bb407eb177fe5f1d3c0f7bd9c578e5583dffde8e3d55f5df"}, + {file = "pyobjc_framework_applescriptobjc-10.3.1.tar.gz", hash = "sha256:a87101d86b08e06e2c0e51630ac76d4c70f01cf1ed7af281f3138e63146e279b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-applicationservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ApplicationServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ApplicationServices-10.2.tar.gz", hash = "sha256:f83d6ed3320afb6648be6defafe0f05bac00d0281fc84ee4766ff977309b659f"}, - {file = "pyobjc_framework_ApplicationServices-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:2aebfed888f9bcb4f11d93f9ef9a76d561e92848dcb6011da5d5e9d3593371be"}, - {file = "pyobjc_framework_ApplicationServices-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:edfd3153e64ee9573bcff7ccaa1fbbbd6964658f187464c461ad34f24552bc85"}, - {file = "pyobjc_framework_ApplicationServices-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:9d2c89b246c19a041221ff36e9121c92e86a4422016f809a40f5ce3d647882d9"}, - {file = "pyobjc_framework_ApplicationServices-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ee1e69947f31aad5fdec44921ce37f7f921faf50a0ceb27ed40b6d54f4b15d0e"}, - {file = "pyobjc_framework_ApplicationServices-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:101f5b09d71e55bd39e6e91f0787433805d422622336b72fde969a7c54528045"}, - {file = "pyobjc_framework_ApplicationServices-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:7a3ef00c9aea09c5ef5840b8749d0753249869bc30e124145b763cd0b4b81155"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b694260d423c470cb90c3a7009cfde93e332ea6fb4b9b9526ad3acbd33460e3d"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:d886ba1f65df47b77ff7546f3fc9bc7d08cfb6b3c04433b719f6b0689a2c0d1f"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:be157f2c3ffb254064ef38249670af8cada5e519a714d2aa5da3740934d89bc8"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:57737f41731661e4a3b78793ec9173f61242a32fa560c3e4e58484465d049c32"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:c429eca69ee675e781e4e55f79e939196b47f02560ad865b1ba9ac753b90bd77"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:4f1814a17041a20adca454044080b52e39a4ebc567ad2c6a48866dd4beaa192a"}, + {file = "pyobjc_framework_ApplicationServices-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:1252f1137f83eb2c6b9968d8c591363e8859dd2484bc9441d8f365bcfb43a0e4"}, + {file = "pyobjc_framework_applicationservices-10.3.1.tar.gz", hash = "sha256:f27cb64aa4d129ce671fd42638c985eb2a56d544214a95fe3214a007eacc4790"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreText = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreText = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-apptrackingtransparency" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AppTrackingTransparency on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AppTrackingTransparency-10.2.tar.gz", hash = "sha256:2eb7276fc70c676562e33c3f7b2fe254175236f968516c63cc8507f325ac56db"}, - {file = "pyobjc_framework_AppTrackingTransparency-10.2-py2.py3-none-any.whl", hash = "sha256:de140b6b6ca1df928d13d986b093f19b8be0c9ab7c42f4121bdbf58f5c69df48"}, + {file = "pyobjc_framework_AppTrackingTransparency-10.3.1-py2.py3-none-any.whl", hash = "sha256:7c0e3a5cad402e8c3c5da1f070be0f49bb827e6d9e5165744f64e082633a4b45"}, + {file = "pyobjc_framework_apptrackingtransparency-10.3.1.tar.gz", hash = "sha256:2e381db5f7d3985207b5ff2975e41bf0f9147080345b2e1b4b242f8799290d04"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-audiovideobridging" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AudioVideoBridging on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AudioVideoBridging-10.2.tar.gz", hash = "sha256:94d77284aae3a151124aa170074c2902537f540debb076376d49f5ee54fb9ce1"}, - {file = "pyobjc_framework_AudioVideoBridging-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:180e0d1862ba7748a8e4dff0bfeb5dc162bc4d7b0c0888a333f11dbf2569af74"}, - {file = "pyobjc_framework_AudioVideoBridging-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:1d68f51143e8da14940ea54edd1236e5cd229dcbc83350551945df285b482704"}, - {file = "pyobjc_framework_AudioVideoBridging-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:e0bd4ed2f8a16795b1b46ea9bed746995044f2cd6afb808018ac9c1549dc60b4"}, - {file = "pyobjc_framework_AudioVideoBridging-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2300d1c9ac22cfa8ef80a86dcdf3bc0be1cfa26a61c560f976fbcd0abfb4f13c"}, - {file = "pyobjc_framework_AudioVideoBridging-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:a5d48b8192385ef2e0bea47c7b65ca1e0d06d1bdc4a7da59f3d1df3932c5f11c"}, - {file = "pyobjc_framework_AudioVideoBridging-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:3883a0f76187a120ad1478f674be245d2949d1bae436d697786ad4086d878b18"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8accf87f136a6aa71d89d3a2204127b48e64ec25d3e1159f0f23ede0c4d70e59"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:4f6067b2f50fb48c9ecb521b8865d93dfbd46510a4322cc2041b1e917678f39b"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:1aebc6c1aafb3cdfc5f9fad2dfe2dfccfbab159dc8dbfe54cfea777108e80e44"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:b1fb0af1df78800205cd7a7cd90e58b640513bbb944fe6a8d89df43e626a27a8"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2cc18c005c72a74654a000a1d6d405b6cb12b1d6c09be9bd6b58502ae06035e7"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:b61dc632c31875cb090521b0139d61f528e5fe5fedf4055524522c0aa808a77d"}, + {file = "pyobjc_framework_AudioVideoBridging-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:8de78207e617d4d89c66b4a66ff4ff49b60822249d2a68fc9356dd09475f0103"}, + {file = "pyobjc_framework_audiovideobridging-10.3.1.tar.gz", hash = "sha256:b2c1d5977a92915f6af2203e3b4c9b8a8392bc51e0fc13ccb393589419387119"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-authenticationservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AuthenticationServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AuthenticationServices-10.2.tar.gz", hash = "sha256:1be0f05458c4ebfc3e018cb59b4a8bd9022c42b18fea449b0fbf5def0b5f7ef7"}, - {file = "pyobjc_framework_AuthenticationServices-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c797abcd8fb1d9f0f48849093fcbf480814256fca9f1a835445f551a369541e2"}, - {file = "pyobjc_framework_AuthenticationServices-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:cf172a06ffab3faa98a95041ce5205ec6c516b59513390d48cfafe17ff4add08"}, - {file = "pyobjc_framework_AuthenticationServices-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:3d6b81342caa28dbdc44c3f32820958e0b3865bd3e5bac7ba5ce9efc293e0d75"}, + {file = "pyobjc_framework_AuthenticationServices-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:fa0a11fb64e30f14f01ec2d3a2a89a3e1a554db62111b0612f1782722b6dd534"}, + {file = "pyobjc_framework_AuthenticationServices-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:e2753cdd5480f97753dc32d9f41d7e6cb75b09f7ce950b2eea4a9851e0a437db"}, + {file = "pyobjc_framework_AuthenticationServices-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:91c2cc0e963d6ac44c3a6014270b54e6499f1aae64d82482d96114c38fb99817"}, + {file = "pyobjc_framework_AuthenticationServices-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d715bbdf1c94ea838830930a41de0554905760943cff1510268d8e485c826ee8"}, + {file = "pyobjc_framework_authenticationservices-10.3.1.tar.gz", hash = "sha256:0ac834f4a5cbe3cf20acd4f6a96df77bc643a1ae248e394d06964db9fe0d6310"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-automaticassessmentconfiguration" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AutomaticAssessmentConfiguration on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AutomaticAssessmentConfiguration-10.2.tar.gz", hash = "sha256:ead3f75200ad74dd013b4a6372054b84b2adeacdac656ca31e763e42fb76cf7b"}, - {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f4a60e1f1dae0d8d9223cb09c945aeb5688c09b3dffa9c6e9457981b05902874"}, - {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1ca34d71b7def8bf4e820e0ee64cae0d732309c6ddc126699a5bbd0c5719dc48"}, - {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:cb3242e2943768e02208c13b4eef47068f0e1ff8ad5572fabfaef7964737daaa"}, + {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:f717f6df5886123a55584f8dd85626c42387f5b55edcd3d68ff306b3fe56a206"}, + {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ab84a771835f346e8a45d19e05f0c2ef8bb3dca81461fb2acc6c9f031794ec63"}, + {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:66fd582549ef602a8bcaadb57de8a06cb0dc0367c2a508b20c580fde2232daed"}, + {file = "pyobjc_framework_AutomaticAssessmentConfiguration-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:578512ae1443e031c3fbfec7eefa71e5ac5fc8cac892ad7183c5ac0b894d494d"}, + {file = "pyobjc_framework_automaticassessmentconfiguration-10.3.1.tar.gz", hash = "sha256:f7846d04493e90eddbacfb7cffebc11b3f76f0800d3dc2bec39441732a20ac56"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-automator" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Automator on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Automator-10.2.tar.gz", hash = "sha256:fb753e5bd40bfe720fa9e60e2ea5a1777b4c92082ffeba42b4055cdd56cb022d"}, - {file = "pyobjc_framework_Automator-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:0034f9e64c3e77b8e1adc54170868954af67b50457b768982de705d8cd170792"}, - {file = "pyobjc_framework_Automator-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e3b66af8ecd2effca8d51b512518137173b026ab13c30dbdac3d0d7ee059fc48"}, - {file = "pyobjc_framework_Automator-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d7f26be322fee0476125bfb2658a08db81b705ce0e8880e91c627562419a9821"}, + {file = "pyobjc_framework_Automator-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:63632d2c1d069ca29a077b15ab20a0a0acc0a5f33ee322c9c8cc854702c66549"}, + {file = "pyobjc_framework_Automator-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4bc8afe0a52bee09f7f99bdfc62100654f08113de47e74488c0af2afcd646e23"}, + {file = "pyobjc_framework_Automator-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:8609e1295030d2a46916965cd070072a90b6528abc25ae4d02e50818d2cb252f"}, + {file = "pyobjc_framework_Automator-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:2f482464b3f91405a5a59e3b96ae89c5062af81023ea0fc803353fdfe8cc4a9d"}, + {file = "pyobjc_framework_automator-10.3.1.tar.gz", hash = "sha256:330042475479f054ac98abd568b523fc0165c39eeefffc23bd65d35780939316"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-avfoundation" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AVFoundation on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AVFoundation-10.2.tar.gz", hash = "sha256:4d394014f2477c0c6a596dbb01ef5d92944058d0e0d954ce6121a676ae9395ce"}, - {file = "pyobjc_framework_AVFoundation-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:5f20c11a8870d7d58f0e4f20f918e45e922520aa5c9dbee61dc59ca4bc4bd26d"}, - {file = "pyobjc_framework_AVFoundation-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:283355d1f96c184e5f5f479870eb3bf510747307697616737bbc5d224af3abcb"}, - {file = "pyobjc_framework_AVFoundation-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:a63a4e26c088023b0b1cb29d7da2c2246aa8eca2b56767fe1cc36a18c6fb650b"}, + {file = "pyobjc_framework_AVFoundation-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:0896f6650df35f0229d1fb3aa3fbf632647dd815d4921cb61d9eb7fa26be6237"}, + {file = "pyobjc_framework_AVFoundation-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:0cb27cc95288d95df7504adf474596f8855de7fa7798bbc1bbfbdfbbcb940952"}, + {file = "pyobjc_framework_AVFoundation-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ccb606ef0806d952a04db45ae691167678121df1d8d7c2f8cc73745695097033"}, + {file = "pyobjc_framework_AVFoundation-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:00889eb915479aa9ea392cdd241e4b635ae0fa3114f043d08cf3e1d1b5a23bd4"}, + {file = "pyobjc_framework_avfoundation-10.3.1.tar.gz", hash = "sha256:2f94bee3a4217b46d9416cad066e4f357bf0f344079c328736114451ae19ae94"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreAudio = ">=10.2" -pyobjc-framework-CoreMedia = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreAudio = ">=10.3.1" +pyobjc-framework-CoreMedia = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-avkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AVKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AVKit-10.2.tar.gz", hash = "sha256:6497a5109a29235a7fd8bddcb6d79bd495ccd9373b41e84ca3f012a642e5b880"}, - {file = "pyobjc_framework_AVKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:480766be9da6bb1a6272a4f13f6a327ec952fe1cd41eb0e7c3a07abb07a3491f"}, - {file = "pyobjc_framework_AVKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c9cfdc9ef8f7c9abe53841e8e548b2671f0a425ce9e0e4961314f5d080401e68"}, - {file = "pyobjc_framework_AVKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ff811fc88fb9d676a4892adea21a1a82384777af53153c74bb829501721f3374"}, + {file = "pyobjc_framework_AVKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:bb6025331e5ed493d5ca0a35fab14026820e0d8b0a091fc6010b4ef77aa4bf16"}, + {file = "pyobjc_framework_AVKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:675832ec9c088c2010bd9cd9f912ff5c45ff608d7d94233347d49f1b91f690ca"}, + {file = "pyobjc_framework_AVKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1d92e1d5d098af87667f3eac0609c39c58320c095cdcb7737958cc4895569f22"}, + {file = "pyobjc_framework_AVKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:91bf61fa8d8ef3764345b085038a4081165a8c54b4f0c2a11ee07f86a1556689"}, + {file = "pyobjc_framework_avkit-10.3.1.tar.gz", hash = "sha256:97ca35b5f0cec98f5c8521fedb8537bb23d82739b7102e4ac732d3c3944c8ccc"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-avrouting" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework AVRouting on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-AVRouting-10.2.tar.gz", hash = "sha256:133d646cf36cfa329c2b3a060c7b81368a95bfbb24f30e2bae2804be65b93ec9"}, - {file = "pyobjc_framework_AVRouting-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:1f72c23e92981311e218a04f3cfcd0ef4c3a93058af6e0042c7cf835320300cc"}, - {file = "pyobjc_framework_AVRouting-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:a91d65fda866e64bd249c0f11017d0d9f569b3e9d6d159c38e64e1b144a04d85"}, - {file = "pyobjc_framework_AVRouting-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:3357ed6b9bf583ded7eee4531ac1854c6e1cdfe91a278f2dec18593d2381d488"}, + {file = "pyobjc_framework_AVRouting-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:30b05ea44f21d481e39905684c79176c04060e0e92c1ad31756fed6aa39b07df"}, + {file = "pyobjc_framework_AVRouting-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:af940e322cb9ce9d79b47b829c5df41ac4980aca2cda1fbe1ead4ed0f9f589a4"}, + {file = "pyobjc_framework_AVRouting-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3e5101311ee84c884c0eba201b3b7f92e1a2325132a9e44b9b7ad84cdd28b4c2"}, + {file = "pyobjc_framework_AVRouting-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:186e891c2a271492612b3db2b5c2050c56ed1bfce1f6146de8dbf05e7cd7623b"}, + {file = "pyobjc_framework_avrouting-10.3.1.tar.gz", hash = "sha256:7026059b24daf8e1da05d7867f450e82abe412fe5c438faf9344f46e3b83da39"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-backgroundassets" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework BackgroundAssets on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-BackgroundAssets-10.2.tar.gz", hash = "sha256:97ad7b0c693e406950c0c4af2edc9320eac9aef7fdf33274903f526b4682fcb7"}, - {file = "pyobjc_framework_BackgroundAssets-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:a71de388248ed05eda85abc440dbe3f04ff39567745785df25b1d5316b2aa9f1"}, - {file = "pyobjc_framework_BackgroundAssets-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:476a7fc80a4083405c82b0bb0d8551cccd10f998a2a9d35c8eab76c82915d25e"}, - {file = "pyobjc_framework_BackgroundAssets-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:9c8721ea4695f1cd5f1f7d6b2a70b3e2b9cefe484289b7427cfda5d23b48e7b6"}, + {file = "pyobjc_framework_BackgroundAssets-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:f725d33a5d633c514e4973489e1bdca391976a5c04443451acaaacc5ccd4095e"}, + {file = "pyobjc_framework_BackgroundAssets-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:14cc84ad7bef64986fe240d23205870fc40dd7b1d2a1819d3dd7924c4898b5c2"}, + {file = "pyobjc_framework_BackgroundAssets-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e28624ecfba067b5e0fc91d5818cb3d20d0ba189a7e8a724678abbecc233c13e"}, + {file = "pyobjc_framework_BackgroundAssets-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:aed2307c7fdd690e4dd214cbfacf4e7d5dd07e6cdd88ce1c02c4ddde3deea843"}, + {file = "pyobjc_framework_backgroundassets-10.3.1.tar.gz", hash = "sha256:5e1198f81db6f30ead2a55e8ea39264f9fce83dcf8e31a68e5f0ea08c5cfe9b5"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-browserenginekit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework BrowserEngineKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-BrowserEngineKit-10.2.tar.gz", hash = "sha256:a47648e62d3482d39179ffe51543322817dd7a639cef9dcd555dfcc7d6a6497f"}, - {file = "pyobjc_framework_BrowserEngineKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:98563b461e2c96ad387abe1885e91f7bc0686868b39c273774e087bbf1b500ac"}, - {file = "pyobjc_framework_BrowserEngineKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5eb3d8f9e198aaeb01a4a85aa739624942c39b626400d232271d632f1ee30e09"}, - {file = "pyobjc_framework_BrowserEngineKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:6824c528e10da1b560d83f55e258232b8916d49d12a578dd00d3ec4e702d3011"}, + {file = "pyobjc_framework_BrowserEngineKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:86c92ef4e79db4066f7887426e99cfec8902fc8949fb666359cf2a9e519106fc"}, + {file = "pyobjc_framework_BrowserEngineKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:69766ba235976e0a1961d3925228d2ef12808298acd0cd66fe9e883424f0f9a4"}, + {file = "pyobjc_framework_BrowserEngineKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5394a5a801563834764ae46204f8ce4d61a0e2d4567716361eaf5f5e3a27aba7"}, + {file = "pyobjc_framework_BrowserEngineKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d5aeff43abed7e87f637086a05f1b77083cfc7cab07c09c447ae2b23621b2945"}, + {file = "pyobjc_framework_browserenginekit-10.3.1.tar.gz", hash = "sha256:0f6ea100bcf06f2b3f915dab27cf2f038698b39510fb47d3769f72ff62c1e80b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreAudio = ">=10.2" -pyobjc-framework-CoreMedia = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreAudio = ">=10.3.1" +pyobjc-framework-CoreMedia = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-businesschat" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework BusinessChat on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-BusinessChat-10.2.tar.gz", hash = "sha256:44ecf240da59ce36f2d75d1ed9f58e05f2df46b9b1989ee0cc184a46c779fb4e"}, - {file = "pyobjc_framework_BusinessChat-10.2-py2.py3-none-any.whl", hash = "sha256:aa51d4d0b3b3eb050242e0d0e48b29e020ccfeb82a39c0d3a2289512734f53e4"}, + {file = "pyobjc_framework_BusinessChat-10.3.1-py2.py3-none-any.whl", hash = "sha256:952b60f558e3d3498e6191d717bf62c1803f4e1ad040ae29d130090671ec004f"}, + {file = "pyobjc_framework_businesschat-10.3.1.tar.gz", hash = "sha256:53e52981f9da336fcaf6783e82509e06faf8868931213ac70e6bd7395a5859a4"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-calendarstore" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CalendarStore on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CalendarStore-10.2.tar.gz", hash = "sha256:131c14faa227a251d7254afd9c00fef203361dd76224d9700ba5e99682e191d8"}, - {file = "pyobjc_framework_CalendarStore-10.2-py2.py3-none-any.whl", hash = "sha256:e289236df651953a41be8ee4ce548f477a6ab8e90aa8bbd73f46ad29032ff13f"}, + {file = "pyobjc_framework_CalendarStore-10.3.1-py2.py3-none-any.whl", hash = "sha256:7afb59e793ea6d28706423faa50bb1f25532d8ed7388c8540596ce41891445ca"}, + {file = "pyobjc_framework_calendarstore-10.3.1.tar.gz", hash = "sha256:21f627b0afb9a667794b451dd3a03f12ea3f74358dc5977c33b8ecc8b9736c27"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-callkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CallKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CallKit-10.2.tar.gz", hash = "sha256:45cd81a5b6b0107ba56e26d8e54e852b8a15b3487b7291b5818e10e94beee6d0"}, - {file = "pyobjc_framework_CallKit-10.2-py2.py3-none-any.whl", hash = "sha256:f3f26c877743a340718e0647ccee4604f9d87aa8ad5c3268c794d94f6f9246ee"}, + {file = "pyobjc_framework_CallKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:495354bea298efdc81c970154083b83aff985f2c294d4883a62de3cc4129e34e"}, + {file = "pyobjc_framework_callkit-10.3.1.tar.gz", hash = "sha256:350390023e9ac98ff6c91b1f51da2489eef2e23aa649d0f63c13cf1d8be1e0df"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-cfnetwork" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CFNetwork on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CFNetwork-10.2.tar.gz", hash = "sha256:18ebd22c645b5b77c1df6d973a91cc035ddd4666346912b2a0c847803c23f4d4"}, - {file = "pyobjc_framework_CFNetwork-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:6050428c99505e09db1fe5d0eafaaca4ead407ffaaab8a5c1e5ec09e7ad31053"}, - {file = "pyobjc_framework_CFNetwork-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:f7a305d7f94a11dd32d3ab9159cde1f9655f107282373841668624b124935af8"}, - {file = "pyobjc_framework_CFNetwork-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:41a211b934afebbc9dd9ce76cb5c2862244a699a41badb660ab46c198414c4cb"}, + {file = "pyobjc_framework_CFNetwork-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:e6027a90c5442e36a4ef91c9e10896efb5bc1bb4743d732adf3422112922f6cf"}, + {file = "pyobjc_framework_CFNetwork-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:dff41296378029f1a5e9cedbc133b243f096a93fcc8d6985c555459328cfe11e"}, + {file = "pyobjc_framework_CFNetwork-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:01f1c4c43792e993c613b5b8923953eea774d4a7567fbc1861edb2c6c0cfa770"}, + {file = "pyobjc_framework_CFNetwork-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f6a5d6fe5e230cc0d53b9673902f1571ab68b542f3630d7c1319ea1e3e480f22"}, + {file = "pyobjc_framework_cfnetwork-10.3.1.tar.gz", hash = "sha256:0e4c51a75dbf4e2b1c0d4ee60a363f9d31d682d2dd2f6b74aded769d2d883aa8"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-cinematic" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Cinematic on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Cinematic-10.2.tar.gz", hash = "sha256:514effad241be5c8df4ef870683fa1387909970a7f7d8bbf343c06e840931854"}, - {file = "pyobjc_framework_Cinematic-10.2-py2.py3-none-any.whl", hash = "sha256:962af237b284605ecd30d584d2d7fb75fda40e429327578de5d651644d0316da"}, + {file = "pyobjc_framework_Cinematic-10.3.1-py2.py3-none-any.whl", hash = "sha256:48bf35d594f4f010266a028bbf93bd953cc78db7658d3c614e219b482c8d73b2"}, + {file = "pyobjc_framework_cinematic-10.3.1.tar.gz", hash = "sha256:7edaaa7e325aeb39cd0c33329c25783dd54af294229884556daad36d1d1b9d72"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-AVFoundation = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreMedia = ">=10.2" -pyobjc-framework-Metal = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-AVFoundation = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreMedia = ">=10.3.1" +pyobjc-framework-Metal = ">=10.3.1" [[package]] name = "pyobjc-framework-classkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ClassKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ClassKit-10.2.tar.gz", hash = "sha256:252e47e3284491e48000d4d87948b31e396aaa78eaf2447ba03a71f4b97cb989"}, - {file = "pyobjc_framework_ClassKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:9d5f69e7bba660ca989e699d4b38a93db7ee3f8cff45e67a23fb852ac3caab49"}, - {file = "pyobjc_framework_ClassKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e1acc7231ef030125eaf7302f324909c56ba1c58ff91f4e160b6632938db64df"}, - {file = "pyobjc_framework_ClassKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:87158ca3d7cd78c50af353c23f32e1e8eb0adec47dc15fa4e4d777017d308b80"}, + {file = "pyobjc_framework_ClassKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:980d2605296428d177b0111af914d0dd4a0c5116da5ae944cdd8b6bba733e758"}, + {file = "pyobjc_framework_ClassKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:17dec45d5ec7db663bc87ddf80b8185d2134177f265a12a9a6df778901183412"}, + {file = "pyobjc_framework_ClassKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b74155902851e8e2b31b34c606dd33f9e24d9b8992568cc71b60e1ddc553d99e"}, + {file = "pyobjc_framework_ClassKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:776a600182b7de58676ac661b235356f46683e758d99db1cf60f52aac335389f"}, + {file = "pyobjc_framework_classkit-10.3.1.tar.gz", hash = "sha256:e15700d32007bf77c5c740bc9931c864bb7739cdfcd2b0595377c3ed35ecfe25"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-cloudkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CloudKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CloudKit-10.2.tar.gz", hash = "sha256:497a0dda5f5a9aafc795e1941ef3e3662c2f3240096ce68893d0d5de6d54a474"}, - {file = "pyobjc_framework_CloudKit-10.2-py2.py3-none-any.whl", hash = "sha256:32bd77c2b9109113b2321feb6ed6d754af99df6569d953371f1547123be80467"}, + {file = "pyobjc_framework_CloudKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:53670f47320063b80aa60edd2d813308dce85dfd2112461dd13c060aa9e5b47a"}, + {file = "pyobjc_framework_cloudkit-10.3.1.tar.gz", hash = "sha256:4c7db72c2bb2fcf63365df91bf2eefa83cee4004606b901e1da89b75da652309"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Accounts = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreData = ">=10.2" -pyobjc-framework-CoreLocation = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Accounts = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreData = ">=10.3.1" +pyobjc-framework-CoreLocation = ">=10.3.1" [[package]] name = "pyobjc-framework-cocoa" -version = "10.2" +version = "10.3.1" description = "Wrappers for the Cocoa frameworks on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Cocoa-10.2.tar.gz", hash = "sha256:6383141379636b13855dca1b39c032752862b829f93a49d7ddb35046abfdc035"}, - {file = "pyobjc_framework_Cocoa-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:f9227b4f271fda2250f5a88cbc686ff30ae02c0f923bb7854bb47972397496b2"}, - {file = "pyobjc_framework_Cocoa-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:6a6042b7703bdc33b7491959c715c1e810a3f8c7a560c94b36e00ef321480797"}, - {file = "pyobjc_framework_Cocoa-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:18886d5013cd7dc7ecd6e0df5134c767569b5247fc10a5e293c72ee3937b217b"}, - {file = "pyobjc_framework_Cocoa-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1ecf01400ee698d2e0ff4c907bcf9608d9d710e97203fbb97b37d208507a9362"}, - {file = "pyobjc_framework_Cocoa-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:0def036a7b24e3ae37a244c77bec96b7c9c8384bf6bb4d33369f0a0c8807a70d"}, - {file = "pyobjc_framework_Cocoa-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:5f47ecc393bc1019c4b47e8653207188df784ac006ad54d8c2eb528906ff7013"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:4cb4f8491ab4d9b59f5187e42383f819f7a46306a4fa25b84f126776305291d1"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:5f31021f4f8fdf873b57a97ee1f3c1620dbe285e0b4eaed73dd0005eb72fd773"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:11b4e0bad4bbb44a4edda128612f03cdeab38644bbf174de0c13129715497296"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:de5e62e5ccf2871a94acf3bf79646b20ea893cc9db78afa8d1fe1b0d0f7cbdb0"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:6c5af24610ab639bd1f521ce4500484b40787f898f691b7a23da3339e6bc8b90"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:a7151186bb7805deea434fae9a4423335e6371d105f29e73cc2036c6779a9dbc"}, + {file = "pyobjc_framework_Cocoa-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:743d2a1ac08027fd09eab65814c79002a1d0421d7c0074ffd1217b6560889744"}, + {file = "pyobjc_framework_cocoa-10.3.1.tar.gz", hash = "sha256:1cf20714daaa986b488fb62d69713049f635c9d41a60c8da97d835710445281a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" +pyobjc-core = ">=10.3.1" [[package]] name = "pyobjc-framework-collaboration" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Collaboration on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Collaboration-10.2.tar.gz", hash = "sha256:32e3a7fe8447f38fd3be5ea1fe9c1e52efef3889f4bd5781dffa3c5fa044fe20"}, - {file = "pyobjc_framework_Collaboration-10.2-py2.py3-none-any.whl", hash = "sha256:239a0505d702d49b5c3f0a3524531f9be63d599ea2cd3cbb5953147b34dbdcc1"}, + {file = "pyobjc_framework_Collaboration-10.3.1-py2.py3-none-any.whl", hash = "sha256:889b1e00bdea09c2423e9b8d493492ec45a70787ddc533bf67d060c7ec0e1f78"}, + {file = "pyobjc_framework_collaboration-10.3.1.tar.gz", hash = "sha256:bbca3de3679b058cbb89ad911e3bdfe491a02b4fa219d5f9219c022774ba237a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-colorsync" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ColorSync on Mac OS X" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ColorSync-10.2.tar.gz", hash = "sha256:108105c281b375dff7d226fcc3f860621a4880dcbab711660b74dc458a506231"}, - {file = "pyobjc_framework_ColorSync-10.2-py2.py3-none-any.whl", hash = "sha256:2fcc68eb6fa6300d34b95b1da1cc8d244f6999aed4b83099a3323d32e0349f98"}, + {file = "pyobjc_framework_ColorSync-10.3.1-py2.py3-none-any.whl", hash = "sha256:0c37075e9b0f1dabc0aa1755687e1a5dada08ae0914ebb593c7810bf8090cf83"}, + {file = "pyobjc_framework_colorsync-10.3.1.tar.gz", hash = "sha256:180960ed6f76084b35073eff49fcca41a8fa883c3236949a40f75daa28ee8f94"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-contacts" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Contacts on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Contacts-10.2.tar.gz", hash = "sha256:5a9de975f41c7dac3c219b4c60cd08b8ba385685db7997c8622f19e0a43e6857"}, - {file = "pyobjc_framework_Contacts-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b5ff801009c9346927b7efc82434ac14a0c2798bd018daf1e7d8aad74484b490"}, - {file = "pyobjc_framework_Contacts-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:52dd5e4b4574b2438420a56867ca2069e29414087dc27ad03e7c46d536f1e641"}, - {file = "pyobjc_framework_Contacts-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:8a387c47e90c74a3e6f4bc81187f1fde18a020bb1d08067497a0c35f462299f9"}, + {file = "pyobjc_framework_Contacts-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:401e40ff638712d011fe54c7b1e9929af994e87cb03d129cd95df2fb90439e4e"}, + {file = "pyobjc_framework_Contacts-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:83de186cd4037171c63899987caa66cc01527688b15176e899cf1a06e6baab09"}, + {file = "pyobjc_framework_Contacts-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e0bbffb430505ad3f91fd58f65b0a6e7535ab5bb28c2ca69ee8a6349f3edfe3c"}, + {file = "pyobjc_framework_Contacts-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d47f694977cf33f5d0b73e2f111edcd57f2ef0cd9a6a38e03b1dea965b8657cc"}, + {file = "pyobjc_framework_contacts-10.3.1.tar.gz", hash = "sha256:7120b5593a20e936cb5589b93ef7fd5558c86bd6ec8003f427afb87c04bbea20"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-contactsui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ContactsUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ContactsUI-10.2.tar.gz", hash = "sha256:2dd5f1993c36caf13527de0890c6c49c08a339e58bc3b3fa303d5a04b672b418"}, - {file = "pyobjc_framework_ContactsUI-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c8af8b52853ba2a09664dad40255613f01089c9bc77e5316b29d27c65603863c"}, - {file = "pyobjc_framework_ContactsUI-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:47a8fd0aa5cb680b0ba0f1fdd37f56525729e5ed998df2a312e9f81feea8fbb0"}, - {file = "pyobjc_framework_ContactsUI-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:0575650e6e5985950bcd424da0b50e981ea5e6819d1c6fbccb075585e424e121"}, + {file = "pyobjc_framework_ContactsUI-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:0e939e46ccff1e07e7fa6768a35d646b7302886a99b9efe6b31dea4ea67674ad"}, + {file = "pyobjc_framework_ContactsUI-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4adc77f2fb7ae4e2999cfd72f5d3b8e0e039880f9d60cb8e15050607b249c730"}, + {file = "pyobjc_framework_ContactsUI-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1a605d93b4826cd4646cced6383cb253e65c8babcfd230d5894c1c4d67f6e147"}, + {file = "pyobjc_framework_ContactsUI-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:62ae604a000233c729712e420de734c97afdd9187fdd0bef8e61fbc8c4f6eda0"}, + {file = "pyobjc_framework_contactsui-10.3.1.tar.gz", hash = "sha256:51601501d5bc94c59ad458c7bb1d1994c497b373307dad8bd2ea2aa348f66c4a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Contacts = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Contacts = ">=10.3.1" [[package]] name = "pyobjc-framework-coreaudio" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreAudio on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreAudio-10.2.tar.gz", hash = "sha256:5e97ae7a65be85aee83aef004b31146c5fbf28325d870362959f7312b303fb67"}, - {file = "pyobjc_framework_CoreAudio-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:65ce01a9963692d9cf94aef36d8e342eb2e75b855a2f362f9cbcef9f3782a690"}, - {file = "pyobjc_framework_CoreAudio-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:22b5017ed340f9d3137baacb5f0c2354266017a4ed21890a795a0667788fc0cd"}, - {file = "pyobjc_framework_CoreAudio-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:32608ce881b5e6a7cb332c2732762fa93829ac495c5344c33e8e8b72a2431b23"}, - {file = "pyobjc_framework_CoreAudio-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d5182342257be1cdaa64bc38045cd81aca5b60bb86a9444194adbff58706ce91"}, - {file = "pyobjc_framework_CoreAudio-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:94ec138f95801019ec7f3e7010ad6f2c575aea69d2428aa9f5b159bf0355034a"}, - {file = "pyobjc_framework_CoreAudio-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:04ad3dddff27cb65d31a432aa1aa6290ff5d82a54bc5825da44ed7d80bcdb925"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:76a37e27cfdd67e4dcf27f57b680a881c4a2f3bf44ce3b31d7cdb32596e1e269"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bd58e69cabbc987d0c2854ab2d13516889cfe4a2094b80296591ad7df0f30e40"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:e0aeca61a425d846afc92350ffba970e1e503469182f5f0ea436de98cfd00d96"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:21cecd1b023b6960d1071c106345656de45a399196701b07c7e5c076321f25ad"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:443b14cc6e64e09e6fb4eae61f6ac1ce19618d9074ae1627d75754fa434ef87f"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:4f8d4c4c4fa0529f178ef6d3676cfe08c9e8ae20c3cdbfe067b562d7395debfa"}, + {file = "pyobjc_framework_CoreAudio-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:b93cc6f670feea29f8f4cd2a9511d2220aefde41a89912d5ab8eb06a198e344b"}, + {file = "pyobjc_framework_coreaudio-10.3.1.tar.gz", hash = "sha256:c81c709bf955aea474a4de380b187f3c2e56c864ca7de520b08362b73070c795"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coreaudiokit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreAudioKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreAudioKit-10.2.tar.gz", hash = "sha256:38dfafba8eddb655aac352a967c0e713a90e10a4dd40d4ea1abbb4db01c5d33f"}, - {file = "pyobjc_framework_CoreAudioKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:aede4cd58a67008b014757178a01b984ee585cc055133a9eb8f10b310d764de8"}, - {file = "pyobjc_framework_CoreAudioKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:4fb992025df80b8799fbd1605b0dd4b4b3f6b467c375a16da1b286f6ac2e2854"}, - {file = "pyobjc_framework_CoreAudioKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:28f17803e5eaf35a73caa327cbd0c857efbfdea57307637a60ff8309834b7a95"}, + {file = "pyobjc_framework_CoreAudioKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:dfc967bc448cc0a1fce932e6af15ad42f5ea3eb2f793396e364cf39005c812eb"}, + {file = "pyobjc_framework_CoreAudioKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:6634f3f15d257e93cad4644eb08f5b32376e8a8a7ae2e95d99d36d935b5e9ba2"}, + {file = "pyobjc_framework_CoreAudioKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c2bf1b0c9f6c1d27c98b87bf4cf1ba3d0fa550dd771de948614ca21d15779a01"}, + {file = "pyobjc_framework_CoreAudioKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d5b3adabd7278e64a0deab6d0f6912bfcc667bc26054f5141a556897157dd8f9"}, + {file = "pyobjc_framework_coreaudiokit-10.3.1.tar.gz", hash = "sha256:81f35d5dc45cda043e01f0ca045311f4aebc36c51cb71e859b30ea0edf90b3db"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreAudio = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreAudio = ">=10.3.1" [[package]] name = "pyobjc-framework-corebluetooth" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreBluetooth on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreBluetooth-10.2.tar.gz", hash = "sha256:fb69d2c61082935b2b12827c1ba4bb22146eb3d251695fa1d58bbd5835260729"}, - {file = "pyobjc_framework_CoreBluetooth-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:6e118f08ae08289195841e0066389632206b68a8377ac384b30ac0c7e262b779"}, - {file = "pyobjc_framework_CoreBluetooth-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:411de4f937264b5e2935be25b78362c58118e2ab9f6a7af4d4d005813c458354"}, - {file = "pyobjc_framework_CoreBluetooth-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:81da4426a492089f9dd9ca50814766101f97574675782f7be7ce1a63197d497a"}, + {file = "pyobjc_framework_CoreBluetooth-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:c89ee6fba0ed359c46b4908a7d01f88f133be025bd534cbbf4fb9c183e62fc97"}, + {file = "pyobjc_framework_CoreBluetooth-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:2f261a386aa6906f9d4601d35ff71a13315dbca1a0698bf1f1ecfe3971de4648"}, + {file = "pyobjc_framework_CoreBluetooth-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5211df0da2e8be511d9a54a48505dd7af0c4d04546fe2027dd723801d633c6ba"}, + {file = "pyobjc_framework_CoreBluetooth-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b8becd4e406be289a2d423611d3ad40730532a1f6728effb2200e68c9c04c3e8"}, + {file = "pyobjc_framework_corebluetooth-10.3.1.tar.gz", hash = "sha256:dc5d326ab5541b8b68e7e920aa8363851e779cb8c33842f6cfeef4674cc62f94"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coredata" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreData on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreData-10.2.tar.gz", hash = "sha256:0260bbf8f4ce6071749686fdc079618b3bd2b07976db7db4c864ecc62316bb3b"}, - {file = "pyobjc_framework_CoreData-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:41a22fe04544ba35e82232d89ad751b452c2314f07df6c72129a5ad6c3e4cbec"}, - {file = "pyobjc_framework_CoreData-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c29c6dce8ce155e15e960b9c542618516923c3ef55a50bf98ec95e60afe0aa3d"}, - {file = "pyobjc_framework_CoreData-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:cd7c419d9067ce9a9f83f6abd3c072caeb3aa20091f779881375067f7c1c417b"}, + {file = "pyobjc_framework_CoreData-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:2313aba4236f3a909d2747f4327da83be884adadb734a602ed4319addf88edd7"}, + {file = "pyobjc_framework_CoreData-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:065ff3058f4bc8544422ad1f10dff037bdeed25263cc8ec5c609e54231bf9347"}, + {file = "pyobjc_framework_CoreData-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:049acf980e5226b132a4285c3a94cc8266380e57050c8fd4caec3c5df4ef8c4d"}, + {file = "pyobjc_framework_CoreData-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:2f1f4e1217fc02f66435dc2a5cb2e0b41c684c435f13d96bf05cd3d1e0ad4e2c"}, + {file = "pyobjc_framework_coredata-10.3.1.tar.gz", hash = "sha256:8a75094942c8f3ddc1bcbde920c87658d7bb4c7534a4652e60db42d17f4b4a4a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-corehaptics" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreHaptics on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreHaptics-10.2.tar.gz", hash = "sha256:7b98bd70b63506aef63401a6e03f67391d7582f39fbe8aa7bb7258dd66ab0e55"}, - {file = "pyobjc_framework_CoreHaptics-10.2-py2.py3-none-any.whl", hash = "sha256:c67fae4b543fc070cece622cfe5803796016a36d1020812428e0f22e5f5674aa"}, + {file = "pyobjc_framework_CoreHaptics-10.3.1-py2.py3-none-any.whl", hash = "sha256:163b83ea727cbac5c0963d16ffda89c9f1626ed633d5e52830c7918b8599a693"}, + {file = "pyobjc_framework_corehaptics-10.3.1.tar.gz", hash = "sha256:5a7cc117c0b64428e1f08dc9c8b76dbc5d8f61f80dc41e911d11ddee4e0e2059"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-corelocation" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreLocation on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreLocation-10.2.tar.gz", hash = "sha256:59497cc210023479e03191495c880e61fb6f44ad6c435ed1c8dd8def39f3aada"}, - {file = "pyobjc_framework_CoreLocation-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c2e02352a4dfbc090cebc9c0d3716470031e584d4d33f22d97307f04c23ef01f"}, - {file = "pyobjc_framework_CoreLocation-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:f7eda101abb366be52d2fd85e15c79fdf0b9f64de9aab87dc0577653375595de"}, - {file = "pyobjc_framework_CoreLocation-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:8f67af17b8267aa2a066684b518e66bbe7fee9651b779e372d6286d65914df82"}, + {file = "pyobjc_framework_CoreLocation-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4cc83a730db7f78ca5ceef45ea4c992084d8c90bed189939fa3f51f8e9ea83ae"}, + {file = "pyobjc_framework_CoreLocation-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:97d5aa35214e417c9a03ac7209630dc445b98652932642dd0497f1ec52624bfe"}, + {file = "pyobjc_framework_CoreLocation-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:86d0e00b7eef5a3e2f01ea309cdcf58807b251138008edcfc65d3c31af8a5bd2"}, + {file = "pyobjc_framework_CoreLocation-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:5c4ded6388f99a18ce2b9d7082b8a43a19b6d9f8f121e2147d10bb37a25e1714"}, + {file = "pyobjc_framework_corelocation-10.3.1.tar.gz", hash = "sha256:8ae54e5bd4c07f7224639d815f7a6537fadee17c11cb35dd99c2804bac1825ab"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coremedia" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreMedia on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreMedia-10.2.tar.gz", hash = "sha256:d726d86636217eaa135e5626d05c7eb0f9b4529ce1ed504e08069fe1e0421483"}, - {file = "pyobjc_framework_CoreMedia-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0c91037fd4f9995021be9e849f1d7ac74579291d0130ad6898e3cb1940f870e1"}, - {file = "pyobjc_framework_CoreMedia-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:63ed4f6dbe33e5f3d5293a78674329cb516a256df34ef92e7c1fefacdb5c32db"}, - {file = "pyobjc_framework_CoreMedia-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:7fa13166a14d384bb6442e5f635310dd075c2a4b3b3bd67ac63b1e2e1fd2d65e"}, - {file = "pyobjc_framework_CoreMedia-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:bd7da9da1fad7168a63466d5c267dea8bce706808557baa960b6a931010dca48"}, - {file = "pyobjc_framework_CoreMedia-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:c48c7f0c3709a900cd11002018950a72626af39a096d1001bb9a871574db794f"}, - {file = "pyobjc_framework_CoreMedia-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:d3e86d03c6d7909058b8f1b8e54d9b5d93679049c7980eb0a5d930a5a63410e0"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:7ef02d87f12ba54e6182ea72fd5732cf6d348982c4263dc9c0b11e4163fbb877"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e63b002cf5e34540cba3f3a1704603ea0fb076ffc1ea42c2393a0679f40846de"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:c6eaf48f202becab10679e3b5dd62607ddec2739495db45882524592cabf3997"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:98b8ab02e6ec979007b706e05166e16bd61121e47fbc6e449f4b2de2c58f3cb6"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:77ca460cc35e39b9f820d9f20e93bfa89439b23dfb350ba201448b1ee958902c"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:6ed3adf48fe3001d1b5acce688ecd5b75e0fa5f56d9f296ec120748cd36f2d24"}, + {file = "pyobjc_framework_CoreMedia-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:b5bbed395bb8a8b0b4b8bb5475fd19f2a28d385c4d3a783cb590c9ea5e801baa"}, + {file = "pyobjc_framework_coremedia-10.3.1.tar.gz", hash = "sha256:bc3e0cddf5f546b5d8407d8f46b203f1bd4396ad5dbfdc0d064a560b3fe31221"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coremediaio" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreMediaIO on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreMediaIO-10.2.tar.gz", hash = "sha256:12f9fd93e610e61258f1acb023b868ed196e9444c69e38dfd314f8c256d07c9e"}, - {file = "pyobjc_framework_CoreMediaIO-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4ede4da59fa2a611b4a9d5a532e0c09731f448186af6cc957ab733b388f86d5b"}, - {file = "pyobjc_framework_CoreMediaIO-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:184854c2ebc3d12466ad39e640b5f3d2bdb3792d8675c83f499bb48b078d3d91"}, - {file = "pyobjc_framework_CoreMediaIO-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:aa9418277d16a1d5c0b576ad8a35f8e239d3461da60bb296df310090147331f7"}, + {file = "pyobjc_framework_CoreMediaIO-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:07e19e89489a372ebea9e8a5cfaf1ec03fd570e65ed3fa2dfa44719d1e337a36"}, + {file = "pyobjc_framework_CoreMediaIO-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c3bc3d8f3648b6a4126983119d9fc4e21d2c7ec06beb284c57039ca1033ceb03"}, + {file = "pyobjc_framework_CoreMediaIO-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b158612a62cabd7f61c1f2a4d08d4cb4682e1b2ba140a4d09ca88b1ae3014443"}, + {file = "pyobjc_framework_CoreMediaIO-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b3e9a9813bf5331bd0981e0a66ff380c5c927854f644e5cb62a2beaabd73b15f"}, + {file = "pyobjc_framework_coremediaio-10.3.1.tar.gz", hash = "sha256:5da3ed78475223dd3400fdb55fb97d543a248086f5cf8b77bf4aceac3df1513c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coremidi" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreMIDI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreMIDI-10.2.tar.gz", hash = "sha256:8168cb1e57e5dbc31648cd68d9afe3306cd2751de03275ef5f7f9b6483f17c07"}, - {file = "pyobjc_framework_CoreMIDI-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:809a79fbf384df94884dfddcab4dad3e68eba9e85591f7b55d24f4af2fb8db94"}, - {file = "pyobjc_framework_CoreMIDI-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:a48176d5f49f9e893f5a7ac86f7cd7ee63b66dc7941ef74c04876f87a1ae3475"}, - {file = "pyobjc_framework_CoreMIDI-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:cce95647865c7f374d3c9cf853a3a8a44ae06fda6fa2e65fc7ad6450dc60e50f"}, + {file = "pyobjc_framework_CoreMIDI-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:00a6869c2365b90cdf6e1ed0bbde6d87fe4daaa40ed243ee810e3cc3945f185a"}, + {file = "pyobjc_framework_CoreMIDI-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:92d04962f7ea63be03127880d4659f718f5b44b6a57a0e619a96d9def619bddb"}, + {file = "pyobjc_framework_CoreMIDI-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1be5f2d3c0c7c23817ad49a25d8cf8c84b9e420bd5fedc0065ec1322f5d5f2ab"}, + {file = "pyobjc_framework_CoreMIDI-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:bbe2bfb537e8adcca703a2c76b21ca1741d32691205af00a5ec67c025ee5d8e1"}, + {file = "pyobjc_framework_coremidi-10.3.1.tar.gz", hash = "sha256:818454b56edae082a3a4b4366a7e93b8bb54856be01ee21bb8527a22a4732efc"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coreml" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreML on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreML-10.2.tar.gz", hash = "sha256:a1d7743a91160d096ccd3f5f5d824dafdd6b99d0c4342e8c18852333c9b3318e"}, - {file = "pyobjc_framework_CoreML-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ab99248b8ace0bebb11d15eb4094d8017093ebf76dadf828e324cacc9f1866f1"}, - {file = "pyobjc_framework_CoreML-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:074b81c0e0e4177d33b2da8267d377fb7842b47eb7b977bb07d674b9b05c32b5"}, - {file = "pyobjc_framework_CoreML-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:baedffd5ab34dc0294c2c30ad1b5bcff175957f51f107b1f9f8b20f80e15cc9c"}, + {file = "pyobjc_framework_CoreML-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:c1fdcc0487807afa9cd0f88f25697e0e2e093d0219e8e1aa42aa3674dd78c2cb"}, + {file = "pyobjc_framework_CoreML-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:21c87e84c807b5dbe61e0f016d9aefa32d3212f175cc4b976b5c08770be7a58c"}, + {file = "pyobjc_framework_CoreML-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:a0877aed5d4cdbb63d1246cd5384c09d78a0667e83c435a1257d10017c11c1a4"}, + {file = "pyobjc_framework_CoreML-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:4bd3f1acfb3245727727b71cbcf7d21a33d7e00fa488e41ad01527764b969b92"}, + {file = "pyobjc_framework_coreml-10.3.1.tar.gz", hash = "sha256:6b7091142cfaafee76f1a804329e7a4e3aeca921eea8644e9ceba4cc2751f705"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coremotion" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreMotion on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreMotion-10.2.tar.gz", hash = "sha256:1e1827f2f811ada123dd42809bc86f04a4c1ae3cec619ccf0f05a9387412bec1"}, - {file = "pyobjc_framework_CoreMotion-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:804abc6b22db933e7fb7ba3e60b30f4c60e8921f8bb5790c3612375f7b4a6f03"}, - {file = "pyobjc_framework_CoreMotion-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:76d5a2ed1cba375e3c423887bd93bbaab849c7a961156c5cead8e1429c26c24d"}, - {file = "pyobjc_framework_CoreMotion-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:c0a8022dca1404795e93cd7317bca9f8ad601f3ecec7bed71312d80adad296e4"}, - {file = "pyobjc_framework_CoreMotion-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:b727d5301ec386b8aa94de69a9257a412a4edbd69ca394d76b83d9f2bec6bc96"}, - {file = "pyobjc_framework_CoreMotion-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:7e4571a08475428a8171a237284036a990011f212497f141222d281fa7e2ca5c"}, - {file = "pyobjc_framework_CoreMotion-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:bef81c52af0d1be75b3bd7514d5f9ef7c6e868f385f0dd8c28ad62e5d3faeeb6"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:f8c320df1806ccd8c2b1ac32c9b9a7337816ff13cf338a710a2f15ee550f58cb"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:a003478eeb520c7f28be4d9dc8f9e02df6ffa8921d46c8879e2b298c9fbc6926"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:63c8f831ad522212627f99ae8d6f34161628230afd544203646e7d66596d6437"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:9b78d2bcc71149821a49266eb548faea23abd7a25b7cd3f7a7f20b1d343a8786"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:28b431e448b884830c846d156d9c6626b265d9ede70ad233d77ceceb67366a17"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:7d4f95398ac5741a6dd1711e129f6173111385e26d858c59be8462543f62a8a1"}, + {file = "pyobjc_framework_CoreMotion-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:89c78be31e276aa88d848b69a2f8d11360deaa7297222bd5369ecd1910de166d"}, + {file = "pyobjc_framework_coremotion-10.3.1.tar.gz", hash = "sha256:6ba61ffd360473b018702b9ae025eb16b8aaa45c6e533121522f26eef93a9f71"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coreservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreServices-10.2.tar.gz", hash = "sha256:90fa09e68e840fdd229b33354f4b2e55e9f95a221fcc30612f4bd92cdc530518"}, - {file = "pyobjc_framework_CoreServices-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:2b0c6142490c7099c5be0a2fa10b1816e4280bc04ac4e5a4a9af17a9c2006482"}, - {file = "pyobjc_framework_CoreServices-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c2c05674d9d142abc62fcc8e39c8484bdcdfd3ad8a17f009b8aa7c631e227571"}, - {file = "pyobjc_framework_CoreServices-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f87ad202d896e596b31c98a9d0378b2e6d2e6732a2dfc7b82ceae4c70863364d"}, + {file = "pyobjc_framework_CoreServices-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:58d5708ee0a2ad7eea180864fe68123a2464b987ea089d0646ce69e2002500b0"}, + {file = "pyobjc_framework_CoreServices-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:9d43b77fa11af139ba39d94921e695cf804226737f68167f8bdb8f1c449c932e"}, + {file = "pyobjc_framework_CoreServices-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e6c7b6bb821cc7fb4f04c08560d460783a7fa08093f5e153241bf10296a16cb4"}, + {file = "pyobjc_framework_CoreServices-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ccb64113ee612a05308ab8ed57ec224e22445d5a125bec11e24c35d58d1f77e4"}, + {file = "pyobjc_framework_coreservices-10.3.1.tar.gz", hash = "sha256:2e46d008ee4ff586420175888c45f8eb0f002ed5b840c8f7893c560af01b2d72"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-FSEvents = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-FSEvents = ">=10.3.1" [[package]] name = "pyobjc-framework-corespotlight" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreSpotlight on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreSpotlight-10.2.tar.gz", hash = "sha256:bc4ac490953db29f6a58bc6fca6f819f8a810d0bb15d5f067451b3a8cad1cb50"}, - {file = "pyobjc_framework_CoreSpotlight-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f69dc88ddfa116262009b15ac302b880aef2dad878bf472cbf574f4473f4b059"}, - {file = "pyobjc_framework_CoreSpotlight-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:09912188648e658a0f579bbfd2cf6765afb8e0f466ee666e24019cc9931b6bc5"}, - {file = "pyobjc_framework_CoreSpotlight-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:75ba49ee4bfdbf4df733bc8c508b4417f47c442a56b83ffe5527e76e1c5bad67"}, + {file = "pyobjc_framework_CoreSpotlight-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4aa9b01b8d722ba9e803ec4a2329ee8da0bdecb9a004a668b793b957544a6d81"}, + {file = "pyobjc_framework_CoreSpotlight-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:9684f735fd3d3e8fae447e90a2c246bf6a8d4ca37f619174208d65daa86d9ca0"}, + {file = "pyobjc_framework_CoreSpotlight-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:31b2a1309c747bb6e4d1ddc8368885af2948af55441fbf9817ebac193c1b815b"}, + {file = "pyobjc_framework_CoreSpotlight-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ba5a20e860af7246da67bb00db15d8bd5c5110b8a12a44568bd68030f51db478"}, + {file = "pyobjc_framework_corespotlight-10.3.1.tar.gz", hash = "sha256:6b8ad243a65943d631434a9ff4696458cdd3d0cb631cfeb501a967fe29445c30"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-coretext" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreText on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreText-10.2.tar.gz", hash = "sha256:59ef8ca8d88bb53ce9980dda0b8094daa3e2dabe355847365ba965ff0b49f961"}, - {file = "pyobjc_framework_CoreText-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:44052f752f42b62d342fa8aced5d1b8928831e70830eccddc594726d40500d5c"}, - {file = "pyobjc_framework_CoreText-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0bc278f509a3fd3eea89124d81e77de11af10167c0df0d0cc15a369f060465a0"}, - {file = "pyobjc_framework_CoreText-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:7b819119dc859e49c0ce9040ae09d6a3bd66658003793f486ef5a21e46a2d34f"}, - {file = "pyobjc_framework_CoreText-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2719c57ff08af6e4fdcddd0fa5eda56113808a1690c3325f1c6926740817f9a1"}, - {file = "pyobjc_framework_CoreText-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:8239ce92f9496587a60fc1bfd4994136832bad99405bb45572f92d960cbe746e"}, - {file = "pyobjc_framework_CoreText-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:80a1d207fcdb2999841daa430c83d760ac1a3f2f65c605949fc5ff789425b1f6"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:dd6123cfccc38e32be884d1a13fb62bd636ecb192b9e8ae2b8011c977dec229e"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:834142a14235bd80edaef8d3a28d1e203ed3c988810a9b78005df7c561390288"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:ae6c09d29eeaf30a67aa70e08a465b1f1e47d12e22b3a34ae8bc8fdb7e2e7342"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:51ca95df1db9401366f11a7467f64be57f9a0630d31c357237d4062df0216938"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8b75bdc267945b3f33c937c108d79405baf9d7c4cd530f922e5df243082a5031"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:029b24c338f58fc32a004256d8559507e4f366dfe4eb09d3144273d536012d90"}, + {file = "pyobjc_framework_CoreText-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:418a55047dbff999fcd2b78cca167c4105587020b6c51567cfa28993bbfdc8ed"}, + {file = "pyobjc_framework_coretext-10.3.1.tar.gz", hash = "sha256:b8fa2d5078ed774431ae64ba886156e319aec0b8c6cc23dabfd86778265b416f"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-corewlan" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CoreWLAN on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CoreWLAN-10.2.tar.gz", hash = "sha256:f47dcf735145eb2f817db5c2134321a7cfb9274a634161ff3069617fd2afff42"}, - {file = "pyobjc_framework_CoreWLAN-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:8dc102d7d08437b5421856ae8aac32e3e9846e546c1742e4d57343abd694688f"}, - {file = "pyobjc_framework_CoreWLAN-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:85bcf84fd38a2e949760dda3201f13f8bef73b341a623f6736834b7420386f16"}, - {file = "pyobjc_framework_CoreWLAN-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ada346a6da1075e16bf5f022ccad488632fe6de972d2d925616add87e3eb9fad"}, + {file = "pyobjc_framework_CoreWLAN-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:0b9b9a6f54c11b6adcb04eb07686c8a8372140619876073d6355498da7ecd074"}, + {file = "pyobjc_framework_CoreWLAN-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:8d68dabd2fdb74e5263f1e05fa039621c197907347e045cd672a54b3ac537140"}, + {file = "pyobjc_framework_CoreWLAN-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:995260e02f858ffa0781ec0d632e60e0567c45fd551102d36fe67a351f81697e"}, + {file = "pyobjc_framework_CoreWLAN-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:e7120d4f7a73cfc283ca499165e8aaf2628bfb82773917e144c293447cabbdba"}, + {file = "pyobjc_framework_corewlan-10.3.1.tar.gz", hash = "sha256:d340d976b5d072b917c6d3de130cb4e7a944ee0fdf4e1335b2aa6b1d4d6b4e14"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-cryptotokenkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework CryptoTokenKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-CryptoTokenKit-10.2.tar.gz", hash = "sha256:c0adfde2d53da7df1f8827bdf0cbf4419590151dd1041711ab2f66a32bd986f5"}, - {file = "pyobjc_framework_CryptoTokenKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:89264d38ca58e8b5a586a3c13260d490ee2cdc9c1498211a804cec67f7659cd7"}, - {file = "pyobjc_framework_CryptoTokenKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e13d92966273420a154cde6694b4bc7dd3dc7679e93d651534dcf2b0c5246546"}, - {file = "pyobjc_framework_CryptoTokenKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:a56af323d597332090a0787c00d16c40152c62cb278d951a59723006cd3e10de"}, + {file = "pyobjc_framework_CryptoTokenKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:6c88948bc8d30cd125ae29ffe551315e08c0fb49654d4f36ba4b3f0fe2f85259"}, + {file = "pyobjc_framework_CryptoTokenKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:bf0735d5d8e3ff61650deaa9670df62032dc218b865f21cd6b36b0d4c00b88ae"}, + {file = "pyobjc_framework_CryptoTokenKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:bd58e48912a9b044c0203e39938b2108cab9b3a4903134ebb1ef610b45570802"}, + {file = "pyobjc_framework_CryptoTokenKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b53fdc79a095d327dff7e68e2545b0825437520f105b1341e5f638e8e1afb490"}, + {file = "pyobjc_framework_cryptotokenkit-10.3.1.tar.gz", hash = "sha256:ef1c4a3b9bc5429eceda59724279428e1f8740df2c5a511d061b244113b6fd97"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-datadetection" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DataDetection on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DataDetection-10.2.tar.gz", hash = "sha256:9532bb697b96ec4ffc04310550bf21c45c8494fc07d8067fc41cbfd94c8ba27d"}, - {file = "pyobjc_framework_DataDetection-10.2-py2.py3-none-any.whl", hash = "sha256:4435ebaa3b3fa3de855690469fefd2d8a3568f702f51540707efaf4363ec94aa"}, + {file = "pyobjc_framework_DataDetection-10.3.1-py2.py3-none-any.whl", hash = "sha256:618ea90267fd4b83d09b557b67342ad5f3ac579090020e081dca6c664f1ae598"}, + {file = "pyobjc_framework_datadetection-10.3.1.tar.gz", hash = "sha256:5394350cd7e7f40562dc0777f26dd9ddf4a595d20cb6e3cd601938e9490c963e"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-devicecheck" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DeviceCheck on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DeviceCheck-10.2.tar.gz", hash = "sha256:f620ede18e12dd36d92f24d1a68278821bcf7aeaea6577993fbfb328c118569d"}, - {file = "pyobjc_framework_DeviceCheck-10.2-py2.py3-none-any.whl", hash = "sha256:c9c87ae40af41c4c296af40317018732bba85e589111f5286b2f136f022c8ecd"}, + {file = "pyobjc_framework_DeviceCheck-10.3.1-py2.py3-none-any.whl", hash = "sha256:9a3b291a2583bac2b65ff902c4b7872c1068736e249765906f530ae5a6eb8085"}, + {file = "pyobjc_framework_devicecheck-10.3.1.tar.gz", hash = "sha256:7f6f95c84dc3d1f62aa07061f79b47d19463390d977e5afb444ef9fdd9177a9d"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-dictionaryservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DictionaryServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DictionaryServices-10.2.tar.gz", hash = "sha256:858b4edce36dfbb0f906f17c6aac1aae06350d508cf0b295949113ebf383bfb4"}, - {file = "pyobjc_framework_DictionaryServices-10.2-py2.py3-none-any.whl", hash = "sha256:39b577b35c52a033cbac030df1fdcd16fb109144e8c59cb2044a13fcd803ab49"}, + {file = "pyobjc_framework_DictionaryServices-10.3.1-py2.py3-none-any.whl", hash = "sha256:e40933bc96764450dff16cd8ca8080ec83157a93ed43574441848ea52f24918d"}, + {file = "pyobjc_framework_dictionaryservices-10.3.1.tar.gz", hash = "sha256:c9fb8ed1b92f63c6f568bcdbadf628baab1cb8bb4cd01dbd65424d59c236a552"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-CoreServices = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-CoreServices = ">=10.3.1" [[package]] name = "pyobjc-framework-discrecording" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DiscRecording on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DiscRecording-10.2.tar.gz", hash = "sha256:9670018a0970553882feb10e066585ad791c502539712f4117bad4a6647c79b3"}, - {file = "pyobjc_framework_DiscRecording-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:cbf0d9904a24bece47a71b56f87090a769e96338c0acb3f33385c3e584ed1c96"}, - {file = "pyobjc_framework_DiscRecording-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:0a7d9980ab9f59903d60d09172de4085028bbb97a63112f78b9cca0051a73639"}, - {file = "pyobjc_framework_DiscRecording-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:8a6512d0b7e61064ca167ca0a9c95a3f49f8fa7216fe5e1d77eab01ce56a9414"}, + {file = "pyobjc_framework_DiscRecording-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:99ee7b1762c7e2a4e0b74c36416f4095695ea33505c7de03875a4f46a5729af7"}, + {file = "pyobjc_framework_DiscRecording-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c4233f2649e34be2dd158752f0f0180c7db4ee705cc14aa62bc03c1f77318ca3"}, + {file = "pyobjc_framework_DiscRecording-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:54016cd30b81f1f065d3a4d90b008c1bcfa77891cc79c68d72dff65e9d81e083"}, + {file = "pyobjc_framework_DiscRecording-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:da84170af530cda7b1f32023d5e8b98b62914c573c6ef571e562473d0b94fe6f"}, + {file = "pyobjc_framework_discrecording-10.3.1.tar.gz", hash = "sha256:47865c9a0d24366b6ede01d326d57404346c3d01e249f417bd2b0b3de00d6c54"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-discrecordingui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DiscRecordingUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DiscRecordingUI-10.2.tar.gz", hash = "sha256:afda9756a8f9e8ce1f83930eca3b1a263a29f48c1618269457f4aba63fc1644f"}, - {file = "pyobjc_framework_DiscRecordingUI-10.2-py2.py3-none-any.whl", hash = "sha256:e0423c548851cd9eb4ad7e9e085da4db2cde2420e1f3e05d46e649498edf97d8"}, + {file = "pyobjc_framework_DiscRecordingUI-10.3.1-py2.py3-none-any.whl", hash = "sha256:cb25c70117a5c5eeb4ef74a96da48e2da171f01b7e92d1b7bbd7808068e8960c"}, + {file = "pyobjc_framework_discrecordingui-10.3.1.tar.gz", hash = "sha256:4b9c804a97c89001feddb58106cdc3e099e241314f7c4de062842d27b1318b68"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-DiscRecording = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-DiscRecording = ">=10.3.1" [[package]] name = "pyobjc-framework-diskarbitration" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DiskArbitration on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DiskArbitration-10.2.tar.gz", hash = "sha256:25b74db4f39a7128599e153533db0f88c680ad55f366c5ab6a6d7dede96eeb57"}, - {file = "pyobjc_framework_DiskArbitration-10.2-py2.py3-none-any.whl", hash = "sha256:dd14eb448865ca4c49e15a543f748f1ef6501ea0044eaa2cf04860547205c84f"}, + {file = "pyobjc_framework_DiskArbitration-10.3.1-py2.py3-none-any.whl", hash = "sha256:f0f727435da388efd035bdd510607a5f5769b22be2361afc5b8d4ee081c70cce"}, + {file = "pyobjc_framework_diskarbitration-10.3.1.tar.gz", hash = "sha256:0776318cb56f8e095066a880812c4fc5db2071687846e23a000a947a079f6c6c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-dvdplayback" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework DVDPlayback on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-DVDPlayback-10.2.tar.gz", hash = "sha256:0869a6e8da1c2d93713699785b4f0bbe5dd1b2820a0ff4a6adf06227b1bb96ac"}, - {file = "pyobjc_framework_DVDPlayback-10.2-py2.py3-none-any.whl", hash = "sha256:f3fb90eb3d616290d2ab652214ce682130cd19d1fd3205def6ab0ba295535dd9"}, + {file = "pyobjc_framework_DVDPlayback-10.3.1-py2.py3-none-any.whl", hash = "sha256:c0fb2e96ce4eae8def642f1c4beaec2da3cdf61db1562d4b5199d1334d1a10fe"}, + {file = "pyobjc_framework_dvdplayback-10.3.1.tar.gz", hash = "sha256:1f7c22624dee9b1b54def15f12a3f7cacb28052cd864a845eb24b7f59de12257"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-eventkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Accounts on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-EventKit-10.2.tar.gz", hash = "sha256:13c8262344f06096514d1e72d3c026fa4002d917846ce81217d4258acd861324"}, - {file = "pyobjc_framework_EventKit-10.2-py2.py3-none-any.whl", hash = "sha256:c9afa63fc2924281fdf1ef6c86cc2ba01b7b84a8545a826ddd89e4abd7077e81"}, + {file = "pyobjc_framework_EventKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:ad9f42431bd058ff72feba3bbce6fbd88b2a278c3b2c1cdb4625ea5f60f1ecda"}, + {file = "pyobjc_framework_eventkit-10.3.1.tar.gz", hash = "sha256:3eef14ba439be1c5bc47da561ccea3941daba663577efac7a58e3031d27e056b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-exceptionhandling" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ExceptionHandling on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ExceptionHandling-10.2.tar.gz", hash = "sha256:cf4cd143c24504d66ef9d4e67b4b88e2ac892716e6ead2aa9585a7d39278d943"}, - {file = "pyobjc_framework_ExceptionHandling-10.2-py2.py3-none-any.whl", hash = "sha256:fd7dfc197c29ccf187718dbb0b1dcd966a8c04ee6549ee9472959912e76a0609"}, + {file = "pyobjc_framework_ExceptionHandling-10.3.1-py2.py3-none-any.whl", hash = "sha256:79843a681a1d0f9ee2b7014dcf7e1182c99c83e49cf6cea81df934ebbdf4050b"}, + {file = "pyobjc_framework_exceptionhandling-10.3.1.tar.gz", hash = "sha256:ff6208777739f8a886d0cbfe20692b41cc4e5e0607419c47d2c5d405b6b4c6ee"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-executionpolicy" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ExecutionPolicy on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ExecutionPolicy-10.2.tar.gz", hash = "sha256:8976c35a58c2e51d6574123ecfcd58459bbdb32b3992716119a3c001d3cc2bcf"}, - {file = "pyobjc_framework_ExecutionPolicy-10.2-py2.py3-none-any.whl", hash = "sha256:4d95d55f82a15286035bb5bc01b339d6c36103a1cbf7d6a3d7a9feac71663626"}, + {file = "pyobjc_framework_ExecutionPolicy-10.3.1-py2.py3-none-any.whl", hash = "sha256:f2eb203fa4c7dcf18a0ab3a4a94cb30a9f82cf888c237994dbbdb15adf01c8d2"}, + {file = "pyobjc_framework_executionpolicy-10.3.1.tar.gz", hash = "sha256:cc066dc8378fc2a1a4e6129c4d09e2076dc9a5b09925f8dd959aad591cbf9a44"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-extensionkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ExtensionKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ExtensionKit-10.2.tar.gz", hash = "sha256:343c17ec1696947cde6764b32f741d00d7424a620cdbaa91d9bcf47025b77718"}, - {file = "pyobjc_framework_ExtensionKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:69981d3a0f7146b57b16f1132c114419a2b89fa201677c7e240f861bc7e56670"}, - {file = "pyobjc_framework_ExtensionKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:30fa27de3f97436c867ca3e89d8e95f141337a9377f71be3c8a036795b5557fb"}, - {file = "pyobjc_framework_ExtensionKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:09e1402c9fd7c6fcacd662caa2198d79342b812665980fd9a66e906743bddf69"}, + {file = "pyobjc_framework_ExtensionKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:e2b54a5b32c959fc1500936b73c7ebd6d7ffcad23d74b9a6ff3db4ea5660f731"}, + {file = "pyobjc_framework_ExtensionKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f5b1e9c7e3a64224acae7b4c2d26d2a654edc54382e9e88aa3b056f4033508f8"}, + {file = "pyobjc_framework_ExtensionKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:62bc537cbeabb24667434c82515827e64c31d761bdcd02cc3ea6bb6a9a35873e"}, + {file = "pyobjc_framework_ExtensionKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:c66797352b71a944810447c81133935656d8ea9bb847775a1532cf06d8deb1d3"}, + {file = "pyobjc_framework_extensionkit-10.3.1.tar.gz", hash = "sha256:91946030195fa17c5248655b10786ea60b9aee7d83a4627ba56768600b4e7674"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-externalaccessory" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ExternalAccessory on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ExternalAccessory-10.2.tar.gz", hash = "sha256:e62af0029b2fd7e07c17a4abe52b20495dba05cba45d7e901acbd43ad19c4cc3"}, - {file = "pyobjc_framework_ExternalAccessory-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b279672b05f0f8a11201a5ed8754bcea5b8d3e6226ec16c6b59127e2c6e25259"}, - {file = "pyobjc_framework_ExternalAccessory-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5fbe16bb4831a30659cba6a53b77dca94b72ff12bfd318c76f118f39557427c5"}, - {file = "pyobjc_framework_ExternalAccessory-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f446ce468a369650c4c49947bb7329c58c68cd44aee801506e60be1f26cd6265"}, + {file = "pyobjc_framework_ExternalAccessory-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4395607570f1dd91abd786422fc516f83b4b2a5185321e6581d33dbe74a52c63"}, + {file = "pyobjc_framework_ExternalAccessory-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:3fcdbb2338e7bd0fb66e9074dc95f2f989146ae92c66eb4282cfc1a6533cbe6c"}, + {file = "pyobjc_framework_ExternalAccessory-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b076ba07c84b1f4ef9a8a1aa095b66416119b1484b5111b2dd3041f2d301d1a1"}, + {file = "pyobjc_framework_ExternalAccessory-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:4771cddfed6422502831a9bf88fa572918d1ca71a3e34e068f442d1197630267"}, + {file = "pyobjc_framework_externalaccessory-10.3.1.tar.gz", hash = "sha256:3ba1a7242448126b4af0fb93963790d0066766bcba2770d935111093e87b7b83"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-fileprovider" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework FileProvider on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-FileProvider-10.2.tar.gz", hash = "sha256:1accc2965c59395152d04b2f4a096cb4a5364bca8094695ce2b60d2f794bff74"}, - {file = "pyobjc_framework_FileProvider-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:7e69d294b0ac9fdcafb28fbb1b9770e1e851cc5467dc0ae1d7b182882ce16d1d"}, - {file = "pyobjc_framework_FileProvider-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:1d5cc02d43f2c6851934c8208cd4a66ad007daf0db673f72d1938677c90b1208"}, - {file = "pyobjc_framework_FileProvider-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:0ae00a293e3ac511cc9eb54ee05b67583ea35d490b47f23f448a3da6652c189b"}, - {file = "pyobjc_framework_FileProvider-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:fab7da3c7961e77b09f34cb71a876205ea8d73f9d10d5db78080f7282dd5066f"}, - {file = "pyobjc_framework_FileProvider-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:5d2b581c8cb1c15304676f5a77c42e430aaad886ac92d8b2d4e5cec57cb86be3"}, - {file = "pyobjc_framework_FileProvider-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:8c471c0d27d9d6a7bba3d06f679f14ac8d719ed3660d9a8e6788a31e1521e71d"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:36f66bbd308fdf80d8fe21b89212af4b89bc80dff8cee5f785d5a6fcce942bec"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:b44bcbf3d826fd8a0cbc53142c65655433d553205fb36811486757e2089e6c5f"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:b28294768dc71190019c2b2638e27b7ebf6edb65a90721b86613083bd86f6b2d"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:bb07a0b7e259030c7bc034c590c77a22e44427320c99bf74e5348551fe0da011"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:3e61b20aef5083df2303bf36f181fb83b02b9a7f4868af0e9229d94d7bc1828f"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:2ad657fa433d1922f40d581e87af1c2f7002c4835fa49235fdb3909eda23e1e8"}, + {file = "pyobjc_framework_FileProvider-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:e66548dfc9e81489bc66e245c97760c457371c25ced87a28bdeca655b548447e"}, + {file = "pyobjc_framework_fileprovider-10.3.1.tar.gz", hash = "sha256:63a4160e6cbede0f682145f4303ed889bd9f3c9fccfecdc32636a8d95aeceeab"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-fileproviderui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework FileProviderUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-FileProviderUI-10.2.tar.gz", hash = "sha256:a22204c1fad818e4c8d94ecb544fec59387e01a0074cbe2ca6e58de1a12c157e"}, - {file = "pyobjc_framework_FileProviderUI-10.2-py2.py3-none-any.whl", hash = "sha256:5fac2067c09a23a436708e05d71faf65d64f4c36b45ad254617720b1a682aad6"}, + {file = "pyobjc_framework_FileProviderUI-10.3.1-py2.py3-none-any.whl", hash = "sha256:14be680a7fc78def5174ec5a6d890d407678cff723d6b359bba66bc0a78bd31a"}, + {file = "pyobjc_framework_fileproviderui-10.3.1.tar.gz", hash = "sha256:2a3f3b9b81aff216df76bc72c8e8730d7ba7f3b2412720f68b722bae58f82797"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-FileProvider = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-FileProvider = ">=10.3.1" [[package]] name = "pyobjc-framework-findersync" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework FinderSync on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-FinderSync-10.2.tar.gz", hash = "sha256:5ecbe9bf7fe77f28204fbe358ee541fdd2786fc076a631c4f11b74377d60ea05"}, - {file = "pyobjc_framework_FinderSync-10.2-py2.py3-none-any.whl", hash = "sha256:11d569492efe74a52883e6086038ca9d5a712a08db828f3ca43c03e756013801"}, + {file = "pyobjc_framework_FinderSync-10.3.1-py2.py3-none-any.whl", hash = "sha256:d4778de8a9b386c16812d470d1ad44d7370970d1dbc75d8bea390d4f5cd12be4"}, + {file = "pyobjc_framework_findersync-10.3.1.tar.gz", hash = "sha256:b4a08e0a87c54f62623038de1929fab018fe44fca5372a455bb524b9f90e9196"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-fsevents" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework FSEvents on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-FSEvents-10.2.tar.gz", hash = "sha256:3a75f38bb1d5d2cf6a0d3e92801b3510f32e96cf6443d81b9dd92a84d72eff0a"}, - {file = "pyobjc_framework_FSEvents-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:129f9654ab9074eff29ccb8dd09625e3740058744a38f9776d0349387f518715"}, - {file = "pyobjc_framework_FSEvents-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c71699f24482d99ee8f6b7a8d36c4c294655c670d8cbd0f3c6f146a2fda6283c"}, - {file = "pyobjc_framework_FSEvents-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:a0ff7bb8c1a357181345ff3a90b7f808cd55c4757df60c723541f0f469323190"}, + {file = "pyobjc_framework_FSEvents-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:7348e1aa268819b005e1ab648b5bac348052d3513aacf768c2c3999d6ffbf81e"}, + {file = "pyobjc_framework_FSEvents-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:420736c645e15006c1ed962767bfd164b1d5dba7d9dc3cd9730e4c9922b05c27"}, + {file = "pyobjc_framework_FSEvents-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:56b48def729acaa0b7c27335a40519ca7d17e6d45649ba68e0f9f1c70e902994"}, + {file = "pyobjc_framework_FSEvents-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:282ebeeba0190524fe1d5d21d729ebcb7034e379a8039a6ccdf5f5c6e4470e02"}, + {file = "pyobjc_framework_fsevents-10.3.1.tar.gz", hash = "sha256:6269fd8aa3f62d8a6312e316043aca6d7d792812bff09b617bbd6ca9f0f6e440"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-gamecenter" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework GameCenter on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-GameCenter-10.2.tar.gz", hash = "sha256:43341b428cad2e50710cb974728924280e520e04ae9f750bc7beda5006457ae3"}, - {file = "pyobjc_framework_GameCenter-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f14ad00713519b508f4c956a8212bff01f6b6279b2a76e87d99a18262e61dfda"}, - {file = "pyobjc_framework_GameCenter-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b52932e90c6b6d90ce8c895b0ac878dc4e639d493724a5789fc990e1efec3d05"}, - {file = "pyobjc_framework_GameCenter-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:dc9de1b3d0db1921fb197ad964226ebc271744aee0cc792f9fe66afaf92b24f0"}, + {file = "pyobjc_framework_GameCenter-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:eba1058859fb30bef8227ce649dcf7531545aeff81c3cfd3e3b80ef8fe87bf70"}, + {file = "pyobjc_framework_GameCenter-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:3329261e8a6a3b0df3abd4a7a3cc66cc8e47be919279a08249e08f94a0e4448f"}, + {file = "pyobjc_framework_GameCenter-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:d2420c7d28f9eab337955a1872179295ba92e3d8db0e5b1b8d40442e7079d711"}, + {file = "pyobjc_framework_GameCenter-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:6bd556e798cf52b94434c48cabf299060dd79b668f0021826995ceee520db8af"}, + {file = "pyobjc_framework_gamecenter-10.3.1.tar.gz", hash = "sha256:221ae88ee69816b95861b1a0dc781c1c17775d38fcf0388327620535479b6a07"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-gamecontroller" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework GameController on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-GameController-10.2.tar.gz", hash = "sha256:81ad502346904995ec04b0580bab94ab32ca847fad06bca88cdf2ec6222b80ae"}, - {file = "pyobjc_framework_GameController-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:47e6dfcf10353a17adcfa7649d0f5d0cba4d4dc3ce3a66826d873574ae2afcb1"}, - {file = "pyobjc_framework_GameController-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:8ef6fcb5308c1c31d1de3969165a13750b74f52c80249b722383307fc558edff"}, - {file = "pyobjc_framework_GameController-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:89a7aac243b0347c3ef10fc2bcedcb1b2ae9eb14daabccb3f3cfe1cf12c7e572"}, + {file = "pyobjc_framework_GameController-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:cfb754d29660e90f295ba443cc84fb189e5ca9d1f019c35a382cb24dd4e08bf8"}, + {file = "pyobjc_framework_GameController-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:a7a1e34a4ebcf9f653bc4a066b7d08d9124d462bc7e1c434ead983a6ae093382"}, + {file = "pyobjc_framework_GameController-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:a23bb9c97063fb334990cac20dcab1389942495cb028350a232faebb804d73c2"}, + {file = "pyobjc_framework_GameController-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:e90afaa5a5d28771e60b4f60ff89b80037d4e9e558d680872810216299aea1a8"}, + {file = "pyobjc_framework_gamecontroller-10.3.1.tar.gz", hash = "sha256:f9f252b5fed5de2a8c7fdd2e302b6ed6e0b82015d7da75b28984c5ea5909345e"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-gamekit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework GameKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-GameKit-10.2.tar.gz", hash = "sha256:0ef877db88e8888ecf682b09b9fb1ee6b879f23d521ce3a738a1b0fb2b885974"}, - {file = "pyobjc_framework_GameKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c23025087bec023a37fe0c84fcdc592cdc100d9187b49250446587f09571dbeb"}, - {file = "pyobjc_framework_GameKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6867159762db0a72046abe42df8dff080620c2f9cdf20927445eec28f3f04124"}, - {file = "pyobjc_framework_GameKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:e7d91d28c4c8d240f0fbab80f84545efbeeb5a42db4c6fbd4ccb1f3face88c9c"}, + {file = "pyobjc_framework_GameKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:57930e2b65296719b2998c9816ab844983460f3358c57a120f09ebe78013b64c"}, + {file = "pyobjc_framework_GameKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:5634ac5f8b3569355f4fe8b2e6a06450d8aee555119607f7d738f5c85900c1b6"}, + {file = "pyobjc_framework_GameKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:83f689c959cdfaa311f6702d9e99402faf47e390334fb3880d255dc72e2d2a90"}, + {file = "pyobjc_framework_GameKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:c861e575ed4543241adbc53162fb651395ba73c68a697f4b5aceaa61754e19c1"}, + {file = "pyobjc_framework_gamekit-10.3.1.tar.gz", hash = "sha256:7d21a8f45c32ac94ce0e70b6c6fe72928fe75cb1a6bd6d7715e2bf39b291b70b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-gameplaykit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework GameplayKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-GameplayKit-10.2.tar.gz", hash = "sha256:068ee6f3586f4033d25ed3b0451eab8f388b2970be1dfbe39be01accca7a9b2e"}, - {file = "pyobjc_framework_GameplayKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c9e87b8221a74599c813640b823f3a2546aa6076b04087f26fd3ecc8c78cbe01"}, - {file = "pyobjc_framework_GameplayKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:a1f81c969347d63a1200818ae12350ad39353e85842f34040b9d997e55f7ec89"}, - {file = "pyobjc_framework_GameplayKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f438c4b98e1d00dec84fedc8796761063e99814f913151441bc7147ac8b23068"}, + {file = "pyobjc_framework_GameplayKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:cb54cfc4dbc69f1888c59ddce9da97ddc03f5003794fe47d56942a89c478e138"}, + {file = "pyobjc_framework_GameplayKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:eb49a732c82b17ff66f6e878b2cb9ba27e2222be303a337f2af4ed1a34a404bf"}, + {file = "pyobjc_framework_GameplayKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:8a0c2148e9b421922accfe565a398effe9622653c71d0bb4eb1b69ac90ee257f"}, + {file = "pyobjc_framework_GameplayKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:628406ca0d0ce283cc0735a4e532dd04a3a4d57a4c22c3ee4338ba64d1b13790"}, + {file = "pyobjc_framework_gameplaykit-10.3.1.tar.gz", hash = "sha256:2035b81f7bc34b93636753cc3f9b06cd08171afc5c95bb2327a82fd3195f3c36"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-SpriteKit = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-SpriteKit = ">=10.3.1" [[package]] name = "pyobjc-framework-healthkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework HealthKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-HealthKit-10.2.tar.gz", hash = "sha256:abcc4e6bd0e11eace7257887958b6cc5332f8aad4efa6b94e930425016540789"}, - {file = "pyobjc_framework_HealthKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:093687705413b88efe47097f09c7be84b6ccbb7ec0f9b943b4ad19fe9fbdc01c"}, - {file = "pyobjc_framework_HealthKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1fb83b08ed28b9adc9a8a2379dbf5f7515e01009160a86847e1a5f71b491a49c"}, - {file = "pyobjc_framework_HealthKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b84d3857c54076a63feea7072ecf98d925f68f96413ca40164d04b2fd865a4dc"}, + {file = "pyobjc_framework_HealthKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:80aee8bf0e7af6e434e9023c2d2050c2a2fe8e53abbf0e1f2285a932836fdd17"}, + {file = "pyobjc_framework_HealthKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ac9abec44c02edfe7f2151f529bac1c9544fb99ee1caffff55b331281b374463"}, + {file = "pyobjc_framework_HealthKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b64d4e61a8009a0a5586d464b591186570f654b20937f78941875ef3b7865505"}, + {file = "pyobjc_framework_HealthKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:5bfcaac3a3947d070611d1fed1abe8858e049ef0ab1050f46974a7333b6369f6"}, + {file = "pyobjc_framework_healthkit-10.3.1.tar.gz", hash = "sha256:45622fedb42bbd95dcc096248bbc41dacd857d9db120ff7310f74f3bad4b23e1"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-imagecapturecore" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ImageCaptureCore on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ImageCaptureCore-10.2.tar.gz", hash = "sha256:68f1f96982282e786c9c387c177c3b14202d560d68000136562eba1ed3f45a6e"}, - {file = "pyobjc_framework_ImageCaptureCore-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:69c19e235de32bc707a622fd2865fa53f6e7692b52851d559ea0c23664ee7665"}, - {file = "pyobjc_framework_ImageCaptureCore-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3bdbae9adf6456b4b4e2847135e5da214516545638dd715f01573ec6b6324af6"}, - {file = "pyobjc_framework_ImageCaptureCore-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:46b90bc950646b69b416949bb50ee7d2189b42b7aa77692e01d7c1b4062ddc19"}, + {file = "pyobjc_framework_ImageCaptureCore-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:649e0b7bf428ad3fe90faaf63dbd09d234563a32b3cee5a6f2d28ab31927bd54"}, + {file = "pyobjc_framework_ImageCaptureCore-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:5bab844c665b3ac07b191e94130f543eb23c5cfd014035f025efacb7a48aa68c"}, + {file = "pyobjc_framework_ImageCaptureCore-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:0fd14f9183c1fcee67cf09f36ccbe156186da84a83419917fd3ca81a5de23d97"}, + {file = "pyobjc_framework_ImageCaptureCore-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d625d84094f51dd4389d1dea7c53480c3311dd19447d96b3c9eb06be5a935fd6"}, + {file = "pyobjc_framework_imagecapturecore-10.3.1.tar.gz", hash = "sha256:9ce83c38b8ccee6b022faadb9cd7b8716119092cd41b6c2cabce3670101119bf"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-inputmethodkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework InputMethodKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-InputMethodKit-10.2.tar.gz", hash = "sha256:294cf2c50cdbb4cdc8f06946924a01faf45a7356ef86652d73c1f310fc1ce99f"}, - {file = "pyobjc_framework_InputMethodKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f8bcb156dcd1dc77826f720ff70f9a12c72ad45e97d4faa7ca88e85fc2d7843a"}, - {file = "pyobjc_framework_InputMethodKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:d96a18dd92dc19f631ed50c524355ab29f79975e081f516ad3cea2d902a277e7"}, - {file = "pyobjc_framework_InputMethodKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:fdea1320a3cf6e409ab8f602b90b167110f7ca58f44f95a52f188c6f59f08753"}, + {file = "pyobjc_framework_InputMethodKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:d1c3beb88f94eb6b0bdc458ef49f331d064c0260758134cef1cf941684f46c83"}, + {file = "pyobjc_framework_InputMethodKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:d0f7538ac549b61afc93df895375114464f778e06a66a4c2684cbbf247a8f4c7"}, + {file = "pyobjc_framework_InputMethodKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:7f5ff42a59209f3ede24181e5d1bb8d69f8ad428189f177c1bfd55d328f85575"}, + {file = "pyobjc_framework_InputMethodKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:3fcd444b97cf2343a6c37b828dcc85080cc6a2c5ba508010dae4ebe836480d2b"}, + {file = "pyobjc_framework_inputmethodkit-10.3.1.tar.gz", hash = "sha256:637ba2da38da5f558443b4529b33bab276380336e977807347ee9dad81d42109"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-installerplugins" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework InstallerPlugins on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-InstallerPlugins-10.2.tar.gz", hash = "sha256:001e9ec6489e49fc22bbec1ef050518213292e8d56239ed004f98ed038b164e2"}, - {file = "pyobjc_framework_InstallerPlugins-10.2-py2.py3-none-any.whl", hash = "sha256:754b8fdf462b6e568f30249255af50f9bd3ac90edacfe6e02d0fe77f276c049b"}, + {file = "pyobjc_framework_InstallerPlugins-10.3.1-py2.py3-none-any.whl", hash = "sha256:2b32cde6fb8bbb3e1ffd04d7acbe3132291ad5937fc7af5820062e8aece7b5cc"}, + {file = "pyobjc_framework_installerplugins-10.3.1.tar.gz", hash = "sha256:280808bbce36090b59197756fdb56c19838845a5fc25966a435dbc5fc4ddbbf0"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-instantmessage" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework InstantMessage on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-InstantMessage-10.2.tar.gz", hash = "sha256:4aa7627697fa57120594477f1f287bc41836ec7a4107215d3060c26416cf72c9"}, - {file = "pyobjc_framework_InstantMessage-10.2-py2.py3-none-any.whl", hash = "sha256:65db5cb1f163700a6cb915506f8f7ae2f28d8d3f6464f7b122b0535b1694859a"}, + {file = "pyobjc_framework_InstantMessage-10.3.1-py2.py3-none-any.whl", hash = "sha256:51a096e55a423423dbfbf19cc976a49915987ce68b9038f8ce3db9c3cde11718"}, + {file = "pyobjc_framework_instantmessage-10.3.1.tar.gz", hash = "sha256:bb1560a2f92a2def179b6381c17d406331b7818fa0fd1ba98f09ed94415f8a7b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-intents" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Intents on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Intents-10.2.tar.gz", hash = "sha256:ec27d5d19212fcec180ff04e2bc617fee0a018e2eaf29b2590c5512da167aa6a"}, - {file = "pyobjc_framework_Intents-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:6a4e2ba2b5319c15ceeabdfd06f258789174e7e31011a24eab489d685066ed69"}, - {file = "pyobjc_framework_Intents-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9a3c08ec0dd199305989786e6e3c68d27f40b9eae3050bbf0207f053190f3513"}, - {file = "pyobjc_framework_Intents-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:3dc9233522564ea8850a02961398a591446e0a0a0e63cd42cf7820daa0242f6a"}, + {file = "pyobjc_framework_Intents-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4d5a899e8cffd63096aec69edafac78e76d591afd07059a96377d6893ba56649"}, + {file = "pyobjc_framework_Intents-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b6da33ba8a1e6ae169eb67c1c83bf4e0aeb365fb368162ba002ef26cdc9f853f"}, + {file = "pyobjc_framework_Intents-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:332e5b74dceb8315e289d462058b9ec65544562936098b50b8003999954032b6"}, + {file = "pyobjc_framework_Intents-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:6e77fea5fc4136888459c8ece7d48fe3eac3a37c665e9ba8aaeb18c1671eb083"}, + {file = "pyobjc_framework_intents-10.3.1.tar.gz", hash = "sha256:89f0ed49c515b75c8811d9f6771ac635e799dfaf11921172729f8e0857c8c0e9"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-intentsui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Intents on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-IntentsUI-10.2.tar.gz", hash = "sha256:4b9ca6f868b6cb7945ef4c285e73d220433efc35dfcad6b4a356bfce55e96c09"}, - {file = "pyobjc_framework_IntentsUI-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:7ec579d0f25cba0e1225f7690f52ed092bef5e01962fbe83ffbb70ec39861674"}, - {file = "pyobjc_framework_IntentsUI-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:91331fec42522596500bd0a580c633b7b84831c6316b2ec7458425d60b37da9e"}, - {file = "pyobjc_framework_IntentsUI-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:81f9d337473b3cb51f2aa4aa98156d6e294778d24fe011f41f0123b2676d824c"}, - {file = "pyobjc_framework_IntentsUI-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1c52fa06e8d65a003e384afcc1322051f2fbbfeac2c91ab852b407c552fd5652"}, - {file = "pyobjc_framework_IntentsUI-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:c514ecef1277ff00c07f78f7890e3a6cbe3c8fe44184f2f6da1a7b4b32851605"}, - {file = "pyobjc_framework_IntentsUI-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:22c40c11d5de5a866a5db2b4ba57e9663e79180c323928709eced30c5c03ac81"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:23a606af7ea47bd899012b896e0b2d10c677f7facec80197ab45a3bcf899874b"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bd2fed37c96f1d97abcbd6d98b2da90ba2c744f968e2c4e0735dce77bbbc95f4"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:e9fe0ba78c9dd500ef9c13227dd1a60e39df460c84180d8325f5022edd80178b"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:6c124ceb8e7b7a1f3fb6c2c159e47f9dca42ece6e1645d763235660ea98e7915"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:bfed2841fc9099cad850e058e3dfa23845a0988e53666f5ffc82cd1b91bbe824"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:d6a802bc5ccb01a22c312f4dfaf88300a2edd4db2e2f7568b10d29176ae05edd"}, + {file = "pyobjc_framework_IntentsUI-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:3ae02ba54c689cd672bfc49c039d18cc5e9515d7d95608bcbb34357ae90fd9ff"}, + {file = "pyobjc_framework_intentsui-10.3.1.tar.gz", hash = "sha256:68f42cabbd36889060d07b21f156f1dae78243d42b34c652448c687d07cbca62"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Intents = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Intents = ">=10.3.1" [[package]] name = "pyobjc-framework-iobluetooth" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework IOBluetooth on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-IOBluetooth-10.2.tar.gz", hash = "sha256:8c4d6a82d0f550c84dce72188369adb9347ad6ee1c8adef996ee1a8c376c51ee"}, - {file = "pyobjc_framework_IOBluetooth-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:15e8a35431740d3e4ee484d4af01afef0b6b8aee2bdfe7b6dbe6cf7c7cc563fa"}, - {file = "pyobjc_framework_IOBluetooth-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:03ee5ecc3a2d2f6a0b4de9b36bc1c56f820624e8176abca0014c9ef3c86b0cd0"}, - {file = "pyobjc_framework_IOBluetooth-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b91c0b370047b386e9b333ba3c12ac121089fa94291c721e8b1ad6945b5763dd"}, + {file = "pyobjc_framework_IOBluetooth-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:cdd8bd3da07c6935657bbcf47e6fc6b3b7a2ed9bd7e8ef83bbbd5f4a0e8884f3"}, + {file = "pyobjc_framework_IOBluetooth-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:d5c7ca666050b63c5dd87ede54beebdba7fc12a60bd754d77155da9f7e60618c"}, + {file = "pyobjc_framework_IOBluetooth-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9f90d8ea40f770b41ad97e17e19ad10e49daa1684f750e681db42707dbec9768"}, + {file = "pyobjc_framework_IOBluetooth-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:17303009a3c1ac48eaaa2c3a96a114ef47adcb1fffbf965e7538447bb02adde1"}, + {file = "pyobjc_framework_iobluetooth-10.3.1.tar.gz", hash = "sha256:bca424889d7fdd5bcb728d312e91ee681e73c0c2ac16ba37068603d699043d39"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-iobluetoothui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework IOBluetoothUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-IOBluetoothUI-10.2.tar.gz", hash = "sha256:ed9f4cb62eeda769b3f530ce396fd332f82441c5d22b9cf7b58058670c262d10"}, - {file = "pyobjc_framework_IOBluetoothUI-10.2-py2.py3-none-any.whl", hash = "sha256:f833efa3b1636f7a6cf8b5b2d25fc566757c2c7c06ee7945023aeb992493d96e"}, + {file = "pyobjc_framework_IOBluetoothUI-10.3.1-py2.py3-none-any.whl", hash = "sha256:ae283c3fecbeb99adba9b3c3d5d06caaad741da726fc7a1dd50ecc0376e03ae8"}, + {file = "pyobjc_framework_iobluetoothui-10.3.1.tar.gz", hash = "sha256:6db82aeb360641b878f8ed73c2074db0425664d9411317b2e01962e0929fa29c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-IOBluetooth = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-IOBluetooth = ">=10.3.1" [[package]] name = "pyobjc-framework-iosurface" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework IOSurface on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-IOSurface-10.2.tar.gz", hash = "sha256:f1412c2f029aa1d60add57abefe63ea4116b990892ef7530ae27a974efafdb42"}, - {file = "pyobjc_framework_IOSurface-10.2-py2.py3-none-any.whl", hash = "sha256:b571335a2150e865828d3e52e2a742531499c88dd85215c14d07e68e9bed70a7"}, + {file = "pyobjc_framework_IOSurface-10.3.1-py2.py3-none-any.whl", hash = "sha256:4171a33a09ee006ad28ba29e6d12cee821e2c0ba09b4beddae8db16580fb9bc7"}, + {file = "pyobjc_framework_iosurface-10.3.1.tar.gz", hash = "sha256:94e4a109a94f0e365bd60ce68aab6ff166fef6f30a40f7682c76902f5fc3aa34"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-ituneslibrary" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework iTunesLibrary on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-iTunesLibrary-10.2.tar.gz", hash = "sha256:c60d1dc9eabb28b036b766b89ea7d18198e21deb8925fc5a5753777c905ecddf"}, - {file = "pyobjc_framework_iTunesLibrary-10.2-py2.py3-none-any.whl", hash = "sha256:4e6cf6073a902f77e0b0c33d2d52e3ab3f0c869cb339b7685b5e7f079df8ef4e"}, + {file = "pyobjc_framework_iTunesLibrary-10.3.1-py2.py3-none-any.whl", hash = "sha256:9485e986f6075d04e10c196e5dc36e4c3b60116a45849683a61c876e5fb45fde"}, + {file = "pyobjc_framework_ituneslibrary-10.3.1.tar.gz", hash = "sha256:3899f8555ae02f6441a711892cdc6537404215b3d5f8a7ea4594f7460c58c9b2"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-kernelmanagement" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework KernelManagement on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-KernelManagement-10.2.tar.gz", hash = "sha256:effd1d3230c8a3b8628e7fd315f0aac10fbf1ea99f2ed923999cb1ab787c317a"}, - {file = "pyobjc_framework_KernelManagement-10.2-py2.py3-none-any.whl", hash = "sha256:d8dca9dc1f756bfa894a32f56857ecefb4d188aec590433ee302529261dffb68"}, + {file = "pyobjc_framework_KernelManagement-10.3.1-py2.py3-none-any.whl", hash = "sha256:e07134bf3815370d3d9c37f9813edec12758f86fdbbbc67036ab72e8b767ddee"}, + {file = "pyobjc_framework_kernelmanagement-10.3.1.tar.gz", hash = "sha256:04c41bc0d0ce014318acf9e333aba302092d2698ec408cbf0b022f3a507ecfa1"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-latentsemanticmapping" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework LatentSemanticMapping on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-LatentSemanticMapping-10.2.tar.gz", hash = "sha256:eb3ddd5e04c39b0151a64bd356f7de3c66062257e3802e8abea7a882e972ff21"}, - {file = "pyobjc_framework_LatentSemanticMapping-10.2-py2.py3-none-any.whl", hash = "sha256:dadd4352b9af681dd85d04712a6cf1d2c574acbf0b8178c35f42231ec8c5a6d1"}, + {file = "pyobjc_framework_LatentSemanticMapping-10.3.1-py2.py3-none-any.whl", hash = "sha256:c80c709b983273c8f29e86a04c52e98e8e6b0e723a400f7d6036fcabfd850367"}, + {file = "pyobjc_framework_latentsemanticmapping-10.3.1.tar.gz", hash = "sha256:0bca94fd00f59f49874c8266bfacb09a7c56ad13b4d405c241421cef201f8943"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-launchservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework LaunchServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-LaunchServices-10.2.tar.gz", hash = "sha256:d9f78d702dea13a363de8a7c1c382e1ca872993980c164781cb2758ee49353d2"}, - {file = "pyobjc_framework_LaunchServices-10.2-py2.py3-none-any.whl", hash = "sha256:15b7c96e3059550c218ed5cb5de11dddc7aae21c67c0808b130a5d49b8f4cc0f"}, + {file = "pyobjc_framework_LaunchServices-10.3.1-py2.py3-none-any.whl", hash = "sha256:3ce840027b43c4bd95dc31aaa9b4bfff1d431e782669b4c95e2b12d386c05000"}, + {file = "pyobjc_framework_launchservices-10.3.1.tar.gz", hash = "sha256:7f16af2acabca0c2953eb7333bfe652bf853bb9d9e59b771f9d228468bccdea3"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-CoreServices = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-CoreServices = ">=10.3.1" [[package]] name = "pyobjc-framework-libdispatch" -version = "10.2" +version = "10.3.1" description = "Wrappers for libdispatch on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-libdispatch-10.2.tar.gz", hash = "sha256:ae17602efbe628fa0432bcf436ee8137d2239a70669faefad420cd527e3ad567"}, - {file = "pyobjc_framework_libdispatch-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:955d3e3e5ee74f6707ab06cc76ad3fae27e78c180dea13f1b85e2659f9135889"}, - {file = "pyobjc_framework_libdispatch-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:011736d708067d9b21a4722bae0ed776cbf84c8625fc81648de26228ca093f6b"}, - {file = "pyobjc_framework_libdispatch-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:28c2a2ab2b4d2930f7c7865ad96c1157ad50ac93c58ffff64d889f769917a280"}, - {file = "pyobjc_framework_libdispatch-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:6cb0879e1f6773ad0bbeb82d495ad0d76d8c24b196a314ac9a6eab8eed1736e0"}, - {file = "pyobjc_framework_libdispatch-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:aa921cd469a1c2e20d8ba9118989fe4e827cbb98e947fd11ae0392f36db3afcc"}, - {file = "pyobjc_framework_libdispatch-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:6f3d57d24f81878d1b5dcb00a13f85465ede5b91589394f4f1b9dcf312f3bd99"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:5543aea8acd53fb02bcf962b003a2a9c2bdacf28dc290c31a3d2de7543ef8392"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:3e0db3138aae333f0b87b42586bc016430a76638af169aab9cef6afee4e5f887"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:b209dbc9338cd87e053ede4d782b8c445bcc0b9a3d0365a6ffa1f9cd5143c301"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:a74e62314376dc2d34bc5d4a86cedaf5795786178ebccd0553c58e8fa73400a3"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8e8fb27ac86d48605eb2107ac408ed8de281751df81f5430fe66c8228d7626b8"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:0a7a19afef70c98b3b527fb2c9adb025444bcb50f65c8d7b949f1efb51bde577"}, + {file = "pyobjc_framework_libdispatch-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:109044cddecb3332cbb75f14819cd01b98aacfefe91204c776b491eccc58a112"}, + {file = "pyobjc_framework_libdispatch-10.3.1.tar.gz", hash = "sha256:f5c3475498cb32f54d75e21952670e4a32c8517fb2db2e90869f634edc942446"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-libxpc" -version = "10.2" +version = "10.3.1" description = "Wrappers for xpc on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-libxpc-10.2.tar.gz", hash = "sha256:04deac1f9dbd1c19c10d175846017f8e8e51d2b52a2674482638d6b289e883a6"}, - {file = "pyobjc_framework_libxpc-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b57089f792d51ad687c9933dd2d3669cd5e6f84d1f9213738ecc5833dba9aa8c"}, - {file = "pyobjc_framework_libxpc-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e31cb4f7fdb76defc53fe0b56c3f1db953c1dcf3519093835527f270c37315c3"}, - {file = "pyobjc_framework_libxpc-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:978cc2a9cc668e0c4aef13af81cec6129e7b98877b44c952232c0083a8fd352e"}, - {file = "pyobjc_framework_libxpc-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:5dd057a556398b48982fdae84f8e08ee9b69b6e5918b6782bd842ef9ad97820d"}, - {file = "pyobjc_framework_libxpc-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:df394dc08eab33430f565a2252906f27cd4f7c41fd431f75b4ae35d3a76f4eab"}, - {file = "pyobjc_framework_libxpc-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:5fd3608a32ebe65253c24b7590ad96977135aa847dd188e4c2168f0da9e74e47"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:9e287591a708f96e4e3d1929425a50c4e83188eb8bf3094b688de149946ac752"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e0afba29b6bf5c3de3ef51f60e06c026ab7be7ce44600047dece5d3bf4e758af"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:123b72dff148a56d48120448bd9742190326f87661f4ae6f5363e112de0e554f"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:72a35a21f4bbbfb4a5c4c23e3180c3273b7720fe4cd150b975cb5d08cbc4fe13"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d14f6fa976df50de90affa41b4dc2381554fe1e8503564f54cd71a8c6cc4b0eb"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:0d8a5d29952db92d9d7112c642ba7cdc9d8496118ec14e8186f93353b092a818"}, + {file = "pyobjc_framework_libxpc-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:f4232996766f4c21f80da51344296651f40ec8fc14f353fca0bc75af718ee950"}, + {file = "pyobjc_framework_libxpc-10.3.1.tar.gz", hash = "sha256:b3c9e9fd281b5610e3bef486e91570b0afa8ab8eb0c01c0baa5e2ec49ccb7329"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-linkpresentation" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework LinkPresentation on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-LinkPresentation-10.2.tar.gz", hash = "sha256:4ccae5f593b58dfe9cb422645e0ccf5adab906ec008d3e20eb710cd62bbb4717"}, - {file = "pyobjc_framework_LinkPresentation-10.2-py2.py3-none-any.whl", hash = "sha256:1cada96d3eb03e51e1bbb7e7c10b9c08c80fd098132541b4e992234fe43cfa37"}, + {file = "pyobjc_framework_LinkPresentation-10.3.1-py2.py3-none-any.whl", hash = "sha256:e49ac094eb3a60a87f37edc24657feb051614a4d4464ad2580831288ead521f9"}, + {file = "pyobjc_framework_linkpresentation-10.3.1.tar.gz", hash = "sha256:535d452cc33d61074ba9bad7707d6c0a23d474fb045ed4322e5f87bfb0b7e865"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-localauthentication" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework LocalAuthentication on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-LocalAuthentication-10.2.tar.gz", hash = "sha256:26e899e8b4a90632958eb323abbc06d7b55c64d894d4530a9cc92d49dc115a7e"}, - {file = "pyobjc_framework_LocalAuthentication-10.2-py2.py3-none-any.whl", hash = "sha256:442f6cae70300f29c9133ed7f2e01c294976b9aae55fe180c64983d5dee62254"}, + {file = "pyobjc_framework_LocalAuthentication-10.3.1-py2.py3-none-any.whl", hash = "sha256:565910d7d2075cd53c6d4ffdbb15d9b93267f1b1ba4c502d354778865d0dc2ec"}, + {file = "pyobjc_framework_localauthentication-10.3.1.tar.gz", hash = "sha256:ad85411f1899a2ba89349df6a92db99fcaa80a4232a4934a1a176c60698d46b1"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Security = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Security = ">=10.3.1" [[package]] name = "pyobjc-framework-localauthenticationembeddedui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework LocalAuthenticationEmbeddedUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-LocalAuthenticationEmbeddedUI-10.2.tar.gz", hash = "sha256:52acdef34ea38d1381a95de15b19c9543a607aeff11db603371d0224917a8830"}, - {file = "pyobjc_framework_LocalAuthenticationEmbeddedUI-10.2-py2.py3-none-any.whl", hash = "sha256:eafbbc321082ff012cdb14e38abae7ced94c6d962cb64af43d6d515da976e175"}, + {file = "pyobjc_framework_LocalAuthenticationEmbeddedUI-10.3.1-py2.py3-none-any.whl", hash = "sha256:d69ef723f4525e6476e51bd166d56e97c9274500f98aa209a659e7567793dc01"}, + {file = "pyobjc_framework_localauthenticationembeddedui-10.3.1.tar.gz", hash = "sha256:f915190f6106b9f9234750abf48f87445c364ccbca8f8dd565bba1b66ddd55a3"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-LocalAuthentication = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-LocalAuthentication = ">=10.3.1" [[package]] name = "pyobjc-framework-mailkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MailKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MailKit-10.2.tar.gz", hash = "sha256:8d8fceff5498df0cfa630b7088814f8daa8a25794a36d4b57cfde8c2c14cdc70"}, - {file = "pyobjc_framework_MailKit-10.2-py2.py3-none-any.whl", hash = "sha256:d8bc9e6649e7e500d2d4d4ab288304846d9bfa06952ebeee621fe095dc2f51eb"}, + {file = "pyobjc_framework_MailKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:7c403525e01bed0888946552e512ca4d1b018c3f6ef3d293fff85b90dc02a411"}, + {file = "pyobjc_framework_mailkit-10.3.1.tar.gz", hash = "sha256:90ad82786ae01a275aeec842e73b1fef12d9f91a67edcde8ff6a145859dc9f92"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-mapkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MapKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MapKit-10.2.tar.gz", hash = "sha256:35dfe7aa5ec9e51abc47d6ceb0f83d3c2b5876258591a568e85e2db8218427c4"}, - {file = "pyobjc_framework_MapKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ce322299b04eef212706185764771041a1220f7a611606e33f95ac355d913238"}, - {file = "pyobjc_framework_MapKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:339a8c8181047fc9eb612eb47c51f017423a6b074e2a4838cd6b06e36af6c160"}, - {file = "pyobjc_framework_MapKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:85a110693198798234d3edbd3b606d9d9c9b4817e4ed70d2b2e18357422783c6"}, + {file = "pyobjc_framework_MapKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:cfee94ad82e673eaebc3159732b5cff1fc4f7e3bee6f17cc4fabd641c260b769"}, + {file = "pyobjc_framework_MapKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:dd65d6eff1397afc0b2108b0e9387a6c2390b1387731a8e0dd8298b8d0641635"}, + {file = "pyobjc_framework_MapKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ffadc4968c3d815dd8ffc2867e962546a8681620c704888dfe1e7aa718cb3d90"}, + {file = "pyobjc_framework_MapKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f14f90bcb68baee70a838b3cecb9d909da43175da49cbe90dd6cca57c37a6ae5"}, + {file = "pyobjc_framework_mapkit-10.3.1.tar.gz", hash = "sha256:f433228c404b9ef4a66e808995daccc1306f7123296317651078a6a734ac1ab0"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreLocation = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreLocation = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-mediaaccessibility" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MediaAccessibility on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MediaAccessibility-10.2.tar.gz", hash = "sha256:acce0baf11270c9276a219f5a0dfb6d8241e01ac775144bfe3a83e088dcd1308"}, - {file = "pyobjc_framework_MediaAccessibility-10.2-py2.py3-none-any.whl", hash = "sha256:55dbf7519028fadf3ac6cb1ef185156f6df649655075a015cf87cee370255e82"}, + {file = "pyobjc_framework_MediaAccessibility-10.3.1-py2.py3-none-any.whl", hash = "sha256:c4304ea53c7e85320b58d773cce2288f62dcb5b9c5a295be1ecfaa6645a9fea6"}, + {file = "pyobjc_framework_mediaaccessibility-10.3.1.tar.gz", hash = "sha256:c249e1eee636e77b5f00db3bf85174cb3e0cb53ca991a17e53a1f200377f4289"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-medialibrary" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MediaLibrary on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MediaLibrary-10.2.tar.gz", hash = "sha256:b3e1bd3e70f0013bbaccd0b43727a0f16ecf23f7d708ca81b8474faaa1f8e8fc"}, - {file = "pyobjc_framework_MediaLibrary-10.2-py2.py3-none-any.whl", hash = "sha256:98b9687f1399365889529c337d99d7f19edf3a94beb05884cf15a29f4fc178af"}, + {file = "pyobjc_framework_MediaLibrary-10.3.1-py2.py3-none-any.whl", hash = "sha256:25f16d610e3ea5d983175a6c07351596bd5dd2fcca194f1eac5686c670bbdb3b"}, + {file = "pyobjc_framework_medialibrary-10.3.1.tar.gz", hash = "sha256:703ffd0904fc86d4fbfbbd4952be43e91a6d477c53ce2868e4c18c3eb295f5c6"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-mediaplayer" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MediaPlayer on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MediaPlayer-10.2.tar.gz", hash = "sha256:4b6d296b084e01fb6e5c782b7b6308077db09f4051f50b0a6c3298ffbd1f1d70"}, - {file = "pyobjc_framework_MediaPlayer-10.2-py2.py3-none-any.whl", hash = "sha256:c501ea19380bfbf6b04fbe909fcfe9a78c5ff2a9b58dae87be259066b1ae3521"}, + {file = "pyobjc_framework_MediaPlayer-10.3.1-py2.py3-none-any.whl", hash = "sha256:5b428cc28e57c1778bd431156c3adb948650f7503f266689559d0ece94b34e8a"}, + {file = "pyobjc_framework_mediaplayer-10.3.1.tar.gz", hash = "sha256:97043df5ef89d4fbe217813e8f4ee1e226d8a43dee4eac00fff95e6b8a7772be"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-AVFoundation = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-AVFoundation = ">=10.3.1" [[package]] name = "pyobjc-framework-mediatoolbox" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MediaToolbox on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MediaToolbox-10.2.tar.gz", hash = "sha256:614ec0a28c810395274aa1d5348a447f67bae4629a3a8372d14162f38e2fc597"}, - {file = "pyobjc_framework_MediaToolbox-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ca7443bca94dfd9863d5290d2680247b7d577cf031dcfc854c414e5fdd9cdb03"}, - {file = "pyobjc_framework_MediaToolbox-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c34dca15560507286eb9ef045d6234ac1db1e50f22c63397662155a7f01ea9ac"}, - {file = "pyobjc_framework_MediaToolbox-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:696d6cadbb643f98750f5a791663ca264f0a0f4db2aeec7c8cf59c02face1683"}, + {file = "pyobjc_framework_MediaToolbox-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:d4ef616e233c40fcac99298ee4ab95a9b6439cffe28e96ce07b66c00f598bd30"}, + {file = "pyobjc_framework_MediaToolbox-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:a8acfa377b593b043e8c9ff1aa6cbbde92b7feaea60578ea2d0b61ac3edd15dc"}, + {file = "pyobjc_framework_MediaToolbox-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:f989f07304dae82b1307e179f185a80b66ed36b0dd15d1b3bf6ec8092b766100"}, + {file = "pyobjc_framework_MediaToolbox-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:4114fb3749dacf6dd83113823b846e77671c0e8b1209ca6e4402f09e6727c185"}, + {file = "pyobjc_framework_mediatoolbox-10.3.1.tar.gz", hash = "sha256:f141056dce0dc16ec21be596fea58acb4a668045f53e12a0f250990d936b44f2"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-metal" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Metal on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Metal-10.2.tar.gz", hash = "sha256:652050cf9f5627dba36b31ad134e56c49040d0dcfaf93a7026018ef17330a01e"}, - {file = "pyobjc_framework_Metal-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c68e4025c52e8c8b0fa584abeb058debe49ac3174e8c421408bf873e5951fd02"}, - {file = "pyobjc_framework_Metal-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:49f333f41556f08e28750bb4e09a7053ac55434f4a29a3e228ed4fd9bae8f57d"}, - {file = "pyobjc_framework_Metal-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:0cb39a4f4a70f45f88f79c3641b00b6db0c9b9ed90bee21840a725a8d7c7eaca"}, + {file = "pyobjc_framework_Metal-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4a42f3aa47eb5e0d3f29bf07f239c2ba33725701546ea6d3c5d019133e0fbce1"}, + {file = "pyobjc_framework_Metal-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:cc33d05e376d3a2f42da24b397f6353d9cb8e5990c79c9255a82637b7b8f256c"}, + {file = "pyobjc_framework_Metal-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:22762ba170d0fc4538dd7f582da1fd7673160e369eca74efe3d6d35bfdd50522"}, + {file = "pyobjc_framework_Metal-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:7fef3ebfd6cfbd7cbfe45aaa86dd32034303d933871d8450f4c990dbdefda176"}, + {file = "pyobjc_framework_metal-10.3.1.tar.gz", hash = "sha256:495307db0bfd2063f28b7c8fa350af71afcfbf5f5f2186a6a751b4cb2ef46a1a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-metalfx" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MetalFX on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MetalFX-10.2.tar.gz", hash = "sha256:d98a0fd1f0d2d3ea54efa768e6817a8773566c820ae7a3a23497e1c492e11da7"}, - {file = "pyobjc_framework_MetalFX-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:e7f1b50316db47ffb1e9505726dfe5bf552f32188d21b6ef979078fec9f58077"}, - {file = "pyobjc_framework_MetalFX-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:526687ac36b71b9822613bf552bff99930ee2620414b0b932f5e0d327d62809e"}, - {file = "pyobjc_framework_MetalFX-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:a8c78a8f9c3ee59cb5ba96e4db56c3ab8cc78860f9d42ca5732168d8691cb17b"}, + {file = "pyobjc_framework_MetalFX-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:ea4bed69e6a9ab4cd4fa6160554cb7df72316e849a34b839bf8d9c69ab445b24"}, + {file = "pyobjc_framework_MetalFX-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f3ecae357688a4730191d57ffbc3db6abb950b756e8b98f23689d4bf08f34c20"}, + {file = "pyobjc_framework_MetalFX-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:0179ce8ac828b6d6e2542d2d4f68850290eb3f16112205a758419225dd51b448"}, + {file = "pyobjc_framework_MetalFX-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b3ae624f7e0a5c60b856889753af560b7cbd1a5f47db01f120a668e429afd1c9"}, + {file = "pyobjc_framework_metalfx-10.3.1.tar.gz", hash = "sha256:3ea0f259397523a84a320b3925dcaaa5c039494accc3cb412b63e6f7f66f9513"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Metal = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Metal = ">=10.3.1" [[package]] name = "pyobjc-framework-metalkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MetalKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MetalKit-10.2.tar.gz", hash = "sha256:42fc61371d49c2b86828d2a668b7badb2418c0ecce7595fce790830607bd8040"}, - {file = "pyobjc_framework_MetalKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:abcdabdad3d9810730c67f493b70139254f7438ebba0149b5dcd848384a08a85"}, - {file = "pyobjc_framework_MetalKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:7990b05194919d187a6af8be7fe51007ab666cfdb3512b6fb022da9049d9957d"}, - {file = "pyobjc_framework_MetalKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:c26c2e2965ae6547edecbc8e250117401c26f62f9a55e351eca42f2e557721e7"}, + {file = "pyobjc_framework_MetalKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:c198c61d967812837538a793b1ff862bbd868d954abcd6ee558662c45c4dbf12"}, + {file = "pyobjc_framework_MetalKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:7c0155d731766be52cf18de6ad61339c16217bde330e17ef50808366856c1b85"}, + {file = "pyobjc_framework_MetalKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:48ae5e7c81c97e231c52036c8e2acb22bb59feaf0cb13f7678c87b16d9faaf9f"}, + {file = "pyobjc_framework_MetalKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:de632a7cdca1a0a13097a363dd441b9550ad91de6da6c88952c77acfd4b3a100"}, + {file = "pyobjc_framework_metalkit-10.3.1.tar.gz", hash = "sha256:905eaad9dce29082efd5cc56195337d2e8bff86ccfad36ec5127f818155ec038"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Metal = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Metal = ">=10.3.1" [[package]] name = "pyobjc-framework-metalperformanceshaders" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MetalPerformanceShaders on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MetalPerformanceShaders-10.2.tar.gz", hash = "sha256:66e6f671279b1f7edbaed1bea8ab1eb57f617e000c1e871c190b60ad60c1d727"}, - {file = "pyobjc_framework_MetalPerformanceShaders-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:a65c201921fffb992955aa143ffcb36be3e7c5aee86334941d3214428f0c7ad8"}, - {file = "pyobjc_framework_MetalPerformanceShaders-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9fd437d0b1a83a3bdc866727ba17a00b49ee239205b2d14b617f5ca4f566c4f7"}, - {file = "pyobjc_framework_MetalPerformanceShaders-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:0f862a65ffc0159e6b9ad46115b8d7ecbce5f56fe920c709b943982d4a70d63c"}, + {file = "pyobjc_framework_MetalPerformanceShaders-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:a6f72fd528033ff0b176e909394edfc34f90b711fc6dcb225ba41b042929b71a"}, + {file = "pyobjc_framework_MetalPerformanceShaders-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:59c971d79c0d02a451571cd0122296aba05b46d7eecedea75ed8ce892d1119a1"}, + {file = "pyobjc_framework_MetalPerformanceShaders-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:969bc8caea30d71f963fb763c8d837f36d403e47c1ff6ed449ceb09783322944"}, + {file = "pyobjc_framework_MetalPerformanceShaders-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b02da6a5dc9088cadf38dce21aa39027bc668493876d3af684b91f039f123df2"}, + {file = "pyobjc_framework_metalperformanceshaders-10.3.1.tar.gz", hash = "sha256:1a9e91dc9e748834c95b7a596b943203761f6533352631c7abe612f804b23d50"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Metal = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Metal = ">=10.3.1" [[package]] name = "pyobjc-framework-metalperformanceshadersgraph" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MetalPerformanceShadersGraph on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MetalPerformanceShadersGraph-10.2.tar.gz", hash = "sha256:4fffad1c37e700fc38b2ca8eb006d7532b3b5cb700580ce7dfd31af35e0fb6e8"}, - {file = "pyobjc_framework_MetalPerformanceShadersGraph-10.2-py2.py3-none-any.whl", hash = "sha256:7fedd831f9fc58708f6b01888abd42a2f08151c86db47280fe47be0f709811bf"}, + {file = "pyobjc_framework_MetalPerformanceShadersGraph-10.3.1-py2.py3-none-any.whl", hash = "sha256:a0288c53a024bc47348da2ccd8dc980d389dacc9d1d33b3412614e88732dc424"}, + {file = "pyobjc_framework_metalperformanceshadersgraph-10.3.1.tar.gz", hash = "sha256:4bf2045036f97dcaabbf16ee8527f1787c7e9366611b9b9ed4bfabc81c19343f"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-MetalPerformanceShaders = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-MetalPerformanceShaders = ">=10.3.1" [[package]] name = "pyobjc-framework-metrickit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MetricKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MetricKit-10.2.tar.gz", hash = "sha256:14cb02fd8fc338f6f15df5fd14c95419871b768cc8f5f71b1e0e99fde46b4712"}, - {file = "pyobjc_framework_MetricKit-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:585a494a5126c5481afc34ac5bfdc28a1a2b7044d8b0e3427fbd5313e72c59fb"}, - {file = "pyobjc_framework_MetricKit-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2b330ccffa45f4ccf2fc23c73112bf3b652515eb025fddeb3e2c81ca25f1a168"}, - {file = "pyobjc_framework_MetricKit-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:fc336ff6db376bff4cab0bd7db962aae1ff11f4584026cd5c4d3f66283018ce7"}, - {file = "pyobjc_framework_MetricKit-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:e9d1403302d753686b49aa0d6fc0a4c05e6ead18aa1b9de9668322fd0e81c51f"}, - {file = "pyobjc_framework_MetricKit-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:82b01a838203000c262f9f52420b1387850505f0a7b742b29a73cc8c6a9e0c25"}, - {file = "pyobjc_framework_MetricKit-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:79971789bff04540200bd443ec3c6ae13f83eea827d2dab0f33bc9c6e6af9ab0"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:ad28bb10e452b33af285137fb89f573294759571fa02d66201b78304add91513"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:59b6959d6f79f71080d386ad08665c19e52d0cc57943716da180bbb3369c9569"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:f73d240b5e8f2351d6c2258b71a6d06b45ec964523f54acf05af50dc4ffac821"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:58dbfc7b9ae7701a59b9b2a5a5f874a9e393f10b27f39155714d1b49ea725226"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f462b68c22632f952d52b7c858d03727315107bb22c0a2152994baec1350534b"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:321ea41e7dcfb142f6ef91916cdfb5296a9888571f7c1ccd8799e51b1fc4a6c5"}, + {file = "pyobjc_framework_MetricKit-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:3460fad9a31f6331884775905bb55d38db621b2f3613f44fd037777eb304d787"}, + {file = "pyobjc_framework_metrickit-10.3.1.tar.gz", hash = "sha256:f0b96fe9da0e26759f38d9e4cdf7d9c8be9c6ba35403bc8e675183a6f81dd0b3"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-mlcompute" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MLCompute on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MLCompute-10.2.tar.gz", hash = "sha256:6f5bff2317b2ae45c092a94a05e7831d0dc7a002fc68b03648abbac5a2ce33a3"}, - {file = "pyobjc_framework_MLCompute-10.2-py2.py3-none-any.whl", hash = "sha256:a191abf1c6aef061b4eab1aa8d4cf886fd6c98e53f6fedcd738ddd904571b933"}, + {file = "pyobjc_framework_MLCompute-10.3.1-py2.py3-none-any.whl", hash = "sha256:e5f8d98ee43fc795f44dab322299cf8957d7e6acb54139cecebfc7f4b2562b6c"}, + {file = "pyobjc_framework_mlcompute-10.3.1.tar.gz", hash = "sha256:9ac94b0a9511fedceacda846865daa05358eec5a4bf62be534b69eb4d7aced9b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-modelio" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ModelIO on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ModelIO-10.2.tar.gz", hash = "sha256:8ae1444375260a346d1c77838f84e2c04dfabaf2769b2970a3588becb670431e"}, - {file = "pyobjc_framework_ModelIO-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:6d226b059a4c99669ec3dc03c1dde9b0daeba392a198cdb36398394396512a26"}, - {file = "pyobjc_framework_ModelIO-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c2fff57596d54b95507a1c180a6df877e28e561e5e71941619d70ac67d5bec4d"}, - {file = "pyobjc_framework_ModelIO-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:e6b119d66cefde55ce63e406c4fd12d626fb017ee88d9e01fdd25434f6ddc831"}, + {file = "pyobjc_framework_ModelIO-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:e841be15f1847ffe1d30e0efdbc57d3c6f1a2db7553946bc15dde0d8f57b620d"}, + {file = "pyobjc_framework_ModelIO-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:53d4cc794e0dbc94e622ed164556f82db723f9c3b2d9dbf72bdf44468eb4efa5"}, + {file = "pyobjc_framework_ModelIO-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:856e8d63c10238f4b23d30b9fb903d64b9f2b44e4f30f30a28bfc665e1adc5ac"}, + {file = "pyobjc_framework_ModelIO-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b59069c79c0865334e0036b1938e009addf035bfec36f7d4d871037c14c7accd"}, + {file = "pyobjc_framework_modelio-10.3.1.tar.gz", hash = "sha256:b1da37d10c38c63006d5173b49d18891b2db2c9acdbb6dbd21c73f17c0ccab7e"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-multipeerconnectivity" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework MultipeerConnectivity on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-MultipeerConnectivity-10.2.tar.gz", hash = "sha256:e3c1e5f39715621786f4ad5ecffa2cc9445a218e5ab3e94295c16fbcb754ee5a"}, - {file = "pyobjc_framework_MultipeerConnectivity-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ce68b7b5030e95e78bc94e898adb09f1e3f30c738e7140101146c52c64ff5493"}, - {file = "pyobjc_framework_MultipeerConnectivity-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:f158aaaabcfd0d1e6d77585ec24797dbedf6bde640675b26dcfb4e2093d3a0ce"}, - {file = "pyobjc_framework_MultipeerConnectivity-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:0e02f9ecdbf2c4aacd5ab8cd019415584bed7fa1656d525c8f841466d6e58993"}, + {file = "pyobjc_framework_MultipeerConnectivity-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:1c0b65734f1e9b907c6198b035ad47c49819711c49694fe73cdf475be37db82e"}, + {file = "pyobjc_framework_MultipeerConnectivity-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f0e466da15a3daf2c140be66da99ac0526b584fbd6dc08ed82e542e706964449"}, + {file = "pyobjc_framework_MultipeerConnectivity-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5538caad124908481ee43755d439898f9d7eb0f200856ba246c730ca5fd77e15"}, + {file = "pyobjc_framework_MultipeerConnectivity-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:5350d13115b252bf6fa374dba1ef13ffd746b15b16f45d1b77b9231aebdf5b57"}, + {file = "pyobjc_framework_multipeerconnectivity-10.3.1.tar.gz", hash = "sha256:eb801d44194eb7eafcb0a21094c4ce78bcf41ed727125b048755838b59de3271"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-naturallanguage" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework NaturalLanguage on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-NaturalLanguage-10.2.tar.gz", hash = "sha256:eba7de67bea4a6a071e04e79c8a4de0547c25a09635fe3d4ee6cd58fb6aeaf65"}, - {file = "pyobjc_framework_NaturalLanguage-10.2-py2.py3-none-any.whl", hash = "sha256:0165735973a720f09bd5a2333f32e16aac52332fb595425480d7a2215472d4fb"}, + {file = "pyobjc_framework_NaturalLanguage-10.3.1-py2.py3-none-any.whl", hash = "sha256:d0e47fad66bb74fa68b50093500f5cb49d8a772b522f8c92e725f2e65942dd9c"}, + {file = "pyobjc_framework_naturallanguage-10.3.1.tar.gz", hash = "sha256:49f19d0dba34802696a270d690db310ff03f1c85d6fb411734cb13667db90dd9"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-netfs" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework NetFS on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-NetFS-10.2.tar.gz", hash = "sha256:05de46b15d19abecbb9e7d04745ca27dba9ec121f16ea7bafc9dc87a12c0e828"}, - {file = "pyobjc_framework_NetFS-10.2-py2.py3-none-any.whl", hash = "sha256:e7a84497be6114ea2e47776efda640d9d8becaaa07214d712a204b5d446e3d95"}, + {file = "pyobjc_framework_NetFS-10.3.1-py2.py3-none-any.whl", hash = "sha256:84faa7325c4ecc2f4ad199d8c52cebcb520ad2e7713f356c7a5a849839398d77"}, + {file = "pyobjc_framework_netfs-10.3.1.tar.gz", hash = "sha256:46466917f7b0aca3772bf4dfd586b583992c60ecd71c39f7d28ff7665d057637"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-network" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Network on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Network-10.2.tar.gz", hash = "sha256:b39bc26f89cf9fc56cc9c4a99099aef68c388d45b62dc1ec16772ee290b225d4"}, - {file = "pyobjc_framework_Network-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4f465400cd4402b7495a27de4c9099bcc127afa4d1cb587f75b987750c0ea032"}, - {file = "pyobjc_framework_Network-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:39966aa35d17b00973fa85e334b6360311cfd1a097d26d79b5957bc7cd7fad4a"}, - {file = "pyobjc_framework_Network-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:5542660d0c7183dc4599bd20763ed3b59772cf17211ca3720a4175f886a8eada"}, + {file = "pyobjc_framework_Network-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:56df88c10b948b3b09dd6d0e9061da33683e294d0450efd9076354f41e214f58"}, + {file = "pyobjc_framework_Network-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:0336fc0b80a2481d3a032b94e7dfddbb8d0f1ec10e36e80ad424a028b00679ac"}, + {file = "pyobjc_framework_Network-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1e2cbc4d209b6789d8a3bd85cfe472bae50ca2d54355beb25b8336ed65d846e0"}, + {file = "pyobjc_framework_Network-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:c665f3dcfb1375835dd0c6ce10079f22be73f92213fc3d48b176d9c67fc221a9"}, + {file = "pyobjc_framework_network-10.3.1.tar.gz", hash = "sha256:87a5839d4ab2ae452b4e563bd7a00569557ede4b8cd1eb77c973cdf45fb8f5ab"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-networkextension" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework NetworkExtension on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-NetworkExtension-10.2.tar.gz", hash = "sha256:14f237bd96a822c55374584e99f2d79581b2d60570f34e4863800f934a44b82d"}, - {file = "pyobjc_framework_NetworkExtension-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:280dc76901628b2c9750766bb2424a29de3f1f49b41e5f29634701cfe0ab0524"}, - {file = "pyobjc_framework_NetworkExtension-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ce6cfdff6f65f512137ee382ba04ee2b52e0fb51deacb651e385daf5349d28b7"}, - {file = "pyobjc_framework_NetworkExtension-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ed2cf32a802ec872466c743013ce9ef17757e89e21a49cbeeeffddfaefb89fc4"}, + {file = "pyobjc_framework_NetworkExtension-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:baacdb4ad595d5c5ce9660e10ea476fab9bfd1a1def2357eae7918f5019bb8c0"}, + {file = "pyobjc_framework_NetworkExtension-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:c1efc35dc4ddced3f0e5400e8ae9b28b7585f0cf5701023dd957f3cbd58d361f"}, + {file = "pyobjc_framework_NetworkExtension-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:aeba32d9b9809bb1296d85da00f0c221daf54b25fd864dc9bf03a7007f5ad601"}, + {file = "pyobjc_framework_NetworkExtension-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:1c8ef5fce8846fb3bf459bedf7a31ff0428a9c3184c8b26ced8e322c956e8ec0"}, + {file = "pyobjc_framework_networkextension-10.3.1.tar.gz", hash = "sha256:c5a094862061565ca6d37457db42f55f344ec24dd7604ddf5d72e20ae7f63fdd"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-notificationcenter" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework NotificationCenter on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-NotificationCenter-10.2.tar.gz", hash = "sha256:3771c7a8b8e839d07c7cb51eef2e83666254bdd88bd873b0ba7e385245cda684"}, - {file = "pyobjc_framework_NotificationCenter-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f982ce1d0916f9ba3322ebbffd9b936b5b9aeb6d8ec21bd2c3c5245c467c1a12"}, - {file = "pyobjc_framework_NotificationCenter-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:dd1d8364d2212a671b2224ab6bf7785ba5b2aae46610ec46ae35d27c4d55cb15"}, - {file = "pyobjc_framework_NotificationCenter-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:1e8aaaef40b6c0deaffd979b3741d1f9de7d804995b7b92fa88ba7839615230e"}, + {file = "pyobjc_framework_NotificationCenter-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:2818922c2c3f45721515733b452d20a507368a87b793fa976c21945773582abc"}, + {file = "pyobjc_framework_NotificationCenter-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:e08264759b84a21631e143afce1696920207d418be7f8853dbde18dbc7881667"}, + {file = "pyobjc_framework_NotificationCenter-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1560edad4e9fe01cbf3a70bb6e2668985e13903497d3fdc92276d6cecf9e4742"}, + {file = "pyobjc_framework_NotificationCenter-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:992ea7c86d0330cf10113b829525d74a95d97d0d7245e4e277f75ecbb37b596e"}, + {file = "pyobjc_framework_notificationcenter-10.3.1.tar.gz", hash = "sha256:3e6efe0fe6389601bb87086f5585fa7e74b2143236b7d5afd02b617a73656419"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-opendirectory" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework OpenDirectory on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-OpenDirectory-10.2.tar.gz", hash = "sha256:ecca3346275e1ee7be812e428da7f243e37258d8152708a2baa246001b7f5996"}, - {file = "pyobjc_framework_OpenDirectory-10.2-py2.py3-none-any.whl", hash = "sha256:7996985a746f4cceee72233eb5671983e9ee9c9bce3fa9c2fd03d65e766a4efd"}, + {file = "pyobjc_framework_OpenDirectory-10.3.1-py2.py3-none-any.whl", hash = "sha256:7e787e65409aad082faed2ed0c2cd52cccea61702d9c83b6acdcac3fa50a562f"}, + {file = "pyobjc_framework_opendirectory-10.3.1.tar.gz", hash = "sha256:cddc25632eebeb6bf0d886ae0fc919d574e458c597691226ba15bbf134ab51a6"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-osakit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework OSAKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-OSAKit-10.2.tar.gz", hash = "sha256:6efba4a1733e9ab0bf0e7b4f2eb3e0c84b2a4af1b0b4bbc3a310ae041ccaf92d"}, - {file = "pyobjc_framework_OSAKit-10.2-py2.py3-none-any.whl", hash = "sha256:fbad23e47e31d795a005c18a20d84bff68d90d6dd0f87b6a343e46f87c00034a"}, + {file = "pyobjc_framework_OSAKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:aaa60e6f455febe45f9be6487c59f11450de81bd7f49a6e4db576a38bcaf1c68"}, + {file = "pyobjc_framework_osakit-10.3.1.tar.gz", hash = "sha256:0af326b831fa29fca11ffe2b641807ad3c233be9eb403e62328fa784528da4ab"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-oslog" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework OSLog on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-OSLog-10.2.tar.gz", hash = "sha256:2377637a0de7dd60f610caab4bcd7efa165d23dba4ac896fd542f1fab2fc588a"}, - {file = "pyobjc_framework_OSLog-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ef1ddc15f98243be9b03f4f4bcb839318333fb135842085ba40499a58c8bd342"}, - {file = "pyobjc_framework_OSLog-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:7958957503310ec8df90a0a036ae8a075b90610c0b797769ad117bf635b0caa6"}, - {file = "pyobjc_framework_OSLog-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:67796f02b77c1cc893b3f112f88c58714b1e16a38b59bc52748c25798db71c29"}, + {file = "pyobjc_framework_OSLog-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:4799619f9ae12287923e2bc39fc021c75ea4e8bcb0e8ff44201f1018d017db98"}, + {file = "pyobjc_framework_OSLog-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:7ff719367249c09318a87df47ef8e1c8d18ab5f4b9e94862e7ca9c8fad21ed9a"}, + {file = "pyobjc_framework_OSLog-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5ae0848bf6de69c95802f11bb4aff5c2edac5c5e6179b9a06a0e4fe05ed48b53"}, + {file = "pyobjc_framework_OSLog-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:cded4c706fcf3fd78ef257ab096f4f8cefc70cca81553d2fae88841aaf5d620d"}, + {file = "pyobjc_framework_oslog-10.3.1.tar.gz", hash = "sha256:592c3e50cf824c2c07779771aa0065de2dbb4c615de43e8949b39d19ba04d744"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreMedia = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreMedia = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-passkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PassKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PassKit-10.2.tar.gz", hash = "sha256:0c879d632f0f0bf586161a7abbbba3dad9ba9894a3edbce06f4160491c2c134c"}, - {file = "pyobjc_framework_PassKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:15891c8c1e23081961d652946d4750fd3cd1308efc953a1c77713394726798a6"}, - {file = "pyobjc_framework_PassKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:d68061729743be30c66f7eb3cb649850ef12a24b1d1896233036a390e7d69aa7"}, - {file = "pyobjc_framework_PassKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:7290369b34be3317463a32c9e78a0ed734db4793414851a9e73295413cf17317"}, + {file = "pyobjc_framework_PassKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:ce09205aae4e15d3639d76a558c072ae106e8c7dafe9a451c5e27967498b74cd"}, + {file = "pyobjc_framework_PassKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:79ff6fa8ad4c0f9b4a992122b22e2b2b4200534221eb1bfe86bf473fb3c7ca23"}, + {file = "pyobjc_framework_PassKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:bbb71ac6fc51da06d0fd6cb4d83eb79b704c2bab694a93899d3f83c753c9740b"}, + {file = "pyobjc_framework_PassKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d41409ee24eee2318023c3ba23218db152fc262ebcbea9021dc533fe80a73f32"}, + {file = "pyobjc_framework_passkit-10.3.1.tar.gz", hash = "sha256:4c3eea19c1ae3edf6e7858ab815bcd8ecf517a146928ce6a843910729372f010"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-pencilkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PencilKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PencilKit-10.2.tar.gz", hash = "sha256:2338ea384b9a9e67a7f34c300a898ccb997bcff9a2a27e5f9bf7642760c016a0"}, - {file = "pyobjc_framework_PencilKit-10.2-py2.py3-none-any.whl", hash = "sha256:d3e605f104548f26c708957ab7939a64147c422c35d45c4ff4c8d01b5c248c4d"}, + {file = "pyobjc_framework_PencilKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:dc05376fbc5887391ff4e778b6f4b2fa20264aac58cd5fe5f47e4930186c1674"}, + {file = "pyobjc_framework_pencilkit-10.3.1.tar.gz", hash = "sha256:4dfd8e0179be5ecf67b768317a88d86d93df1c8674d422afa14957cf80e6e01f"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-phase" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PHASE on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PHASE-10.2.tar.gz", hash = "sha256:047ba5b7a869ed93c3c7af2cf7e3ffc83299038275d47c8229e7c09006785402"}, - {file = "pyobjc_framework_PHASE-10.2-py2.py3-none-any.whl", hash = "sha256:f29cd40e5be860758d8444e761d43f313915e2750b8b03b8a080dd86260f6f91"}, + {file = "pyobjc_framework_PHASE-10.3.1-py2.py3-none-any.whl", hash = "sha256:eec5a38983d65a4cf022dd01dc6f290ec163399e79592203443b4115ea3c8510"}, + {file = "pyobjc_framework_phase-10.3.1.tar.gz", hash = "sha256:5be2ea5d36ea9620f5278f5ad3b02cc243511be3b137aa28b1523e8f6da54f99"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-AVFoundation = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-AVFoundation = ">=10.3.1" [[package]] name = "pyobjc-framework-photos" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Photos on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Photos-10.2.tar.gz", hash = "sha256:ba05d1208158e6de6d14782c182991c0d157254be7254b8d3bb0a9a53bf113fb"}, - {file = "pyobjc_framework_Photos-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4f2c2aa73f3ac331a84ee1f7b5e0edc26471776b2de2190640f041e3c1cc8ef3"}, - {file = "pyobjc_framework_Photos-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:17d69ce116a7f7db1d78ed12a8a81bec1b580735ad40611c0037d8c2977b2eb8"}, - {file = "pyobjc_framework_Photos-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:e53d0759c26c7eac4ebfc7bd0018dfd7e3be8ab88a042684ee45e9184e0ac90e"}, + {file = "pyobjc_framework_Photos-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:9a382201dd14a3f3076d8689267d63520803a1ad1716fb66df5c1bb578bc6384"}, + {file = "pyobjc_framework_Photos-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:9c72efff52bed483b0dfaa569a21355f7620f25672a0245c5db8c1df86abc7b8"}, + {file = "pyobjc_framework_Photos-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:4841948ce4fe3d5060ec08e760b0b6e476e923782f32b9af2ffe8eb2a4fbb385"}, + {file = "pyobjc_framework_Photos-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:50710703d18d0b13c48e02ab4edcca72a67ee20aac2a75664bfb725c8cb3a677"}, + {file = "pyobjc_framework_photos-10.3.1.tar.gz", hash = "sha256:8d538c399720062523694f7669aa82dcb75a7b192fb4aca93cf782d04e4c39be"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-photosui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PhotosUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PhotosUI-10.2.tar.gz", hash = "sha256:d0bbcae82b4cc652bb60d3221c557cc19be62ff430575ec8e6d233beb936f73b"}, - {file = "pyobjc_framework_PhotosUI-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:a27607419652b45053e0be5ede2780b48e6a8dded2b365ded1732e80dafacea0"}, - {file = "pyobjc_framework_PhotosUI-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:7eddf0343fae6c327a3dc941d0d7b216f5d186edb2e511d7c54668f6ff2be701"}, - {file = "pyobjc_framework_PhotosUI-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d6715ac72c7967761c33502f6cd552534ec0f727f009f22a2c273dc12076d52d"}, + {file = "pyobjc_framework_PhotosUI-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:88665561d9ef7e9fd2ceb4e7e5da0fc3412a397d4c48a2121250462781106d30"}, + {file = "pyobjc_framework_PhotosUI-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:3254605c33e090742d0303a3b5b8ddab5489dbf28ea8a287566106e6887ee561"}, + {file = "pyobjc_framework_PhotosUI-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9370e36bb4ae1e7128006ff6a6b43448ebf8586784749e2a1fa30bbb2ef8fedf"}, + {file = "pyobjc_framework_PhotosUI-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:a756c3bbf945ceaa7d184c41053c2a9c1a89b32ffcdf752664b1180927b22cb2"}, + {file = "pyobjc_framework_photosui-10.3.1.tar.gz", hash = "sha256:e9eb961c6be1f3e00d76cc0a8ec15b50ac0692bd5b5c86268ad08f6d09cf390d"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-preferencepanes" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PreferencePanes on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PreferencePanes-10.2.tar.gz", hash = "sha256:f1fba8727d172a3e9b58d764695702f7752dfb585d0378e588915f3d8363728c"}, - {file = "pyobjc_framework_PreferencePanes-10.2-py2.py3-none-any.whl", hash = "sha256:4da63d42bc2f2de547b6c817236e902ad6155efa05e5305daa38be830b70a19d"}, + {file = "pyobjc_framework_PreferencePanes-10.3.1-py2.py3-none-any.whl", hash = "sha256:319b58b6c8f876f67e879b3a4f74afd6d892aa43a7f9ef4320819265b281c9e5"}, + {file = "pyobjc_framework_preferencepanes-10.3.1.tar.gz", hash = "sha256:eef150416a39a0109a8a37e9978ac4a55ad0b125ef6053a7431524ede5c69783"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-pubsub" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PubSub on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PubSub-10.2.tar.gz", hash = "sha256:68ca9701b29c5e87f7837490cad3dab0b6cd539dfaff3ffe84b1f3f1bf4dc764"}, - {file = "pyobjc_framework_PubSub-10.2-py2.py3-none-any.whl", hash = "sha256:b44f7f87de3f92ce9655344c476672f8f7a912f86ab7a615fec30cebbe7a8827"}, + {file = "pyobjc_framework_PubSub-10.3.1-py2.py3-none-any.whl", hash = "sha256:dd8bc334b3acbdd82163d511bc71af7addc98dfaf473736545487f3168836dcd"}, + {file = "pyobjc_framework_pubsub-10.3.1.tar.gz", hash = "sha256:d123e75288c2f9d785ed1c4d92a96e5118c4b6f1cd9c55605eb4b4a74c2e36f4"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-pushkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework PushKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-PushKit-10.2.tar.gz", hash = "sha256:e30fc4926a9fcd3427701e48a8908f72e546720e52b1e0f457ba2fa017974917"}, - {file = "pyobjc_framework_PushKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:1015e4473a8eac7eba09902807b8d8edd47c536e3a50a0b3fe7ab7211e454ad8"}, - {file = "pyobjc_framework_PushKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6f68b2630f84dc6d94046f7676d415e5342b2bb3f0368f3b9e81d0c5744c219b"}, - {file = "pyobjc_framework_PushKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:5fe75738ea08c05e42460a58acbf0a8af67a3df26ca2a7bddd48d801b00772ed"}, + {file = "pyobjc_framework_PushKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:39e21ac2b9a529e99d6d33c439c96d4d2bb97d2c56bd6d92b2c5bd497e925851"}, + {file = "pyobjc_framework_PushKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:e20f94ad3fbebf34c613c880e655d0f918d891b0a70763f99bb5d11e0af65c73"}, + {file = "pyobjc_framework_PushKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:79f0e66b88473e7fdef304dce06d7d63c3e5e38b12deafcd06a5bd3506ed9398"}, + {file = "pyobjc_framework_PushKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ee90959fc7b171930cffdf07cb7865d56a2cb4b723c5826ccf95d6e865dee4bd"}, + {file = "pyobjc_framework_pushkit-10.3.1.tar.gz", hash = "sha256:cc4da5382cf48c29637af1c633490203358a6ab0c76f0c006079cf144eeb9568"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-quartz" -version = "10.2" +version = "10.3.1" description = "Wrappers for the Quartz frameworks on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Quartz-10.2.tar.gz", hash = "sha256:9b947e081f5bd6cd01c99ab5d62c36500d2d6e8d3b87421c1cbb7f9c885555eb"}, - {file = "pyobjc_framework_Quartz-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:bc0ab739259a717d9d13a739434991b54eb8963ad7c27f9f6d04d68531fb479b"}, - {file = "pyobjc_framework_Quartz-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a74d00e933c1e1a1820839323dc5cf252bee8bb98e2a298d961f7ae7905ce71"}, - {file = "pyobjc_framework_Quartz-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:3e8e33246d966c2bd7f5ee2cf3b431582fa434a6ec2b6dbe580045ebf1f55be5"}, - {file = "pyobjc_framework_Quartz-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:c6ca490eff1be0dd8dc7726edde79c97e21ec1afcf55f75962a79e27b4eb2961"}, - {file = "pyobjc_framework_Quartz-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:d3d54d9fa50de09ee8994248151def58f30b4738eb20755b0bdd5ee1e1f5883d"}, - {file = "pyobjc_framework_Quartz-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:520c8031b2389110f80070b078dde1968caaecb10921f8070046c26132ac9286"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:5ef4fd315ed2bc42ef77fdeb2bae28a88ec986bd7b8079a87ba3b3475348f96e"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:96578d4a3e70164efe44ad7dc320ecd4e211758ffcde5dcd694de1bbdfe090a4"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:ca35f92486869a41847a1703bb176aab8a53dbfd8e678d1f4d68d8e6e1581c71"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:00a0933267e3a46ea4afcc35d117b2efb920f06de797fa66279c52e7057e3590"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a161bedb4c5257a02ad56a910cd7eefb28bdb0ea78607df0d70ed4efe4ea54c1"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:d7a8028e117a94923a511944bfa9daf9744e212f06cf89010c60934a479863a5"}, + {file = "pyobjc_framework_Quartz-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:de00c983b3267eb26fa42c6ed9f15e2bf006bde8afa7fe2b390646aa21a5d6fc"}, + {file = "pyobjc_framework_quartz-10.3.1.tar.gz", hash = "sha256:b6d7e346d735c9a7f147cd78e6da79eeae416a0b7d3874644c83a23786c6f886"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-quicklookthumbnailing" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework QuickLookThumbnailing on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-QuickLookThumbnailing-10.2.tar.gz", hash = "sha256:91497a4dc601c99ccc11ad7976ff729b57f724d9eff071bc24c519940d129dca"}, - {file = "pyobjc_framework_QuickLookThumbnailing-10.2-py2.py3-none-any.whl", hash = "sha256:34349ff0b07b39ecfe5757eb80341a45f9d4426558b93946225f8b4fa2781c4c"}, + {file = "pyobjc_framework_QuickLookThumbnailing-10.3.1-py2.py3-none-any.whl", hash = "sha256:e5095c0ad8cf1f91a6ed9aa5c4fb7c9b1da122d495ce131bae8d7faa06da9505"}, + {file = "pyobjc_framework_quicklookthumbnailing-10.3.1.tar.gz", hash = "sha256:ee26be78df9ce46ffa6f971f4ce167a0e98f38167aeb86cfc1b41270f15c96a3"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-replaykit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ReplayKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ReplayKit-10.2.tar.gz", hash = "sha256:12544028e59ef25ea5c96ebd451cee70d1833d6b5991d3a1b324c6d81ecfb49e"}, - {file = "pyobjc_framework_ReplayKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:4e34b006879ed2e86df044e3dd36482d78e6297c954aeda29f60f4b9006c8114"}, - {file = "pyobjc_framework_ReplayKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:a6e7ae17d41a381d379d10bd240e1681fc83664b89495999a4dd8d0f42d4b542"}, - {file = "pyobjc_framework_ReplayKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:3c57b4019563aaae3c37a250d6c064cbcb5c0d3b227b5b4f1e18bf4a1effcf0e"}, + {file = "pyobjc_framework_ReplayKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:1d89020e770763947c0e3e3a201b541b81b455656e574d390ad0b0e32a67640a"}, + {file = "pyobjc_framework_ReplayKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b753658337d25964acb83f5edc465b772f276b4c88fc8bd03ad633b4466f6bd4"}, + {file = "pyobjc_framework_ReplayKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:fafbc37ef6e44ac5019b4a4b751b3de6d5983500705e8dea2fc62134f8c0dc24"}, + {file = "pyobjc_framework_ReplayKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:22ca748ae8325e41e0526f13822d2c477ab879cb2d454eee1db47ca91353c986"}, + {file = "pyobjc_framework_replaykit-10.3.1.tar.gz", hash = "sha256:21762c8674b629fb670c3cbd515c593f1b5f98ee24ee4834a09055cb08849068"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-safariservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SafariServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SafariServices-10.2.tar.gz", hash = "sha256:723de09afb718b05d03cbbed42f90d36356294b038ca6422c88d50240047b067"}, - {file = "pyobjc_framework_SafariServices-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:2cd4b4210bd3c05d74d41e5bf2760e841289927601184f0e6ca3ef85019aa5dd"}, - {file = "pyobjc_framework_SafariServices-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6c8aa0becaa7d4ce0d0d1ada4e14e1eae2bf8e5be7ef49cc1861a41d3a4eeade"}, - {file = "pyobjc_framework_SafariServices-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:aecc109b096b3e995b896bfb97c09ef156600788e2a46c498bb4e2e355faa2bc"}, + {file = "pyobjc_framework_SafariServices-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:c8afb977b5858d3fd27136146db46a9f2ec43c35f5af269dbcb51c46a422dd7e"}, + {file = "pyobjc_framework_SafariServices-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:adb0332cbfa086892524efa253c873ecc4a8b00c60db45be3362759c4b4ae87d"}, + {file = "pyobjc_framework_SafariServices-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:7a171f08527c6bd297633e72bc597d68ec74419b5315f8c8122311537a8a6340"}, + {file = "pyobjc_framework_SafariServices-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:aaba0ea92410820d94fef0b93d337478f0e416967cb2aa4e667dd4d1bb561c1e"}, + {file = "pyobjc_framework_safariservices-10.3.1.tar.gz", hash = "sha256:9c5278576e7c28c3d93e74ebe5d39d07c5c91572ddf03ea01cc45d9a06dc8d0a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-safetykit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SafetyKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SafetyKit-10.2.tar.gz", hash = "sha256:b5822cda3b1dc0209fa58027551fa17457763275902c7d42fc23d5b13de9ee67"}, - {file = "pyobjc_framework_SafetyKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:947d42faf40b4ddd71bce75b8b913b7b67e0640fffa508562f4e502ca99426d4"}, - {file = "pyobjc_framework_SafetyKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:65feaff614eeacceb8c405030ddd79f8eda2366d2a73f44ea595f48f7969bcf0"}, - {file = "pyobjc_framework_SafetyKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:a6c3201dfb649523fa2f7569ca1274d1322527e210ee19d7c2395d0e3d18e0a2"}, + {file = "pyobjc_framework_SafetyKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:e554cb94bc2f89f525ccaa4ed827390d188eba8bb24049acdc764f3dfee9af08"}, + {file = "pyobjc_framework_SafetyKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:8eb160cc4f3b7e6d58f2eecc205f016afd5f4278b9641e49d5ef9c4df7b6df8c"}, + {file = "pyobjc_framework_SafetyKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3674b92d8b72d0a6006cb899ec2f605d1d5a6a59ff2d90c51ee2ccfd0f069d10"}, + {file = "pyobjc_framework_SafetyKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ac700aa2cbddc8a31626815886e42d0d1591572914c2b15df2dd07871ee84568"}, + {file = "pyobjc_framework_safetykit-10.3.1.tar.gz", hash = "sha256:8421be801ce29053e67a2c91673913562c3ad9d4bb1fbaa934a3a365d8bff12d"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-scenekit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SceneKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SceneKit-10.2.tar.gz", hash = "sha256:53d2ffac43684bb7834ae570d3537bd15f2a7711b77cc9e8b7b81f63a697ba03"}, - {file = "pyobjc_framework_SceneKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ac80bf8c4cf957add63a0bd2f1811097fb62eafb4fc26192f4087cd7853e85fd"}, - {file = "pyobjc_framework_SceneKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:86c3d23b63b0bb4d8fea370cb08aac778bc3fdb64b639b8b9ea87dacc54fd1cf"}, - {file = "pyobjc_framework_SceneKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:00676f4e11f3069545b07357e51781054ecf4785ed24ea8747515e018db1618c"}, + {file = "pyobjc_framework_SceneKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:7a108ef1a660a7928d1d44e415c84f544d296745d5350235addaab82777b080a"}, + {file = "pyobjc_framework_SceneKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:08fb5dd8c10a5624a0bf3dd9f448b2fe4c8b9c7c3c98708d28b0b4c72dd2a107"}, + {file = "pyobjc_framework_SceneKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:08601223416fa048d9468f961b170e3c2009d7e2434eea92c12ee12f6c672961"}, + {file = "pyobjc_framework_SceneKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:2984a543221190547bff603a6a59c931cda7099b91ac7412e11c962e8f6c3bc1"}, + {file = "pyobjc_framework_scenekit-10.3.1.tar.gz", hash = "sha256:99cf0db3055d9bae0a8643400e528a8c012235db8ee6a1864ea0b03a0854c9d0"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-screencapturekit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ScreenCaptureKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ScreenCaptureKit-10.2.tar.gz", hash = "sha256:86f64377be94db1b95e77ca53301ed94c0a7a82c0251c9e960bcae24b6a5841b"}, - {file = "pyobjc_framework_ScreenCaptureKit-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:e15b0af8a1155b7bc975ccd54192c5feae2706a8e17da6effa4273a3302d4dce"}, - {file = "pyobjc_framework_ScreenCaptureKit-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bdcc687d022b8b6264dca74c1f72897c91528b0c701d76f1466faeead8030a11"}, - {file = "pyobjc_framework_ScreenCaptureKit-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:f53caee8edca7868449f2cce60574cedea4299c324fa692c944824a627b7b8a4"}, - {file = "pyobjc_framework_ScreenCaptureKit-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:4cdd6add328e2318550df325210c83d1de68774a634d3914da2bfbd1cb7d929f"}, - {file = "pyobjc_framework_ScreenCaptureKit-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:e51c6c632b1c6ff773cfcf7d3e2b349693e06d52259b8c8485cfaa6c6cd602b3"}, - {file = "pyobjc_framework_ScreenCaptureKit-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:b63d9dc8635e7a3e59163a4abc13a9014de702729a55d290a22518702f4679fc"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:e69a1e15502543c80c084399d7e06d6ebfb089a3afd248860e24dd03e654456a"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0953f8d43bd7f0012decebe34401d361c4a64472190960204b3214e4850e4ef2"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:a80928dc483046ac72294fd576c53f793045aad700b740ec9591b23a3ccc011d"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:4d8e280a076e7bc40eaa9730f97da84421b891c30f6e3fdea4f6c30bdb298243"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:757a62e30ae68307d4705288bb808d91e10569c8ba3b54192bb5bbaaddcfa802"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:c55a2bdc3ff934841a668db1b5b2f74b9352696419ce87fea31637b89a04b6c7"}, + {file = "pyobjc_framework_ScreenCaptureKit-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:a0ccf558123fe0b7fcfbb74280678aa0f0973c96765a03cb658fd4d8c5e732e9"}, + {file = "pyobjc_framework_screencapturekit-10.3.1.tar.gz", hash = "sha256:cb1a2e746e0f98ea14a11ea35d059d38587340beeeb905812085e2c7ceb14e0c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreMedia = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreMedia = ">=10.3.1" [[package]] name = "pyobjc-framework-screensaver" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ScreenSaver on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ScreenSaver-10.2.tar.gz", hash = "sha256:00c6a312467abb516fd2f19e3166c4609eed939edc0f2c888ccd8c9f0fdd30f1"}, - {file = "pyobjc_framework_ScreenSaver-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:830b2fc85ff7d48824eb6f12100915c2aa480a1a408b53c30f6b81906dc8b1ea"}, - {file = "pyobjc_framework_ScreenSaver-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1cb8a31bd2a0597727553d0459c91803bf02c52ffb5ac94aa5ad484ddc46d88d"}, - {file = "pyobjc_framework_ScreenSaver-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:ca00a5c4cd89450e629962bfafe6a4a25b7bae93eb3fdd3ecb314c6c5755cbcf"}, + {file = "pyobjc_framework_ScreenSaver-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:31bffb17ec131509c4cc584e98328497310ea644c764b50fb6bf7850617ec5a5"}, + {file = "pyobjc_framework_ScreenSaver-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:ff25ad7cfffa116feaa117989f0a4b68dd6b7318aea4320ece6f75caf0092cfa"}, + {file = "pyobjc_framework_ScreenSaver-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:51e5bce05a3ada526c5c19b21cfb383cd7653d78f175c5abaf500a67ddab1c19"}, + {file = "pyobjc_framework_ScreenSaver-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:616ffb4bac2a56108778e33be6fe75b28f19511157abc411960b72324276635d"}, + {file = "pyobjc_framework_screensaver-10.3.1.tar.gz", hash = "sha256:0bbc5b574f12e95f6f6e48ced40b601e46e560ef6786845c15c57d78e6cd083e"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-screentime" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ScreenTime on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ScreenTime-10.2.tar.gz", hash = "sha256:fd516f0dd7c16f15ab6ed3eeb8180460136f72b7eaa3d6e849d4a462438bfdf2"}, - {file = "pyobjc_framework_ScreenTime-10.2-py2.py3-none-any.whl", hash = "sha256:43afabfd0fd61eed91f11aba3de95091a4f05d7c7e63341f493026e5ff7b90e4"}, + {file = "pyobjc_framework_ScreenTime-10.3.1-py2.py3-none-any.whl", hash = "sha256:d4f8a0784dc7d7060dadae2e4b5aae5e1afe8bbf453ce49cbb1860b8920114c3"}, + {file = "pyobjc_framework_screentime-10.3.1.tar.gz", hash = "sha256:351179d5bf951aa754c72f50ba8785212adf1b26abe10149c750fafd0a3108ae"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-scriptingbridge" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ScriptingBridge on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ScriptingBridge-10.2.tar.gz", hash = "sha256:c02d88b4a4d48d54ce2260f5c7e1757e74cd91281352cdd32492a4c7ee4b0e7c"}, - {file = "pyobjc_framework_ScriptingBridge-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:466ad2d483edadf97dc38629c393902a790141547e145e83f6bd34351d10f4c9"}, - {file = "pyobjc_framework_ScriptingBridge-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1e3e0c19afd0f8189ebee5c57ab2b0c177dddccc9b56811c665ec6848007ac6a"}, - {file = "pyobjc_framework_ScriptingBridge-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:560dff883edd251f1e0bf86dde681c1e19845399720fd2434734c91120eafdd0"}, + {file = "pyobjc_framework_ScriptingBridge-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:3a88e1a6c6b7d8935ab4baa9dcdeccb9cb08a44906bdd69b77302f48c88408d9"}, + {file = "pyobjc_framework_ScriptingBridge-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:66b55a9c12572f9bd6c00fd0a5aa5353354e7b717e37ffd1e843614d2fbde3d5"}, + {file = "pyobjc_framework_ScriptingBridge-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:387c0720842a1285afde5b56c43d9ed1332736ff8f6119ba6c6a551018552182"}, + {file = "pyobjc_framework_ScriptingBridge-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:90022f44f2bf0563bf5a75669198b9d778f76ece719f237750e9c5fcb00a601d"}, + {file = "pyobjc_framework_scriptingbridge-10.3.1.tar.gz", hash = "sha256:6bfb45efd0a1cda38a37154afe69f86ea086d5cbdfbc33b3e31c0bda97537fe9"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-searchkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SearchKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SearchKit-10.2.tar.gz", hash = "sha256:c1e16457e727c5282b620d20b2d764352947cd4509966475a874f2750a9c5d11"}, - {file = "pyobjc_framework_SearchKit-10.2-py2.py3-none-any.whl", hash = "sha256:ddd9e2f207ae578f04ec2358fdf485f26978d6de4909640b58486a8a9e4e639c"}, + {file = "pyobjc_framework_SearchKit-10.3.1-py2.py3-none-any.whl", hash = "sha256:48ec776603e350405c7311f29d5941e0e9d6b6a75e2aec69e0acd28be0979905"}, + {file = "pyobjc_framework_searchkit-10.3.1.tar.gz", hash = "sha256:7efb76b7af9d8f0f08efb91543f4dba0b00261ed41abb121ada80175cc82d65d"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-CoreServices = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-CoreServices = ">=10.3.1" [[package]] name = "pyobjc-framework-security" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Security on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Security-10.2.tar.gz", hash = "sha256:20ec8ebb41506037d54b40606590b90f66a89adceeddd9a40674b0c7ea7c8c82"}, - {file = "pyobjc_framework_Security-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:5a9c1bf88db62ebe1186dbecb40c6fdf8dab2d614012b5da8e9b90ee3bd8575e"}, - {file = "pyobjc_framework_Security-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:9119f8bad7bead85e5b57c8538d319ef19eb5159500a0e3677c11ddbb774a17a"}, - {file = "pyobjc_framework_Security-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:317add1dcbc6866ce2e9389ef5a2a46db82e042aca6e5fad9aa5ce17782493fe"}, - {file = "pyobjc_framework_Security-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:75f061f0d03c3099d01b7818409eb602b882f6a31b4381bbf289f10ce1cf7753"}, - {file = "pyobjc_framework_Security-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:d99aeba0e3a7ee95bf5582b06885a5d6f8115ff3a2e47506562514117022f170"}, - {file = "pyobjc_framework_Security-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:186a97497209acdb8d56aa7bbd56ab8021663fff2fb83f0d0e1b4e1f57ac5bbb"}, + {file = "pyobjc_framework_Security-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:9de850e5d29cb8605c0d7f7fb4a8d29ad5ece6c58a2ab16fba3f985e6b9ee05a"}, + {file = "pyobjc_framework_Security-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:499372b4b87de0198601e0c6b3d3e43d48605218149a5808c6567b601147a9bf"}, + {file = "pyobjc_framework_Security-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:b3daed9661bd80245dd8dbc738a17870226969db27f6dbb3424ec0ebdbb6ba83"}, + {file = "pyobjc_framework_Security-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:6120e91282985bcec3b44c1bc4f9c26d40cd07b4ac3dc81f745d73c13f8b5523"}, + {file = "pyobjc_framework_Security-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:43450895cd84256b313b547c9b256a4c0dc4b91195ec3e744f4f247d3cda0b77"}, + {file = "pyobjc_framework_Security-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:de52be2ce5ea98f2c224fea248227dcb3e7028d9814d0894ea6ea3c6da0f9160"}, + {file = "pyobjc_framework_Security-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:df39effeeb79482dd5805fd05e34a7c3ab30233a6e06e251cf7f8620430574fe"}, + {file = "pyobjc_framework_security-10.3.1.tar.gz", hash = "sha256:0d4e679a8aebaef9b54bd24e2fe2794ad5c28d601b6d140ed38370594bcb6fa0"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-securityfoundation" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SecurityFoundation on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SecurityFoundation-10.2.tar.gz", hash = "sha256:ed612afab0f70e24b29f2e2b3a31cfefb1ad17244b5c147e7bcad8dfc7e60bd1"}, - {file = "pyobjc_framework_SecurityFoundation-10.2-py2.py3-none-any.whl", hash = "sha256:296f7f9ff96a35c19e4aef7621a567c0efe584aafd20ac25a2839dd96bf46a04"}, + {file = "pyobjc_framework_SecurityFoundation-10.3.1-py2.py3-none-any.whl", hash = "sha256:c352cde672c9c2afa89575c362a0714e589c118485cec49ba230327e92c8a9a6"}, + {file = "pyobjc_framework_securityfoundation-10.3.1.tar.gz", hash = "sha256:414b13acabfae584729cd614e27247d250ec225d31140e8d971aa08536d6150c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Security = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Security = ">=10.3.1" [[package]] name = "pyobjc-framework-securityinterface" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SecurityInterface on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SecurityInterface-10.2.tar.gz", hash = "sha256:43930539fed05e74f3c692f5ee7848681e7e65c44387af300447514fe8e23ab6"}, - {file = "pyobjc_framework_SecurityInterface-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:70f2cb61261e84fb366f43a9a44fb19a19188cf650d3cf3f3e6ee3a16a73e62d"}, - {file = "pyobjc_framework_SecurityInterface-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:52a18a18af6d47f7fbdfeef898a038ff3ab7537a694c591ddcf8f895b9e55cce"}, - {file = "pyobjc_framework_SecurityInterface-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b2472e3714cc17b22e5bb0173887aac77c80ccc2188ec2c40d2b906bd2490f6b"}, + {file = "pyobjc_framework_SecurityInterface-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:7a9bbca70e8a27bd79a0b8846f7d08b693dd309ff780f92f713fee57ff9d3ddf"}, + {file = "pyobjc_framework_SecurityInterface-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b964ecbde276611c14fd70884ab9c08c4aae75633deda1a29813dbe42dc83dd6"}, + {file = "pyobjc_framework_SecurityInterface-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:8c2998c09767f0214891c553fadb8ec72a8273c95fca820c44cb11f3b0cdb8a4"}, + {file = "pyobjc_framework_SecurityInterface-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d913d30d04c9f01679ead33c95ad53dade587995f48c778a6de4d7da239b43e3"}, + {file = "pyobjc_framework_securityinterface-10.3.1.tar.gz", hash = "sha256:cd25f342a2b53cbffd134443506d5e75c96ba7145135debb8932c1252d57269a"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Security = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Security = ">=10.3.1" [[package]] name = "pyobjc-framework-sensitivecontentanalysis" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SensitiveContentAnalysis on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SensitiveContentAnalysis-10.2.tar.gz", hash = "sha256:ef111cb8a85bc86e47954cdb01e3ccb654aba64a3d855f17a0c786361859aef8"}, - {file = "pyobjc_framework_SensitiveContentAnalysis-10.2-py2.py3-none-any.whl", hash = "sha256:3c875856837e217c9eba68e5c2b4f5b862dee1bb64513b463a7af8c3e67e5a50"}, + {file = "pyobjc_framework_SensitiveContentAnalysis-10.3.1-py2.py3-none-any.whl", hash = "sha256:6b5cfe771a28300d766ff14ff81313fda946943d54a039d5574478a070933e03"}, + {file = "pyobjc_framework_sensitivecontentanalysis-10.3.1.tar.gz", hash = "sha256:ac8dd18d77ccc0bb4eb24839cf39da9981db64e53f52b09636e47bd7b3066f84"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-servicemanagement" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ServiceManagement on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ServiceManagement-10.2.tar.gz", hash = "sha256:62413cd911932cc16262710a3853061fdae341ed95e1aa0426b4ff0011d18c0c"}, - {file = "pyobjc_framework_ServiceManagement-10.2-py2.py3-none-any.whl", hash = "sha256:e5a1c1746788d0e125cc87cbe0749b2b824fb7a08bc4344c06c9ac6007859187"}, + {file = "pyobjc_framework_ServiceManagement-10.3.1-py2.py3-none-any.whl", hash = "sha256:6b7ca0de9cf74439df0947aae29f5f31d58eeacb0ff55e1465faed540d31de4b"}, + {file = "pyobjc_framework_servicemanagement-10.3.1.tar.gz", hash = "sha256:d048a803ad34c997dcc99ba778fca9d91cc5adfa1d115202e4bf22d9b04fd92c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-sharedwithyou" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SharedWithYou on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SharedWithYou-10.2.tar.gz", hash = "sha256:bc13756ef20af488cd3022c036a11a0f7572e1b286e9eb7d31c61a8cb7655c70"}, - {file = "pyobjc_framework_SharedWithYou-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b69169db01c78bef3178b8795fb5e2a9eccfa4c26b7de008e23a5aa6f0c709f0"}, - {file = "pyobjc_framework_SharedWithYou-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e4ec724f103b0904893212d473c68c462f8fbe46a470b0c9f88cb8330969a94e"}, - {file = "pyobjc_framework_SharedWithYou-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:04b477d42a6edd25c187fc61422ce62156fd5d8670b7007ff3f1a10723b1b4b8"}, + {file = "pyobjc_framework_SharedWithYou-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:175cb32c93c55511f86ccf02b1da2fdcbc2a0f92422d451ff5dd4a864b3f3faf"}, + {file = "pyobjc_framework_SharedWithYou-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:8a1ee78d6220e02e073c5fe6fea8f223ef870086c1afe60f346e7bb3dbdcb165"}, + {file = "pyobjc_framework_SharedWithYou-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:824d56ecf85dbaa938a2db42bf2f5a55a4e9f94019dee2dc90578040cc2bbd3c"}, + {file = "pyobjc_framework_SharedWithYou-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:bc37e1c86f460095085a5060149ca013d4dcb9b54337887bff86a2e07302c0f1"}, + {file = "pyobjc_framework_sharedwithyou-10.3.1.tar.gz", hash = "sha256:7e35b631bc77b040151515e4fee9c8f47bc313924fc3e5970e940f1343db039b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-SharedWithYouCore = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-SharedWithYouCore = ">=10.3.1" [[package]] name = "pyobjc-framework-sharedwithyoucore" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SharedWithYouCore on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SharedWithYouCore-10.2.tar.gz", hash = "sha256:cc8faa9f549f6c931be33cf99f49b8cde11db52cb542e3797c3a27f98e5e9a2a"}, - {file = "pyobjc_framework_SharedWithYouCore-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:275b50a6b9205b1c0a08632c2ede98293b26df28d6c35bc34714ec9d5a7065d6"}, - {file = "pyobjc_framework_SharedWithYouCore-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:55aaac1bea38e566e70084cbe348b2af0f5cda782c8da54c6bbbd70345a50b27"}, - {file = "pyobjc_framework_SharedWithYouCore-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b118ba79e7bb2fab26369927316b90aa952795976a29e7dc49dcb47a87f7924c"}, + {file = "pyobjc_framework_SharedWithYouCore-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:b0fb4e84e15765d913d5383b61004b7ff9a637f198ec7c3dee07632f3a4e2b4c"}, + {file = "pyobjc_framework_SharedWithYouCore-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:9b480058016216e5a3715e3ff50f5430159ec4235dcd110141f53637f5dbb51d"}, + {file = "pyobjc_framework_SharedWithYouCore-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:17a5e29f832d395030b1ab5dfcf43dad2a9c0f917e6b443ac383dea06e3aa304"}, + {file = "pyobjc_framework_SharedWithYouCore-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:1e51f315b5b16b340a1a12d4a0f3244f1925f14c9e148ca4dfdcfad6baa7ee5a"}, + {file = "pyobjc_framework_sharedwithyoucore-10.3.1.tar.gz", hash = "sha256:e4768b7fdb18730e225bbebc9c9f9acfa7e44e648875816aff8c7e7f0e82afbf"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-shazamkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ShazamKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ShazamKit-10.2.tar.gz", hash = "sha256:f3359be7a0ffe0084d047b8813dd9e9b5339a0970baecad89cbe85513e838e74"}, - {file = "pyobjc_framework_ShazamKit-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a33d2ad28cc7731e67906eccf324c441383ba741399c88e993b5375e734509ba"}, - {file = "pyobjc_framework_ShazamKit-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:13976c21722389e81d9e10ab419dfb0904f48cec639f0932aada0f039d78dac3"}, - {file = "pyobjc_framework_ShazamKit-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:380992e9da3000ebefe45b50f65ed3bf88ba87574c4a6486a29553cfbfc04c22"}, - {file = "pyobjc_framework_ShazamKit-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:e8494bfcf6ceb8b59e1bf2678073e00155f6dd2afbec01eaefd2128d3a4f5c76"}, - {file = "pyobjc_framework_ShazamKit-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:71cb7db481c791a52d261b924063431b72c4c288afd14a00cf7106274596a1c3"}, - {file = "pyobjc_framework_ShazamKit-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:0a537e1f86f47ddde742fd0491173c669e6cda6b9edddbe72e56a148a40111f8"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:dac6a729d7fed5e96ac4cb2a7894c79002670b4c06559ef4795dfe8c6fa15dda"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:cc77fde1503ec1f96d7b9a05ad784d29d94065732f0cfe089321be423e5045f3"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:012560cab1997c1da6e19388b5192f68dcdf806c2f8d7bd1e66da37512d18b30"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:4356bdcb9ca50da243b9d79da27851b799483865072f7c86a8a9674300d31819"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:26dafb6ac23c15d8cdee4c2083757aac29fad4f945b97f120f6351aed5cdab72"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:95e4e717cb7a675544e08c53fb86d55715aa5d633b4ec35737fb02293098d368"}, + {file = "pyobjc_framework_ShazamKit-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:808bdfe5dcfc44d4c1df3ae3f384396908e9a1d3832e34408950db522859e91e"}, + {file = "pyobjc_framework_shazamkit-10.3.1.tar.gz", hash = "sha256:deef11a43e773b876df31eeadbfc447892fda0607e314ca2afb2c012284cfa32"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-social" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Social on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Social-10.2.tar.gz", hash = "sha256:34995cd0c0f6c4adbe7bfa9049463058c7a8676d34d3d5b9de37f87416f22a0a"}, - {file = "pyobjc_framework_Social-10.2-py2.py3-none-any.whl", hash = "sha256:76ed463e3a77c58e5b527c37eb8b2dd60658dd736ba243cfa24b4704580b58c4"}, + {file = "pyobjc_framework_Social-10.3.1-py2.py3-none-any.whl", hash = "sha256:f83617c07db7c8bd15b3b9e0878ab2b6a286dcbd9a8c7f451da204f75db880e9"}, + {file = "pyobjc_framework_social-10.3.1.tar.gz", hash = "sha256:d1303cf3860ad02a8795c099e17888923505a9c45be407da50721a9a8a5b2efd"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-soundanalysis" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SoundAnalysis on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SoundAnalysis-10.2.tar.gz", hash = "sha256:960434f16a130da4fe5cd86ceac832b7eb17831a1e739472f7636aceea65e018"}, - {file = "pyobjc_framework_SoundAnalysis-10.2-py2.py3-none-any.whl", hash = "sha256:a09b49acca76a3c161b937002e5d034cf32c33d033677a8143d446eb53ca941d"}, + {file = "pyobjc_framework_SoundAnalysis-10.3.1-py2.py3-none-any.whl", hash = "sha256:ef67207ff4045e5db37f017bdcd07d4b42464c86fe6c3b56524f6f22a9cde216"}, + {file = "pyobjc_framework_soundanalysis-10.3.1.tar.gz", hash = "sha256:faa533644231f99dbdc2fcc3ecb9181c5df4f4dc68d42856729214021c83c881"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-speech" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Speech on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Speech-10.2.tar.gz", hash = "sha256:4cb3445ff31a3f8d50492d420941723e07967b4fc4fc46c336403d8ca245c086"}, - {file = "pyobjc_framework_Speech-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:175195f945d89d2382c0f6052b798ef3ee41384b8bfa4954c16add126dc181f6"}, - {file = "pyobjc_framework_Speech-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3c65cbda4b8d357b80d41695b1b505a759d3be8b63bca9dd7675053876878577"}, - {file = "pyobjc_framework_Speech-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b139f64cc3636f1cfdc78a4071068d34e9ea70283201fd7a821e41d5bbbcf306"}, + {file = "pyobjc_framework_Speech-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:07afd82d76b98b67a78c07098a814a0b862bcf00fc072d49d8da435202008a18"}, + {file = "pyobjc_framework_Speech-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:444994d062286ff2769e07425d511503b2047b381afad1d64c8517ef4e44d01f"}, + {file = "pyobjc_framework_Speech-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e7fad907f9c0c49c5272f316d20e66ba0415038203ca277381753b035c16061a"}, + {file = "pyobjc_framework_Speech-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:2294b60e1ab59b1340b820e6fee67766a959edd580d73e3b938f15653805d64c"}, + {file = "pyobjc_framework_speech-10.3.1.tar.gz", hash = "sha256:5b77b1d1ced0d1ad7244037b865dda2b83e8f9562d76d1e9fa4fea3b89e437b8"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-spritekit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SpriteKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SpriteKit-10.2.tar.gz", hash = "sha256:31b3e639a617c456574df8f3ce18275eff613cf49e98ea8df974cda05d13a7fc"}, - {file = "pyobjc_framework_SpriteKit-10.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:7b312677a70a7fe684af8726a39837e935fd6660f0271246885934f60d773506"}, - {file = "pyobjc_framework_SpriteKit-10.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:a8e015451fa701c7d9b383a95315809208145790d8e68a542def9fb10d6c2ce2"}, - {file = "pyobjc_framework_SpriteKit-10.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:803138edacb0c5bbc40bfeb964c70521259a7fb9c0dd31a79824b36be3942f59"}, - {file = "pyobjc_framework_SpriteKit-10.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ae44f20076286dd0d600f9b4c8c31f144abe1f44dbd37ca96ecdba98732bfb4a"}, - {file = "pyobjc_framework_SpriteKit-10.2-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:9f5b65ac9fd0a40e28673a15c6c7785208402c02422a1e150f713b2c82681b51"}, - {file = "pyobjc_framework_SpriteKit-10.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:a8f2e140ad818d6891f654369853f9439d0f280302bf5750c28df8a4fcc019ec"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:31a5ce3ba471bf12f3e9ae3b5865d400e4e70ab4bb94317880783ee04c07b1f5"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:af355eccc18437e0932e1b327817e8f50d194bfa471b65b4733185ba606ab792"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:c3fd6aaecd7abd6ebc83d4c37a22950d55b75911fdb99628b2677f44085a0212"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:a1f0537bc0331cca58cc50307f3b114ab8bfd51576df3038b6037353aa77085f"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ffe7a07c8a3e17552e73b517b4fdcff7b2e6ca7e89b093a5daccfc285708216c"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp38-cp38-macosx_11_0_universal2.whl", hash = "sha256:e1d79aab298f7b42436b2468e37ff84718f1b8b579c1440de7002a55d5f8762e"}, + {file = "pyobjc_framework_SpriteKit-10.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:cd08925baf8b3f511842f49fb5512ae56875a923d23254fcc022124788180d47"}, + {file = "pyobjc_framework_spritekit-10.3.1.tar.gz", hash = "sha256:2c11f35f48302f487c51ba8030f5cf79493a9dc0993dd901016ae4b8d8047c8b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-storekit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework StoreKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-StoreKit-10.2.tar.gz", hash = "sha256:44cf0b5fe605b9e5dc6aed2ae9e09d807d04d5f2eaf78afb8c04e3f109a0d680"}, - {file = "pyobjc_framework_StoreKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f9e511ebf2d954f10999c2a46e5ecffee0235e0c35eda24c8fcfdb433768935d"}, - {file = "pyobjc_framework_StoreKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e22a701666a787d4df9f45bf1507cf41e45357b22c55ad79c608b24a506981e1"}, - {file = "pyobjc_framework_StoreKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:44c0a65bd39e64e276d8a7b991d93b59b149b3b886cadddb6a38253d48b123e5"}, + {file = "pyobjc_framework_StoreKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:f9c50a980846b236884504ad42690d49935bda3de5d779fca3cdfb16d43fa8d1"}, + {file = "pyobjc_framework_StoreKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:b3846b249a6fc5d26c80320098858978e0a16f46e98fc998075f16f539ac89fc"}, + {file = "pyobjc_framework_StoreKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c3575facbb3d238b8c9f3054c1422488414d89a42906dbcbfdbb47ef8be3da66"}, + {file = "pyobjc_framework_StoreKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:2b5848f0e08b42dd4dabe5822b436b904a697e923f529ccaad910dfb822b2b9d"}, + {file = "pyobjc_framework_storekit-10.3.1.tar.gz", hash = "sha256:913b4aad7dc31df7d8011c54a695da65cc57819f4b48c98abaed4e6d9ff7d323"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-symbols" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Symbols on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Symbols-10.2.tar.gz", hash = "sha256:b1874e79fdcaf65deaadda35a3c9dbd24eb92d7dc8aa4db5d7f14f2b06d8a312"}, - {file = "pyobjc_framework_Symbols-10.2-py2.py3-none-any.whl", hash = "sha256:3b5fa1e162acb04eab092e0e1dbe686e2fb61cf648850953e15314edb56fb05f"}, + {file = "pyobjc_framework_Symbols-10.3.1-py2.py3-none-any.whl", hash = "sha256:6e171da5af2612e186cc4cf896ad7f2672c021a1fc18bc8ef49b79c4c831202d"}, + {file = "pyobjc_framework_symbols-10.3.1.tar.gz", hash = "sha256:3e3f35ef3646b5f9c0653d9dbf5693cf87de3df04420cb2679dad74c75965d18"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-syncservices" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SyncServices on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SyncServices-10.2.tar.gz", hash = "sha256:1c76073484924201336e6aab40f10358573bc640a92ed4066b8062c748957576"}, - {file = "pyobjc_framework_SyncServices-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:bf40e4194bd42bb447212037876ca3e90e0e5a7aa21e59a6987f300209a83fb7"}, - {file = "pyobjc_framework_SyncServices-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:4e438c0cf74aecb95c2a86db9c39236fee3edf0a91814255e2aff18bf24e7e82"}, - {file = "pyobjc_framework_SyncServices-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:dffc9ddf9235176c1f1575095beae97d6d2ffa9cffe9c195f815c46f69070787"}, + {file = "pyobjc_framework_SyncServices-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:aa98a38f59f230da7817dc08055c8049fa961193af16caa262c51e4ec8b5de20"}, + {file = "pyobjc_framework_SyncServices-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:9d3798cc745143d44da101bb0eb9d482326b761f48c3699251191e9c3656ee6c"}, + {file = "pyobjc_framework_SyncServices-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:97020a88d743a6f12ed3f72d062ab96712a7cc0e7b0293c7c5860c014002cc73"}, + {file = "pyobjc_framework_SyncServices-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:b9b7bc58b04654172968cdc1cfe74b43ca0ad2e03c24c7921234a57be2c22985"}, + {file = "pyobjc_framework_syncservices-10.3.1.tar.gz", hash = "sha256:1cd5e3eaf85a11996184afad1da47037cd921e302ccb35fe388b19f91a685669"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreData = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreData = ">=10.3.1" [[package]] name = "pyobjc-framework-systemconfiguration" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SystemConfiguration on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SystemConfiguration-10.2.tar.gz", hash = "sha256:e9ec946ca56514a68e28040c55c79ba105c9a70b56698635767250e629c37e49"}, - {file = "pyobjc_framework_SystemConfiguration-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:d25ff4b8525f087fc004ece9518b38d365ef6bbc06e4c0f847d70cb72ca961df"}, - {file = "pyobjc_framework_SystemConfiguration-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:2fc0a9d1c1c6a5d5b9d9289ee8e5de0d4ef8cb4c9bc03e8a33513217580a307b"}, - {file = "pyobjc_framework_SystemConfiguration-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:d33ebea6881c2e4b9ddd03f8def7495dc884b7e53fe3d6e1340d9f9cc7441878"}, + {file = "pyobjc_framework_SystemConfiguration-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:200c4b7d3483e5ccb86d4d5783ace8c26d4b3f9130684280f30080d53f62d4c5"}, + {file = "pyobjc_framework_SystemConfiguration-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:403392b0e2085cf528547d468bc523fbee418381bb61446eb4aa1f9a1c8a8494"}, + {file = "pyobjc_framework_SystemConfiguration-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:f38a824261a30dc9961e13a7b9759dd0c77e1c7c4681e3c80c5751c560735289"}, + {file = "pyobjc_framework_SystemConfiguration-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:4e8816524cbb6c6ea9e1c596fc9a16c91f2063eba394135be9437bdbd469e125"}, + {file = "pyobjc_framework_systemconfiguration-10.3.1.tar.gz", hash = "sha256:1bf6ffe98faa4e208bf594c857ba23cd56fe404bc579188ff53b704844d9c402"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-systemextensions" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework SystemExtensions on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-SystemExtensions-10.2.tar.gz", hash = "sha256:883c41cb257fb2b5baadafa4213dc0f0fffc97edb35ebaf6ed95a185a786eb85"}, - {file = "pyobjc_framework_SystemExtensions-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:8a85c71121abe33a83742b84d046684e30e5400c5d2bbb4bca4322c4e9d5506b"}, - {file = "pyobjc_framework_SystemExtensions-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3374105ebc3992e8898b46ba85e860ac1f2f24985c640834bf2b9da26a8f40a7"}, - {file = "pyobjc_framework_SystemExtensions-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:5b699c94a05a7253d803fb75b6ea5c67d2c59eb906deceb7f3d0a44f42b5d7a8"}, + {file = "pyobjc_framework_SystemExtensions-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:b24edd33c71cb02a16bdd9b26d3a229a6b2a815c26a4c908b1b8b6cdf4f6c84a"}, + {file = "pyobjc_framework_SystemExtensions-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:e2a24501a782d2b6f7fa339619eb5c988db6b31a6043d029f40f67c54fd9399e"}, + {file = "pyobjc_framework_SystemExtensions-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1cacd2356142307cf221d568f3e7adda654c28c90c223db3830746f4c2b12aea"}, + {file = "pyobjc_framework_SystemExtensions-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:6561876b2fd5c40620073fae9b924f2d8e0110e8573756ffc9521e4fbc825249"}, + {file = "pyobjc_framework_systemextensions-10.3.1.tar.gz", hash = "sha256:34412e75c95a585d222ea23efc3eba436210ec0345cec6c7dc78d16e027d03e1"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-threadnetwork" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework ThreadNetwork on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-ThreadNetwork-10.2.tar.gz", hash = "sha256:864ebabdb187cef16e1fba0f5439a73b1ed9a4e66b888f7954b12150c323c0f8"}, - {file = "pyobjc_framework_ThreadNetwork-10.2-py2.py3-none-any.whl", hash = "sha256:f7ad31b4a67f9ed00097a21c7bbd48ffa4ce2c22174a52ac508beedf7cb2aa9e"}, + {file = "pyobjc_framework_ThreadNetwork-10.3.1-py2.py3-none-any.whl", hash = "sha256:95ddbed8a114cc1f05db613bb53247465ec48ccaad2b56f5da466317808fc32b"}, + {file = "pyobjc_framework_threadnetwork-10.3.1.tar.gz", hash = "sha256:1038210a8e5dfa86aefd10894563913e767e95d1c1bd4333ae5f9c6cabbb3ce9"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-uniformtypeidentifiers" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework UniformTypeIdentifiers on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-UniformTypeIdentifiers-10.2.tar.gz", hash = "sha256:4d3e7add89766fe7abc6fd6e29387e92d7b38343b37d365607c9d287c5e758f6"}, - {file = "pyobjc_framework_UniformTypeIdentifiers-10.2-py2.py3-none-any.whl", hash = "sha256:25b72005063a88c5e67bf91d1355973f4bbf3dd7c1b3fb8eb00503020a837b33"}, + {file = "pyobjc_framework_UniformTypeIdentifiers-10.3.1-py2.py3-none-any.whl", hash = "sha256:8bd1516ccec1807e2ad92a071242d83e9d1eda08ddbfae04dacc30d76c3d734c"}, + {file = "pyobjc_framework_uniformtypeidentifiers-10.3.1.tar.gz", hash = "sha256:1985fee7e1f1157db36f3c19ee0ad273677eeff10467f575086246bbeffcdf50"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-usernotifications" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework UserNotifications on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-UserNotifications-10.2.tar.gz", hash = "sha256:3a1b7d77c95dff109f904451525752ece3c38f38cfa0825fd01735388c2b0264"}, - {file = "pyobjc_framework_UserNotifications-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:f4ce290d1874d8b4ec36b2fae9181fa230e6ce0dced3aeb0fd0d88b7cda6a75a"}, - {file = "pyobjc_framework_UserNotifications-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:8bc0c9599d7bbf35bb79eb661d537d6ea506859d2f1332ae2ee34b140bd937ef"}, - {file = "pyobjc_framework_UserNotifications-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:12d1ea6683af36813e3bdbdb065c28d71d01dfed7ea4deedeb3585e55179cbbb"}, + {file = "pyobjc_framework_UserNotifications-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:d85c293e0520530ac7152b3f293c5606f0495b7727de331ef4e198278bf40e98"}, + {file = "pyobjc_framework_UserNotifications-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:0001bb25f15e6f8cac81bcb58cab8161a15a6fe41f6c475e8da364c913bdb090"}, + {file = "pyobjc_framework_UserNotifications-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:0bba49b0f290f5597b94a80608c785b61d61aa3885cdf05529862e47fe1cec67"}, + {file = "pyobjc_framework_UserNotifications-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:59294fa6110778de145c9299c220990d057a6a171d37ab5d8a6ab1780bf7888f"}, + {file = "pyobjc_framework_usernotifications-10.3.1.tar.gz", hash = "sha256:ddb5de88fb659c2241429b6408ddcabbfc0c2c9e4a7f5f543a6fab1c4953403b"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-usernotificationsui" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework UserNotificationsUI on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-UserNotificationsUI-10.2.tar.gz", hash = "sha256:f476d4a9f5b0746beda3d06ed6eb8a1b072372e644c707e675f4e11703528a81"}, - {file = "pyobjc_framework_UserNotificationsUI-10.2-py2.py3-none-any.whl", hash = "sha256:b0909b11655a7ae14e54ba6f80f1c6d34d46de5e8b565d0a51c22f87604ad3d3"}, + {file = "pyobjc_framework_UserNotificationsUI-10.3.1-py2.py3-none-any.whl", hash = "sha256:bc6cb92a6ac947e8fe9685f3c1964c5a9f98e576b936b0bbff8c528f47f976d2"}, + {file = "pyobjc_framework_usernotificationsui-10.3.1.tar.gz", hash = "sha256:80390b5361bb6014dc32d0afbf581280e7762a4f67460a736f461f613d397094"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-UserNotifications = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-UserNotifications = ">=10.3.1" [[package]] name = "pyobjc-framework-videosubscriberaccount" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework VideoSubscriberAccount on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-VideoSubscriberAccount-10.2.tar.gz", hash = "sha256:26ea7fe843ba316eea90c488ed3ff46651b94b51b6e3bd87db2ff93f9fa8e496"}, - {file = "pyobjc_framework_VideoSubscriberAccount-10.2-py2.py3-none-any.whl", hash = "sha256:300c9f419821aab400ab9798bed9fc659984f19eb8577934e6faae0428b89096"}, + {file = "pyobjc_framework_VideoSubscriberAccount-10.3.1-py2.py3-none-any.whl", hash = "sha256:4b489f0007dce8ea17f37316175dac2768cd173a4d4c7a1d5f87fb3991c1e518"}, + {file = "pyobjc_framework_videosubscriberaccount-10.3.1.tar.gz", hash = "sha256:f62509e976b805bc76ff5928444677ac542b52dd9f7781ac0731d7c4b22bed96"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-videotoolbox" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework VideoToolbox on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-VideoToolbox-10.2.tar.gz", hash = "sha256:347259a8e920dbc3dd1fada5ab0d829485cef3165166fa65f78c23ada4f9b80a"}, - {file = "pyobjc_framework_VideoToolbox-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:cb8147d673defdb02526b80b1584369f94b94721016950bb12425b2309b92c88"}, - {file = "pyobjc_framework_VideoToolbox-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6527180eede44301c21790baa7e1a5f5429893e3995e61640f3941c3b6fb08f9"}, - {file = "pyobjc_framework_VideoToolbox-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:de55d7629a9659439901a16d6074e9fc9b229e93a555097a1c92e0df6cfb5cdb"}, + {file = "pyobjc_framework_VideoToolbox-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:bc52aa91f568060e0087762f2a4d876bf7b683e5396779e93925252e26f0330b"}, + {file = "pyobjc_framework_VideoToolbox-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:3d20ea92b597f4758f24ed8e19f7a7a372faf6478d739e7cb7f7cd73d3e8617a"}, + {file = "pyobjc_framework_VideoToolbox-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:761e3cd05090f5d9e9fbae2c25e3f352f19aa86a0d02a1189b94ec5c4bc37111"}, + {file = "pyobjc_framework_VideoToolbox-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:7d4fb38f95e91f62d14b05fafcc6197775e9eaf4e5b698bc1fb313756f59b10d"}, + {file = "pyobjc_framework_videotoolbox-10.3.1.tar.gz", hash = "sha256:7ebc281523b2b37aff17ce6eabd0c81081864b3e3e4a83ae72b18fd70c57c521"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreMedia = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreMedia = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-virtualization" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Virtualization on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Virtualization-10.2.tar.gz", hash = "sha256:49eb8d0ec3017c2194620f0698e95ccf20b8b706c73ab3b1b50902c57f0f86ff"}, - {file = "pyobjc_framework_Virtualization-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:492daa384cf3117749ff35127f81313bd1ea9bbd09385c2a882b82ca4ca0797e"}, - {file = "pyobjc_framework_Virtualization-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:1bea91b57d419d91e76865f9621ba4762793e05f7a694cefe73206f3a19b4eda"}, - {file = "pyobjc_framework_Virtualization-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:c1198bcd31e4711c6a0c6816c77483361217a1ed2f0ad69608f9ba5633efc144"}, + {file = "pyobjc_framework_Virtualization-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:c046abcebf6a64a47ea50311f3e4aaae424dbac719e847cd15b375ebe99a51ed"}, + {file = "pyobjc_framework_Virtualization-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:dc14f6c3deaf367adff18b509e766dc78c4695a4cd76e4aad3ff4b1e207a4635"}, + {file = "pyobjc_framework_Virtualization-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:bd79c1bb45113957f24cbf8b6d0ff175361c52c97e326313ecd76cfa015f6cef"}, + {file = "pyobjc_framework_Virtualization-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:6e5e6645e31acd07d30b1607c4cdaf0ae0e4d8223471a8a089004c2deb6fdea5"}, + {file = "pyobjc_framework_virtualization-10.3.1.tar.gz", hash = "sha256:8348ddef18eb943d151e5b5977e4d410012ee2e3f6048c16f7cfe0c1a73536cb"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyobjc-framework-vision" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework Vision on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-Vision-10.2.tar.gz", hash = "sha256:722e0a6da64738b5fc3c763a102445cad5892c0af94597637e89455099da397e"}, - {file = "pyobjc_framework_Vision-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:42b7383c317c2076edcb44f7ad8ed4a6e675250a3fd20e87eef8e0e4233b1b58"}, - {file = "pyobjc_framework_Vision-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5e3adb56fca35d41a4bb113f3eadbe45e9667d8e3edf64908da3d6b130e14a8c"}, - {file = "pyobjc_framework_Vision-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:e424d106052112897c8aa882d8334ac984e12509f9a473a285827ba47bfbcc9a"}, + {file = "pyobjc_framework_Vision-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:dff3582678930461a0bb11bf070854d49f6944a851dc89edc63fac93c75ddf39"}, + {file = "pyobjc_framework_Vision-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:32626183c51674efb3b5738e2884c3fea37edca010117cf71bd72cb3c49c869a"}, + {file = "pyobjc_framework_Vision-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:2473b346a112c51ac485184305bd13c402e0db45f2df3d277315bd49efba18e9"}, + {file = "pyobjc_framework_Vision-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:4302e2c5f68c9667ecd4273809cbc4611af6368b123d69596e5b088f1b1aa16b"}, + {file = "pyobjc_framework_vision-10.3.1.tar.gz", hash = "sha256:aa071656d395afc2d624600a9f30d6a3344aa747bf37f613ff3972158c40881c"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" -pyobjc-framework-CoreML = ">=10.2" -pyobjc-framework-Quartz = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" +pyobjc-framework-CoreML = ">=10.3.1" +pyobjc-framework-Quartz = ">=10.3.1" [[package]] name = "pyobjc-framework-webkit" -version = "10.2" +version = "10.3.1" description = "Wrappers for the framework WebKit on macOS" optional = false python-versions = ">=3.8" files = [ - {file = "pyobjc-framework-WebKit-10.2.tar.gz", hash = "sha256:3717104dbc901a1bd46d97886c5adb6eb32798ff4451c4544e04740e41706083"}, - {file = "pyobjc_framework_WebKit-10.2-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:0d128a9e053b3dfaa71857eba6e6aadfbde88347382e1e58e288b5e410b71226"}, - {file = "pyobjc_framework_WebKit-10.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:d20344d55c3cb4aa27314e096f59db5cefa70539112d8c1658f2a2076df58612"}, - {file = "pyobjc_framework_WebKit-10.2-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:f7dcf2e51964406cc2440e556c855d087c4706289c5f53464e8ffb0fba37adda"}, + {file = "pyobjc_framework_WebKit-10.3.1-cp36-abi3-macosx_10_13_universal2.whl", hash = "sha256:df52913e4c3cb77d4551d9848e30be01b82cace54cede850c88a7e0ab41a20a9"}, + {file = "pyobjc_framework_WebKit-10.3.1-cp36-abi3-macosx_10_9_universal2.whl", hash = "sha256:207a7aa57817d3ab3fa033e42ab612f8c00521f13ff2871547c92cd94ed51f85"}, + {file = "pyobjc_framework_WebKit-10.3.1-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c0d4c1ba0fafae503a8df95e7b6bd4236951ba72508ec62809e37825f382c635"}, + {file = "pyobjc_framework_WebKit-10.3.1-cp36-abi3-macosx_11_0_universal2.whl", hash = "sha256:c8e3334978a1bd927ea14ed73f56d6741561a69d31d082d2b23d1b48446917c8"}, + {file = "pyobjc_framework_webkit-10.3.1.tar.gz", hash = "sha256:7ad9f4eb91a6dff39848d9c2ab71f170aeab4b6396bcec8e5a780739f9be4222"}, ] [package.dependencies] -pyobjc-core = ">=10.2" -pyobjc-framework-Cocoa = ">=10.2" +pyobjc-core = ">=10.3.1" +pyobjc-framework-Cocoa = ">=10.3.1" [[package]] name = "pyopencl" -version = "2023.1.4" +version = "2024.2.6" description = "Python wrapper for OpenCL" optional = false python-versions = "~=3.8" files = [ - {file = "pyopencl-2023.1.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ce71196cee0171a923d9ef6a8c21ce26fd7342ddaee88a29aa372ae3295f5257"}, - {file = "pyopencl-2023.1.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:7bdf472b8e36f81145ac526d51f550ba539b765199da9da16732a222c7b85bee"}, - {file = "pyopencl-2023.1.4-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:18e99bb71267ce5223814177ff8c73e98057a70d20fc6555050d77d98b01bba5"}, - {file = "pyopencl-2023.1.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11d8cbe0d2121babf7daf0bcd6ded687c191c6d2effbac85c5421659fbc26947"}, - {file = "pyopencl-2023.1.4-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:08ebc3d5776ec2a8853c11234d605754bdf0d5af8322a08d558d661eb85c6fa3"}, - {file = "pyopencl-2023.1.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:f199eff64be353f5badac62576d14cb40cc137c9f92f5260452de097dd9fe7a0"}, - {file = "pyopencl-2023.1.4-cp310-cp310-win_amd64.whl", hash = "sha256:38a0a3c8389f44b51c0a916dc8e532d77ea37ab5a11f10e1ba97cc8f9a634695"}, - {file = "pyopencl-2023.1.4-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:46a1158956a59e73a57e98acc681ff01a64574d0b3715634703437aa8b7c785c"}, - {file = "pyopencl-2023.1.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55f09e9d12a036830d71f60af9233ff493c83ff2f99b472baa1f779688c816b7"}, - {file = "pyopencl-2023.1.4-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:742fdb18bcc933f20b795c787fe513c69b83f074626bc62ff3c9cd1c8b243022"}, - {file = "pyopencl-2023.1.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4102eb3f5b9fe4b08c7900820a908cec3004e9a6990cc7202162ae46e07869d"}, - {file = "pyopencl-2023.1.4-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:36d79cd6445a86b4db7399488c301b49bda5fde6c1455c36b1ce58e03c690916"}, - {file = "pyopencl-2023.1.4-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:4a561e42ee3030b2966e7dc5cc764e705d9ff1bb5aa1124fa7d6ba4009ebfb96"}, - {file = "pyopencl-2023.1.4-cp311-cp311-win_amd64.whl", hash = "sha256:0f7889dce94dba10738225fabec929fa977bfe8777a64f5699f6f2fe2b00742c"}, - {file = "pyopencl-2023.1.4-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:ab31b35875cecd2b1c10ac47ea06e224c5881cca942fba94387317357d73c0b9"}, - {file = "pyopencl-2023.1.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:230c63354fe6a18043e67042769ddc5e329002fb55fb99f692e4f5c8fcf3007c"}, - {file = "pyopencl-2023.1.4-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ef091d4a4802b267b0aa5ec46c4ebc00fd664d9178ad9866b485006eeff180b4"}, - {file = "pyopencl-2023.1.4-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8c11fc7445e21dcd97bd8f5534531ed7bbd09ded853b520157623f48fad5b739"}, - {file = "pyopencl-2023.1.4-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:0b6a0ebbf67b2ef7098bdf3632177b71c7430883b2a48b2b09b84a02d8cbb4b0"}, - {file = "pyopencl-2023.1.4-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:1767616f795c598531cd19d89f451db7e25393add300204e7d1a7dd2a017709f"}, - {file = "pyopencl-2023.1.4-cp312-cp312-win_amd64.whl", hash = "sha256:8bbb02f230b969109bdf00f36e463fed1de6e1c70e088f2f2f9b41fab128f20c"}, - {file = "pyopencl-2023.1.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:0e444320491744fe52e49f87674c931219a5be254a8a129175db61378f5b6f18"}, - {file = "pyopencl-2023.1.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:0649a9d6249612e79cffef46618cccaaa9eac7b0c3f1833a3576ea0bd985d887"}, - {file = "pyopencl-2023.1.4-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f790dda26812cad5288fe1831158f55c48e6ede46ae4a37db66394645b07ef8e"}, - {file = "pyopencl-2023.1.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:571c6430c6fb046643040d4a6d99ee677e4c6c99b09577dbb51177001e93c21c"}, - {file = "pyopencl-2023.1.4-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:0ca2d4f14e1fc716b1928679c3182595a4862f577fa0f4a5d8edf37ef8db059b"}, - {file = "pyopencl-2023.1.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:6ac9e8e84dc11b82df51916cf41f34a9ca327adbaf9f4a03a8d1f4f1e1f35382"}, - {file = "pyopencl-2023.1.4-cp38-cp38-win_amd64.whl", hash = "sha256:802e5eb27fd311af42133bb2da83b5777a84f5c7c11e0a4b8d1d50d265b22e37"}, - {file = "pyopencl-2023.1.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:3ae4b7f34aa56a4dc5ce5b4d795dc872f9a1aac66f15ded575aeabdfd15da0bc"}, - {file = "pyopencl-2023.1.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e3f5861de88a7d5054cfc8a0f78c42c7b7cd7c65c43a1426a72411111b024658"}, - {file = "pyopencl-2023.1.4-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c658eb9198235e8866afedb9b32bad4c6a4988c7dff2103e61794cd9ea261b2a"}, - {file = "pyopencl-2023.1.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d148b21de9f7aa542b576c09ba3c68106658c8a3429f41c0120c7cd4cb55970f"}, - {file = "pyopencl-2023.1.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:63be569b566ad627e7a1331db6cfda3eb82a2076872549f1c89f4e24ee12601a"}, - {file = "pyopencl-2023.1.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:d61a6ca8c2d8f2d7bcf106abff6ac58cb79f335303b02b90b66591b25d1af4aa"}, - {file = "pyopencl-2023.1.4-cp39-cp39-win_amd64.whl", hash = "sha256:daeff57a66c7a2be03345dd919507f2a2b2ed4ce64c3d8416fc01fa947807e59"}, - {file = "pyopencl-2023.1.4-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c059f15d71c680e35704650bc02d7026b5566687fd45ca9f4c789567d0731cfc"}, - {file = "pyopencl-2023.1.4-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:38c1ab4ed770eb2b2f9c34bced444fc81e96dddd188848f028d36cd16fe9fcb9"}, - {file = "pyopencl-2023.1.4-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d195dad3d3a0473373bbf173671900d4519662824b5a81ced5b491cfae5c5e23"}, - {file = "pyopencl-2023.1.4-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0c4917db2d0ec5ea7dd3c0cc66dc6a5acadc39a577a6b532293dde57ba3b23fb"}, - {file = "pyopencl-2023.1.4-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c926fb5886a561fe01be907575e396096a75fd35a2a6df5fc080c19959ae8c5c"}, - {file = "pyopencl-2023.1.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:35fc3161b2f609018b6e1b22f4aa79fb571a388b61e90177c1d474975af15ce8"}, - {file = "pyopencl-2023.1.4.tar.gz", hash = "sha256:220174efca900e9d5de5aef2aa1b77a6f2550501de92b035a91013aeae4d4c5e"}, + {file = "pyopencl-2024.2.6-cp310-cp310-macosx_10_14_x86_64.whl", hash = "sha256:bb114056d04613c6ba7f92de4c8daa545dbdcca15379a06367d5a3780cf5930d"}, + {file = "pyopencl-2024.2.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:5c38d95bac4176e07865f8d750dee66958dced82ca22e3483898f2d43fcf13ae"}, + {file = "pyopencl-2024.2.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f3e8c14ba292be4b9aef8c8f6011ab7344737239478e55076cc71e2f0d0b6a6a"}, + {file = "pyopencl-2024.2.6-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:355b17304784b484e127978bd5fde58c7758734991aa637b579fea4686055b85"}, + {file = "pyopencl-2024.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:96912ca852ca590eb5334615a3d88017b164ef70ca5791605802f83144ffad3f"}, + {file = "pyopencl-2024.2.6-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:688bff1033fd21d420437986db04b8ab11543b23090c90da2963b4ed4fe94e82"}, + {file = "pyopencl-2024.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4750fc441cc599b17c2c7a654420bb17a9818a02fd1541031a2cb9f867ecc6ef"}, + {file = "pyopencl-2024.2.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bb30fea4527db88e1c037712d4bf0bab44cfc2e38265925aaf6fc8c7efe79b9f"}, + {file = "pyopencl-2024.2.6-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:ad333bfca7f074dd0cf616358408ea69a605e3cab3fdc4d782bcf8c0a78c630a"}, + {file = "pyopencl-2024.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:a538e9551dfacf24f6270bddd581be21abdb1bfbcf64e1b5ba67ff29493ba23d"}, + {file = "pyopencl-2024.2.6-cp312-cp312-macosx_10_14_x86_64.whl", hash = "sha256:a3218b1eafcad4918532aa75f2c9dc0b3491bcf2b602edcdd6e3a4e45a72c68a"}, + {file = "pyopencl-2024.2.6-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:30cce55b34bc0a2a4955f3fd37baf34da3969296191f4cd602fd62e320611606"}, + {file = "pyopencl-2024.2.6-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:630f48ef777479f1c82b3ad9b3d208abeca2639828defe1c6da01f4d8c8b1ae5"}, + {file = "pyopencl-2024.2.6-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:725a941be6be4377145f6b9a364221aae397c38b9d475086fa65401a34f39a82"}, + {file = "pyopencl-2024.2.6-cp312-cp312-win_amd64.whl", hash = "sha256:ff7ed484ea950022dcc5ee79fde3c9d9cf6312aa94e010ed462c011062428326"}, + {file = "pyopencl-2024.2.6-cp38-cp38-macosx_10_14_x86_64.whl", hash = "sha256:bc491df0c62cf6d67bdac94bfd892ff4fceb5ec527efac096eeb84ae6cbcaae0"}, + {file = "pyopencl-2024.2.6-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:743fdae7648f916826d3dda02df6c4627b6dc3a923b95e658abb53f451418f10"}, + {file = "pyopencl-2024.2.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:175fad6fd79ec23d6822395d274838b42e06a3f4b4bb4f35bef4e9559b5f2767"}, + {file = "pyopencl-2024.2.6-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:114a2058dfaa70724f1cc5f985d2154e885819180e2f2e1c454d83c5a02d5593"}, + {file = "pyopencl-2024.2.6-cp38-cp38-win_amd64.whl", hash = "sha256:554f529b04534ec80a71d10c41deacc26094b5095c5b850829a2717c86c024f6"}, + {file = "pyopencl-2024.2.6-cp39-cp39-macosx_10_14_x86_64.whl", hash = "sha256:fd06bf87b53b360a5b03ef9b31b730abadffdca5fbd6b6b78425cf3bf0883f90"}, + {file = "pyopencl-2024.2.6-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:ac3d682d27203a5204769d5590164c482afa03b8434cec1f75d0cb805251c857"}, + {file = "pyopencl-2024.2.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f86d5473c1a564f038f7298c2e176dd28b36610569cdac5d3e9ef02f604d2549"}, + {file = "pyopencl-2024.2.6-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:7f9be442abdfdfce5e1238aadfc23756ac2292dd081cd3d1a653d728397ede78"}, + {file = "pyopencl-2024.2.6-cp39-cp39-win_amd64.whl", hash = "sha256:bb693a20b553453c7e3a2eb5f7a43e6d851644ba76a85ee8e185ece0ecf7933b"}, + {file = "pyopencl-2024.2.6.tar.gz", hash = "sha256:ceb9beeef0b6162e601c05922fede29b5094554a66eb473c610cabc14308ba82"}, ] [package.dependencies] numpy = "*" platformdirs = ">=2.2.0" -pytools = ">=2021.2.7" +pytools = ">=2024.1.5" [package.extras] -oclgrind = ["oclgrind-binary-distribution (>=18.3)"] -pocl = ["pocl-binary-distribution (>=1.2)"] +oclgrind = ["oclgrind_binary_distribution (>=18.3)"] +pocl = ["pocl_binary_distribution (>=1.2)"] test = ["Mako", "pytest (>=7.0.0)"] [[package]] @@ -6623,13 +6691,13 @@ cp2110 = ["hidapi"] [[package]] name = "pytest" -version = "8.2.0" +version = "8.2.2" description = "pytest: simple powerful testing with Python" optional = false python-versions = ">=3.8" files = [ - {file = "pytest-8.2.0-py3-none-any.whl", hash = "sha256:1733f0620f6cda4095bbf0d9ff8022486e91892245bb9e7d5542c018f612f233"}, - {file = "pytest-8.2.0.tar.gz", hash = "sha256:d507d4482197eac0ba2bae2e9babf0672eb333017bcedaa5fb1a3d42c1174b3f"}, + {file = "pytest-8.2.2-py3-none-any.whl", hash = "sha256:c434598117762e2bd304e526244f67bf66bbd7b5d6cf22138be51ff661980343"}, + {file = "pytest-8.2.2.tar.gz", hash = "sha256:de4bb8104e201939ccdc688b27a89a7be2079b22e2bd2b07f806b6ba71117977"}, ] [package.dependencies] @@ -6641,6 +6709,24 @@ pluggy = ">=1.5,<2.0" [package.extras] dev = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"] +[[package]] +name = "pytest-asyncio" +version = "0.23.7" +description = "Pytest support for asyncio" +optional = false +python-versions = ">=3.8" +files = [ + {file = "pytest_asyncio-0.23.7-py3-none-any.whl", hash = "sha256:009b48127fbe44518a547bddd25611551b0e43ccdbf1e67d12479f569832c20b"}, + {file = "pytest_asyncio-0.23.7.tar.gz", hash = "sha256:5f5c72948f4c49e7db4f29f2521d4031f1c27f86e57b046126654083d4770268"}, +] + +[package.dependencies] +pytest = ">=7.0.0,<9" + +[package.extras] +docs = ["sphinx (>=5.3)", "sphinx-rtd-theme (>=1.0)"] +testing = ["coverage (>=6.2)", "hypothesis (>=5.7.1)"] + [[package]] name = "pytest-cov" version = "5.0.0" @@ -6674,6 +6760,23 @@ files = [ colorama = "*" pytest = ">=7.0" +[[package]] +name = "pytest-mock" +version = "3.14.0" +description = "Thin-wrapper around the mock package for easier use with pytest" +optional = false +python-versions = ">=3.8" +files = [ + {file = "pytest-mock-3.14.0.tar.gz", hash = "sha256:2719255a1efeceadbc056d6bf3df3d1c5015530fb40cf347c0f9afac88410bd0"}, + {file = "pytest_mock-3.14.0-py3-none-any.whl", hash = "sha256:0b72c38033392a5f4621342fe11e9219ac11ec9d375f8e2a0c164539e0d70f6f"}, +] + +[package.dependencies] +pytest = ">=6.2.5" + +[package.extras] +dev = ["pre-commit", "pytest-asyncio", "tox"] + [[package]] name = "pytest-randomly" version = "3.15.0" @@ -6688,6 +6791,20 @@ files = [ [package.dependencies] pytest = "*" +[[package]] +name = "pytest-repeat" +version = "0.9.3" +description = "pytest plugin for repeating tests" +optional = false +python-versions = ">=3.7" +files = [ + {file = "pytest_repeat-0.9.3-py3-none-any.whl", hash = "sha256:26ab2df18226af9d5ce441c858f273121e92ff55f5bb311d25755b8d7abdd8ed"}, + {file = "pytest_repeat-0.9.3.tar.gz", hash = "sha256:ffd3836dfcd67bb270bec648b330e20be37d2966448c4148c4092d1e8aba8185"}, +] + +[package.dependencies] +pytest = "*" + [[package]] name = "pytest-subtests" version = "0.12.1" @@ -6777,13 +6894,13 @@ files = [ [[package]] name = "pytools" -version = "2024.1.2" +version = "2024.1.5" description = "A collection of tools for Python" optional = false python-versions = "~=3.8" files = [ - {file = "pytools-2024.1.2-py2.py3-none-any.whl", hash = "sha256:f61287b5341e53e3fe96c82385469b57a8983ff3db815a2bf3f533c38e8d516b"}, - {file = "pytools-2024.1.2.tar.gz", hash = "sha256:081871e451505c4b986ebafa68aeeabfdc7beb3faa1baa50f726aebe21e1d057"}, + {file = "pytools-2024.1.5-py2.py3-none-any.whl", hash = "sha256:dd2b4a1cbe078699742ab37ae3a94a81c5cc598c3247536d12e90588c39b0cc6"}, + {file = "pytools-2024.1.5.tar.gz", hash = "sha256:8c377bb1ffdcb5103301b8e7e94f01cbe36573a01e020434fea96291b1f1ac19"}, ] [package.dependencies] @@ -7040,13 +7157,13 @@ cffi = {version = "*", markers = "implementation_name == \"pypy\""} [[package]] name = "requests" -version = "2.31.0" +version = "2.32.3" description = "Python HTTP for Humans." optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "requests-2.31.0-py3-none-any.whl", hash = "sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f"}, - {file = "requests-2.31.0.tar.gz", hash = "sha256:942c5a758f98d790eaed1a29cb6eefc7ffb0d1cf7af05c3d2791656dbd6ad1e1"}, + {file = "requests-2.32.3-py3-none-any.whl", hash = "sha256:70761cfe03c773ceb22aa2f671b4757976145175cdfca038c02654d061d6dcc6"}, + {file = "requests-2.32.3.tar.gz", hash = "sha256:55365417734eb18255590a9ff9eb97e9e1da868d4ccd6402399eaf68af20a760"}, ] [package.dependencies] @@ -7059,6 +7176,30 @@ urllib3 = ">=1.21.1,<3" socks = ["PySocks (>=1.5.6,!=1.5.7)"] use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] +[[package]] +name = "rerun-sdk" +version = "0.16.1" +description = "The Rerun Logging SDK" +optional = false +python-versions = "<3.13,>=3.8" +files = [ + {file = "rerun_sdk-0.16.1-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:170c6976634008611753e10dfef8cdc395ce8180e634c169e7c61cef2f89a277"}, + {file = "rerun_sdk-0.16.1-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:c9a76eab7eb5559276737dad655200e9350df0837158dbc5a896970ab4201454"}, + {file = "rerun_sdk-0.16.1-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:4d6436752d57e8b8038489a0e7e37f0c760b088e96db5fb81667d3a376d63fea"}, + {file = "rerun_sdk-0.16.1-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:37b7b47948471873e84f224b16f417a94a91c7cbd6c72c68281eeff1ba414b8f"}, + {file = "rerun_sdk-0.16.1-cp38-abi3-win_amd64.whl", hash = "sha256:be88799c8afdf68eafa99e64e2e4f0a484e187e017a180219abbe6bb988acd4e"}, +] + +[package.dependencies] +attrs = ">=23.1.0" +numpy = ">=1.23,<2" +pillow = ">=8.0.0" +pyarrow = ">=14.0.2" +typing-extensions = ">=4.5" + +[package.extras] +tests = ["pytest (==7.1.2)"] + [[package]] name = "rubicon-objc" version = "0.4.9" @@ -7076,62 +7217,62 @@ docs = ["furo (==2024.4.27)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx [[package]] name = "ruff" -version = "0.4.4" +version = "0.4.8" description = "An extremely fast Python linter and code formatter, written in Rust." optional = false python-versions = ">=3.7" files = [ - {file = "ruff-0.4.4-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:29d44ef5bb6a08e235c8249294fa8d431adc1426bfda99ed493119e6f9ea1bf6"}, - {file = "ruff-0.4.4-py3-none-macosx_11_0_arm64.whl", hash = "sha256:c4efe62b5bbb24178c950732ddd40712b878a9b96b1d02b0ff0b08a090cbd891"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4c8e2f1e8fc12d07ab521a9005d68a969e167b589cbcaee354cb61e9d9de9c15"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:60ed88b636a463214905c002fa3eaab19795679ed55529f91e488db3fe8976ab"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b90fc5e170fc71c712cc4d9ab0e24ea505c6a9e4ebf346787a67e691dfb72e85"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:8e7e6ebc10ef16dcdc77fd5557ee60647512b400e4a60bdc4849468f076f6eef"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b9ddb2c494fb79fc208cd15ffe08f32b7682519e067413dbaf5f4b01a6087bcd"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c51c928a14f9f0a871082603e25a1588059b7e08a920f2f9fa7157b5bf08cfe9"}, - {file = "ruff-0.4.4-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b5eb0a4bfd6400b7d07c09a7725e1a98c3b838be557fee229ac0f84d9aa49c36"}, - {file = "ruff-0.4.4-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:b1867ee9bf3acc21778dcb293db504692eda5f7a11a6e6cc40890182a9f9e595"}, - {file = "ruff-0.4.4-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:1aecced1269481ef2894cc495647392a34b0bf3e28ff53ed95a385b13aa45768"}, - {file = "ruff-0.4.4-py3-none-musllinux_1_2_i686.whl", hash = "sha256:9da73eb616b3241a307b837f32756dc20a0b07e2bcb694fec73699c93d04a69e"}, - {file = "ruff-0.4.4-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:958b4ea5589706a81065e2a776237de2ecc3e763342e5cc8e02a4a4d8a5e6f95"}, - {file = "ruff-0.4.4-py3-none-win32.whl", hash = "sha256:cb53473849f011bca6e754f2cdf47cafc9c4f4ff4570003a0dad0b9b6890e876"}, - {file = "ruff-0.4.4-py3-none-win_amd64.whl", hash = "sha256:424e5b72597482543b684c11def82669cc6b395aa8cc69acc1858b5ef3e5daae"}, - {file = "ruff-0.4.4-py3-none-win_arm64.whl", hash = "sha256:39df0537b47d3b597293edbb95baf54ff5b49589eb7ff41926d8243caa995ea6"}, - {file = "ruff-0.4.4.tar.gz", hash = "sha256:f87ea42d5cdebdc6a69761a9d0bc83ae9b3b30d0ad78952005ba6568d6c022af"}, + {file = "ruff-0.4.8-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:7663a6d78f6adb0eab270fa9cf1ff2d28618ca3a652b60f2a234d92b9ec89066"}, + {file = "ruff-0.4.8-py3-none-macosx_11_0_arm64.whl", hash = "sha256:eeceb78da8afb6de0ddada93112869852d04f1cd0f6b80fe464fd4e35c330913"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aad360893e92486662ef3be0a339c5ca3c1b109e0134fcd37d534d4be9fb8de3"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:284c2e3f3396fb05f5f803c9fffb53ebbe09a3ebe7dda2929ed8d73ded736deb"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a7354f921e3fbe04d2a62d46707e569f9315e1a613307f7311a935743c51a764"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:72584676164e15a68a15778fd1b17c28a519e7a0622161eb2debdcdabdc71883"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9678d5c9b43315f323af2233a04d747409d1e3aa6789620083a82d1066a35199"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704977a658131651a22b5ebeb28b717ef42ac6ee3b11e91dc87b633b5d83142b"}, + {file = "ruff-0.4.8-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d05f8d6f0c3cce5026cecd83b7a143dcad503045857bc49662f736437380ad45"}, + {file = "ruff-0.4.8-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:6ea874950daca5697309d976c9afba830d3bf0ed66887481d6bca1673fc5b66a"}, + {file = "ruff-0.4.8-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:fc95aac2943ddf360376be9aa3107c8cf9640083940a8c5bd824be692d2216dc"}, + {file = "ruff-0.4.8-py3-none-musllinux_1_2_i686.whl", hash = "sha256:384154a1c3f4bf537bac69f33720957ee49ac8d484bfc91720cc94172026ceed"}, + {file = "ruff-0.4.8-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:e9d5ce97cacc99878aa0d084c626a15cd21e6b3d53fd6f9112b7fc485918e1fa"}, + {file = "ruff-0.4.8-py3-none-win32.whl", hash = "sha256:6d795d7639212c2dfd01991259460101c22aabf420d9b943f153ab9d9706e6a9"}, + {file = "ruff-0.4.8-py3-none-win_amd64.whl", hash = "sha256:e14a3a095d07560a9d6769a72f781d73259655919d9b396c650fc98a8157555d"}, + {file = "ruff-0.4.8-py3-none-win_arm64.whl", hash = "sha256:14019a06dbe29b608f6b7cbcec300e3170a8d86efaddb7b23405cb7f7dcaf780"}, + {file = "ruff-0.4.8.tar.gz", hash = "sha256:16d717b1d57b2e2fd68bd0bf80fb43931b79d05a7131aa477d66fc40fbd86268"}, ] [[package]] name = "scipy" -version = "1.13.0" +version = "1.13.1" description = "Fundamental algorithms for scientific computing in Python" optional = false python-versions = ">=3.9" files = [ - {file = "scipy-1.13.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ba419578ab343a4e0a77c0ef82f088238a93eef141b2b8017e46149776dfad4d"}, - {file = "scipy-1.13.0-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:22789b56a999265431c417d462e5b7f2b487e831ca7bef5edeb56efe4c93f86e"}, - {file = "scipy-1.13.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:05f1432ba070e90d42d7fd836462c50bf98bd08bed0aa616c359eed8a04e3922"}, - {file = "scipy-1.13.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8434f6f3fa49f631fae84afee424e2483289dfc30a47755b4b4e6b07b2633a4"}, - {file = "scipy-1.13.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:dcbb9ea49b0167de4167c40eeee6e167caeef11effb0670b554d10b1e693a8b9"}, - {file = "scipy-1.13.0-cp310-cp310-win_amd64.whl", hash = "sha256:1d2f7bb14c178f8b13ebae93f67e42b0a6b0fc50eba1cd8021c9b6e08e8fb1cd"}, - {file = "scipy-1.13.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:0fbcf8abaf5aa2dc8d6400566c1a727aed338b5fe880cde64907596a89d576fa"}, - {file = "scipy-1.13.0-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:5e4a756355522eb60fcd61f8372ac2549073c8788f6114449b37e9e8104f15a5"}, - {file = "scipy-1.13.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b5acd8e1dbd8dbe38d0004b1497019b2dbbc3d70691e65d69615f8a7292865d7"}, - {file = "scipy-1.13.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9ff7dad5d24a8045d836671e082a490848e8639cabb3dbdacb29f943a678683d"}, - {file = "scipy-1.13.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:4dca18c3ffee287ddd3bc8f1dabaf45f5305c5afc9f8ab9cbfab855e70b2df5c"}, - {file = "scipy-1.13.0-cp311-cp311-win_amd64.whl", hash = "sha256:a2f471de4d01200718b2b8927f7d76b5d9bde18047ea0fa8bd15c5ba3f26a1d6"}, - {file = "scipy-1.13.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:d0de696f589681c2802f9090fff730c218f7c51ff49bf252b6a97ec4a5d19e8b"}, - {file = "scipy-1.13.0-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:b2a3ff461ec4756b7e8e42e1c681077349a038f0686132d623fa404c0bee2551"}, - {file = "scipy-1.13.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6bf9fe63e7a4bf01d3645b13ff2aa6dea023d38993f42aaac81a18b1bda7a82a"}, - {file = "scipy-1.13.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e7626dfd91cdea5714f343ce1176b6c4745155d234f1033584154f60ef1ff42"}, - {file = "scipy-1.13.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:109d391d720fcebf2fbe008621952b08e52907cf4c8c7efc7376822151820820"}, - {file = "scipy-1.13.0-cp312-cp312-win_amd64.whl", hash = "sha256:8930ae3ea371d6b91c203b1032b9600d69c568e537b7988a3073dfe4d4774f21"}, - {file = "scipy-1.13.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:5407708195cb38d70fd2d6bb04b1b9dd5c92297d86e9f9daae1576bd9e06f602"}, - {file = "scipy-1.13.0-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:ac38c4c92951ac0f729c4c48c9e13eb3675d9986cc0c83943784d7390d540c78"}, - {file = "scipy-1.13.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:09c74543c4fbeb67af6ce457f6a6a28e5d3739a87f62412e4a16e46f164f0ae5"}, - {file = "scipy-1.13.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:28e286bf9ac422d6beb559bc61312c348ca9b0f0dae0d7c5afde7f722d6ea13d"}, - {file = "scipy-1.13.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:33fde20efc380bd23a78a4d26d59fc8704e9b5fd9b08841693eb46716ba13d86"}, - {file = "scipy-1.13.0-cp39-cp39-win_amd64.whl", hash = "sha256:45c08bec71d3546d606989ba6e7daa6f0992918171e2a6f7fbedfa7361c2de1e"}, - {file = "scipy-1.13.0.tar.gz", hash = "sha256:58569af537ea29d3f78e5abd18398459f195546bb3be23d16677fb26616cc11e"}, + {file = "scipy-1.13.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:20335853b85e9a49ff7572ab453794298bcf0354d8068c5f6775a0eabf350aca"}, + {file = "scipy-1.13.1-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:d605e9c23906d1994f55ace80e0125c587f96c020037ea6aa98d01b4bd2e222f"}, + {file = "scipy-1.13.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cfa31f1def5c819b19ecc3a8b52d28ffdcc7ed52bb20c9a7589669dd3c250989"}, + {file = "scipy-1.13.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f26264b282b9da0952a024ae34710c2aff7d27480ee91a2e82b7b7073c24722f"}, + {file = "scipy-1.13.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:eccfa1906eacc02de42d70ef4aecea45415f5be17e72b61bafcfd329bdc52e94"}, + {file = "scipy-1.13.1-cp310-cp310-win_amd64.whl", hash = "sha256:2831f0dc9c5ea9edd6e51e6e769b655f08ec6db6e2e10f86ef39bd32eb11da54"}, + {file = "scipy-1.13.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:27e52b09c0d3a1d5b63e1105f24177e544a222b43611aaf5bc44d4a0979e32f9"}, + {file = "scipy-1.13.1-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:54f430b00f0133e2224c3ba42b805bfd0086fe488835effa33fa291561932326"}, + {file = "scipy-1.13.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e89369d27f9e7b0884ae559a3a956e77c02114cc60a6058b4e5011572eea9299"}, + {file = "scipy-1.13.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a78b4b3345f1b6f68a763c6e25c0c9a23a9fd0f39f5f3d200efe8feda560a5fa"}, + {file = "scipy-1.13.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:45484bee6d65633752c490404513b9ef02475b4284c4cfab0ef946def50b3f59"}, + {file = "scipy-1.13.1-cp311-cp311-win_amd64.whl", hash = "sha256:5713f62f781eebd8d597eb3f88b8bf9274e79eeabf63afb4a737abc6c84ad37b"}, + {file = "scipy-1.13.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:5d72782f39716b2b3509cd7c33cdc08c96f2f4d2b06d51e52fb45a19ca0c86a1"}, + {file = "scipy-1.13.1-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:017367484ce5498445aade74b1d5ab377acdc65e27095155e448c88497755a5d"}, + {file = "scipy-1.13.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:949ae67db5fa78a86e8fa644b9a6b07252f449dcf74247108c50e1d20d2b4627"}, + {file = "scipy-1.13.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:de3ade0e53bc1f21358aa74ff4830235d716211d7d077e340c7349bc3542e884"}, + {file = "scipy-1.13.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:2ac65fb503dad64218c228e2dc2d0a0193f7904747db43014645ae139c8fad16"}, + {file = "scipy-1.13.1-cp312-cp312-win_amd64.whl", hash = "sha256:cdd7dacfb95fea358916410ec61bbc20440f7860333aee6d882bb8046264e949"}, + {file = "scipy-1.13.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:436bbb42a94a8aeef855d755ce5a465479c721e9d684de76bf61a62e7c2b81d5"}, + {file = "scipy-1.13.1-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:8335549ebbca860c52bf3d02f80784e91a004b71b059e3eea9678ba994796a24"}, + {file = "scipy-1.13.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d533654b7d221a6a97304ab63c41c96473ff04459e404b83275b60aa8f4b7004"}, + {file = "scipy-1.13.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:637e98dcf185ba7f8e663e122ebf908c4702420477ae52a04f9908707456ba4d"}, + {file = "scipy-1.13.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:a014c2b3697bde71724244f63de2476925596c24285c7a637364761f8710891c"}, + {file = "scipy-1.13.1-cp39-cp39-win_amd64.whl", hash = "sha256:392e4ec766654852c25ebad4f64e4e584cf19820b980bc04960bca0b0cd6eaa2"}, + {file = "scipy-1.13.1.tar.gz", hash = "sha256:095a87a0312b08dfd6a6155cbbd310a8c51800fc931b8c0b84003014b874ed3c"}, ] [package.dependencies] @@ -7176,13 +7317,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"] [[package]] name = "sentry-sdk" -version = "2.1.1" +version = "2.5.1" description = "Python client for Sentry (https://sentry.io)" optional = false python-versions = ">=3.6" files = [ - {file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"}, - {file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"}, + {file = "sentry_sdk-2.5.1-py2.py3-none-any.whl", hash = "sha256:1f87acdce4a43a523ae5aa21a3fc37522d73ebd9ec04b1dbf01aa3d173852def"}, + {file = "sentry_sdk-2.5.1.tar.gz", hash = "sha256:fbc40a78a8a9c6675133031116144f0d0940376fa6e4e1acd5624c90b0aaf58b"}, ] [package.dependencies] @@ -7204,7 +7345,7 @@ django = ["django (>=1.8)"] falcon = ["falcon (>=1.4)"] fastapi = ["fastapi (>=0.79.0)"] flask = ["blinker (>=1.1)", "flask (>=0.11)", "markupsafe"] -grpcio = ["grpcio (>=1.21.1)"] +grpcio = ["grpcio (>=1.21.1)", "protobuf (>=3.8.0)"] httpx = ["httpx (>=0.16.0)"] huey = ["huey (>=2)"] huggingface-hub = ["huggingface-hub (>=0.22)"] @@ -7224,121 +7365,20 @@ starlette = ["starlette (>=0.19.1)"] starlite = ["starlite (>=1.48)"] tornado = ["tornado (>=5)"] -[[package]] -name = "setproctitle" -version = "1.3.3" -description = "A Python module to customize the process title" -optional = false -python-versions = ">=3.7" -files = [ - {file = "setproctitle-1.3.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:897a73208da48db41e687225f355ce993167079eda1260ba5e13c4e53be7f754"}, - {file = "setproctitle-1.3.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:8c331e91a14ba4076f88c29c777ad6b58639530ed5b24b5564b5ed2fd7a95452"}, - {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bbbd6c7de0771c84b4aa30e70b409565eb1fc13627a723ca6be774ed6b9d9fa3"}, - {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c05ac48ef16ee013b8a326c63e4610e2430dbec037ec5c5b58fcced550382b74"}, - {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1342f4fdb37f89d3e3c1c0a59d6ddbedbde838fff5c51178a7982993d238fe4f"}, - {file = "setproctitle-1.3.3-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fc74e84fdfa96821580fb5e9c0b0777c1c4779434ce16d3d62a9c4d8c710df39"}, - {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:9617b676b95adb412bb69645d5b077d664b6882bb0d37bfdafbbb1b999568d85"}, - {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:6a249415f5bb88b5e9e8c4db47f609e0bf0e20a75e8d744ea787f3092ba1f2d0"}, - {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:38da436a0aaace9add67b999eb6abe4b84397edf4a78ec28f264e5b4c9d53cd5"}, - {file = "setproctitle-1.3.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:da0d57edd4c95bf221b2ebbaa061e65b1788f1544977288bdf95831b6e44e44d"}, - {file = "setproctitle-1.3.3-cp310-cp310-win32.whl", hash = "sha256:a1fcac43918b836ace25f69b1dca8c9395253ad8152b625064415b1d2f9be4fb"}, - {file = "setproctitle-1.3.3-cp310-cp310-win_amd64.whl", hash = "sha256:200620c3b15388d7f3f97e0ae26599c0c378fdf07ae9ac5a13616e933cbd2086"}, - {file = "setproctitle-1.3.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:334f7ed39895d692f753a443102dd5fed180c571eb6a48b2a5b7f5b3564908c8"}, - {file = "setproctitle-1.3.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:950f6476d56ff7817a8fed4ab207727fc5260af83481b2a4b125f32844df513a"}, - {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:195c961f54a09eb2acabbfc90c413955cf16c6e2f8caa2adbf2237d1019c7dd8"}, - {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f05e66746bf9fe6a3397ec246fe481096664a9c97eb3fea6004735a4daf867fd"}, - {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b5901a31012a40ec913265b64e48c2a4059278d9f4e6be628441482dd13fb8b5"}, - {file = "setproctitle-1.3.3-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:64286f8a995f2cd934082b398fc63fca7d5ffe31f0e27e75b3ca6b4efda4e353"}, - {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:184239903bbc6b813b1a8fc86394dc6ca7d20e2ebe6f69f716bec301e4b0199d"}, - {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:664698ae0013f986118064b6676d7dcd28fefd0d7d5a5ae9497cbc10cba48fa5"}, - {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:e5119a211c2e98ff18b9908ba62a3bd0e3fabb02a29277a7232a6fb4b2560aa0"}, - {file = "setproctitle-1.3.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:417de6b2e214e837827067048f61841f5d7fc27926f2e43954567094051aff18"}, - {file = "setproctitle-1.3.3-cp311-cp311-win32.whl", hash = "sha256:6a143b31d758296dc2f440175f6c8e0b5301ced3b0f477b84ca43cdcf7f2f476"}, - {file = "setproctitle-1.3.3-cp311-cp311-win_amd64.whl", hash = "sha256:a680d62c399fa4b44899094027ec9a1bdaf6f31c650e44183b50d4c4d0ccc085"}, - {file = "setproctitle-1.3.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:d4460795a8a7a391e3567b902ec5bdf6c60a47d791c3b1d27080fc203d11c9dc"}, - {file = "setproctitle-1.3.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:bdfd7254745bb737ca1384dee57e6523651892f0ea2a7344490e9caefcc35e64"}, - {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:477d3da48e216d7fc04bddab67b0dcde633e19f484a146fd2a34bb0e9dbb4a1e"}, - {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ab2900d111e93aff5df9fddc64cf51ca4ef2c9f98702ce26524f1acc5a786ae7"}, - {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:088b9efc62d5aa5d6edf6cba1cf0c81f4488b5ce1c0342a8b67ae39d64001120"}, - {file = "setproctitle-1.3.3-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a6d50252377db62d6a0bb82cc898089916457f2db2041e1d03ce7fadd4a07381"}, - {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:87e668f9561fd3a457ba189edfc9e37709261287b52293c115ae3487a24b92f6"}, - {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:287490eb90e7a0ddd22e74c89a92cc922389daa95babc833c08cf80c84c4df0a"}, - {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:4fe1c49486109f72d502f8be569972e27f385fe632bd8895f4730df3c87d5ac8"}, - {file = "setproctitle-1.3.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4a6ba2494a6449b1f477bd3e67935c2b7b0274f2f6dcd0f7c6aceae10c6c6ba3"}, - {file = "setproctitle-1.3.3-cp312-cp312-win32.whl", hash = "sha256:2df2b67e4b1d7498632e18c56722851ba4db5d6a0c91aaf0fd395111e51cdcf4"}, - {file = "setproctitle-1.3.3-cp312-cp312-win_amd64.whl", hash = "sha256:f38d48abc121263f3b62943f84cbaede05749047e428409c2c199664feb6abc7"}, - {file = "setproctitle-1.3.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:816330675e3504ae4d9a2185c46b573105d2310c20b19ea2b4596a9460a4f674"}, - {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:68f960bc22d8d8e4ac886d1e2e21ccbd283adcf3c43136161c1ba0fa509088e0"}, - {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:00e6e7adff74796ef12753ff399491b8827f84f6c77659d71bd0b35870a17d8f"}, - {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:53bc0d2358507596c22b02db079618451f3bd720755d88e3cccd840bafb4c41c"}, - {file = "setproctitle-1.3.3-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ad6d20f9541f5f6ac63df553b6d7a04f313947f550eab6a61aa758b45f0d5657"}, - {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:c1c84beab776b0becaa368254801e57692ed749d935469ac10e2b9b825dbdd8e"}, - {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:507e8dc2891021350eaea40a44ddd887c9f006e6b599af8d64a505c0f718f170"}, - {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:b1067647ac7aba0b44b591936118a22847bda3c507b0a42d74272256a7a798e9"}, - {file = "setproctitle-1.3.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:2e71f6365744bf53714e8bd2522b3c9c1d83f52ffa6324bd7cbb4da707312cd8"}, - {file = "setproctitle-1.3.3-cp37-cp37m-win32.whl", hash = "sha256:7f1d36a1e15a46e8ede4e953abb104fdbc0845a266ec0e99cc0492a4364f8c44"}, - {file = "setproctitle-1.3.3-cp37-cp37m-win_amd64.whl", hash = "sha256:c9a402881ec269d0cc9c354b149fc29f9ec1a1939a777f1c858cdb09c7a261df"}, - {file = "setproctitle-1.3.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:ff814dea1e5c492a4980e3e7d094286077054e7ea116cbeda138819db194b2cd"}, - {file = "setproctitle-1.3.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:accb66d7b3ccb00d5cd11d8c6e07055a4568a24c95cf86109894dcc0c134cc89"}, - {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:554eae5a5b28f02705b83a230e9d163d645c9a08914c0ad921df363a07cf39b1"}, - {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a911b26264dbe9e8066c7531c0591cfab27b464459c74385b276fe487ca91c12"}, - {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2982efe7640c4835f7355fdb4da313ad37fb3b40f5c69069912f8048f77b28c8"}, - {file = "setproctitle-1.3.3-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:df3f4274b80709d8bcab2f9a862973d453b308b97a0b423a501bcd93582852e3"}, - {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:af2c67ae4c795d1674a8d3ac1988676fa306bcfa1e23fddb5e0bd5f5635309ca"}, - {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:af4061f67fd7ec01624c5e3c21f6b7af2ef0e6bab7fbb43f209e6506c9ce0092"}, - {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:37a62cbe16d4c6294e84670b59cf7adcc73faafe6af07f8cb9adaf1f0e775b19"}, - {file = "setproctitle-1.3.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:a83ca086fbb017f0d87f240a8f9bbcf0809f3b754ee01cec928fff926542c450"}, - {file = "setproctitle-1.3.3-cp38-cp38-win32.whl", hash = "sha256:059f4ce86f8cc92e5860abfc43a1dceb21137b26a02373618d88f6b4b86ba9b2"}, - {file = "setproctitle-1.3.3-cp38-cp38-win_amd64.whl", hash = "sha256:ab92e51cd4a218208efee4c6d37db7368fdf182f6e7ff148fb295ecddf264287"}, - {file = "setproctitle-1.3.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:c7951820b77abe03d88b114b998867c0f99da03859e5ab2623d94690848d3e45"}, - {file = "setproctitle-1.3.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:5bc94cf128676e8fac6503b37763adb378e2b6be1249d207630f83fc325d9b11"}, - {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1f5d9027eeda64d353cf21a3ceb74bb1760bd534526c9214e19f052424b37e42"}, - {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2e4a8104db15d3462e29d9946f26bed817a5b1d7a47eabca2d9dc2b995991503"}, - {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c32c41ace41f344d317399efff4cffb133e709cec2ef09c99e7a13e9f3b9483c"}, - {file = "setproctitle-1.3.3-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbf16381c7bf7f963b58fb4daaa65684e10966ee14d26f5cc90f07049bfd8c1e"}, - {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:e18b7bd0898398cc97ce2dfc83bb192a13a087ef6b2d5a8a36460311cb09e775"}, - {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:69d565d20efe527bd8a9b92e7f299ae5e73b6c0470f3719bd66f3cd821e0d5bd"}, - {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:ddedd300cd690a3b06e7eac90ed4452348b1348635777ce23d460d913b5b63c3"}, - {file = "setproctitle-1.3.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:415bfcfd01d1fbf5cbd75004599ef167a533395955305f42220a585f64036081"}, - {file = "setproctitle-1.3.3-cp39-cp39-win32.whl", hash = "sha256:21112fcd2195d48f25760f0eafa7a76510871bbb3b750219310cf88b04456ae3"}, - {file = "setproctitle-1.3.3-cp39-cp39-win_amd64.whl", hash = "sha256:5a740f05d0968a5a17da3d676ce6afefebeeeb5ce137510901bf6306ba8ee002"}, - {file = "setproctitle-1.3.3-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:6b9e62ddb3db4b5205c0321dd69a406d8af9ee1693529d144e86bd43bcb4b6c0"}, - {file = "setproctitle-1.3.3-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9e3b99b338598de0bd6b2643bf8c343cf5ff70db3627af3ca427a5e1a1a90dd9"}, - {file = "setproctitle-1.3.3-pp310-pypy310_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:38ae9a02766dad331deb06855fb7a6ca15daea333b3967e214de12cfae8f0ef5"}, - {file = "setproctitle-1.3.3-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:200ede6fd11233085ba9b764eb055a2a191fb4ffb950c68675ac53c874c22e20"}, - {file = "setproctitle-1.3.3-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:0d3a953c50776751e80fe755a380a64cb14d61e8762bd43041ab3f8cc436092f"}, - {file = "setproctitle-1.3.3-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e5e08e232b78ba3ac6bc0d23ce9e2bee8fad2be391b7e2da834fc9a45129eb87"}, - {file = "setproctitle-1.3.3-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f1da82c3e11284da4fcbf54957dafbf0655d2389cd3d54e4eaba636faf6d117a"}, - {file = "setproctitle-1.3.3-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:aeaa71fb9568ebe9b911ddb490c644fbd2006e8c940f21cb9a1e9425bd709574"}, - {file = "setproctitle-1.3.3-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:59335d000c6250c35989394661eb6287187854e94ac79ea22315469ee4f4c244"}, - {file = "setproctitle-1.3.3-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c3ba57029c9c50ecaf0c92bb127224cc2ea9fda057b5d99d3f348c9ec2855ad3"}, - {file = "setproctitle-1.3.3-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d876d355c53d975c2ef9c4f2487c8f83dad6aeaaee1b6571453cb0ee992f55f6"}, - {file = "setproctitle-1.3.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:224602f0939e6fb9d5dd881be1229d485f3257b540f8a900d4271a2c2aa4e5f4"}, - {file = "setproctitle-1.3.3-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d7f27e0268af2d7503386e0e6be87fb9b6657afd96f5726b733837121146750d"}, - {file = "setproctitle-1.3.3-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f5e7266498cd31a4572378c61920af9f6b4676a73c299fce8ba93afd694f8ae7"}, - {file = "setproctitle-1.3.3-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:33c5609ad51cd99d388e55651b19148ea99727516132fb44680e1f28dd0d1de9"}, - {file = "setproctitle-1.3.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:eae8988e78192fd1a3245a6f4f382390b61bce6cfcc93f3809726e4c885fa68d"}, - {file = "setproctitle-1.3.3.tar.gz", hash = "sha256:c913e151e7ea01567837ff037a23ca8740192880198b7fbb90b16d181607caae"}, -] - -[package.extras] -test = ["pytest"] - [[package]] name = "setuptools" -version = "69.5.1" +version = "70.0.0" description = "Easily download, build, install, upgrade, and uninstall Python packages" optional = false python-versions = ">=3.8" files = [ - {file = "setuptools-69.5.1-py3-none-any.whl", hash = "sha256:c636ac361bc47580504644275c9ad802c50415c7522212252c033bd15f301f32"}, - {file = "setuptools-69.5.1.tar.gz", hash = "sha256:6c1fccdac05a97e598fb0ae3bbed5904ccb317337a51139dcd51453611bbb987"}, + {file = "setuptools-70.0.0-py3-none-any.whl", hash = "sha256:54faa7f2e8d2d11bcd2c07bed282eef1046b5c080d1c32add737d7b5817b1ad4"}, + {file = "setuptools-70.0.0.tar.gz", hash = "sha256:f211a66637b8fa059bb28183da127d4e86396c991a942b028c6650d4319c3fd0"}, ] [package.extras] -docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"] -testing = ["build[virtualenv]", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mypy (==1.9)", "packaging (>=23.2)", "pip (>=19.1)", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"] -testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.2)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"] +docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"] +testing = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mypy (==1.9)", "packaging (>=23.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"] [[package]] name = "shapely" @@ -7448,16 +7488,16 @@ files = [ [[package]] name = "sounddevice" -version = "0.4.6" +version = "0.4.7" description = "Play and Record Sound with Python" optional = false python-versions = ">=3.7" files = [ - {file = "sounddevice-0.4.6-py3-none-any.whl", hash = "sha256:5de768ba6fe56ad2b5aaa2eea794b76b73e427961c95acad2ee2ed7f866a4b20"}, - {file = "sounddevice-0.4.6-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:8b0b806c205dd3e3cd5a97262b2482624fd21db7d47083b887090148a08051c8"}, - {file = "sounddevice-0.4.6-py3-none-win32.whl", hash = "sha256:e3ba6e674ffa8f79a591d744a1d4ab922fe5bdfd4faf8b25069a08e051010b7b"}, - {file = "sounddevice-0.4.6-py3-none-win_amd64.whl", hash = "sha256:7830d4f8f8570f2e5552942f81d96999c5fcd9a0b682d6fc5d5c5529df23be2c"}, - {file = "sounddevice-0.4.6.tar.gz", hash = "sha256:3236b78f15f0415bdf006a620cef073d0c0522851d66f4a961ed6d8eb1482fe9"}, + {file = "sounddevice-0.4.7-py3-none-any.whl", hash = "sha256:1c3f18bfa4d9a257f5715f2ab83f2c0eb412a09f3e6a9fa73720886ca88f6bc7"}, + {file = "sounddevice-0.4.7-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:d6ddfd341ad7412b14ca001f2c4dbf5fa2503bdc9eb15ad2c3105f6c260b698a"}, + {file = "sounddevice-0.4.7-py3-none-win32.whl", hash = "sha256:1ec1df094c468a210113aa22c4f390d5b4d9c7a73e41a6cb6ecfec83db59b380"}, + {file = "sounddevice-0.4.7-py3-none-win_amd64.whl", hash = "sha256:0c8b3543da1496f282b66a7bc54b755577ba638b1af06c146d4ac7f39d86b548"}, + {file = "sounddevice-0.4.7.tar.gz", hash = "sha256:69b386818d50a2d518607d4b973442e8d524760c7cd6c8b8be03d8c98fc4bce7"}, ] [package.dependencies] @@ -7657,17 +7697,17 @@ files = [ [[package]] name = "sympy" -version = "1.12" +version = "1.12.1" description = "Computer algebra system (CAS) in Python" optional = false python-versions = ">=3.8" files = [ - {file = "sympy-1.12-py3-none-any.whl", hash = "sha256:c3588cd4295d0c0f603d0f2ae780587e64e2efeedb3521e46b9bb1d08d184fa5"}, - {file = "sympy-1.12.tar.gz", hash = "sha256:ebf595c8dac3e0fdc4152c51878b498396ec7f30e7a914d6071e674d49420fb8"}, + {file = "sympy-1.12.1-py3-none-any.whl", hash = "sha256:9b2cbc7f1a640289430e13d2a56f02f867a1da0190f2f99d8968c2f74da0e515"}, + {file = "sympy-1.12.1.tar.gz", hash = "sha256:2877b03f998cd8c08f07cd0de5b767119cd3ef40d09f41c30d722f6686b0fb88"}, ] [package.dependencies] -mpmath = ">=0.19" +mpmath = ">=1.1.0,<1.4.0" [[package]] name = "tabulate" @@ -7683,21 +7723,6 @@ files = [ [package.extras] widechars = ["wcwidth"] -[[package]] -name = "tenacity" -version = "8.3.0" -description = "Retry code until it succeeds" -optional = false -python-versions = ">=3.8" -files = [ - {file = "tenacity-8.3.0-py3-none-any.whl", hash = "sha256:3649f6443dbc0d9b01b9d8020a9c4ec7a1ff5f6f3c6c8a036ef371f573fe9185"}, - {file = "tenacity-8.3.0.tar.gz", hash = "sha256:953d4e6ad24357bceffbc9707bc74349aca9d245f68eb65419cf0c249a1949a2"}, -] - -[package.extras] -doc = ["reno", "sphinx"] -test = ["pytest", "tornado (>=4.5)", "typeguard"] - [[package]] name = "timezonefinder" version = "6.5.0" @@ -7752,13 +7777,13 @@ telegram = ["requests"] [[package]] name = "types-requests" -version = "2.31.0.20240406" +version = "2.32.0.20240602" description = "Typing stubs for requests" optional = false python-versions = ">=3.8" files = [ - {file = "types-requests-2.31.0.20240406.tar.gz", hash = "sha256:4428df33c5503945c74b3f42e82b181e86ec7b724620419a2966e2de604ce1a1"}, - {file = "types_requests-2.31.0.20240406-py3-none-any.whl", hash = "sha256:6216cdac377c6b9a040ac1c0404f7284bd13199c0e1bb235f4324627e8898cf5"}, + {file = "types-requests-2.32.0.20240602.tar.gz", hash = "sha256:3f98d7bbd0dd94ebd10ff43a7fbe20c3b8528acace6d8efafef0b6a184793f06"}, + {file = "types_requests-2.32.0.20240602-py3-none-any.whl", hash = "sha256:ed3946063ea9fbc6b5fc0c44fa279188bae42d582cb63760be6cb4b9d06c3de8"}, ] [package.dependencies] @@ -7777,13 +7802,13 @@ files = [ [[package]] name = "typing-extensions" -version = "4.11.0" +version = "4.12.2" description = "Backported and Experimental Type Hints for Python 3.8+" optional = false python-versions = ">=3.8" files = [ - {file = "typing_extensions-4.11.0-py3-none-any.whl", hash = "sha256:c1f94d72897edaf4ce775bb7558d5b79d8126906a14ea5ed1635921406c0387a"}, - {file = "typing_extensions-4.11.0.tar.gz", hash = "sha256:83f085bd5ca59c80295fc2a82ab5dac679cbe02b9f33f7d83af68e241bea51b0"}, + {file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"}, + {file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"}, ] [[package]] @@ -7816,13 +7841,13 @@ zstd = ["zstandard (>=0.18.0)"] [[package]] name = "virtualenv" -version = "20.26.1" +version = "20.26.2" description = "Virtual Python Environment builder" optional = false python-versions = ">=3.7" files = [ - {file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"}, - {file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"}, + {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"}, + {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"}, ] [package.dependencies] @@ -7971,20 +7996,20 @@ multidict = ">=4.0" [[package]] name = "zipp" -version = "3.18.1" +version = "3.19.2" description = "Backport of pathlib-compatible object wrapper for zip files" optional = false python-versions = ">=3.8" files = [ - {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"}, - {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"}, + {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"}, + {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"}, ] [package.extras] -docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] -testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] +doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] +test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] [metadata] lock-version = "2.0" -python-versions = "~3.11" -content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d" +python-versions = ">=3.11, <3.13" +content-hash = "b5c62b81368f0e972fbcf0dbb88746f3ae930ebdc171ad004c926f3588d1f244" diff --git a/pyproject.toml b/pyproject.toml index a25fcc164..7b780c87f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,3 +1,12 @@ +[project] +name = "openpilot" +requires-python = ">= 3.11" +readme = "README.md" +license = {text = "MIT License"} + +[project.urls] +Homepage = "https://comma.ai" + [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" @@ -11,19 +20,18 @@ markers = [ ] testpaths = [ "common", - "selfdrive/athena", - "selfdrive/boardd", + "selfdrive/pandad", "selfdrive/car", "selfdrive/controls", "selfdrive/locationd", "selfdrive/monitoring", "selfdrive/navd/tests", - "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", - "selfdrive/updated", + "system/updated", + "system/athena", "system/camerad", - "system/hardware/tici", + "system/hardware", "system/loggerd", "system/proclogd", "system/tests", @@ -31,7 +39,8 @@ testpaths = [ "system/webrtc", "tools/lib/tests", "tools/replay", - "tools/cabana" + "tools/cabana", + "cereal/messaging/tests", ] [tool.mypy] @@ -78,34 +87,47 @@ readme = "README.md" repository = "https://github.com/commaai/openpilot" documentation = "https://docs.comma.ai" - [tool.poetry.dependencies] -python = "~3.11" +python = ">=3.11, <3.13" + +# multiple users +sounddevice = "*" # micd + soundd +pyserial = "*" # pigeond + qcomgpsd +requests = "*" # many one-off uses +sympy = "*" # rednose + friends +crcmod = "*" # cars + qcomgpsd + +# hardwared +smbus2 = "*" # configuring amp + +# core +cffi = "*" +scons = "*" +pycapnp = "*" +Cython = "*" +numpy = "*" + +# body / webrtcd aiohttp = "*" aiortc = "*" -cffi = "*" -crcmod = "*" -Cython = "*" -json-rpc = "*" +pyaudio = "*" + +# panda libusb1 = "*" -numpy = "*" +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'" } -psutil = "*" -pyaudio = "*" -pycapnp = "*" -pycryptodome = "*" -PyJWT = "*" -pyserial = "*" + +# logging pyzmq = "*" -requests = "*" -scons = "*" sentry-sdk = "*" -smbus2 = "*" -sounddevice = "*" -spidev = { version = "*", platform = "linux" } -sympy = "*" + +# athena +PyJWT = "*" +json-rpc = "*" websocket_client = "*" # acados deps @@ -113,9 +135,9 @@ casadi = "*" future-fstrings = "*" # these should be removed -markdown-it-py = "*" -timezonefinder = "*" -setproctitle = "*" +psutil = "*" +timezonefinder = "*" # just used for nav ETA +pycryptodome = "*" # used in updated/casync, panda, body, and a test [tool.poetry.group.dev.dependencies] av = "*" @@ -125,25 +147,24 @@ breathe = "*" control = "*" coverage = "*" dictdiffer = "*" -ft4222 = "*" flaky = "*" hypothesis = "~6.47" inputs = "*" Jinja2 = "*" lru-dict = "*" matplotlib = "*" -metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" natsort = "*" opencv-python-headless = "*" parameterized = "^0.8" -pprofile = "*" +#pprofile = "*" polyline = "*" pre-commit = "*" pyautogui = "*" -pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 +pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64 pygame = "*" pywinctl = "*" pyprof2calltree = "*" @@ -154,12 +175,15 @@ pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" pytest-randomly = "*" +pytest-asyncio = "*" +pytest-mock = "*" +pytest-repeat = "*" +rerun-sdk = "*" ruff = "*" sphinx = "*" sphinx-rtd-theme = "*" sphinx-sitemap = "*" tabulate = "*" -tenacity = "*" types-requests = "*" types-tabulate = "*" tqdm = "*" @@ -174,8 +198,24 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 -lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] +lint.select = [ + "E", "F", "W", "PIE", "C4", "ISC", "A", "B", + "NPY", # numpy + "UP", # pyupgrade + "TRY302", "TRY400", "TRY401", # try/excepts + "RUF008", "RUF100", + "TID251" +] +lint.ignore = [ + "E741", + "E402", + "C408", + "ISC003", + "B027", + "B024", + "NPY002", # new numpy random syntax is worse + "UP038", # (x, y) -> x|y for isinstance +] line-length = 160 target-version="py311" exclude = [ @@ -197,6 +237,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false "third_party".msg = "Use openpilot.third_party" "tools".msg = "Use openpilot.tools" "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" +"unittest".msg = "Use pytest" [tool.coverage.run] concurrency = ["multiprocessing", "thread"] diff --git a/release/README.md b/release/README.md new file mode 100644 index 000000000..1d3e78493 --- /dev/null +++ b/release/README.md @@ -0,0 +1,36 @@ +# openpilot releases + +## release checklist + +**Go to `devel-staging`** +- [ ] update `devel-staging`: `git reset --hard origin/master-ci` +- [ ] open a pull request from `devel-staging` to `devel` + +**Go to `devel`** +- [ ] update RELEASES.md +- [ ] close out milestone +- [ ] post on Discord dev channel +- [ ] bump version on master: `common/version.h` and `RELEASES.md` +- [ ] merge the pull request + +tests: +- [ ] update from previous release -> new release +- [ ] update from new release -> previous release +- [ ] fresh install with `openpilot-test.comma.ai` +- [ ] drive on fresh install +- [ ] comma body test +- [ ] no submodules or LFS +- [ ] check sentry, MTBF, etc. + +**Go to `release3`** +- [ ] publish the blog post +- [ ] `git reset --hard origin/release3-staging` +- [ ] tag the release +``` +git tag v0.X.X +git push origin v0.X.X +``` +- [ ] create GitHub release +- [ ] final test install on `openpilot.comma.ai` +- [ ] update production +- [ ] Post on Discord, X, etc. diff --git a/release/build_devel.sh b/release/build_devel.sh index 8b6816e42..7fce11ca7 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -1,5 +1,4 @@ #!/usr/bin/bash - set -ex DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" @@ -44,7 +43,7 @@ git clean -xdff # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -cp -pR --parents $(cat release/files_*) $TARGET_DIR/ +cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ # in the directory cd $TARGET_DIR @@ -64,6 +63,13 @@ date: $DATETIME master commit: $GIT_HASH " +# should be no submodules or LFS files +git submodule status +if [ ! -z "$(git lfs ls-files)" ]; then + echo "LFS files detected!" + exit 1 +fi + # ensure files are within GitHub's limit BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)" if [ ! -z "$BIG_FILES" ]; then diff --git a/release/build_release.sh b/release/build_release.sh index fc15cf6cd..510df75e5 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -1,4 +1,6 @@ -#!/usr/bin/bash -e +#!/usr/bin/bash +set -e +set -x # git diff --name-status origin/release3-staging | grep "^A" | less @@ -9,13 +11,6 @@ cd $DIR BUILD_DIR=/data/openpilot SOURCE_DIR="$(git rev-parse --show-toplevel)" -if [ -f /TICI ]; then - FILES_SRC="release/files_tici" -else - echo "no release files set" - exit 1 -fi - if [ -z "$RELEASE_BRANCH" ]; then echo "RELEASE_BRANCH is not set" exit 1 @@ -36,8 +31,7 @@ git checkout --orphan $RELEASE_BRANCH # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -cp -pR --parents $(cat release/files_common) $BUILD_DIR/ -cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/ +cp -pR --parents $(./release/release_files.py) $BUILD_DIR/ # in the directory cd $BUILD_DIR @@ -54,7 +48,7 @@ git commit -a -m "openpilot v$VERSION release" # Build export PYTHONPATH="$BUILD_DIR" -scons -j$(nproc) +scons -j$(nproc) --minimal # release panda fw CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/ @@ -77,6 +71,10 @@ find . -name '__pycache__' -delete rm -rf .sconsign.dblite Jenkinsfile release/ rm selfdrive/modeld/models/supercombo.onnx +find third_party/ -name '*x86*' -exec rm -r {} + +find third_party/ -name '*Darwin*' -exec rm -r {} + + + # Restore third_party git checkout third_party/ @@ -92,9 +90,9 @@ TEST_FILES="tools/" cd $SOURCE_DIR cp -pR -n --parents $TEST_FILES $BUILD_DIR/ cd $BUILD_DIR -RELEASE=1 selfdrive/test/test_onroad.py -#selfdrive/manager/test/test_manager.py -selfdrive/car/tests/test_car_interfaces.py +RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py +#system/manager/test/test_manager.py +pytest selfdrive/car/tests/test_car_interfaces.py rm -rf $TEST_FILES if [ ! -z "$RELEASE_BRANCH" ]; then diff --git a/release/files_common b/release/files_common deleted file mode 100644 index 34d8f0097..000000000 --- a/release/files_common +++ /dev/null @@ -1,567 +0,0 @@ -.gitignore -LICENSE -launch_env.sh -launch_chffrplus.sh -launch_openpilot.sh - -Jenkinsfile -SConstruct -pyproject.toml - -README.md -RELEASES.md -docs/CARS.md -docs/CONTRIBUTING.md -docs/INTEGRATION.md -docs/LIMITATIONS.md -site_scons/site_tools/cython.py - -openpilot/__init__.py -openpilot/** - -common/.gitignore -common/__init__.py -common/*.py -common/*.pyx -common/mock/* - -common/transformations/__init__.py -common/transformations/camera.py -common/transformations/model.py - -common/transformations/SConscript -common/transformations/coordinates.py -common/transformations/coordinates.cc -common/transformations/coordinates.hpp -common/transformations/orientation.py -common/transformations/orientation.cc -common/transformations/orientation.hpp -common/transformations/transformations.pxd -common/transformations/transformations.pyx - -common/api/__init__.py - -release/* - -tools/__init__.py -tools/lib/* -tools/bodyteleop/.gitignore -tools/bodyteleop/web.py -tools/bodyteleop/static/* -tools/joystick/* -tools/replay/*.cc -tools/replay/*.h - -selfdrive/__init__.py -selfdrive/sentry.py -selfdrive/tombstoned.py -selfdrive/statsd.py - -selfdrive/updated/** - -system/logmessaged.py -system/micd.py -system/version.py - -selfdrive/SConscript - -selfdrive/athena/__init__.py -selfdrive/athena/athenad.py -selfdrive/athena/manage_athenad.py -selfdrive/athena/registration.py - -selfdrive/boardd/.gitignore -selfdrive/boardd/SConscript -selfdrive/boardd/__init__.py -selfdrive/boardd/boardd.cc -selfdrive/boardd/boardd.h -selfdrive/boardd/main.cc -selfdrive/boardd/boardd.py -selfdrive/boardd/boardd_api_impl.pyx -selfdrive/boardd/can_list_to_can_capnp.cc -selfdrive/boardd/panda.cc -selfdrive/boardd/panda.h -selfdrive/boardd/spi.cc -selfdrive/boardd/panda_comms.h -selfdrive/boardd/panda_comms.cc -selfdrive/boardd/pandad.py -selfdrive/boardd/tests/test_boardd_loopback.py - -selfdrive/car/__init__.py -selfdrive/car/card.py -selfdrive/car/docs_definitions.py -selfdrive/car/car_helpers.py -selfdrive/car/fingerprints.py -selfdrive/car/interfaces.py -selfdrive/car/values.py -selfdrive/car/vin.py -selfdrive/car/disable_ecu.py -selfdrive/car/fw_versions.py -selfdrive/car/fw_query_definitions.py -selfdrive/car/ecu_addrs.py -selfdrive/car/isotp_parallel_query.py -selfdrive/car/tests/__init__.py -selfdrive/car/tests/test_car_interfaces.py -selfdrive/car/torque_data/* - -selfdrive/car/body/*.py -selfdrive/car/chrysler/*.py -selfdrive/car/ford/*.py -selfdrive/car/gm/*.py -selfdrive/car/honda/*.py -selfdrive/car/hyundai/*.py -selfdrive/car/mazda/*.py -selfdrive/car/mock/*.py -selfdrive/car/nissan/*.py -selfdrive/car/subaru/*.py -selfdrive/car/tesla/*.py -selfdrive/car/toyota/*.py -selfdrive/car/volkswagen/*.py - -selfdrive/debug/can_printer.py -selfdrive/debug/check_freq.py -selfdrive/debug/dump.py -selfdrive/debug/filter_log_message.py -selfdrive/debug/format_fingerprints.py -selfdrive/debug/get_fingerprint.py -selfdrive/debug/uiview.py - -selfdrive/debug/hyundai_enable_radar_points.py -selfdrive/debug/vw_mqb_config.py - -common/SConscript -common/version.h - -common/*.h -common/*.cc - -selfdrive/controls/__init__.py -selfdrive/controls/controlsd.py -selfdrive/controls/plannerd.py -selfdrive/controls/radard.py -selfdrive/controls/lib/__init__.py -selfdrive/controls/lib/alertmanager.py -selfdrive/controls/lib/alerts_offroad.json -selfdrive/controls/lib/desire_helper.py -selfdrive/controls/lib/drive_helpers.py -selfdrive/controls/lib/events.py -selfdrive/controls/lib/latcontrol_angle.py -selfdrive/controls/lib/latcontrol_torque.py -selfdrive/controls/lib/latcontrol_pid.py -selfdrive/controls/lib/latcontrol.py -selfdrive/controls/lib/longcontrol.py -selfdrive/controls/lib/longitudinal_planner.py -selfdrive/controls/lib/pid.py -selfdrive/controls/lib/vehicle_model.py - -selfdrive/controls/lib/lateral_mpc_lib/.gitignore -selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore -selfdrive/controls/lib/lateral_mpc_lib/* -selfdrive/controls/lib/longitudinal_mpc_lib/* - -system/__init__.py -system/*.py - -system/hardware/__init__.py -system/hardware/base.h -system/hardware/base.py -system/hardware/hw.h -system/hardware/hw.py -system/hardware/tici/__init__.py -system/hardware/tici/hardware.h -system/hardware/tici/hardware.py -system/hardware/tici/pins.py -system/hardware/tici/agnos.py -system/hardware/tici/agnos.json -system/hardware/tici/amplifier.py -system/hardware/tici/updater -system/hardware/tici/iwlist.py -system/hardware/tici/esim.nmconnection -system/hardware/pc/__init__.py -system/hardware/pc/hardware.h -system/hardware/pc/hardware.py - -system/ubloxd/.gitignore -system/ubloxd/SConscript -system/ubloxd/pigeond.py -system/ubloxd/generated/* -system/ubloxd/*.h -system/ubloxd/*.cc - -system/updated/* - -selfdrive/locationd/__init__.py -selfdrive/locationd/SConscript -selfdrive/locationd/.gitignore -selfdrive/locationd/locationd.h -selfdrive/locationd/locationd.cc -selfdrive/locationd/paramsd.py -selfdrive/locationd/models/__init__.py -selfdrive/locationd/models/.gitignore -selfdrive/locationd/models/car_kf.py -selfdrive/locationd/models/live_kf.py -selfdrive/locationd/models/live_kf.h -selfdrive/locationd/models/live_kf.cc -selfdrive/locationd/models/constants.py - -selfdrive/locationd/torqued.py -selfdrive/locationd/calibrationd.py -selfdrive/locationd/helpers.py - -system/logcatd/.gitignore -system/logcatd/SConscript -system/logcatd/logcatd_systemd.cc - -system/proclogd/SConscript -system/proclogd/main.cc -system/proclogd/proclog.cc -system/proclogd/proclog.h - -system/loggerd/.gitignore -system/loggerd/SConscript -system/loggerd/encoder/encoder.cc -system/loggerd/encoder/encoder.h -system/loggerd/encoder/v4l_encoder.cc -system/loggerd/encoder/v4l_encoder.h -system/loggerd/video_writer.cc -system/loggerd/video_writer.h -system/loggerd/logger.cc -system/loggerd/logger.h -system/loggerd/loggerd.cc -system/loggerd/loggerd.h -system/loggerd/encoderd.cc -system/loggerd/bootlog.cc -system/loggerd/encoder/ffmpeg_encoder.cc -system/loggerd/encoder/ffmpeg_encoder.h - -system/loggerd/__init__.py -system/loggerd/config.py -system/loggerd/uploader.py -system/loggerd/deleter.py -system/loggerd/xattr_cache.py - -system/sensord/.gitignore -system/sensord/SConscript -system/sensord/sensors_qcom2.cc -system/sensord/sensors/*.cc -system/sensord/sensors/*.h - -system/webrtc/__init__.py -system/webrtc/webrtcd.py -system/webrtc/schema.py -system/webrtc/device/audio.py -system/webrtc/device/video.py - -selfdrive/thermald/thermald.py -selfdrive/thermald/power_monitoring.py -selfdrive/thermald/fan_controller.py - -selfdrive/test/__init__.py -selfdrive/test/fuzzy_generation.py -selfdrive/test/helpers.py -selfdrive/test/setup_device_ci.sh -selfdrive/test/test_onroad.py -selfdrive/test/test_time_to_onroad.py - -selfdrive/ui/.gitignore -selfdrive/ui/SConscript -selfdrive/ui/*.cc -selfdrive/ui/*.h -selfdrive/ui/text -selfdrive/ui/spinner -selfdrive/ui/soundd.py -selfdrive/ui/translations/*.ts -selfdrive/ui/translations/languages.json -selfdrive/ui/update_translations.py -selfdrive/ui/tests/test_translations.py - -selfdrive/ui/qt/*.cc -selfdrive/ui/qt/*.h -selfdrive/ui/qt/network/*.cc -selfdrive/ui/qt/network/*.h -selfdrive/ui/qt/offroad/*.cc -selfdrive/ui/qt/offroad/*.h -selfdrive/ui/qt/offroad/*.qml -selfdrive/ui/qt/onroad/*.cc -selfdrive/ui/qt/onroad/*.h -selfdrive/ui/qt/widgets/*.cc -selfdrive/ui/qt/widgets/*.h -selfdrive/ui/qt/maps/*.cc -selfdrive/ui/qt/maps/*.h -selfdrive/ui/qt/setup/*.cc -selfdrive/ui/qt/setup/*.h - -selfdrive/ui/installer/*.cc -selfdrive/ui/installer/*.h -selfdrive/ui/installer/*.cc - -system/camerad/SConscript -system/camerad/main.cc - -system/camerad/snapshot/* -system/camerad/cameras/camera_common.h -system/camerad/cameras/camera_common.cc -system/camerad/sensors/*.h -system/camerad/sensors/*.cc - -selfdrive/manager/__init__.py -selfdrive/manager/build.py -selfdrive/manager/helpers.py -selfdrive/manager/manager.py -selfdrive/manager/process_config.py -selfdrive/manager/process.py -selfdrive/manager/test/__init__.py -selfdrive/manager/test/test_manager.py - -selfdrive/modeld/.gitignore -selfdrive/modeld/__init__.py -selfdrive/modeld/SConscript -selfdrive/modeld/modeld.py -selfdrive/modeld/parse_model_outputs.py -selfdrive/modeld/fill_model_msg.py -selfdrive/modeld/get_model_metadata.py -selfdrive/modeld/dmonitoringmodeld.py -selfdrive/modeld/constants.py -selfdrive/modeld/modeld - -selfdrive/modeld/models/__init__.py -selfdrive/modeld/models/*.pxd -selfdrive/modeld/models/*.pyx - -selfdrive/modeld/models/commonmodel.cc -selfdrive/modeld/models/commonmodel.h - -selfdrive/modeld/models/supercombo.onnx - -selfdrive/modeld/models/dmonitoring_model_q.dlc - -selfdrive/modeld/transforms/loadyuv.cc -selfdrive/modeld/transforms/loadyuv.h -selfdrive/modeld/transforms/loadyuv.cl -selfdrive/modeld/transforms/transform.cc -selfdrive/modeld/transforms/transform.h -selfdrive/modeld/transforms/transform.cl - -selfdrive/modeld/thneed/*.py -selfdrive/modeld/thneed/thneed.h -selfdrive/modeld/thneed/thneed_common.cc -selfdrive/modeld/thneed/thneed_qcom2.cc -selfdrive/modeld/thneed/serialize.cc - -selfdrive/modeld/runners/__init__.py -selfdrive/modeld/runners/*.pxd -selfdrive/modeld/runners/*.pyx -selfdrive/modeld/runners/*.cc -selfdrive/modeld/runners/*.h -selfdrive/modeld/runners/*.py - -selfdrive/monitoring/dmonitoringd.py -selfdrive/monitoring/driver_monitor.py - -selfdrive/navd/.gitignore -selfdrive/navd/__init__.py -selfdrive/navd/** - -selfdrive/assets/.gitignore -selfdrive/assets/assets.qrc -selfdrive/assets/*.png -selfdrive/assets/*.svg -selfdrive/assets/body/* -selfdrive/assets/fonts/*.ttf -selfdrive/assets/icons/* -selfdrive/assets/images/* -selfdrive/assets/offroad/* -selfdrive/assets/sounds/* -selfdrive/assets/training/* -selfdrive/assets/navigation/* - -third_party/.gitignore -third_party/SConscript - -third_party/linux/** -third_party/opencl/** - -third_party/json11/json11.cpp -third_party/json11/json11.hpp - -third_party/qrcode/*.cc -third_party/qrcode/*.hpp - -third_party/kaitai/*.h -third_party/kaitai/*.cpp - -third_party/libyuv/include/** - -third_party/snpe/include/** -third_party/snpe/dsp** - -third_party/acados/.gitignore -third_party/acados/include/** -third_party/acados/acados_template/** - -third_party/bootstrap/** -third_party/qt5/larch64/bin/** -third_party/maplibre-native-qt/** - -scripts/update_now.sh -scripts/stop_updater.sh - -teleoprtc/** - -rednose_repo/site_scons/site_tools/rednose_filter.py -rednose/.gitignore -rednose/** - -body/.gitignore -body/board/SConscript -body/board/*.h -body/board/*.c -body/board/*.s -body/board/*.ld -body/board/inc/** -body/board/obj/ -body/board/bldc/** -body/board/drivers/** -body/certs/** -body/crypto/** - -cereal/.gitignore -cereal/__init__.py -cereal/car.capnp -cereal/custom.capnp -cereal/legacy.capnp -cereal/log.capnp -cereal/services.py -cereal/SConscript -cereal/include/** -cereal/logger/logger.h -cereal/messaging/.gitignore -cereal/messaging/__init__.py -cereal/messaging/bridge.cc -cereal/messaging/event.cc -cereal/messaging/event.h -cereal/messaging/impl_fake.cc -cereal/messaging/impl_fake.h -cereal/messaging/impl_msgq.cc -cereal/messaging/impl_msgq.h -cereal/messaging/impl_zmq.cc -cereal/messaging/impl_zmq.h -cereal/messaging/messaging.cc -cereal/messaging/messaging.h -cereal/messaging/messaging.pxd -cereal/messaging/messaging_pyx.pyx -cereal/messaging/msgq.cc -cereal/messaging/msgq.h -cereal/messaging/socketmaster.cc -cereal/visionipc/.gitignore -cereal/visionipc/__init__.py -cereal/visionipc/*.cc -cereal/visionipc/*.h -cereal/visionipc/*.pyx -cereal/visionipc/*.pxd - -panda/.gitignore -panda/__init__.py -panda/SConscript -panda/board/** -panda/certs/** -panda/crypto/** -panda/examples/query_fw_versions.py -panda/python/** - -opendbc/.gitignore -opendbc/__init__.py -opendbc/can/__init__.py -opendbc/can/SConscript -opendbc/can/can_define.py -opendbc/can/common.cc -opendbc/can/common.h -opendbc/can/common.pxd -opendbc/can/common_dbc.h -opendbc/can/dbc.cc -opendbc/can/packer.cc -opendbc/can/packer.py -opendbc/can/packer_pyx.pyx -opendbc/can/parser.cc -opendbc/can/parser.py -opendbc/can/parser_pyx.pyx - -opendbc/comma_body.dbc - -opendbc/chrysler_ram_hd_generated.dbc -opendbc/chrysler_ram_dt_generated.dbc -opendbc/chrysler_pacifica_2017_hybrid_generated.dbc -opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc - -opendbc/gm_global_a_powertrain_generated.dbc -opendbc/gm_global_a_object.dbc -opendbc/gm_global_a_chassis.dbc - -opendbc/FORD_CADS.dbc -opendbc/ford_fusion_2018_adas.dbc -opendbc/ford_lincoln_base_pt.dbc - -opendbc/honda_accord_2018_can_generated.dbc -opendbc/acura_ilx_2016_can_generated.dbc -opendbc/acura_rdx_2018_can_generated.dbc -opendbc/acura_rdx_2020_can_generated.dbc -opendbc/honda_civic_touring_2016_can_generated.dbc -opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc -opendbc/honda_crv_touring_2016_can_generated.dbc -opendbc/honda_crv_ex_2017_can_generated.dbc -opendbc/honda_crv_ex_2017_body_generated.dbc -opendbc/honda_crv_executive_2016_can_generated.dbc -opendbc/honda_fit_ex_2018_can_generated.dbc -opendbc/honda_odyssey_exl_2018_generated.dbc -opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc -opendbc/honda_insight_ex_2019_can_generated.dbc -opendbc/acura_ilx_2016_nidec.dbc -opendbc/honda_civic_ex_2022_can_generated.dbc - -opendbc/hyundai_canfd.dbc -opendbc/hyundai_kia_generic.dbc -opendbc/hyundai_kia_mando_front_radar_generated.dbc - -opendbc/mazda_2017.dbc - -opendbc/nissan_x_trail_2017_generated.dbc -opendbc/nissan_leaf_2018_generated.dbc - -opendbc/subaru_global_2017_generated.dbc -opendbc/subaru_global_2020_hybrid_generated.dbc -opendbc/subaru_outback_2015_generated.dbc -opendbc/subaru_outback_2019_generated.dbc -opendbc/subaru_forester_2017_generated.dbc - -opendbc/toyota_tnga_k_pt_generated.dbc -opendbc/toyota_new_mc_pt_generated.dbc -opendbc/toyota_nodsu_pt_generated.dbc -opendbc/toyota_adas.dbc -opendbc/toyota_tss2_adas.dbc - -opendbc/vw_golf_mk4.dbc -opendbc/vw_mqb_2010.dbc - -opendbc/tesla_can.dbc -opendbc/tesla_radar_bosch_generated.dbc -opendbc/tesla_radar_continental_generated.dbc -opendbc/tesla_powertrain.dbc - -tinygrad_repo/openpilot/compile2.py -tinygrad_repo/extra/onnx.py -tinygrad_repo/extra/onnx_ops.py -tinygrad_repo/extra/thneed.py -tinygrad_repo/extra/utils.py -tinygrad_repo/tinygrad/codegen/kernel.py -tinygrad_repo/tinygrad/codegen/linearizer.py -tinygrad_repo/tinygrad/features/image.py -tinygrad_repo/tinygrad/features/search.py -tinygrad_repo/tinygrad/nn/* -tinygrad_repo/tinygrad/renderer/cstyle.py -tinygrad_repo/tinygrad/renderer/opencl.py -tinygrad_repo/tinygrad/runtime/lib.py -tinygrad_repo/tinygrad/runtime/ops_cpu.py -tinygrad_repo/tinygrad/runtime/ops_disk.py -tinygrad_repo/tinygrad/runtime/ops_gpu.py -tinygrad_repo/tinygrad/shape/* -tinygrad_repo/tinygrad/*.py diff --git a/release/files_pc b/release/files_pc deleted file mode 100644 index f2bf090f2..000000000 --- a/release/files_pc +++ /dev/null @@ -1,4 +0,0 @@ -third_party/libyuv/x86_64/** -third_party/snpe/x86_64/** -third_party/snpe/x86_64-linux-clang/** -third_party/acados/x86_64/** diff --git a/release/files_tici b/release/files_tici deleted file mode 100644 index 18860e20a..000000000 --- a/release/files_tici +++ /dev/null @@ -1,15 +0,0 @@ -third_party/libyuv/larch64/** -third_party/snpe/larch64** -third_party/snpe/aarch64-ubuntu-gcc7.5/* -third_party/acados/larch64/** - -system/camerad/cameras/camera_qcom2.cc -system/camerad/cameras/camera_qcom2.h -system/camerad/cameras/camera_util.cc -system/camerad/cameras/camera_util.h -system/camerad/cameras/process_raw.cl - -system/qcomgpsd/* - -selfdrive/ui/qt/spinner_larch64 -selfdrive/ui/qt/text_larch64 diff --git a/release/release_files.py b/release/release_files.py new file mode 100755 index 000000000..031b51737 --- /dev/null +++ b/release/release_files.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +import os +import re +from pathlib import Path + +HERE = os.path.abspath(os.path.dirname(__file__)) +ROOT = HERE + "/.." + +# blacklisting is for two purposes: +# - minimizing release download size +# - keeping the diff readable +blacklist = [ + "body/STL/", + + "panda/drivers/", + "panda/examples/", + "panda/tests/safety/", + + "opendbc/.*.dbc$", + "opendbc/generator/", + + "cereal/.*test.*", + "^common/tests/", + + # particularly large text files + "poetry.lock", + "third_party/catch2", + "selfdrive/car/tests/test_models.*", + + "^tools/", + "^scripts/", + "^tinygrad_repo/", + + "matlab.*.md", + + ".git/", + ".github/", + ".devcontainer/", + "Darwin/", + ".vscode", + + # common things + "LICENSE", + "Dockerfile", + ".pre-commit", + + # no LFS or submodules in release + ".lfsconfig", + ".gitattributes", + ".git$", + ".gitmodules", +] + +# gets you through the blacklist +whitelist = [ + "tools/lib/", + "tools/bodyteleop/", + + "tinygrad_repo/openpilot/compile2.py", + "tinygrad_repo/extra/onnx.py", + "tinygrad_repo/extra/onnx_ops.py", + "tinygrad_repo/extra/thneed.py", + "tinygrad_repo/extra/utils.py", + "tinygrad_repo/tinygrad/codegen/kernel.py", + "tinygrad_repo/tinygrad/codegen/linearizer.py", + "tinygrad_repo/tinygrad/features/image.py", + "tinygrad_repo/tinygrad/features/search.py", + "tinygrad_repo/tinygrad/nn/*", + "tinygrad_repo/tinygrad/renderer/cstyle.py", + "tinygrad_repo/tinygrad/renderer/opencl.py", + "tinygrad_repo/tinygrad/runtime/lib.py", + "tinygrad_repo/tinygrad/runtime/ops_cpu.py", + "tinygrad_repo/tinygrad/runtime/ops_disk.py", + "tinygrad_repo/tinygrad/runtime/ops_gpu.py", + "tinygrad_repo/tinygrad/shape/*", + "tinygrad_repo/tinygrad/.*.py", + + # TODO: do this automatically + "opendbc/comma_body.dbc", + "opendbc/chrysler_ram_hd_generated.dbc", + "opendbc/chrysler_ram_dt_generated.dbc", + "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc", + "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc", + "opendbc/gm_global_a_powertrain_generated.dbc", + "opendbc/gm_global_a_object.dbc", + "opendbc/gm_global_a_chassis.dbc", + "opendbc/FORD_CADS.dbc", + "opendbc/ford_fusion_2018_adas.dbc", + "opendbc/ford_lincoln_base_pt.dbc", + "opendbc/honda_accord_2018_can_generated.dbc", + "opendbc/acura_ilx_2016_can_generated.dbc", + "opendbc/acura_rdx_2018_can_generated.dbc", + "opendbc/acura_rdx_2020_can_generated.dbc", + "opendbc/honda_civic_touring_2016_can_generated.dbc", + "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc", + "opendbc/honda_crv_touring_2016_can_generated.dbc", + "opendbc/honda_crv_ex_2017_can_generated.dbc", + "opendbc/honda_crv_ex_2017_body_generated.dbc", + "opendbc/honda_crv_executive_2016_can_generated.dbc", + "opendbc/honda_fit_ex_2018_can_generated.dbc", + "opendbc/honda_odyssey_exl_2018_generated.dbc", + "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc", + "opendbc/honda_insight_ex_2019_can_generated.dbc", + "opendbc/acura_ilx_2016_nidec.dbc", + "opendbc/honda_civic_ex_2022_can_generated.dbc", + "opendbc/hyundai_canfd.dbc", + "opendbc/hyundai_kia_generic.dbc", + "opendbc/hyundai_kia_mando_front_radar_generated.dbc", + "opendbc/mazda_2017.dbc", + "opendbc/nissan_x_trail_2017_generated.dbc", + "opendbc/nissan_leaf_2018_generated.dbc", + "opendbc/subaru_global_2017_generated.dbc", + "opendbc/subaru_global_2020_hybrid_generated.dbc", + "opendbc/subaru_outback_2015_generated.dbc", + "opendbc/subaru_outback_2019_generated.dbc", + "opendbc/subaru_forester_2017_generated.dbc", + "opendbc/toyota_tnga_k_pt_generated.dbc", + "opendbc/toyota_new_mc_pt_generated.dbc", + "opendbc/toyota_nodsu_pt_generated.dbc", + "opendbc/toyota_adas.dbc", + "opendbc/toyota_tss2_adas.dbc", + "opendbc/vw_golf_mk4.dbc", + "opendbc/vw_mqb_2010.dbc", + "opendbc/tesla_can.dbc", + "opendbc/tesla_radar_bosch_generated.dbc", + "opendbc/tesla_radar_continental_generated.dbc", + "opendbc/tesla_powertrain.dbc", +] + + +if __name__ == "__main__": + for f in Path(ROOT).rglob("**/*"): + if not (f.is_file() or f.is_symlink()): + continue + + rf = str(f.relative_to(ROOT)) + blacklisted = any(re.search(p, rf) for p in blacklist) + whitelisted = any(re.search(p, rf) for p in whitelist) + if blacklisted and not whitelisted: + continue + + print(rf) diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh index 7f8219182..703b36392 100755 --- a/scripts/stop_updater.sh +++ b/scripts/stop_updater.sh @@ -1,7 +1,7 @@ #!/usr/bin/env sh # Stop updater -pkill -2 -f selfdrive.updated.updated +pkill -2 -f system.updated.updated # Remove pending update rm -f /data/safe_staging/finalized/.overlay_consistent diff --git a/scripts/update_now.sh b/scripts/update_now.sh index 3f0193f08..c34228976 100755 --- a/scripts/update_now.sh +++ b/scripts/update_now.sh @@ -1,4 +1,4 @@ #!/usr/bin/env sh # Send SIGHUP to updater -pkill -1 -f selfdrive.updated +pkill -1 -f system.updated diff --git a/scripts/waste.py b/scripts/waste.py index 0764ff77c..bf92710fe 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -3,7 +3,7 @@ import os import time import numpy as np from multiprocessing import Process -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname def waste(core): os.sched_setaffinity(0, [core,]) @@ -16,7 +16,7 @@ def waste(core): j = 0 while 1: if (i % 100) == 0: - setproctitle("%3d: %8d" % (core, i)) + setthreadname("%3d: %8d" % (core, i)) lt = time.monotonic() print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) st = lt diff --git a/selfdrive/SConscript b/selfdrive/SConscript index 6b72177d8..52898f758 100644 --- a/selfdrive/SConscript +++ b/selfdrive/SConscript @@ -1,4 +1,4 @@ -SConscript(['boardd/SConscript']) +SConscript(['pandad/SConscript']) SConscript(['controls/lib/lateral_mpc_lib/SConscript']) SConscript(['controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['locationd/SConscript']) diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py deleted file mode 100755 index e7ad63a37..000000000 --- a/selfdrive/athena/tests/test_registration.py +++ /dev/null @@ -1,81 +0,0 @@ -#!/usr/bin/env python3 -import json -import unittest -from Crypto.PublicKey import RSA -from pathlib import Path -from unittest import mock - -from openpilot.common.params import Params -from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from openpilot.selfdrive.athena.tests.helpers import MockResponse -from openpilot.system.hardware.hw import Paths - - -class TestRegistration(unittest.TestCase): - - def setUp(self): - # clear params and setup key paths - self.params = Params() - self.params.clear_all() - - persist_dir = Path(Paths.persist_root()) / "comma" - persist_dir.mkdir(parents=True, exist_ok=True) - - self.priv_key = persist_dir / "id_rsa" - self.pub_key = persist_dir / "id_rsa.pub" - - def _generate_keys(self): - self.pub_key.touch() - k = RSA.generate(2048) - with open(self.priv_key, "wb") as f: - f.write(k.export_key()) - with open(self.pub_key, "wb") as f: - f.write(k.publickey().export_key()) - - def test_valid_cache(self): - # if all params are written, return the cached dongle id - self.params.put("IMEI", "imei") - self.params.put("HardwareSerial", "serial") - self._generate_keys() - - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - dongle = "DONGLE_ID_123" - self.params.put("DongleId", dongle) - self.assertEqual(register(), dongle) - self.assertFalse(m.called) - - def test_no_keys(self): - # missing pubkey - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - dongle = register() - self.assertEqual(m.call_count, 0) - self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) - self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle) - - def test_missing_cache(self): - # keys exist but no dongle id - self._generate_keys() - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - dongle = "DONGLE_ID_123" - m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) - self.assertEqual(register(), dongle) - self.assertEqual(m.call_count, 1) - - # call again, shouldn't hit the API this time - self.assertEqual(register(), dongle) - self.assertEqual(m.call_count, 1) - self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle) - - def test_unregistered(self): - # keys exist, but unregistered - self._generate_keys() - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - m.return_value = MockResponse(None, 402) - dongle = register() - self.assertEqual(m.call_count, 1) - self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) - self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/boardd/.gitignore b/selfdrive/boardd/.gitignore deleted file mode 100644 index e8daa2ef2..000000000 --- a/selfdrive/boardd/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -boardd -boardd_api_impl.cpp -tests/test_boardd_usbprotocol diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript deleted file mode 100644 index 666763d9b..000000000 --- a/selfdrive/boardd/SConscript +++ /dev/null @@ -1,11 +0,0 @@ -Import('env', 'envCython', 'common', 'cereal', 'messaging') - -libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) - -env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs) -env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) - -envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) -if GetOption('extras'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index db34320ca..259126c41 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -75,7 +75,7 @@ class CarController(CarControllerBase): can_sends = [] can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r)) - new_actuators = CC.actuators.copy() + new_actuators = CC.actuators.as_builder() new_actuators.accel = torque_l new_actuators.steer = torque_r new_actuators.steerOutputCan = torque_r diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 632bdfd6d..754092d4c 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -9,9 +9,9 @@ from cereal import car from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events @@ -21,20 +21,21 @@ REPLAY = "REPLAY" in os.environ EventName = car.CarEvent.EventName -class CarD: +class Car: CI: CarInterfaceBase def __init__(self, CI=None): self.can_sock = messaging.sub_sock('can', timeout=20) - self.sm = messaging.SubMaster(['pandaStates']) + self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) - self.can_rcv_timeout_counter = 0 # consecutive timeout count - self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count + self.can_rcv_cum_timeout_counter = 0 self.CC_prev = car.CarControl.new_message() + self.CS_prev = car.CarState.new_message() + self.initialized_prev = False - self.last_actuators = None + self.last_actuators_output = car.CarControl.Actuators.new_message() self.params = Params() @@ -79,12 +80,10 @@ class CarD: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.CS_prev = car.CarState.new_message() self.events = Events() - def initialize(self): - """Initialize CarInterface, once controls are ready""" - self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + # card is driven by can recv, expected at 100Hz + self.rk = Ratekeeper(100, print_delay_threshold=None) def state_update(self) -> car.CarState: """carState update loop, driven by can""" @@ -99,21 +98,11 @@ class CarD: # Check for CAN timeout if not can_rcv_valid: - self.can_rcv_timeout_counter += 1 self.can_rcv_cum_timeout_counter += 1 - else: - self.can_rcv_timeout_counter = 0 - - self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5 if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime - self.update_events(CS) - self.state_publish(CS) - - CS = CS.as_reader() - self.CS_prev = CS return CS def update_events(self, CS: car.CarState) -> car.CarState: @@ -132,12 +121,6 @@ class CarD: def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" - # carState - cs_send = messaging.new_message('carState') - cs_send.valid = CS.canValid - cs_send.carState = CS - self.pm.send('carState', cs_send) - # carParams - logged every 50 seconds (> 1 per segment) if self.sm.frame % int(50. / DT_CTRL) == 0: cp_send = messaging.new_message('carParams') @@ -147,17 +130,62 @@ class CarD: # publish new carOutput co_send = messaging.new_message('carOutput') - co_send.valid = True - if self.last_actuators is not None: - co_send.carOutput.actuatorsOutput = self.last_actuators + co_send.valid = self.sm.all_checks(['carControl']) + co_send.carOutput.actuatorsOutput = self.last_actuators_output self.pm.send('carOutput', co_send) + # kick off controlsd step while we actuate the latest carControl packet + cs_send = messaging.new_message('carState') + cs_send.valid = CS.canValid + cs_send.carState = CS + cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter + cs_send.carState.cumLagMs = -self.rk.remaining * 1000. + self.pm.send('carState', cs_send) + def controls_update(self, CS: car.CarState, CC: car.CarControl): """control update loop, driven by carControl""" - # send car controls over can - now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) - self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + if not self.initialized_prev: + # Initialize CarInterface, once controls are ready + # TODO: this can make us miss at least a few cycles when doing an ECU knockout + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + # signal pandad to switch to car safety mode + self.params.put_bool_nonblocking("ControlsReady", True) - self.CC_prev = CC + if self.sm.all_alive(['carControl']): + # send car controls over can + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) + self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + + self.CC_prev = CC + + def step(self): + CS = self.state_update() + + self.update_events(CS) + + self.state_publish(CS) + + initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and + self.sm.seen['onroadEvents']) + if not self.CP.passive and initialized: + self.controls_update(CS, self.sm['carControl']) + + self.initialized_prev = initialized + self.CS_prev = CS.as_reader() + + def card_thread(self): + while True: + self.step() + self.rk.monitor_time() + + +def main(): + config_realtime_process(4, Priority.CTRL_HIGH) + car = Car() + car.card_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 39248f3f7..85f53f68e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -78,7 +78,7 @@ class CarController(CarControllerBase): self.frame += 1 - new_actuators = CC.actuators.copy() + new_actuators = CC.actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 0dafbbaa6..5072aad5c 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -68,6 +68,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'68267018AO ', b'68267020AJ ', + b'68303534AG ', b'68303534AJ ', b'68340762AD ', b'68340764AD ', @@ -106,6 +107,7 @@ FW_VERSIONS = { b'68405565AB', b'68405565AC', b'68444299AC', + b'68480707AC', b'68480708AC', b'68526663AB', ], @@ -143,13 +145,16 @@ FW_VERSIONS = { b'68413871AE ', b'68413871AH ', b'68413871AI ', + b'68413873AH ', b'68413873AI ', b'68443120AE ', b'68443123AC ', b'68443125AC ', + b'68496647AI ', b'68496647AJ ', b'68496650AH ', b'68496650AI ', + b'68496652AH ', b'68526752AD ', b'68526752AE ', b'68526754AE ', @@ -161,10 +166,12 @@ FW_VERSIONS = { b'68414271AC', b'68414271AD', b'68414275AC', + b'68414275AD', b'68443154AB', b'68443155AC', b'68443158AB', b'68501050AD', + b'68501051AD', b'68501055AD', b'68527221AB', b'68527223AB', @@ -264,6 +271,7 @@ FW_VERSIONS = { }, CAR.JEEP_GRAND_CHEROKEE: { (Ecu.combinationMeter, 0x742, None): [ + b'68243549AG', b'68302211AC', b'68302212AD', b'68302223AC', @@ -275,18 +283,22 @@ FW_VERSIONS = { b'68340272AD', ], (Ecu.srs, 0x744, None): [ + b'68309533AA', b'68316742AB', b'68355363AB', ], (Ecu.abs, 0x747, None): [ + b'68252642AG', b'68306178AD', b'68336276AB', ], (Ecu.fwdRadar, 0x753, None): [ b'04672627AB', + b'68251506AF', b'68332015AB', ], (Ecu.eps, 0x75a, None): [ + b'68276201AG', b'68321644AB', b'68321644AC', b'68321646AC', @@ -294,6 +306,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'05035920AE ', + b'68252272AG ', b'68284455AI ', b'68284456AI ', b'68284477AF ', @@ -304,6 +317,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'05035517AH', + b'68253222AF', b'68311218AC', b'68311223AF', b'68311223AG', @@ -396,6 +410,7 @@ FW_VERSIONS = { b'68453483AD', b'68453487AD', b'68453491AC', + b'68453491AD', b'68453499AD', b'68453503AC', b'68453503AD', @@ -425,6 +440,7 @@ FW_VERSIONS = { b'68631938AA', b'68631939AA', b'68631940AA', + b'68631940AB', b'68631942AA', b'68631943AB', ], @@ -480,6 +496,7 @@ FW_VERSIONS = { b'68440789AC', b'68466110AA', b'68466110AB', + b'68466113AA', b'68469901AA', b'68469907AA', b'68522583AA', @@ -541,6 +558,7 @@ FW_VERSIONS = { b'68467936AC ', b'68500630AD', b'68500630AE', + b'68500631AE', b'68502719AC ', b'68502722AC ', b'68502733AC ', @@ -587,11 +605,13 @@ FW_VERSIONS = { b'68484467AC', b'68484471AC', b'68502994AD', + b'68502996AD', b'68520867AE', b'68520867AF', b'68520870AC', b'68540431AB', b'68540433AB', + b'68551676AA', b'68629935AB', b'68629936AC', ], diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index da5e7b461..e7a9fbcf2 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -6,7 +6,7 @@ import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE from openpilot.selfdrive.car import make_can_msg from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.common.swaglog import cloudlog diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 47082fb56..7be3b2ebe 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -113,7 +113,7 @@ class CarController(CarControllerBase): self.steer_alert_last = steer_alert self.lead_distance_bars_last = hud_control.leadDistanceBars - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.curvature = self.apply_curvature_last self.frame += 1 diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7dca45808..2ef5d427e 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase): if ret.flags & FordFlags.CANFD: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD + else: + # Lock out if the car does not have needed lateral and longitudinal control APIs. + # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists + pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None) + if pscm_config: + if len(pscm_config.fwVersion) != 24: + ret.dashcamOnly = True + else: + config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist + config_lca = pscm_config.fwVersion[8] # Lane Centering Assist + if config_tja != 0xFF or config_lca != 0xFF: + ret.dashcamOnly = True # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py old mode 100755 new mode 100644 index 5d7b2c333..b1a19017d --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 import random -import unittest from collections.abc import Iterable import capnp @@ -43,31 +41,31 @@ ECU_PART_NUMBER = { } -class TestFordFW(unittest.TestCase): +class TestFordFW: def test_fw_query_config(self): for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus: - self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") - self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") - self.assertIsNone(subaddr, "Unexpected ECU subaddress") + assert ecu in ECU_ADDRESSES, "Unknown ECU" + assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch" + assert subaddr is None, "Unexpected ECU subaddress" @parameterized.expand(FW_VERSIONS.items()) def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]): for (ecu, addr, subaddr), fws in fw_versions.items(): - self.assertIn(ecu, ECU_PART_NUMBER, "Unexpected ECU") - self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") - self.assertIsNone(subaddr, "Unexpected ECU subaddress") + assert ecu in ECU_PART_NUMBER, "Unexpected ECU" + assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch" + assert subaddr is None, "Unexpected ECU subaddress" for fw in fws: - self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes") + assert len(fw) == 24, "Expected ECU response to be 24 bytes" match = FW_PATTERN.match(fw) - self.assertIsNotNone(match, f"Unable to parse FW: {fw!r}") + assert match is not None, f"Unable to parse FW: {fw!r}" if match: part_number = match.group("part_number") - self.assertIn(part_number, ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}") + assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}" codes = get_platform_codes([fw]) - self.assertEqual(1, len(codes), f"Unable to parse FW: {fw!r}") + assert 1 == len(codes), f"Unable to parse FW: {fw!r}" @settings(max_examples=100) @given(data=st.data()) @@ -85,7 +83,7 @@ class TestFordFW(unittest.TestCase): b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00", b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}) + assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")} def test_fuzzy_match(self): for platform, fw_by_addr in FW_VERSIONS.items(): @@ -100,7 +98,7 @@ class TestFordFW(unittest.TestCase): CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) - self.assertEqual(matches, {platform}) + assert matches == {platform} def test_match_fw_fuzzy(self): offline_fw = { @@ -132,18 +130,14 @@ class TestFordFW(unittest.TestCase): (0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}, } candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw}) - self.assertEqual(candidates, {expected_fingerprint}) + assert candidates == {expected_fingerprint} # model year hint in between the range should match live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"} candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,}) - self.assertEqual(candidates, {expected_fingerprint}) + assert candidates == {expected_fingerprint} # unseen model year hint should not match live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"} candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw}) - self.assertEqual(len(candidates), 0, "Should not match new model year hint") - - -if __name__ == "__main__": - unittest.main() + assert len(candidates) == 0, "Should not match new model year hint" diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index ad4dcdc8f..bb2827571 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -85,7 +85,7 @@ class Request: auxiliary: bool = False # FW responses from these queries will not be used for fingerprinting logging: bool = False - # boardd toggles OBD multiplexing on/off as needed + # pandad toggles OBD multiplexing on/off as needed obd_multiplexing: bool = True diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index f2aff2e6f..4bb6413d0 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -352,7 +352,7 @@ if __name__ == "__main__": pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') - # Set up params for boardd + # Set up params for pandad params = Params() params.remove("FirmwareQueryDone") params.put_bool("IsOnroad", False) @@ -374,7 +374,7 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") set_obd_multiplexing(params, True) - vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f8d747029..b204d3b80 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -155,7 +155,7 @@ class CarController(CarControllerBase): if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 358bc9e5b..2e194b12f 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking if candidate == CAR.CHEVROLET_VOLT: ret.lateralTuning.pid.kpBP = [0., 40.] diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py old mode 100755 new mode 100644 index 01ec8533b..a0a4a94ff --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 from parameterized import parameterized -import unittest from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET @@ -8,19 +6,15 @@ from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b -class TestGMFingerprint(unittest.TestCase): +class TestGMFingerprint: @parameterized.expand(FINGERPRINTS.items()) def test_can_fingerprints(self, car_model, fingerprints): - self.assertGreater(len(fingerprints), 0) + assert len(fingerprints) > 0 - self.assertTrue(all(len(finger) for finger in fingerprints)) + assert all(len(finger) for finger in fingerprints) # The camera can sometimes be communicating on startup if car_model in CAMERA_ACC_CAR: for finger in fingerprints: for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET): - self.assertEqual(finger.get(required_addr), 8, required_addr) - - -if __name__ == "__main__": - unittest.main() + assert finger.get(required_addr) == 8, required_addr diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 6fe8c2758..fe023ea17 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -244,7 +244,7 @@ class CarController(CarControllerBase): self.speed = pcm_speed self.gas = pcm_accel / self.params.NIDEC_GAS_MAX - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.speed = self.speed new_actuators.accel = self.accel new_actuators.gas = self.gas diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 052b4b60a..8a5b79b41 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -11,43 +11,6 @@ Ecu = car.CarParams.Ecu FW_VERSIONS = { CAR.HONDA_ACCORD: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6A0-8720\x00\x00', - b'37805-6A0-9520\x00\x00', - b'37805-6A0-9620\x00\x00', - b'37805-6A0-9720\x00\x00', - b'37805-6A0-A540\x00\x00', - b'37805-6A0-A550\x00\x00', - b'37805-6A0-A640\x00\x00', - b'37805-6A0-A650\x00\x00', - b'37805-6A0-A740\x00\x00', - b'37805-6A0-A750\x00\x00', - b'37805-6A0-A840\x00\x00', - b'37805-6A0-A850\x00\x00', - b'37805-6A0-A930\x00\x00', - b'37805-6A0-AF30\x00\x00', - b'37805-6A0-AG30\x00\x00', - b'37805-6A0-AJ10\x00\x00', - b'37805-6A0-C540\x00\x00', - b'37805-6A0-CG20\x00\x00', - b'37805-6A1-H650\x00\x00', - b'37805-6B2-A550\x00\x00', - b'37805-6B2-A560\x00\x00', - b'37805-6B2-A650\x00\x00', - b'37805-6B2-A660\x00\x00', - b'37805-6B2-A720\x00\x00', - b'37805-6B2-A810\x00\x00', - b'37805-6B2-A820\x00\x00', - b'37805-6B2-A920\x00\x00', - b'37805-6B2-A960\x00\x00', - b'37805-6B2-AA10\x00\x00', - b'37805-6B2-C520\x00\x00', - b'37805-6B2-C540\x00\x00', - b'37805-6B2-C560\x00\x00', - b'37805-6B2-M520\x00\x00', - b'37805-6B2-Y810\x00\x00', - b'37805-6M4-B730\x00\x00', - ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TVC-A910\x00\x00', b'54008-TWA-A910\x00\x00', @@ -161,38 +124,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CIVIC: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A640\x00\x00', - b'37805-5AA-A650\x00\x00', - b'37805-5AA-A670\x00\x00', - b'37805-5AA-A680\x00\x00', - b'37805-5AA-A810\x00\x00', - b'37805-5AA-C640\x00\x00', - b'37805-5AA-C680\x00\x00', - b'37805-5AA-C820\x00\x00', - b'37805-5AA-L650\x00\x00', - b'37805-5AA-L660\x00\x00', - b'37805-5AA-L680\x00\x00', - b'37805-5AA-L690\x00\x00', - b'37805-5AA-L810\x00\x00', - b'37805-5AG-Q710\x00\x00', - b'37805-5AJ-A610\x00\x00', - b'37805-5AJ-A620\x00\x00', - b'37805-5AJ-L610\x00\x00', - b'37805-5BA-A310\x00\x00', - b'37805-5BA-A510\x00\x00', - b'37805-5BA-A740\x00\x00', - b'37805-5BA-A760\x00\x00', - b'37805-5BA-A930\x00\x00', - b'37805-5BA-A960\x00\x00', - b'37805-5BA-C640\x00\x00', - b'37805-5BA-C860\x00\x00', - b'37805-5BA-L410\x00\x00', - b'37805-5BA-L760\x00\x00', - b'37805-5BA-L930\x00\x00', - b'37805-5BA-L940\x00\x00', - b'37805-5BA-L960\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5CG-A040\x00\x00', b'28101-5CG-A050\x00\x00', @@ -242,61 +173,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CIVIC_BOSCH: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A940\x00\x00', - b'37805-5AA-A950\x00\x00', - b'37805-5AA-C950\x00\x00', - b'37805-5AA-L940\x00\x00', - b'37805-5AA-L950\x00\x00', - b'37805-5AG-Z910\x00\x00', - b'37805-5AJ-A750\x00\x00', - b'37805-5AJ-L750\x00\x00', - b'37805-5AK-T530\x00\x00', - b'37805-5AN-A750\x00\x00', - b'37805-5AN-A830\x00\x00', - b'37805-5AN-A840\x00\x00', - b'37805-5AN-A930\x00\x00', - b'37805-5AN-A940\x00\x00', - b'37805-5AN-A950\x00\x00', - b'37805-5AN-AG20\x00\x00', - b'37805-5AN-AH20\x00\x00', - b'37805-5AN-AJ30\x00\x00', - b'37805-5AN-AK10\x00\x00', - b'37805-5AN-AK20\x00\x00', - b'37805-5AN-AR10\x00\x00', - b'37805-5AN-AR20\x00\x00', - b'37805-5AN-C650\x00\x00', - b'37805-5AN-CH20\x00\x00', - b'37805-5AN-E630\x00\x00', - b'37805-5AN-E720\x00\x00', - b'37805-5AN-E820\x00\x00', - b'37805-5AN-J820\x00\x00', - b'37805-5AN-L840\x00\x00', - b'37805-5AN-L930\x00\x00', - b'37805-5AN-L940\x00\x00', - b'37805-5AN-LF20\x00\x00', - b'37805-5AN-LH20\x00\x00', - b'37805-5AN-LJ20\x00\x00', - b'37805-5AN-LR20\x00\x00', - b'37805-5AN-LS20\x00\x00', - b'37805-5AW-G720\x00\x00', - b'37805-5AZ-E850\x00\x00', - b'37805-5AZ-G540\x00\x00', - b'37805-5AZ-G740\x00\x00', - b'37805-5AZ-G840\x00\x00', - b'37805-5BB-A530\x00\x00', - b'37805-5BB-A540\x00\x00', - b'37805-5BB-A620\x00\x00', - b'37805-5BB-A630\x00\x00', - b'37805-5BB-A640\x00\x00', - b'37805-5BB-C540\x00\x00', - b'37805-5BB-C630\x00\x00', - b'37805-5BB-C640\x00\x00', - b'37805-5BB-L540\x00\x00', - b'37805-5BB-L630\x00\x00', - b'37805-5BB-L640\x00\x00', - b'37805-5BF-J130\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5CG-A920\x00\x00', b'28101-5CG-AB10\x00\x00', @@ -400,10 +276,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CIVIC_BOSCH_DIESEL: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-59N-G630\x00\x00', - b'37805-59N-G830\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-59Y-G220\x00\x00', b'28101-59Y-G620\x00\x00', @@ -449,41 +321,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CRV_5G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5PA-3060\x00\x00', - b'37805-5PA-3080\x00\x00', - b'37805-5PA-3180\x00\x00', - b'37805-5PA-4050\x00\x00', - b'37805-5PA-4150\x00\x00', - b'37805-5PA-6520\x00\x00', - b'37805-5PA-6530\x00\x00', - b'37805-5PA-6630\x00\x00', - b'37805-5PA-6640\x00\x00', - b'37805-5PA-7630\x00\x00', - b'37805-5PA-9530\x00\x00', - b'37805-5PA-9630\x00\x00', - b'37805-5PA-9640\x00\x00', - b'37805-5PA-9730\x00\x00', - b'37805-5PA-9830\x00\x00', - b'37805-5PA-9840\x00\x00', - b'37805-5PA-A650\x00\x00', - b'37805-5PA-A670\x00\x00', - b'37805-5PA-A680\x00\x00', - b'37805-5PA-A850\x00\x00', - b'37805-5PA-A870\x00\x00', - b'37805-5PA-A880\x00\x00', - b'37805-5PA-A890\x00\x00', - b'37805-5PA-AB10\x00\x00', - b'37805-5PA-AD10\x00\x00', - b'37805-5PA-AF20\x00\x00', - b'37805-5PA-AF30\x00\x00', - b'37805-5PA-AH20\x00\x00', - b'37805-5PA-BF10\x00\x00', - b'37805-5PA-C680\x00\x00', - b'37805-5PD-Q630\x00\x00', - b'37805-5PF-F730\x00\x00', - b'37805-5PF-M630\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5RG-A020\x00\x00', b'28101-5RG-A030\x00\x00', @@ -559,10 +396,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CRV_EU: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-R5Z-G740\x00\x00', - b'37805-R5Z-G780\x00\x00', - ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-T1V-G920\x00\x00', ], @@ -663,24 +496,6 @@ FW_VERSIONS = { b'38897-THR-A010\x00\x00', b'38897-THR-A020\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5MR-3050\x00\x00', - b'37805-5MR-3150\x00\x00', - b'37805-5MR-3250\x00\x00', - b'37805-5MR-4070\x00\x00', - b'37805-5MR-4080\x00\x00', - b'37805-5MR-4170\x00\x00', - b'37805-5MR-4180\x00\x00', - b'37805-5MR-A240\x00\x00', - b'37805-5MR-A250\x00\x00', - b'37805-5MR-A310\x00\x00', - b'37805-5MR-A740\x00\x00', - b'37805-5MR-A750\x00\x00', - b'37805-5MR-A840\x00\x00', - b'37805-5MR-C620\x00\x00', - b'37805-5MR-D530\x00\x00', - b'37805-5MR-K730\x00\x00', - ], (Ecu.eps, 0x18da30f1, None): [ b'39990-THR-A020\x00\x00', b'39990-THR-A030\x00\x00', @@ -765,37 +580,6 @@ FW_VERSIONS = { b'28101-5EZ-A700\x00\x00', b'28103-5EY-A110\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-RLV-4060\x00\x00', - b'37805-RLV-4070\x00\x00', - b'37805-RLV-5140\x00\x00', - b'37805-RLV-5230\x00\x00', - b'37805-RLV-A630\x00\x00', - b'37805-RLV-A830\x00\x00', - b'37805-RLV-A840\x00\x00', - b'37805-RLV-B210\x00\x00', - b'37805-RLV-B220\x00\x00', - b'37805-RLV-B420\x00\x00', - b'37805-RLV-B430\x00\x00', - b'37805-RLV-B620\x00\x00', - b'37805-RLV-B710\x00\x00', - b'37805-RLV-B720\x00\x00', - b'37805-RLV-C430\x00\x00', - b'37805-RLV-C510\x00\x00', - b'37805-RLV-C520\x00\x00', - b'37805-RLV-C530\x00\x00', - b'37805-RLV-C910\x00\x00', - b'37805-RLV-F120\x00\x00', - b'37805-RLV-L080\x00\x00', - b'37805-RLV-L090\x00\x00', - b'37805-RLV-L150\x00\x00', - b'37805-RLV-L160\x00\x00', - b'37805-RLV-L180\x00\x00', - b'37805-RLV-L350\x00\x00', - b'37805-RLV-L410\x00\x00', - b'37805-RLV-L430\x00\x00', - b'37805-RLV-L850\x00\x00', - ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', b'38897-TG7-A040\x00\x00', @@ -873,25 +657,6 @@ FW_VERSIONS = { ], }, CAR.ACURA_RDX_3G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5YF-A130\x00\x00', - b'37805-5YF-A230\x00\x00', - b'37805-5YF-A320\x00\x00', - b'37805-5YF-A330\x00\x00', - b'37805-5YF-A420\x00\x00', - b'37805-5YF-A430\x00\x00', - b'37805-5YF-A750\x00\x00', - b'37805-5YF-A760\x00\x00', - b'37805-5YF-A850\x00\x00', - b'37805-5YF-A860\x00\x00', - b'37805-5YF-A870\x00\x00', - b'37805-5YF-AD20\x00\x00', - b'37805-5YF-C210\x00\x00', - b'37805-5YF-C220\x00\x00', - b'37805-5YF-C410\x00\x00', - b'37805-5YF-C420\x00\x00', - b'37805-5YF-C430\x00\x00', - ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', b'57114-TJB-A040\x00\x00', @@ -1046,10 +811,6 @@ FW_VERSIONS = { b'28101-6EH-A010\x00\x00', b'28101-6JC-M310\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6CT-A710\x00\x00', - b'37805-6HZ-M630\x00\x00', - ], (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ b'46114-3W0-A020\x00\x00', ], @@ -1130,14 +891,5 @@ FW_VERSIONS = { b'28101-65H-A120\x00\x00', b'28101-65J-N010\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-64A-A540\x00\x00', - b'37805-64A-A620\x00\x00', - b'37805-64D-P510\x00\x00', - b'37805-64L-A540\x00\x00', - b'37805-64S-A540\x00\x00', - b'37805-64S-A720\x00\x00', - b'37805-64S-AA10\x00\x00', - ], }, } diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 2026c385c..43a4454b9 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase): if candidate in HONDA_BOSCH: ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] - ret.longitudinalActuatorDelayUpperBound = 0.5 # s + ret.longitudinalActuatorDelay = 0.5 # s if candidate in HONDA_BOSCH_RADARLESS: ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model else: diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py old mode 100755 new mode 100644 index 60d91b84a..b8ad7872b --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -1,20 +1,14 @@ -#!/usr/bin/env python3 import re -import unittest from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" -class TestHondaFingerprint(unittest.TestCase): +class TestHondaFingerprint: def test_fw_version_format(self): # Asserts all FW versions follow an expected format for fw_by_ecu in FW_VERSIONS.values(): for fws in fw_by_ecu.values(): for fw in fws: - self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw) - - -if __name__ == "__main__": - unittest.main() + assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 1b0da8d7d..c3005c667 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -299,6 +299,7 @@ FW_QUERY_CONFIG = FwQueryConfig( ], # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present + # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py non_essential_ecus={ Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G], Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, @@ -306,6 +307,7 @@ FW_QUERY_CONFIG = FwQueryConfig( }, extra_ecus=[ (Ecu.combinationMeter, 0x18da60f1, None), + (Ecu.programmedFuelInjection, 0x18da10f1, None), # The only other ECU on PT bus accessible by camera on radarless Civic # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1 # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda' diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 7829d764b..4038ddcca 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -163,7 +163,7 @@ class CarController(CarControllerBase): if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl: can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer new_actuators.accel = accel diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 0c43b8e34..d115283dd 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -23,9 +23,6 @@ FINGERPRINTS = { 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_IONIQ_EV_2020: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 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, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 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, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 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 }], @@ -117,6 +114,7 @@ FW_VERSIONS = { b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2210 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', @@ -134,9 +132,12 @@ FW_VERSIONS = { b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7100 ', + b'\xf1\x00AEev SCC FHCUP 1.00 1.01 99110-G7100 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7510 4APEC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', ], (Ecu.fwdCamera, 0x7c4, None): [ @@ -145,6 +146,7 @@ FW_VERSIONS = { b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.01 95740-G2600 190819', ], }, CAR.HYUNDAI_IONIQ_EV_LTD: { @@ -748,6 +750,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', ], }, CAR.KIA_NIRO_HEV_2021: { @@ -864,6 +867,7 @@ FW_VERSIONS = { b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107', @@ -875,6 +879,7 @@ FW_VERSIONS = { b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.07 99210-AA000 220426', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.08 99210-AA000 220728', ], (Ecu.abs, 0x7d1, None): [ @@ -965,6 +970,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV200 230510', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', ], @@ -974,6 +980,7 @@ FW_VERSIONS = { b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', @@ -997,11 +1004,13 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', ], }, CAR.HYUNDAI_TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y', b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', @@ -1034,6 +1043,7 @@ FW_VERSIONS = { CAR.KIA_SPORTAGE_5TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663', b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 00452a9ae..0ba4dcb5e 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -75,6 +75,9 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + if candidate == CAR.KIA_OPTIMA_G4_FL: + ret.steerActuatorDelay = 0.2 + # *** longitudinal control *** if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] @@ -91,8 +94,7 @@ class CarInterface(CarInterfaceBase): ret.startingState = True ret.vEgoStarting = 0.1 ret.startAccel = 1.0 - ret.longitudinalActuatorDelayLowerBound = 0.5 - ret.longitudinalActuatorDelayUpperBound = 0.5 + ret.longitudinalActuatorDelay = 0.5 # *** feature detection *** if candidate in CANFD_CAR: diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py old mode 100755 new mode 100644 index 0753b372e..4d31d7d15 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -1,6 +1,6 @@ -#!/usr/bin/env python3 from hypothesis import settings, given, strategies as st -import unittest + +import pytest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict @@ -39,19 +39,19 @@ NO_DATES_PLATFORMS = { CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar} -class TestHyundaiFingerprint(unittest.TestCase): +class TestHyundaiFingerprint: def test_can_features(self): # Test no EV/HEV in any gear lists (should all use ELECT_GEAR) - self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set()) + assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set() # Test CAN FD car not in CAN feature lists can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR) for car_model in CANFD_CAR: - self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") + assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list" def test_hybrid_ev_sets(self): - self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV") - self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported") + assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV" + assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported" def test_canfd_ecu_whitelist(self): # Asserts only expected Ecus can exist in database for CAN-FD cars @@ -59,34 +59,34 @@ class TestHyundaiFingerprint(unittest.TestCase): ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist]) - self.assertEqual(len(ecus_not_in_whitelist), 0, - f"{car_model}: Car model has unexpected ECUs: {ecu_strings}") + assert len(ecus_not_in_whitelist) == 0, \ + f"{car_model}: Car model has unexpected ECUs: {ecu_strings}" - def test_blacklisted_parts(self): + def test_blacklisted_parts(self, subtests): # Asserts no ECUs known to be shared across platforms exist in the database. # Tucson having Santa Cruz camera and EPS for example for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: - raise unittest.SkipTest("Skip checking Santa Cruz for its parts") + pytest.skip("Skip checking Santa Cruz for its parts") for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]): if b"-" not in code: continue part = code.split(b"-")[1] - self.assertFalse(part.startswith(b'CW'), "Car has bad part number") + assert not part.startswith(b'CW'), "Car has bad part number" - def test_correct_ecu_response_database(self): + def test_correct_ecu_response_database(self, subtests): """ Assert standard responses for certain ECUs, since they can respond to multiple queries with different data """ expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:] for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): - self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), - f"FW from unexpected request in database: {(ecu, fws)}") + assert all(fw.startswith(expected_fw_prefix) for fw in fws), \ + f"FW from unexpected request in database: {(ecu, fws)}" @settings(max_examples=100) @given(data=st.data()) @@ -96,10 +96,10 @@ class TestHyundaiFingerprint(unittest.TestCase): fws = data.draw(fw_strategy) get_platform_codes(fws) - def test_expected_platform_codes(self): + def test_expected_platform_codes(self, subtests): # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue @@ -107,37 +107,37 @@ class TestHyundaiFingerprint(unittest.TestCase): # Third and fourth character are usually EV/hybrid identifiers codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)} if car_model == CAR.HYUNDAI_PALISADE: - self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}") + assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}" elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera: - self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}") + assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}" else: - self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}") + assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}" # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy # fingerprint in the absence of full FW matches: - def test_platform_code_ecus_available(self): + def test_platform_code_ecus_available(self, subtests): # TODO: add queries for these non-CAN FD cars to get EPS no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA} # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for platform_code_ecu in PLATFORM_CODE_ECUS: if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS: continue if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms: continue - self.assertIn(platform_code_ecu, [e[0] for e in ecus]) + assert platform_code_ecu in [e[0] for e in ecus] - def test_fw_format(self): + def test_fw_format(self, subtests): # Asserts: # - every supported ECU FW version returns one platform code # - every supported ECU FW version has a part number # - expected parsing of ECU FW dates for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue @@ -145,40 +145,40 @@ class TestHyundaiFingerprint(unittest.TestCase): codes = set() for fw in fws: result = get_platform_codes([fw]) - self.assertEqual(1, len(result), f"Unable to parse FW: {fw}") + assert 1 == len(result), f"Unable to parse FW: {fw}" codes |= result if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS: - self.assertTrue(all(date is None for _, date in codes)) + assert all(date is None for _, date in codes) else: - self.assertTrue(all(date is not None for _, date in codes)) + assert all(date is not None for _, date in codes) if car_model == CAR.HYUNDAI_GENESIS: - raise unittest.SkipTest("No part numbers for car model") + pytest.skip("No part numbers for car model") # Hyundai places the ECU part number in their FW versions, assert all parsable # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300" - self.assertTrue(all(b"-" in code for code, _ in codes), - f"FW does not have part number: {fw}") + assert all(b"-" in code for code, _ in codes), \ + f"FW does not have part number: {fw}" def test_platform_codes_spot_check(self): # Asserts basic platform code parsing behavior for a few cases results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"]) - self.assertEqual(results, {(b"DH", b"150210")}) + assert results == {(b"DH", b"150210")} # Some cameras and all radars do not have dates results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "]) - self.assertEqual(results, {(b"AEhe-G2000", None)}) + assert results == {(b"AEhe-G2000", None)} results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "]) - self.assertEqual(results, {(b"CV1-CV000", None)}) + assert results == {(b"CV1-CV000", None)} results = get_platform_codes([ b"\xf1\x00DH LKAS 1.1 -150210", b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ", b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ", ]) - self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}) + assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)} results = get_platform_codes([ b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222", @@ -186,8 +186,8 @@ class TestHyundaiFingerprint(unittest.TestCase): b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405", b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720", ]) - self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"), - (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}) + assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"), + (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")} def test_fuzzy_excluded_platforms(self): # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. @@ -211,12 +211,8 @@ class TestHyundaiFingerprint(unittest.TestCase): CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) if len(matches) == 1: - self.assertEqual(list(matches)[0], platform) + assert list(matches)[0] == platform else: platforms_with_shared_codes.add(platform) - self.assertEqual(platforms_with_shared_codes, excluded_platforms) - - -if __name__ == "__main__": - unittest.main() + assert platforms_with_shared_codes == excluded_platforms diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index db9055970..c489ea004 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -314,7 +314,7 @@ class CAR(Platforms): flags=HyundaiFlags.EV, ) HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig( - [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], + [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], HYUNDAI_IONIQ_5.specs, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, ) @@ -323,6 +323,7 @@ class CAR(Platforms): HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385), ) @@ -340,8 +341,8 @@ class CAR(Platforms): # Kia KIA_FORTE = HyundaiPlatformConfig( [ - HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), - HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) ) @@ -477,9 +478,9 @@ class CAR(Platforms): ) KIA_EV6 = HyundaiCanFDPlatformConfig( [ - HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), - HyundaiCarDocs("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarDocs("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) + HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV, @@ -514,7 +515,7 @@ class CAR(Platforms): # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), ], - CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), + GENESIS_G70.specs, flags=HyundaiFlags.MANDO_RADAR, ) GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( @@ -647,6 +648,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] +# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we +# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera FW_QUERY_CONFIG = FwQueryConfig( requests=[ # TODO: add back whitelists diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 982d987d6..5eac6062a 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -6,6 +6,7 @@ from abc import abstractmethod, ABC from enum import StrEnum from typing import Any, NamedTuple from collections.abc import Callable +from functools import cache from cereal import car from openpilot.common.basedir import BASEDIR @@ -32,6 +33,18 @@ TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.tom TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') +GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = { + 'P': GearShifter.park, 'PARK': GearShifter.park, + 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, + 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, + 'E': GearShifter.eco, 'ECO': GearShifter.eco, + 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, + 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, + 'S': GearShifter.sport, 'SPORT': GearShifter.sport, + 'L': GearShifter.low, 'LOW': GearShifter.low, + 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, +} + class LatControlInputs(NamedTuple): lateral_acceleration: float @@ -43,29 +56,34 @@ class LatControlInputs(NamedTuple): TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float] -def get_torque_params(candidate): +@cache +def get_torque_params(): with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: sub = tomllib.load(f) - if candidate in sub: - candidate = sub[candidate] - with open(TORQUE_PARAMS_PATH, 'rb') as f: params = tomllib.load(f) with open(TORQUE_OVERRIDE_PATH, 'rb') as f: override = tomllib.load(f) - # Ensure no overlap - if sum([candidate in x for x in [sub, params, override]]) > 1: - raise RuntimeError(f'{candidate} is defined twice in torque config') + torque_params = {} + for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}: + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') - if candidate in override: - out = override[candidate] - elif candidate in params: - out = params[candidate] - else: - raise NotImplementedError(f"Did not find torque params for {candidate}") - return {key: out[i] for i, key in enumerate(params['legend'])} + sub_candidate = sub.get(candidate, candidate) + if sub_candidate in override: + out = override[sub_candidate] + elif sub_candidate in params: + out = params[sub_candidate] + else: + raise NotImplementedError(f"Did not find torque params for {sub_candidate}") + + torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])} + if candidate in sub: + torque_params[candidate] = torque_params[sub_candidate] + + return torque_params # generic car and radar interfaces @@ -166,7 +184,7 @@ class CarInterfaceBase(ABC): ret.carFingerprint = candidate # Car docs fields - ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] + ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED'] ret.autoResumeSng = True # describes whether car can resume from a stop automatically # standard ALC params @@ -192,14 +210,13 @@ class CarInterfaceBase(ABC): ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [1.] # TODO estimate car specific lag, use .15s for now - ret.longitudinalActuatorDelayLowerBound = 0.15 - ret.longitudinalActuatorDelayUpperBound = 0.15 + ret.longitudinalActuatorDelay = 0.15 ret.steerLimitTimer = 1.0 return ret @staticmethod def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - params = get_torque_params(candidate) + params = get_torque_params()[candidate] tune.init('torque') tune.torque.useSteeringAngle = use_steering_angle @@ -422,19 +439,7 @@ class CarStateBase(ABC): def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter: if gear is None: return GearShifter.unknown - - d: dict[str, car.CarState.GearShifter] = { - 'P': GearShifter.park, 'PARK': GearShifter.park, - 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, - 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, - 'E': GearShifter.eco, 'ECO': GearShifter.eco, - 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, - 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, - 'S': GearShifter.sport, 'SPORT': GearShifter.sport, - 'L': GearShifter.low, 'LOW': GearShifter.low, - 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, - } - return d.get(gear.upper(), GearShifter.unknown) + return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown) @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 8fdc747e9..447c7093c 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -4,7 +4,7 @@ from functools import partial import cereal.messaging as messaging from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.car.fw_query_definitions import AddrType from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 8d3a59b4e..3d4163487 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -58,7 +58,7 @@ class CarController(CarControllerBase): can_sends.append(mazdacan.create_steering_control(self.packer, self.CP, self.frame, apply_steer, CS.cam_lkas)) - new_actuators = CC.actuators.copy() + new_actuators = CC.actuators.as_builder() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX new_actuators.steerOutputCan = apply_steer diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py index 2b2da954f..0cd37c036 100644 --- a/selfdrive/car/mock/carcontroller.py +++ b/selfdrive/car/mock/carcontroller.py @@ -2,4 +2,4 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase class CarController(CarControllerBase): def update(self, CC, CS, now_nanos): - return CC.actuators.copy(), [] + return CC.actuators.as_builder(), [] diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 83775462b..c7bd23139 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -75,7 +75,7 @@ class CarController(CarControllerBase): self.packer, CS.lkas_hud_info_msg, steer_hud_alert )) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steeringAngleDeg = apply_angle self.frame += 1 diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 22a1475b5..d89ae8c63 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -136,7 +136,7 @@ class CarController(CarControllerBase): if self.frame % 2 == 0: can_sends.append(subarucan.create_es_static_2(self.packer)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index 41727d762..7f3ae7316 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -164,6 +164,7 @@ FW_VERSIONS = { b'\xa2 \x194\x00', b'\xa2 `\x00', b'\xa2 !3\x00', + b'\xa2 !6\x00', b'\xa2 !`\x00', b'\xa2 !i\x00', ], @@ -172,6 +173,7 @@ FW_VERSIONS = { b'\n\xc0\x04\x01', b'\x9a\xc0\x00\x00', b'\x9a\xc0\x04\x00', + b'\x9a\xc0\n\x01', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00eb\x1f@ "', @@ -181,6 +183,7 @@ FW_VERSIONS = { b'\x00\x00e\x8f\x1f@ )', b'\x00\x00e\x92\x00\x00\x00\x00', b'\x00\x00e\xa4\x00\x00\x00\x00', + b'\x00\x00e\xa4\x1f@ (', ], (Ecu.engine, 0x7e0, None): [ b'\xca!`0\x07', @@ -188,6 +191,7 @@ FW_VERSIONS = { b'\xca!ap\x07', b'\xca!f@\x07', b'\xca!fp\x07', + b'\xcaacp\x07', b'\xcc!`p\x07', b'\xcc!fp\x07', b'\xcc"f0\x07', @@ -200,6 +204,7 @@ FW_VERSIONS = { b'\xf3"fr\x07', ], (Ecu.transmission, 0x7e1, None): [ + b'\xe6\x15\x042\x00', b'\xe6\xf5\x04\x00\x00', b'\xe6\xf5$\x00\x00', b'\xe6\xf5D0\x00', @@ -306,6 +311,7 @@ FW_VERSIONS = { b'\x00\x00d\xd3\x1f@ \t', ], (Ecu.engine, 0x7e0, None): [ + b'\xa7"@0\x07', b'\xa7"@p\x07', b'\xa7)\xa0q\x07', b'\xba"@@\x07', @@ -313,6 +319,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\x1a\xf6F`\x00', + b'\xda\xf2`p\x00', b'\xda\xf2`\x80\x00', b'\xda\xfd\xe0\x80\x00', b'\xdc\xf2@`\x00', diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py index c8cdf6606..33040442b 100644 --- a/selfdrive/car/subaru/tests/test_subaru.py +++ b/selfdrive/car/subaru/tests/test_subaru.py @@ -1,5 +1,4 @@ from cereal import car -import unittest from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu @@ -7,14 +6,11 @@ Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} -class TestSubaruFingerprint(unittest.TestCase): +class TestSubaruFingerprint: def test_fw_version_format(self): for platform, fws_per_ecu in FW_VERSIONS.items(): for (ecu, _, _), fws in fws_per_ecu.items(): fw_size = len(fws[0]) for fw in fws: - self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}") + assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}" - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index f217c4692..e460111e3 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -60,7 +60,7 @@ class CarController(CarControllerBase): # TODO: HUD control - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steeringAngleDeg = self.apply_angle_last self.frame += 1 diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index e03985926..09de10b54 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [0] ret.longitudinalTuning.kiBP = [0] ret.longitudinalTuning.kiV = [0] - ret.longitudinalActuatorDelayUpperBound = 0.5 # s + ret.longitudinalActuatorDelay = 0.5 # s ret.radarTimeStep = (1.0 / 8) # 8Hz # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py old mode 100755 new mode 100644 index 8df700733..f236986d8 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -1,13 +1,11 @@ -#!/usr/bin/env python3 from parameterized import parameterized -import unittest from cereal import log, messaging from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS -class TestCanFingerprint(unittest.TestCase): +class TestCanFingerprint: @parameterized.expand(list(FINGERPRINTS.items())) def test_can_fingerprint(self, car_model, fingerprints): """Tests online fingerprinting function on offline fingerprints""" @@ -21,12 +19,12 @@ class TestCanFingerprint(unittest.TestCase): empty_can = messaging.new_message('can', 0) car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can)) # noqa: B023 - self.assertEqual(car_fingerprint, car_model) - self.assertEqual(finger[0], fingerprint) - self.assertEqual(finger[1], fingerprint) - self.assertEqual(finger[2], {}) + assert car_fingerprint == car_model + assert finger[0] == fingerprint + assert finger[1] == fingerprint + assert finger[2] == {} - def test_timing(self): + def test_timing(self, subtests): # just pick any CAN fingerprinting car car_model = "CHEVROLET_BOLT_EUV" fingerprint = FINGERPRINTS[car_model][0] @@ -50,7 +48,7 @@ class TestCanFingerprint(unittest.TestCase): cases.append((FRAME_FINGERPRINT * 2, None, can)) for expected_frames, car_model, can in cases: - with self.subTest(expected_frames=expected_frames, car_model=car_model): + with subtests.test(expected_frames=expected_frames, car_model=car_model): frames = 0 def test(): @@ -59,9 +57,5 @@ class TestCanFingerprint(unittest.TestCase): return can # noqa: B023 car_fingerprint, _ = can_fingerprint(test) - self.assertEqual(car_fingerprint, car_model) - self.assertEqual(frames, expected_frames + 2) # TODO: fix extra frames - - -if __name__ == "__main__": - unittest.main() + assert car_fingerprint == car_model + assert frames == expected_frames + 2# TODO: fix extra frames diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py old mode 100755 new mode 100644 index dfcd9b052..19096c23e --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,7 +1,5 @@ -#!/usr/bin/env python3 import os import math -import unittest import hypothesis.strategies as st from hypothesis import Phase, given, settings import importlib @@ -12,7 +10,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars -from openpilot.selfdrive.car.fw_versions import FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -20,7 +18,10 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator -ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) +ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} +ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus} + +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')) @@ -32,7 +33,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: gen_empty_fingerprint()}) # only pick from possible ecus to reduce search space - car_fw_strategy = st.lists(st.sampled_from(ALL_ECUS)) + car_fw_strategy = st.lists(st.sampled_from(sorted(ALL_ECUS))) params_strategy = st.fixed_dictionaries({ 'fingerprints': fingerprint_strategy, @@ -41,11 +42,13 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: }) params: dict = draw(params_strategy) - params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']] + params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0, + request=draw(st.sampled_from(sorted(ALL_REQUESTS)))) + for fw in params['car_fw']] return params -class TestCarInterfaces(unittest.TestCase): +class TestCarInterfaces: # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause # many generated examples to overrun when max_examples > ~20, don't use it @parameterized.expand([(car,) for car in sorted(all_known_cars())]) @@ -63,28 +66,28 @@ class TestCarInterfaces(unittest.TestCase): assert car_params assert car_interface - self.assertGreater(car_params.mass, 1) - self.assertGreater(car_params.wheelbase, 0) + assert car_params.mass > 1 + assert car_params.wheelbase > 0 # centerToFront is center of gravity to front wheels, assert a reasonable range - self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7) - self.assertGreater(car_params.maxLateralAccel, 0) + assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7 + assert car_params.maxLateralAccel > 0 # Longitudinal sanity checks - self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP)) - self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP)) - self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP)) + assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) + assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) + assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP) # Lateral sanity checks if car_params.steerControlType != car.CarParams.SteerControlType.angle: tune = car_params.lateralTuning if tune.which() == 'pid': - self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0) - self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)) - self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)) + assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0 + assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP) + assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP) elif tune.which() == 'torque': - self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) - self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) + assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0 + assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0 cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface @@ -92,14 +95,14 @@ class TestCarInterfaces(unittest.TestCase): CC = car.CarControl.new_message(**cc_msg) for _ in range(10): car_interface.update(CC, []) - car_interface.apply(CC, now_nanos) + car_interface.apply(CC.as_reader(), now_nanos) now_nanos += DT_CTRL * 1e9 # 10 ms CC = car.CarControl.new_message(**cc_msg) CC.enabled = True for _ in range(10): car_interface.update(CC, []) - car_interface.apply(CC, now_nanos) + car_interface.apply(CC.as_reader(), now_nanos) now_nanos += DT_CTRL * 1e9 # 10ms # Test controller initialization @@ -128,33 +131,29 @@ class TestCarInterfaces(unittest.TestCase): if not car_params.radarUnavailable and radar_interface.rcp is not None: cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] rr = radar_interface.update(cans) - self.assertTrue(rr is None or len(rr.errors) > 0) + assert rr is None or len(rr.errors) > 0 def test_interface_attrs(self): """Asserts basic behavior of interface attribute getter""" num_brands = len(get_interface_attr('CAR')) - self.assertGreaterEqual(num_brands, 13) + assert num_brands >= 13 # Should return value for all brands when not combining, even if attribute doesn't exist ret = get_interface_attr('FAKE_ATTR') - self.assertEqual(len(ret), num_brands) + assert len(ret) == num_brands # Make sure we can combine dicts ret = get_interface_attr('DBC', combine_brands=True) - self.assertGreaterEqual(len(ret), 160) + assert len(ret) >= 160 # We don't support combining non-dicts ret = get_interface_attr('CAR', combine_brands=True) - self.assertEqual(len(ret), 0) + assert len(ret) == 0 # If brand has None value, it shouldn't return when ignore_none=True is specified none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None} - self.assertGreaterEqual(len(none_brands), 1) + assert len(none_brands) >= 1 ret = get_interface_attr('FINGERPRINTS', ignore_none=True) none_brands_in_ret = none_brands.intersection(ret) - self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}') - - -if __name__ == "__main__": - unittest.main() + assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}' diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py old mode 100755 new mode 100644 index 143b402d5..40ad07b28 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,8 +1,7 @@ -#!/usr/bin/env python3 from collections import defaultdict import os +import pytest import re -import unittest from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.car.car_helpers import interfaces @@ -14,9 +13,9 @@ from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff -class TestCarDocs(unittest.TestCase): +class TestCarDocs: @classmethod - def setUpClass(cls): + def setup_class(cls): cls.all_cars = get_all_car_docs() def test_generator(self): @@ -24,8 +23,7 @@ class TestCarDocs(unittest.TestCase): with open(CARS_MD_OUT) as f: current_cars_md = f.read() - self.assertEqual(generated_cars_md, current_cars_md, - "Run selfdrive/car/docs.py to update the compatibility documentation") + assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation" def test_docs_diff(self): dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") @@ -33,65 +31,61 @@ class TestCarDocs(unittest.TestCase): print_car_docs_diff(dump_path) os.remove(dump_path) - def test_duplicate_years(self): + def test_duplicate_years(self, subtests): make_model_years = defaultdict(list) for car in self.all_cars: - with self.subTest(car_docs_name=car.name): + with subtests.test(car_docs_name=car.name): make_model = (car.make, car.model) for year in car.year_list: - self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year") + assert year not in make_model_years[make_model], f"{car.name}: Duplicate model year" make_model_years[make_model].append(year) - def test_missing_car_docs(self): + def test_missing_car_docs(self, subtests): all_car_docs_platforms = [name for name, config in PLATFORMS.items()] for platform in sorted(interfaces.keys()): - with self.subTest(platform=platform): - self.assertTrue(platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry") + with subtests.test(platform=platform): + assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry" - def test_naming_conventions(self): + def test_naming_conventions(self, subtests): # Asserts market-standard car naming conventions by brand for car in self.all_cars: - with self.subTest(car=car): + with subtests.test(car=car.name): tokens = car.model.lower().split(" ") if car.car_name == "hyundai": - self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`") - self.assertNotIn("hev", tokens, "Use `Hybrid`") + assert "phev" not in tokens, "Use `Plug-in Hybrid`" + assert "hev" not in tokens, "Use `Hybrid`" if "plug-in hybrid" in car.model.lower(): - self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization") + assert "Plug-in Hybrid" in car.model, "Use correct capitalization" if car.make != "Kia": - self.assertNotIn("ev", tokens, "Use `Electric`") + assert "ev" not in tokens, "Use `Electric`" elif car.car_name == "toyota": if "rav4" in tokens: - self.assertIn("RAV4", car.model, "Use correct capitalization") + assert "RAV4" in car.model, "Use correct capitalization" - def test_torque_star(self): + def test_torque_star(self, subtests): # Asserts brand-specific assumptions around steering torque star for car in self.all_cars: - with self.subTest(car=car): + with subtests.test(car=car.name): # honda sanity check, it's the definition of a no torque star if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT): - self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star") + assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star" elif car.car_name in ("toyota", "hyundai"): - self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star") + assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star" - def test_year_format(self): + def test_year_format(self, subtests): for car in self.all_cars: - with self.subTest(car=car): - self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}") + with subtests.test(car=car.name): + assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}" - def test_harnesses(self): + def test_harnesses(self, subtests): for car in self.all_cars: - with self.subTest(car=car): + with subtests.test(car=car.name): if car.name == "comma body": - raise unittest.SkipTest + pytest.skip() car_part_type = [p.part_type for p in car.car_parts.all_parts()] car_parts = list(car.car_parts.all_parts()) - self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}") - self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") - self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") - self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") - - -if __name__ == "__main__": - unittest.main() + assert len(car_parts) > 0, f"Need to specify car parts: {car.name}" + assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}" + assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}" + assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}" diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py deleted file mode 100755 index 34f30bc70..000000000 --- a/selfdrive/car/tests/test_fingerprints.py +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys - -from openpilot.common.basedir import BASEDIR - -# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can) -# (addr, len) -CAN_IGNITION_MSGS = { - 'gm': [(0x1F1, 8), (0x160, 5)], - #'tesla' : [(0x348, 8)], -} - -def _get_fingerprints(): - # read all the folders in selfdrive/car and return a dict where: - # - keys are all the car names that which we have a fingerprint dict for - # - values are dicts of fingeprints for each trim - fingerprints = {} - for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: - car_name = car_folder.split('/')[-1] - try: - fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS - except (ImportError, OSError, AttributeError): - pass - - return fingerprints - - -def check_fingerprint_consistency(f1, f2): - # return false if it finds a fingerprint fully included in another - # max message worth checking is 1800, as above that they usually come too infrequently and not - # usable for fingerprinting - - max_msg = 1800 - - is_f1_in_f2 = True - for k in f1: - if (k not in f2 or f1[k] != f2[k]) and k < max_msg: - is_f1_in_f2 = False - - is_f2_in_f1 = True - for k in f2: - if (k not in f1 or f2[k] != f1[k]) and k < max_msg: - is_f2_in_f1 = False - - return not is_f1_in_f2 and not is_f2_in_f1 - - -def check_can_ignition_conflicts(fingerprints, brands): - # loops through all the fingerprints and exits if CAN ignition dedicated messages - # are found in unexpected fingerprints - - for brand_can, msgs_can in CAN_IGNITION_MSGS.items(): - for i, f in enumerate(fingerprints): - for msg_can in msgs_can: - if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]: - print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i])) - print("TEST FAILED") - sys.exit(1) - - - -if __name__ == "__main__": - fingerprints = _get_fingerprints() - - fingerprints_flat: list[dict] = [] - car_names = [] - brand_names = [] - for brand in fingerprints: - for car in fingerprints[brand]: - fingerprints_flat += fingerprints[brand][car] - for _ in range(len(fingerprints[brand][car])): - car_names.append(car) - brand_names.append(brand) - - # first check if CAN ignition specific messages are unexpectedly included in other fingerprints - check_can_ignition_conflicts(fingerprints_flat, brand_names) - - valid = True - for idx1, f1 in enumerate(fingerprints_flat): - for idx2, f2 in enumerate(fingerprints_flat): - if idx1 < idx2 and not check_fingerprint_consistency(f1, f2): - valid = False - print(f"Those two fingerprints are inconsistent {car_names[idx1]} {car_names[idx2]}") - print("") - print(', '.join("%d: %d" % v for v in sorted(f1.items()))) - print("") - print(', '.join("%d: %d" % v for v in sorted(f2.items()))) - print("") - - print(f"Found {len(fingerprints_flat)} individual fingerprints") - if not valid or len(fingerprints_flat) == 0: - print("TEST FAILED") - sys.exit(1) - else: - print("TEST SUCCESSFUL") diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py old mode 100755 new mode 100644 index ed5edbef3..f87297254 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,10 +1,8 @@ -#!/usr/bin/env python3 +import pytest import random import time -import unittest from collections import defaultdict from parameterized import parameterized -from unittest import mock from cereal import car from openpilot.selfdrive.car.car_helpers import interfaces @@ -27,11 +25,11 @@ class FakeSocket: pass -class TestFwFingerprint(unittest.TestCase): +class TestFwFingerprint: def assertFingerprints(self, candidates, expected): candidates = list(candidates) - self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}") - self.assertEqual(candidates[0], expected) + assert len(candidates) == 1, f"got more than one candidate: {candidates}" + assert candidates[0] == expected @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)]) def test_exact_match(self, brand, car_model, ecus, test_non_essential): @@ -62,7 +60,7 @@ class TestFwFingerprint(unittest.TestCase): # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function config = FW_QUERY_CONFIGS[brand] if config.match_fw_to_car_fuzzy is None: - raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function") + pytest.skip("Brand does not implement custom fuzzy fingerprinting function") CP = car.CarParams.new_message() for _ in range(5): @@ -77,14 +75,14 @@ class TestFwFingerprint(unittest.TestCase): # If both have matches, they must agree if len(matches) == 1 and len(brand_matches) == 1: - self.assertEqual(matches, brand_matches) + assert matches == brand_matches @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) def test_fuzzy_match_ecu_count(self, brand, car_model, ecus): # Asserts that fuzzy matching does not count matching FW, but ECU address keys valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS] if not len(valid_ecus): - raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching") + pytest.skip("Car model has no compatible ECUs for fuzzy matching") fw = [] for ecu in valid_ecus: @@ -99,19 +97,19 @@ class TestFwFingerprint(unittest.TestCase): # Assert no match if there are not enough unique ECUs unique_ecus = {(f['address'], f['subAddress']) for f in fw} if len(unique_ecus) < 2: - self.assertEqual(len(matches), 0, car_model) + assert len(matches) == 0, car_model # There won't always be a match due to shared FW, but if there is it should be correct elif len(matches): self.assertFingerprints(matches, car_model) - def test_fw_version_lists(self): + def test_fw_version_lists(self, subtests): for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, ecu_fw in ecus.items(): - with self.subTest(ecu): + with subtests.test(ecu): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}') - self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}') + assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}' + assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}' def test_all_addrs_map_to_one_ecu(self): for brand, cars in VERSIONS.items(): @@ -121,59 +119,59 @@ class TestFwFingerprint(unittest.TestCase): addr_to_ecu[(addr, sub_addr)].add(ecu_type) ecus_for_addr = addr_to_ecu[(addr, sub_addr)] ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr]) - self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})") + assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})" - def test_data_collection_ecus(self): + def test_data_collection_ecus(self, subtests): # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): for car_model, ecus in VERSIONS[brand].items(): bad_ecus = set(ecus).intersection(config.extra_ecus) - with self.subTest(car_model=car_model.value): - self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}') + with subtests.test(car_model=car_model.value): + assert not len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}' - def test_blacklisted_ecus(self): + def test_blacklisted_ecus(self, subtests): blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): CP = interfaces[car_model][0].get_non_essential_params(car_model) if CP.carName == 'subaru': for ecu in ecus.keys(): - self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})') + assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})' elif CP.carName == "chrysler": # Some HD trucks have a combined TCM and ECM if CP.carFingerprint.startswith("RAM HD"): for ecu in ecus.keys(): - self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})") + assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})" - def test_non_essential_ecus(self): + def test_non_essential_ecus(self, subtests): for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand): + with subtests.test(brand): # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS) - self.assertEqual(unnecessary_non_essential_ecus, set(), "Declaring non-essential ECUs non-essential is not required: " + - f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}") + assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \ + f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}" - def test_missing_versions_and_configs(self): + def test_missing_versions_and_configs(self, subtests): brand_versions = set(VERSIONS.keys()) brand_configs = set(FW_QUERY_CONFIGS.keys()) if len(brand_configs - brand_versions): - with self.subTest(): - self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}") + with subtests.test(): + pytest.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}") if len(brand_versions - brand_configs): - with self.subTest(): - self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") + with subtests.test(): + pytest.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval for brand, config in FW_QUERY_CONFIGS.items(): - self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0) - self.assertEqual(config.get_all_ecus({}), set(config.extra_ecus)) - self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0) + assert len(config.get_all_ecus({}, include_extra_ecus=False)) == 0 + assert config.get_all_ecus({}) == set(config.extra_ecus) + assert len(config.get_all_ecus(VERSIONS[brand])) > 0 - def test_fw_request_ecu_whitelist(self): + def test_fw_request_ecu_whitelist(self, subtests): for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand=brand): + with subtests.test(brand=brand): whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus} brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw} brand_ecus |= {ecu[0] for ecu in config.extra_ecus} @@ -182,30 +180,30 @@ class TestFwFingerprint(unittest.TestCase): ecus_not_whitelisted = brand_ecus - whitelisted_ecus ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) - self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted), - f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}') + assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \ + f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}' - def test_fw_requests(self): + def test_fw_requests(self, subtests): # Asserts equal length request and response lists for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand=brand): + with subtests.test(brand=brand): for request_obj in config.requests: - self.assertEqual(len(request_obj.request), len(request_obj.response)) + assert len(request_obj.request) == len(request_obj.response) # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda - self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing, - f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}") + assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), \ + f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}" def test_brand_ecu_matches(self): empty_response = {brand: set() for brand in FW_QUERY_CONFIGS} - self.assertEqual(get_brand_ecu_matches(set()), empty_response) + assert get_brand_ecu_matches(set()) == empty_response # we ignore bus expected_response = empty_response | {'toyota': {(0x750, 0xf)}} - self.assertEqual(get_brand_ecu_matches({(0x758, 0xf, 99)}), expected_response) + assert get_brand_ecu_matches({(0x758, 0xf, 99)}) == expected_response -class TestFwFingerprintTiming(unittest.TestCase): +class TestFwFingerprintTiming: N: int = 5 TOL: float = 0.05 @@ -223,26 +221,26 @@ class TestFwFingerprintTiming(unittest.TestCase): self.total_time += timeout return {} - def _benchmark_brand(self, brand, num_pandas): + def _benchmark_brand(self, brand, num_pandas, mocker): fake_socket = FakeSocket() self.total_time = 0 - with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), - mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): - for _ in range(self.N): - # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on - self.current_obd_multiplexing = True + mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing) + mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) + for _ in range(self.N): + # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on + self.current_obd_multiplexing = True - t = time.perf_counter() - get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) - self.total_time += time.perf_counter() - t + t = time.perf_counter() + get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) + self.total_time += time.perf_counter() - t return self.total_time / self.N def _assert_timing(self, avg_time, ref_time): - self.assertLess(avg_time, ref_time + self.TOL) - self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.") + assert avg_time < ref_time + self.TOL + assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs." - def test_startup_timing(self): + def test_startup_timing(self, subtests, mocker): # Tests worse-case VIN query time and typical present ECU query time vin_ref_times = {'worst': 1.4, 'best': 0.7} # best assumes we go through all queries to get a match present_ecu_ref_time = 0.45 @@ -253,24 +251,24 @@ class TestFwFingerprintTiming(unittest.TestCase): fake_socket = FakeSocket() self.total_time = 0.0 - with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), - mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)): - for _ in range(self.N): - self.current_obd_multiplexing = True - get_present_ecus(fake_socket, fake_socket, num_pandas=2) + mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing) + mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs) + for _ in range(self.N): + self.current_obd_multiplexing = True + get_present_ecus(fake_socket, fake_socket, num_pandas=2) self._assert_timing(self.total_time / self.N, present_ecu_ref_time) print(f'get_present_ecus, query time={self.total_time / self.N} seconds') for name, args in (('worst', {}), ('best', {'retry': 1})): - with self.subTest(name=name): + with subtests.test(name=name): self.total_time = 0.0 - with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): - for _ in range(self.N): - get_vin(fake_socket, fake_socket, (0, 1), **args) + mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) + for _ in range(self.N): + get_vin(fake_socket, fake_socket, (0, 1), **args) self._assert_timing(self.total_time / self.N, vin_ref_times[name]) print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') - def test_fw_query_timing(self): + def test_fw_query_timing(self, subtests, mocker): total_ref_time = {1: 7.2, 2: 7.8} brand_ref_times = { 1: { @@ -297,8 +295,8 @@ class TestFwFingerprintTiming(unittest.TestCase): total_times = {1: 0.0, 2: 0.0} for num_pandas in (1, 2): for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand=brand, num_pandas=num_pandas): - avg_time = self._benchmark_brand(brand, num_pandas) + with subtests.test(brand=brand, num_pandas=num_pandas): + avg_time = self._benchmark_brand(brand, num_pandas, mocker) total_times[num_pandas] += avg_time avg_time = round(avg_time, 2) @@ -311,11 +309,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') for num_pandas in (1, 2): - with self.subTest(brand='all_brands', num_pandas=num_pandas): + with subtests.test(brand='all_brands', num_pandas=num_pandas): total_time = round(total_times[num_pandas], 2) self._assert_timing(total_time, total_ref_time[num_pandas]) print(f'all brands, total FW query time={total_time} seconds') - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index e5cfd972b..e61d197f4 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -2,8 +2,8 @@ from collections import defaultdict import importlib from parameterized import parameterized_class +import pytest import sys -import unittest from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces @@ -21,31 +21,29 @@ MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3 # jerk is measured over half a second JERK_MEAS_T = 0.5 -car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) - @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)]) -class TestLateralLimits(unittest.TestCase): +class TestLateralLimits: car_model: str @classmethod - def setUpClass(cls): + def setup_class(cls): CarInterface, _, _ = interfaces[cls.car_model] CP = CarInterface.get_non_essential_params(cls.car_model) if CP.dashcamOnly: - raise unittest.SkipTest("Platform is behind dashcamOnly") + pytest.skip("Platform is behind dashcamOnly") # TODO: test all platforms if CP.lateralTuning.which() != 'torque': - raise unittest.SkipTest + pytest.skip() if CP.notCar: - raise unittest.SkipTest + pytest.skip() CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams cls.control_params = CarControllerParams(CP) - cls.torque_params = get_torque_params(cls.car_model) + cls.torque_params = get_torque_params()[cls.car_model] @staticmethod def calculate_0_5s_jerk(control_params, torque_params): @@ -65,27 +63,36 @@ class TestLateralLimits(unittest.TestCase): def test_jerk_limits(self): up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) - car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} - self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE) - self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN) + assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE + assert down_jerk <= MAX_LAT_JERK_DOWN def test_max_lateral_accel(self): - self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL) + assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL -if __name__ == "__main__": - result = unittest.main(exit=False) +class LatAccelReport: + car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) - print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n") + def pytest_sessionfinish(self): + print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n") - max_car_model_len = max([len(car_model) for car_model in car_model_jerks]) - for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): - violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ - _jerks["down_jerk"] > MAX_LAT_JERK_DOWN - violation_str = " - VIOLATION" if violation else "" + max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks]) + for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): + violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ + _jerks["down_jerk"] > MAX_LAT_JERK_DOWN + violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + - f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + + f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") - # exit with test result - sys.exit(not result.result.wasSuccessful()) + @pytest.fixture(scope="class", autouse=True) + def class_setup(self, request): + yield + cls = request.cls + if hasattr(cls, "control_params"): + up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params) + self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} + + +if __name__ == '__main__': + sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()])) # noqa: TID251 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py old mode 100755 new mode 100644 index dc3d4256a..b5d75e665 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,10 +1,9 @@ -#!/usr/bin/env python3 import capnp import os import importlib import pytest import random -import unittest +import unittest # noqa: TID251 from collections import defaultdict, Counter import hypothesis.strategies as st from hypothesis import Phase, given, settings @@ -15,7 +14,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.card import CarD +from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags @@ -215,7 +214,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 can_valid = False - CC = car.CarControl.new_message() + CC = car.CarControl.new_message().as_reader() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(CC, (msg.as_builder().to_bytes(),)) @@ -308,17 +307,17 @@ class TestCarModelBase(unittest.TestCase): # Make sure we can send all messages while inactive CC = car.CarControl.new_message() - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) self.safety.set_cruise_engaged_prev(True) CC = car.CarControl.new_message(cruiseControl={'cancel': True}) - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Test resume + general messages (controls_allowed=True & cruise_engaged=True) self.safety.set_controls_allowed(True) CC = car.CarControl.new_message(cruiseControl={'resume': True}) - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Skip stdout/stderr capture with pytest, causes elevated memory usage @pytest.mark.nocapture @@ -406,7 +405,7 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) - card = CarD(CI=self.CI) + card = Car(CI=self.CI) for idx, can in enumerate(self.can_msgs): CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) for msg in filter(lambda m: m.src in range(64), can.can): diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py old mode 100755 new mode 100644 index 523c331b9..31e4be4fe --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -1,25 +1,17 @@ -#!/usr/bin/env python3 - -import unittest - from openpilot.selfdrive.car.values import PLATFORMS -class TestPlatformConfigs(unittest.TestCase): - def test_configs(self): +class TestPlatformConfigs: + def test_configs(self, subtests): for name, platform in PLATFORMS.items(): - with self.subTest(platform=str(platform)): - self.assertTrue(platform.config._frozen) + with subtests.test(platform=str(platform)): + assert platform.config._frozen if platform != "MOCK": - self.assertIn("pt", platform.config.dbc_dict) - self.assertTrue(len(platform.config.platform_str) > 0) + assert "pt" in platform.config.dbc_dict + assert len(platform.config.platform_str) > 0 - self.assertEqual(name, platform.config.platform_str) + assert name == platform.config.platform_str - self.assertIsNotNone(platform.config.specs) - - -if __name__ == "__main__": - unittest.main() + assert platform.config.specs is not None diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index f6f4eacc1..993eb3fb3 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -61,7 +61,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "GMC_ACADIA" = [1.6, 1.6, 0.2] "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1] "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] -"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1] +"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005] "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1] "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1] "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml index f91bc3aba..34cfd0e06 100644 --- a/selfdrive/car/torque_data/params.toml +++ b/selfdrive/car/torque_data/params.toml @@ -40,7 +40,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745] "JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048] "JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003] -"KIA_EV6" = [3.2, 2.093457, 0.05] +"KIA_EV6" = [3.2, 2.093457, 0.005] "KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] "KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] "KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 354d10a90..f9b7a478e 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -168,7 +168,7 @@ class CarController(CarControllerBase): if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer new_actuators.steeringAngleDeg = self.last_angle diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index d23929439..0866a4d43 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -214,6 +214,7 @@ FW_VERSIONS = { b'8646F0601400 ', b'8646F0603400 ', b'8646F0603500 ', + b'8646F0604000 ', b'8646F0604100 ', b'8646F0605000 ', b'8646F0606000 ', @@ -521,6 +522,7 @@ FW_VERSIONS = { ], (Ecu.abs, 0x7b0, None): [ b'\x01F152602280\x00\x00\x00\x00\x00\x00', + b'\x01F152602281\x00\x00\x00\x00\x00\x00', b'\x01F152602470\x00\x00\x00\x00\x00\x00', b'\x01F152602560\x00\x00\x00\x00\x00\x00', b'\x01F152602590\x00\x00\x00\x00\x00\x00', @@ -1476,6 +1478,7 @@ FW_VERSIONS = { b'\x01896630E41200\x00\x00\x00\x00', b'\x01896630E41500\x00\x00\x00\x00', b'\x01896630EA3100\x00\x00\x00\x00', + b'\x01896630EA3300\x00\x00\x00\x00', b'\x01896630EA3400\x00\x00\x00\x00', b'\x01896630EA4100\x00\x00\x00\x00', b'\x01896630EA4300\x00\x00\x00\x00', diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py old mode 100755 new mode 100644 index e2a9b46eb..0217a0fbc --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 from hypothesis import given, settings, strategies as st -import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict @@ -17,59 +15,58 @@ def check_fw_version(fw_version: bytes) -> bool: return b'?' not in fw_version -class TestToyotaInterfaces(unittest.TestCase): +class TestToyotaInterfaces: def test_car_sets(self): - self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) - self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) + assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0 + assert len(RADAR_ACC_CAR - TSS2_CAR) == 0 def test_lta_platforms(self): # At this time, only RAV4 2023 is expected to use LTA/angle control - self.assertEqual(ANGLE_CONTROL_CAR, {CAR.TOYOTA_RAV4_TSS2_2023}) + assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023} def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, # like looking up certain signals only in this DBC for car_model, dbc in DBC.items(): if car_model in TSS2_CAR: - self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated") + assert dbc["pt"] == "toyota_nodsu_pt_generated" - def test_essential_ecus(self): + def test_essential_ecus(self, subtests): # Asserts standard ECUs exist for each platform common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera} for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): present_ecus = {ecu[0] for ecu in ecus} missing_ecus = common_ecus - present_ecus - self.assertEqual(len(missing_ecus), 0) + assert len(missing_ecus) == 0 # Some exceptions for other common ECUs if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,): - self.assertIn(Ecu.abs, present_ecus) + assert Ecu.abs in present_ecus if car_model not in (CAR.TOYOTA_MIRAI,): - self.assertIn(Ecu.engine, present_ecus) + assert Ecu.engine in present_ecus if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH): - self.assertIn(Ecu.eps, present_ecus) + assert Ecu.eps in present_ecus -class TestToyotaFingerprint(unittest.TestCase): - def test_non_essential_ecus(self): +class TestToyotaFingerprint: + def test_non_essential_ecus(self, subtests): # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine} - self.assertEqual(len(engine_ecus) > 1, - car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine], - f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list") + assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \ + f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list" - def test_valid_fw_versions(self): + def test_valid_fw_versions(self, subtests): # Asserts all FW versions are valid for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for fws in ecus.values(): for fw in fws: - self.assertTrue(check_fw_version(fw), fw) + assert check_fw_version(fw), fw # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy # fingerprint in the absence of full FW matches: @@ -80,25 +77,25 @@ class TestToyotaFingerprint(unittest.TestCase): fws = data.draw(fw_strategy) get_platform_codes(fws) - def test_platform_code_ecus_available(self): + def test_platform_code_ecus_available(self, subtests): # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for platform_code_ecu in PLATFORM_CODE_ECUS: if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,): continue if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,): continue - self.assertIn(platform_code_ecu, [e[0] for e in ecus]) + assert platform_code_ecu in [e[0] for e in ecus] - def test_fw_format(self): + def test_fw_format(self, subtests): # Asserts: # - every supported ECU FW version returns one platform code # - every supported ECU FW version has a part number # - expected parsing of ECU sub-versions for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue @@ -107,15 +104,14 @@ class TestToyotaFingerprint(unittest.TestCase): for fw in fws: result = get_platform_codes([fw]) # Check only one platform code and sub-version - self.assertEqual(1, len(result), f"Unable to parse FW: {fw}") - self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}") + assert 1 == len(result), f"Unable to parse FW: {fw}" + assert 1 == len(list(result.values())[0]), f"Unable to parse FW: {fw}" codes |= result # Toyota places the ECU part number in their FW versions, assert all parsable # Note that there is only one unique part number per ECU across the fleet, so this # is not important for identification, just a sanity check. - self.assertTrue(all(code.count(b"-") > 1 for code in codes), - f"FW does not have part number: {fw} {codes}") + assert all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}" def test_platform_codes_spot_check(self): # Asserts basic platform code parsing behavior for a few cases @@ -125,20 +121,20 @@ class TestToyotaFingerprint(unittest.TestCase): b"F152607110\x00\x00\x00\x00\x00\x00", b"F152607180\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}}) + assert results == {b"F1526-07-1": {b"10", b"40", b"71", b"80"}} results = get_platform_codes([ b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"8646F-41-04": {b"100"}}) + assert results == {b"8646F-41-04": {b"100"}} # Short version has no part number results = get_platform_codes([ b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}}) + assert results == {b"58-70": {b"000"}, b"58-83": {b"000"}} results = get_platform_codes([ b"F152607110\x00\x00\x00\x00\x00\x00", @@ -146,7 +142,7 @@ class TestToyotaFingerprint(unittest.TestCase): b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}}) + assert results == {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}} def test_fuzzy_excluded_platforms(self): # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. @@ -162,13 +158,9 @@ class TestToyotaFingerprint(unittest.TestCase): CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) if len(matches) == 1: - self.assertEqual(list(matches)[0], platform) + assert list(matches)[0] == platform else: # If a platform has multiple matches, add it and its matches platforms_with_shared_codes |= {str(platform), *matches} - self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))) - - -if __name__ == "__main__": - unittest.main() + assert platforms_with_shared_codes == FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index dbab2e925..2e781ad0a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -161,7 +161,7 @@ class CAR(Platforms): ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), # Hybrid platforms ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"), - ToyotaCarDocs("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), + ToyotaCarDocs("Toyota Corolla Hybrid (South America only) 2020-23", min_enable_speed=7.5), ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarDocs("Lexus UX Hybrid 2019-23"), ], diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 5fc47c51c..a4e0c8946 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -112,7 +112,7 @@ class CarController(CarControllerBase): can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values, cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index fdc375fc8..fea530b29 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -119,6 +119,7 @@ FW_VERSIONS = { b'\xf1\x8704L906056BP\xf1\x894729', b'\xf1\x8704L906056EK\xf1\x896391', b'\xf1\x8705L906023BC\xf1\x892688', + b'\xf1\x8705L906023MH\xf1\x892588', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', @@ -128,6 +129,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909143H \xf1\x897045\xf1\x82\x05263AZ309A2', b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', ], (Ecu.fwdRadar, 0x757, None): [ @@ -589,6 +591,7 @@ FW_VERSIONS = { b'\xf1\x8783A907115Q \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158DS\xf1\x893699', b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158FM\xf1\x893757', b'\xf1\x8709G927158GC\xf1\x893821', diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py old mode 100755 new mode 100644 index 17331203b..000257810 --- a/selfdrive/car/volkswagen/tests/test_volkswagen.py +++ b/selfdrive/car/volkswagen/tests/test_volkswagen.py @@ -1,7 +1,5 @@ -#!/usr/bin/env python3 import random import re -import unittest from cereal import car from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI @@ -14,35 +12,35 @@ CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}') SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P[0-9][0-9A-Z]{2})(?P[0-9][0-9A-Z][0-9])(?P[0-9A-Z]{2}[0-9])([A-Z0-9]| )') -class TestVolkswagenPlatformConfigs(unittest.TestCase): - def test_spare_part_fw_pattern(self): +class TestVolkswagenPlatformConfigs: + def test_spare_part_fw_pattern(self, subtests): # Relied on for determining if a FW is likely VW for platform, ecus in FW_VERSIONS.items(): - with self.subTest(platform=platform): + with subtests.test(platform=platform.value): for fws in ecus.values(): for fw in fws: - self.assertNotEqual(SPARE_PART_FW_PATTERN.match(fw), None, f"Bad FW: {fw}") + assert SPARE_PART_FW_PATTERN.match(fw) is not None, f"Bad FW: {fw}" - def test_chassis_codes(self): + def test_chassis_codes(self, subtests): for platform in CAR: - with self.subTest(platform=platform): - self.assertTrue(len(platform.config.wmis) > 0, "WMIs not set") - self.assertTrue(len(platform.config.chassis_codes) > 0, "Chassis codes not set") - self.assertTrue(all(CHASSIS_CODE_PATTERN.match(cc) for cc in - platform.config.chassis_codes), "Bad chassis codes") + with subtests.test(platform=platform.value): + assert len(platform.config.wmis) > 0, "WMIs not set" + assert len(platform.config.chassis_codes) > 0, "Chassis codes not set" + assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \ + platform.config.chassis_codes), "Bad chassis codes" # No two platforms should share chassis codes for comp in CAR: if platform == comp: continue - self.assertEqual(set(), platform.config.chassis_codes & comp.config.chassis_codes, - f"Shared chassis codes: {comp}") + assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \ + f"Shared chassis codes: {comp}" - def test_custom_fuzzy_fingerprinting(self): + def test_custom_fuzzy_fingerprinting(self, subtests): all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]}) for platform in CAR: - with self.subTest(platform=platform): + with subtests.test(platform=platform.name): for wmi in WMI: for chassis_code in platform.config.chassis_codes | {"00"}: vin = ["0"] * 17 @@ -59,8 +57,4 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase): matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS) expected_matches = {platform} if should_match else set() - self.assertEqual(expected_matches, matches, "Bad match") - - -if __name__ == "__main__": - unittest.main() + assert expected_matches == matches, "Bad match" diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index eb537575f..8b58769b3 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -214,10 +214,11 @@ class CAR(Platforms): VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), ], VolkswagenCarSpecs(mass=1733, wheelbase=2.84), - chassis_codes={"AN"}, + chassis_codes={"AN", "3H"}, wmis={WMI.VOLKSWAGEN_EUROPE_CAR}, ) VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig( @@ -243,14 +244,14 @@ class CAR(Platforms): ) VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( [ - VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Crafter 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen e-Crafter 2018-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Grand California 2019-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN eTGE 2020-24", video_link="https://youtu.be/4100gLeabmo"), ], VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), - chassis_codes={"SY", "SZ"}, + chassis_codes={"SY", "SZ", "UY", "UZ"}, wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN}, ) VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5dd7779fc..cd9d188a5 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,7 @@ from typing import SupportsFloat import cereal.messaging as messaging from cereal import car, log -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.conversions import Conversions as CV @@ -18,8 +18,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.car.car_helpers import get_startup_event -from openpilot.selfdrive.car.card import CarD +from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.events import Events, ET @@ -61,20 +60,23 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) class Controls: def __init__(self, CI=None): - self.card = CarD(CI) - self.params = Params() # dp self._dp_alka = self.params.get_bool("dp_alka") self._dp_alka_active = True - with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg: - # TODO: this shouldn't need to be a builder - self.CP = msg.as_builder() - - self.CI = self.card.CI + if CI is None: + cloudlog.info("controlsd is waiting for CarParams") + with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg: + # TODO: this shouldn't need to be a builder + self.CP = msg.as_builder() + cloudlog.info("controlsd got CarParams") + # Uses car interface helper functions, altering state won't be considered by card for actuation + self.CI = get_car_interface(self.CP) + else: + self.CI, self.CP = CI, CI.CP # Ensure the current branch is cached, otherwise the first iteration of controlsd lags self.branch = get_short_branch() @@ -87,9 +89,15 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') + # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches + self.car_state_sock = messaging.sub_sock('carState', timeout=20) + ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] + if REPLAY: + # no vipc in replay will make them ignored anyways + ignore += ['roadCameraState', 'wideRoadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', @@ -114,6 +122,7 @@ class Controls: if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") + self.CS_prev = car.CarState.new_message() self.AM = AlertManager() self.events = Events() @@ -165,7 +174,7 @@ class Controls: elif self.CP.passive: self.events.add(EventName.dashcamMode, static=True) - # controlsd is driven by can recv, expected at 100Hz + # controlsd is driven by carState, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) def set_initial_state(self): @@ -274,7 +283,7 @@ class Controls: else: safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES - # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda + # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: self.events.add(EventName.controlsMismatch) @@ -300,7 +309,7 @@ class Controls: self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])): + if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) @@ -312,19 +321,18 @@ class Controls: # generic catch-all. ideally, a more specific event should be added above instead has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) - if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors: + if not self.sm.all_checks() and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): self.events.add(EventName.commIssueAvgFreq) - else: # invalid or can_rcv_timeout. + else: self.events.add(EventName.commIssue) logs = { 'invalid': [s for s, valid in self.sm.valid.items() if not valid], 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - 'can_rcv_timeout': self.card.can_rcv_timeout, } if logs != self.logged_comm_issue: cloudlog.event("commIssue", error=True, **logs) @@ -384,9 +392,10 @@ class Controls: self.events.add(EventName.modeldLagging) def data_sample(self): - """Receive data from sockets and update carState""" + """Receive data from sockets""" - CS = self.card.state_update() + car_state = messaging.recv_one(self.car_state_sock) + CS = car_state.carState if car_state else self.CS_prev self.sm.update(0) @@ -400,12 +409,8 @@ class Controls: if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: self.sm.ignore_alive.append('wideRoadCameraState') - if not self.CP.passive: - self.card.initialize() - self.initialized = True self.set_initial_state() - self.params.put_bool_nonblocking("ControlsReady", True) cloudlog.event( "controlsd.initialized", @@ -726,7 +731,6 @@ class Controls: hudControl.visualAlert = current_alert.visual_alert if not self.CP.passive and self.initialized: - self.card.controls_update(CS, CC) CO = self.sm['carOutput'] if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ @@ -774,7 +778,6 @@ class Controls: controlsState.cumLagMs = -self.rk.remaining * 1000. controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) - controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter controlsState.experimentalMode = self.experimental_mode controlsState.personality = self.personality @@ -832,6 +835,8 @@ class Controls: # Publish data self.publish_logs(CS, start_time, CC, lac_log) + self.CS_prev = CS + def read_personality_param(self): try: return int(self.params.get('LongitudinalPersonality')) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 99246a139..b01818d70 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -51,7 +51,7 @@ class Events: def __init__(self): self.events: list[int] = [] self.static_events: list[int] = [] - self.events_prev = dict.fromkeys(EVENTS.keys(), 0) + self.event_counters = dict.fromkeys(EVENTS.keys(), 0) @property def names(self) -> list[int]: @@ -66,7 +66,7 @@ class Events: bisect.insort(self.events, event_name) def clear(self) -> None: - self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} + self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()} self.events = self.static_events.copy() def contains(self, event_type: str) -> bool: @@ -85,7 +85,7 @@ class Events: if not isinstance(alert, Alert): alert = alert(*callback_args) - if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay: + if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay: alert.alert_type = f"{EVENT_NAME[e]}/{et}" alert.event_type = et ret.append(alert) @@ -331,6 +331,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** EventName.stockFcw: {}, + EventName.actuatorsApiUnavailable: {}, # ********** events only containing alerts displayed in all states ********** diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index b6603e69f..73242cb8f 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python') gen = "c_generated_code" @@ -60,7 +60,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_lat = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 lat_mpc.py") -lenv.Depends(generated_lat, [messaging_python, common_python, opendbc_python]) +lenv.Depends(generated_lat, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 83ec3b3a1..ad6086108 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -128,7 +128,7 @@ def gen_lat_ocp(): return ocp -class LateralMpc(): +class LateralMpc: def __init__(self, x0=None): if x0 is None: x0 = np.zeros(X_DIM) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 2dd3390bb..a619c4763 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -5,6 +5,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_dead from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.modeld.constants import ModelConstants +CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] + LongCtrlState = car.CarControl.Actuators.LongControlState @@ -68,19 +70,13 @@ class LongControl: # Interp control trajectory speeds = long_plan.speeds if len(speeds) == CONTROL_N: - v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds) - a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels) + v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds) + a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels) - v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds) - a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now + v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now - v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds) - a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now - - v_target = min(v_target_lower, v_target_upper) - a_target = min(a_target_lower, a_target_upper) - - v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds) + v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds) else: v_target = 0.0 v_target_now = 0.0 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index c00d5cb5a..592c1c2c2 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python') gen = "c_generated_code" @@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, [messaging_python, common_python, opendbc_python]) +lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 39cfda4e8..bad37add6 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -4,6 +4,7 @@ import time import numpy as np from cereal import log from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_MDL from openpilot.common.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild from openpilot.selfdrive.modeld.constants import index_function @@ -220,8 +221,9 @@ def gen_long_ocp(): class LongitudinalMpc: - def __init__(self, mode='acc'): + def __init__(self, mode='acc', dt=DT_MDL): self.mode = mode + self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() self.source = SOURCES[2] @@ -440,7 +442,7 @@ class LongitudinalMpc: self.a_solution = self.x_sol[:,2] self.j_solution = self.u_sol[:,0] - self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) + self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) t = time.monotonic() if self.solution_status != 0: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 64a4f0f0a..7f16f9ddd 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -51,7 +51,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP - self.mpc = LongitudinalMpc() + self.mpc = LongitudinalMpc(dt=dt) self.fcw = False self.dt = dt @@ -71,9 +71,9 @@ class LongitudinalPlanner: @staticmethod def parse_model(model_msg, model_error): - if (len(model_msg.position.x) == 33 and - len(model_msg.velocity.x) == 33 and - len(model_msg.acceleration.x) == 33): + if (len(model_msg.position.x) == ModelConstants.IDX_N and + len(model_msg.velocity.x) == ModelConstants.IDX_N and + len(model_msg.acceleration.x) == ModelConstants.IDX_N): x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index f4ec7e599..29c4d8bd4 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -4,7 +4,7 @@ from numbers import Number from openpilot.common.numpy_fast import clip, interp -class PIDController(): +class PIDController: def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100): self._k_p = k_p self._k_i = k_i diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py old mode 100755 new mode 100644 index dbd42858a..8b9c18a9d --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -1,12 +1,10 @@ -#!/usr/bin/env python3 import random -import unittest from openpilot.selfdrive.controls.lib.events import Alert, EVENTS from openpilot.selfdrive.controls.lib.alertmanager import AlertManager -class TestAlertManager(unittest.TestCase): +class TestAlertManager: def test_duration(self): """ @@ -38,8 +36,4 @@ class TestAlertManager(unittest.TestCase): shown = current_alert is not None should_show = frame <= show_duration - self.assertEqual(shown, should_show, msg=f"{frame=} {add_duration=} {duration=}") - - -if __name__ == "__main__": - unittest.main() + assert shown == should_show, f"{frame=} {add_duration=} {duration=}" diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py old mode 100755 new mode 100644 index 838023af7..81411edec --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -1,6 +1,3 @@ -#!/usr/bin/env python3 -import unittest - from parameterized import parameterized from cereal import car, log @@ -15,7 +12,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel from openpilot.common.mock.generators import generate_liveLocationKalman -class TestLatControl(unittest.TestCase): +class TestLatControl: @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)]) def test_saturation(self, car_name, controller): @@ -36,8 +33,4 @@ class TestLatControl(unittest.TestCase): for _ in range(1000): _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk) - self.assertTrue(lac_log.saturated) - - -if __name__ == "__main__": - unittest.main() + assert lac_log.saturated diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py old mode 100755 new mode 100644 index c3997afdf..4d0e41805 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -1,6 +1,5 @@ -#!/usr/bin/env python3 +import pytest import math -import unittest import numpy as np from control import StateSpace @@ -10,8 +9,8 @@ from openpilot.selfdrive.car.honda.values import CAR from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices -class TestVehicleModel(unittest.TestCase): - def setUp(self): +class TestVehicleModel: + def setup_method(self): CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC) self.VM = VehicleModel(CP) @@ -23,7 +22,7 @@ class TestVehicleModel(unittest.TestCase): yr = self.VM.yaw_rate(sa, u, roll) new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll) - self.assertAlmostEqual(sa, new_sa) + assert sa == pytest.approx(new_sa) def test_dyn_ss_sol_against_yaw_rate(self): """Verify that the yaw_rate helper function matches the results @@ -38,7 +37,7 @@ class TestVehicleModel(unittest.TestCase): # Compute yaw rate using direct computations yr2 = self.VM.yaw_rate(sa, u, roll) - self.assertAlmostEqual(float(yr1[0]), yr2) + assert float(yr1[0]) == pytest.approx(yr2) def test_syn_ss_sol_simulate(self): """Verifies that dyn_ss_sol matches a simulation""" @@ -63,8 +62,3 @@ class TestVehicleModel(unittest.TestCase): x2 = dyn_ss_sol(sa, u, roll, self.VM) np.testing.assert_almost_equal(x1, x2, decimal=3) - - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index eeeeda050..681518be1 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -6,16 +6,6 @@ from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner import cereal.messaging as messaging -def publish_ui_plan(sm, pm, longitudinal_planner): - ui_send = messaging.new_message('uiPlan') - ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - uiPlan = ui_send.uiPlan - uiPlan.frameId = sm['modelV2'].frameId - uiPlan.position.x = list(sm['modelV2'].position.x) - uiPlan.position.y = list(sm['modelV2'].position.y) - uiPlan.position.z = list(sm['modelV2'].position.z) - uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() - pm.send('uiPlan', ui_send) def plannerd_thread(): config_realtime_process(5, Priority.CTRL_LOW) @@ -27,7 +17,7 @@ def plannerd_thread(): cloudlog.info("plannerd got CarParams: %s", CP.carName) longitudinal_planner = LongitudinalPlanner(CP) - pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan']) + pm = messaging.PubMaster(['longitudinalPlan']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], poll='modelV2', ignore_avg_freq=['radarState']) @@ -36,7 +26,7 @@ def plannerd_thread(): if sm.updated['modelV2']: longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - publish_ui_plan(sm, pm, longitudinal_planner) + def main(): plannerd_thread() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 16c9e0635..7420f666f 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -2,7 +2,7 @@ import importlib import math from collections import deque -from typing import Any, Optional +from typing import Any import capnp from cereal import messaging, log, car @@ -208,7 +208,7 @@ class RadarD: self.ready = False - def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]): + def update(self, sm: messaging.SubMaster, rr): self.ready = sm.seen['modelV2'] self.current_time = 1e-9*max(sm.logMonoTime.values()) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py old mode 100755 new mode 100644 index 7b4fba0dc..38dc04594 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -1,8 +1,6 @@ -#!/usr/bin/env python3 import copy import json import os -import unittest import random from PIL import Image, ImageDraw, ImageFont @@ -25,10 +23,10 @@ for event_types in EVENTS.values(): ALERTS.append(alert) -class TestAlerts(unittest.TestCase): +class TestAlerts: @classmethod - def setUpClass(cls): + def setup_class(cls): with open(OFFROAD_ALERTS_PATH) as f: cls.offroad_alerts = json.loads(f.read()) @@ -45,7 +43,7 @@ class TestAlerts(unittest.TestCase): for name, e in events.items(): if not name.endswith("DEPRECATED"): fail_msg = "%s @%d not in EVENTS" % (name, e) - self.assertTrue(e in EVENTS.keys(), msg=fail_msg) + assert e in EVENTS.keys(), fail_msg # ensure alert text doesn't exceed allowed width def test_alert_text_length(self): @@ -80,7 +78,7 @@ class TestAlerts(unittest.TestCase): left, _, right, _ = draw.textbbox((0, 0), txt, font) width = right - left msg = f"type: {alert.alert_type} msg: {txt}" - self.assertLessEqual(width, max_text_width, msg=msg) + assert width <= max_text_width, msg def test_alert_sanity_check(self): for event_types in EVENTS.values(): @@ -90,21 +88,21 @@ class TestAlerts(unittest.TestCase): continue if a.alert_size == AlertSize.none: - self.assertEqual(len(a.alert_text_1), 0) - self.assertEqual(len(a.alert_text_2), 0) + assert len(a.alert_text_1) == 0 + assert len(a.alert_text_2) == 0 elif a.alert_size == AlertSize.small: - self.assertGreater(len(a.alert_text_1), 0) - self.assertEqual(len(a.alert_text_2), 0) + assert len(a.alert_text_1) > 0 + assert len(a.alert_text_2) == 0 elif a.alert_size == AlertSize.mid: - self.assertGreater(len(a.alert_text_1), 0) - self.assertGreater(len(a.alert_text_2), 0) + assert len(a.alert_text_1) > 0 + assert len(a.alert_text_2) > 0 else: - self.assertGreater(len(a.alert_text_1), 0) + assert len(a.alert_text_1) > 0 - self.assertGreaterEqual(a.duration, 0.) + assert a.duration >= 0. if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE): - self.assertEqual(a.creation_delay, 0.) + assert a.creation_delay == 0. def test_offroad_alerts(self): params = Params() @@ -113,11 +111,11 @@ class TestAlerts(unittest.TestCase): alert = copy.copy(self.offroad_alerts[a]) set_offroad_alert(a, True) alert['extra'] = '' - self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8')) + assert json.dumps(alert) == params.get(a, encoding='utf8') # then delete it set_offroad_alert(a, False) - self.assertTrue(params.get(a) is None) + assert params.get(a) is None def test_offroad_alerts_extra_text(self): params = Params() @@ -128,8 +126,5 @@ class TestAlerts(unittest.TestCase): set_offroad_alert(a, True, extra_text="a"*i) written_alert = json.loads(params.get(a, encoding='utf8')) - self.assertTrue("a"*i == written_alert['extra']) - self.assertTrue(alert["text"] == written_alert['text']) - -if __name__ == "__main__": - unittest.main() + assert "a"*i == written_alert['extra'] + assert alert["text"] == written_alert['text'] diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py old mode 100755 new mode 100644 index c46d03ad1..8f451a49b --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,7 +1,6 @@ -#!/usr/bin/env python3 +import pytest import itertools import numpy as np -import unittest from parameterized import parameterized_class from cereal import log @@ -36,19 +35,19 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.): [True, False], # e2e log.LongitudinalPersonality.schema.enumerants, # personality [5,35])) # speed -class TestCruiseSpeed(unittest.TestCase): +class TestCruiseSpeed: def test_cruise_speed(self): print(f'Testing {self.speed} m/s') cruise_speed = float(self.speed) simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality) - self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s') + assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s' # TODO: test pcmCruise @parameterized_class(('pcm_cruise',), [(False,)]) -class TestVCruiseHelper(unittest.TestCase): - def setUp(self): +class TestVCruiseHelper: + def setup_method(self): self.CP = car.CarParams(pcmCruise=self.pcm_cruise) self.v_cruise_helper = VCruiseHelper(self.CP) self.reset_cruise_speed_state() @@ -75,7 +74,7 @@ class TestVCruiseHelper(unittest.TestCase): CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)] self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) - self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + assert pressed == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) def test_rising_edge_enable(self): """ @@ -94,7 +93,7 @@ class TestVCruiseHelper(unittest.TestCase): self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False) # Expected diff on enabling. Speed should not change on falling edge of pressed - self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last def test_resume_in_standstill(self): """ @@ -111,7 +110,7 @@ class TestVCruiseHelper(unittest.TestCase): # speed should only update if not at standstill and button falling edge should_equal = standstill or pressed - self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + assert should_equal == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) def test_set_gas_pressed(self): """ @@ -135,7 +134,7 @@ class TestVCruiseHelper(unittest.TestCase): # TODO: fix skipping first run due to enabled on rising edge exception if v_ego == 0.0: continue - self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph) + assert expected_v_cruise_kph == self.v_cruise_helper.v_cruise_kph def test_initialize_v_cruise(self): """ @@ -145,12 +144,8 @@ class TestVCruiseHelper(unittest.TestCase): for experimental_mode in (True, False): for v_ego in np.linspace(0, 100, 101): self.reset_cruise_speed_state() - self.assertFalse(self.v_cruise_helper.v_cruise_initialized) + assert not self.v_cruise_helper.v_cruise_initialized self.enable(float(v_ego), experimental_mode) - self.assertTrue(V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX) - self.assertTrue(self.v_cruise_helper.v_cruise_initialized) - - -if __name__ == "__main__": - unittest.main() + assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX + assert self.v_cruise_helper.v_cruise_initialized diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py old mode 100755 new mode 100644 index f58e6383c..0fd543dd6 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python3 -import unittest +import pytest import itertools from parameterized import parameterized_class @@ -32,14 +31,10 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit log.LongitudinalPersonality.standard, log.LongitudinalPersonality.aggressive], [0,10,35])) # speed -class TestFollowingDistance(unittest.TestCase): +class TestFollowingDistance: def test_following_distance(self): v_lead = float(self.speed) simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality) correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) err_ratio = 0.2 if self.e2e else 0.1 - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) - - -if __name__ == "__main__": - unittest.main() + assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5) diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index 8c09f46b6..3aa0fd1bc 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -1,4 +1,4 @@ -import unittest +import pytest import numpy as np from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS @@ -27,20 +27,20 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur return lat_mpc.x_sol -class TestLateralMpc(unittest.TestCase): +class TestLateralMpc: def _assert_null(self, sol, curvature=1e-6): for i in range(len(sol)): - self.assertAlmostEqual(sol[0,i,1], 0., delta=curvature) - self.assertAlmostEqual(sol[0,i,2], 0., delta=curvature) - self.assertAlmostEqual(sol[0,i,3], 0., delta=curvature) + assert sol[0,i,1] == pytest.approx(0, abs=curvature) + assert sol[0,i,2] == pytest.approx(0, abs=curvature) + assert sol[0,i,3] == pytest.approx(0, abs=curvature) def _assert_simmetry(self, sol, curvature=1e-6): for i in range(len(sol)): - self.assertAlmostEqual(sol[0,i,1], -sol[1,i,1], delta=curvature) - self.assertAlmostEqual(sol[0,i,2], -sol[1,i,2], delta=curvature) - self.assertAlmostEqual(sol[0,i,3], -sol[1,i,3], delta=curvature) - self.assertAlmostEqual(sol[0,i,0], sol[1,i,0], delta=curvature) + assert sol[0,i,1] == pytest.approx(-sol[1,i,1], abs=curvature) + assert sol[0,i,2] == pytest.approx(-sol[1,i,2], abs=curvature) + assert sol[0,i,3] == pytest.approx(-sol[1,i,3], abs=curvature) + assert sol[0,i,0] == pytest.approx(sol[1,i,0], abs=curvature) def test_straight(self): sol = run_mpc() @@ -74,7 +74,7 @@ class TestLateralMpc(unittest.TestCase): y_init = 1. sol = run_mpc(y_init=y_init) for y in list(sol[:,1]): - self.assertGreaterEqual(y_init, abs(y)) + assert y_init >= abs(y) def test_switch_convergence(self): lat_mpc = LateralMpc() @@ -83,7 +83,3 @@ class TestLateralMpc(unittest.TestCase): sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0) left_psi_deg = np.degrees(sol[:,2]) np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py old mode 100755 new mode 100644 index a06387a08..f1f4449af --- a/selfdrive/controls/tests/test_leads.py +++ b/selfdrive/controls/tests/test_leads.py @@ -1,13 +1,10 @@ -#!/usr/bin/env python3 -import unittest - import cereal.messaging as messaging from openpilot.selfdrive.test.process_replay import replay_process_with_name from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -class TestLeads(unittest.TestCase): +class TestLeads: def test_radar_fault(self): # if there's no radar-related can traffic, radard should either not respond or respond with an error # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check @@ -29,8 +26,4 @@ class TestLeads(unittest.TestCase): states = [m for m in out if m.which() == "radarState"] failures = [not state.valid and len(state.radarState.radarErrors) for state in states] - self.assertTrue(len(states) == 0 or all(failures)) - - -if __name__ == "__main__": - unittest.main() + assert len(states) == 0 or all(failures) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 23cc96a2e..14b0788a3 100644 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -4,12 +4,12 @@ from parameterized import parameterized from cereal import log, car import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.mazda.values import CAR as MAZDA from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu @@ -87,6 +87,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): os.environ['SKIP_FW_QUERY'] = '1' managed_processes['controlsd'].start() + managed_processes['card'].start() assert pm.wait_for_readers_to_update('can', 5) pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) @@ -104,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] for _ in range(1000): - # controlsd waits for boardd to echo back that it has changed the multiplexing mode + # card waits for pandad to echo back that it has changed the multiplexing mode if not params.get_bool("ObdMultiplexingChanged"): params.put_bool("ObdMultiplexingChanged", True) diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py old mode 100755 new mode 100644 index d49111752..b6ec512dc --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,6 +1,3 @@ -#!/usr/bin/env python3 -import unittest - from cereal import car, log from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces @@ -28,9 +25,9 @@ def make_event(event_types): return 0 -class TestStateMachine(unittest.TestCase): +class TestStateMachine: - def setUp(self): + def setup_method(self): CarInterface, CarController, CarState = interfaces[MOCK.MOCK] CP = CarInterface.get_non_essential_params(MOCK.MOCK) CI = CarInterface(CP, CarController, CarState) @@ -46,7 +43,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE])) self.controlsd.state = state self.controlsd.state_transition(self.CS) - self.assertEqual(State.disabled, self.controlsd.state) + assert State.disabled == self.controlsd.state self.controlsd.events.clear() def test_user_disable(self): @@ -55,7 +52,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([et, ET.USER_DISABLE])) self.controlsd.state = state self.controlsd.state_transition(self.CS) - self.assertEqual(State.disabled, self.controlsd.state) + assert State.disabled == self.controlsd.state self.controlsd.events.clear() def test_soft_disable(self): @@ -66,7 +63,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE])) self.controlsd.state = state self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling) + assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling self.controlsd.events.clear() def test_soft_disable_timer(self): @@ -74,17 +71,17 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([ET.SOFT_DISABLE])) self.controlsd.state_transition(self.CS) for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)): - self.assertEqual(self.controlsd.state, State.softDisabling) + assert self.controlsd.state == State.softDisabling self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled) + assert self.controlsd.state == State.disabled def test_no_entry(self): # Make sure noEntry keeps us disabled for et in ENABLE_EVENT_TYPES: self.controlsd.events.add(make_event([ET.NO_ENTRY, et])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled) + assert self.controlsd.state == State.disabled self.controlsd.events.clear() def test_no_entry_pre_enable(self): @@ -92,7 +89,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.state = State.preEnabled self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.preEnabled) + assert self.controlsd.state == State.preEnabled def test_maintain_states(self): # Given current state's event type, we should maintain state @@ -101,9 +98,5 @@ class TestStateMachine(unittest.TestCase): self.controlsd.state = state self.controlsd.events.add(make_event([et])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, state) + assert self.controlsd.state == state self.controlsd.events.clear() - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 24c467659..fc527cd81 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -1,25 +1,36 @@ #!/usr/bin/env python3 - import sys import time import numpy as np +import datetime from collections.abc import MutableSequence -from collections import defaultdict, deque +from collections import defaultdict import cereal.messaging as messaging -socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} -ts: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) if __name__ == "__main__": - while True: - print() + ts: defaultdict[str, MutableSequence[float]] = defaultdict(list) + socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} + try: + st = time.monotonic() + while True: + print() + for s, sock in socks.items(): + msgs = messaging.drain_sock(sock) + for m in msgs: + ts[s].append(m.logMonoTime / 1e6) + + if len(ts[s]) > 2: + d = np.diff(ts[s])[-100:] + print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") + time.sleep(1) + except KeyboardInterrupt: + print("\n") + print("="*5, "timing summary", "="*5) for s, sock in socks.items(): msgs = messaging.drain_sock(sock) - for m in msgs: - ts[s].append(m.logMonoTime / 1e6) - if len(ts[s]) > 2: d = np.diff(ts[s]) print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") - time.sleep(1) + print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5) diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index dea21331b..a931c423a 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -12,11 +12,11 @@ parser.add_argument('--debug', action='store_true') args = parser.parse_args() try: - check_output(["pidof", "boardd"]) - print("boardd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "pandad"]) + print("pandad is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (boardd not running) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e panda = Panda() diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index ec9d02e8f..234dfea3c 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -9,10 +9,10 @@ System tools like top/htop can only show current cpu usage values, so I write th Calculate minumium/maximum/accumulated_average cpu usage as long term inspections. Monitor multiple processes simuteneously. Sample usage: - root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd - ('Add monitored proc:', './boardd') + root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd + ('Add monitored proc:', './pandad') ('Add monitored proc:', 'python locationd/ubloxd.py') - boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96% + pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96% ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39% ''' import psutil @@ -24,7 +24,7 @@ import argparse import re from collections import defaultdict -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes # Do statistics every 5 seconds PRINT_INTERVAL = 5 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index d66f83ad5..93b0430c1 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -8,7 +8,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.honda.interface import CarInterface from openpilot.selfdrive.controls.lib.events import ET, Events from openpilot.selfdrive.controls.lib.alertmanager import AlertManager -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes EventName = car.CarEvent.EventName diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py index 8ae9d6d34..3df292473 100755 --- a/selfdrive/debug/debug_fw_fingerprinting_offline.py +++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py @@ -1,11 +1,12 @@ #!/usr/bin/env python3 import argparse +from openpilot.tools.lib.live_logreader import live_logreader from openpilot.tools.lib.logreader import LogReader, ReadMode from panda.python import uds -def main(route: str, addrs: list[int]): +def main(route: str | None, addrs: list[int]): """ TODO: - highlight TX vs RX clearly @@ -13,7 +14,10 @@ def main(route: str, addrs: list[int]): - print as fixed width table, easier to read """ - lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True) + if route is None: + lr = live_logreader() + else: + lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True) start_mono_time = None prev_mono_time = 0 @@ -28,7 +32,7 @@ def main(route: str, addrs: list[int]): if msg.which() in ("can", 'sendcan'): for can in getattr(msg, msg.which()): - if can.address in addrs: + if can.address in addrs or not len(addrs): if msg.logMonoTime != prev_mono_time: print() prev_mono_time = msg.logMonoTime @@ -38,8 +42,8 @@ def main(route: str, addrs: list[int]): if __name__ == "__main__": parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') - parser.add_argument('route', help='Route name') - parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)') + parser.add_argument('route', nargs='?', help='Route name, live if not specified') + parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)') args = parser.parse_args() addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py index f7f7a1604..14f6c0e33 100755 --- a/selfdrive/debug/get_fingerprint.py +++ b/selfdrive/debug/get_fingerprint.py @@ -4,7 +4,7 @@ # Instructions: # - connect to a Panda -# - run selfdrive/boardd/boardd +# - run selfdrive/pandad/pandad # - launching this script # Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint # - since some messages are published at low frequency, keep this script running for at least 30s, diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index e5cae0d47..5e7080ef6 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -79,11 +79,11 @@ if __name__ == "__main__": args = parser.parse_args() try: - check_output(["pidof", "boardd"]) - print("boardd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "pandad"]) + print("pandad is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (boardd not running) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip() diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index b51cb3af2..0b816604a 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -5,24 +5,30 @@ from collections import defaultdict import matplotlib.pyplot as plt -from cereal.services import SERVICE_LIST from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route MIN_SIZE = 0.5 # Percent size of total to show as separate entry def make_pie(msgs, typ): - compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs.items()} + msgs_by_type = defaultdict(list) + for m in msgs: + msgs_by_type[m.which()].append(m.as_builder().to_bytes()) + + length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()} + compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs_by_type.items()} total = sum(compressed_length_by_type.values()) + uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs])) sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1]) - print(f"{typ} - Total {total / 1024:.2f} kB") + print("name - comp. size (uncomp. size)") for (name, sz) in sizes: - print(f"{name} - {sz / 1024:.2f} kB") + print(f"{name:<22} - {sz / 1024:.2f} kB ({length_by_type[name] / 1024:.2f} kB)") print() + print(f"{typ} - Total {total / 1024:.2f} kB") + print(f"{typ} - Uncompressed total {uncompressed_total / 1024 / 1024:.2f} MB") sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100] sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))] @@ -35,28 +41,11 @@ def make_pie(msgs, typ): if __name__ == "__main__": - parser = argparse.ArgumentParser(description='Check qlog size based on a rlog') + parser = argparse.ArgumentParser(description='View log size breakdown by message type') parser.add_argument('route', help='route to use') - parser.add_argument('segment', type=int, help='segment number to use') args = parser.parse_args() - r = Route(args.route) - rlog = r.log_paths()[args.segment] - msgs = list(LogReader(rlog)) + msgs = list(LogReader(args.route)) - msgs_by_type = defaultdict(list) - for m in msgs: - msgs_by_type[m.which()].append(m.as_builder().to_bytes()) - - qlog_by_type = defaultdict(list) - for name, service in SERVICE_LIST.items(): - if service.decimation is None: - continue - - for i, msg in enumerate(msgs_by_type[name]): - if i % service.decimation == 0: - qlog_by_type[name].append(msg) - - make_pie(msgs_by_type, 'rlog') - make_pie(qlog_by_type, 'qlog') + make_pie(msgs, 'qlog') plt.show() diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py index 9ad556397..2d27dd2bb 100755 --- a/selfdrive/debug/read_dtc_status.py +++ b/selfdrive/debug/read_dtc_status.py @@ -13,11 +13,11 @@ parser.add_argument('--debug', action='store_true') args = parser.parse_args() try: - check_output(["pidof", "boardd"]) - print("boardd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "pandad"]) + print("pandad is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (boardd not running) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e panda = Panda() diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py index 958ee72e0..8e75769a8 100755 --- a/selfdrive/debug/uiview.py +++ b/selfdrive/debug/uiview.py @@ -3,7 +3,7 @@ import time from cereal import car, log, messaging from openpilot.common.params import Params -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import HARDWARE if __name__ == "__main__": diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 64bc2bc63..6df1e57ce 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -139,7 +139,7 @@ if __name__ == "__main__": # so fib a little and say that same tester did the programming current_date = date.today() formatted_date = current_date.strftime('%y-%m-%d') - year, month, day = [int(part) for part in formatted_date.split('-')] + year, month, day = (int(part) for part in formatted_date.split('-')) prog_date = bytes([year, month, day]) uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 07555a608..27cd4d5b4 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,6 +1,6 @@ -Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations') +Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl'] +loc_libs = [messaging, common, 'pthread', 'dl'] # build ekf models rednose_gen_dir = 'models/generated' diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 1f3e447a1..87a93cdd0 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -28,7 +28,7 @@ def _slice(n): return s -class States(): +class States: # Vehicle model params STIFFNESS = _slice(1) # [-] STEER_RATIO = _slice(1) # [-] diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index c4933a612..0cc3eca61 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -20,7 +20,7 @@ def numpy2eigenstring(arr): return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()" -class States(): +class States: ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters ECEF_ORIENTATION = slice(3, 7) # quat for pose of phone in ecef ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s @@ -39,7 +39,7 @@ class States(): ACC_BIAS_ERR = slice(18, 21) -class LiveKalman(): +class LiveKalman: name = 'live' initial_x = np.array([3.88e6, -3.37e6, 3.76e6, diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py old mode 100755 new mode 100644 index e2db09439..df61b6a7c --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 import random -import unittest import numpy as np @@ -31,7 +29,7 @@ def process_messages(c, cam_odo_calib, cycles, [0.0, 0.0, HEIGHT_INIT.item()], [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std]) -class TestCalibrationd(unittest.TestCase): +class TestCalibrationd: def test_read_saved_params(self): msg = messaging.new_message('liveCalibration') @@ -43,13 +41,13 @@ class TestCalibrationd(unittest.TestCase): np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) np.testing.assert_allclose(msg.liveCalibration.height, c.height) - self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) + assert msg.liveCalibration.validBlocks == c.valid_blocks def test_calibration_basics(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED) - self.assertEqual(c.valid_blocks, INPUTS_WANTED) + assert c.valid_blocks == INPUTS_WANTED np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.height, HEIGHT_INIT) c.reset() @@ -59,7 +57,7 @@ class TestCalibrationd(unittest.TestCase): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1) - self.assertEqual(c.valid_blocks, 0) + assert c.valid_blocks == 0 np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.height, HEIGHT_INIT) @@ -67,7 +65,7 @@ class TestCalibrationd(unittest.TestCase): def test_calibration_yaw_rate_reject(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER) - self.assertEqual(c.valid_blocks, 0) + assert c.valid_blocks == 0 np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.height, HEIGHT_INIT) @@ -75,43 +73,40 @@ class TestCalibrationd(unittest.TestCase): def test_calibration_speed_std_reject(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, np.zeros(3)) def test_calibration_speed_std_height_reject(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, np.zeros(3)) def test_calibration_auto_reset(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3) process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED + 1) - self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.calibrated) + assert c.valid_blocks == INPUTS_NEEDED + 1 + assert c.cal_status == log.LiveCalibrationData.Status.calibrated c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10) - self.assertEqual(c.valid_blocks, 1) - self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) + assert c.valid_blocks == 1 + assert c.cal_status == log.LiveCalibrationData.Status.recalibrating np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2) c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10) - self.assertEqual(c.valid_blocks, 1) - self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) + assert c.valid_blocks == 1 + assert c.cal_status == log.LiveCalibrationData.Status.recalibrating np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2) - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py old mode 100755 new mode 100644 index cd032dbaf..74ac7d296 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -1,7 +1,6 @@ -#!/usr/bin/env python3 +import pytest import json import random -import unittest import time import capnp @@ -10,16 +9,14 @@ from cereal.services import SERVICE_LIST from openpilot.common.params import Params from openpilot.common.transformations.coordinates import ecef2geodetic -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes -class TestLocationdProc(unittest.TestCase): +class TestLocationdProc: LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] - def setUp(self): - random.seed(123489234) - + def setup_method(self): self.pm = messaging.PubMaster(self.LLD_MSGS) self.params = Params() @@ -27,7 +24,7 @@ class TestLocationdProc(unittest.TestCase): managed_processes['locationd'].prepare() managed_processes['locationd'].start() - def tearDown(self): + def teardown_method(self): managed_processes['locationd'].stop() def get_msg(self, name, t): @@ -65,6 +62,7 @@ class TestLocationdProc(unittest.TestCase): return msg def test_params_gps(self): + random.seed(123489234) self.params.remove('LastGPSPosition') self.x = -2710700 + (random.random() * 1e5) @@ -86,10 +84,6 @@ class TestLocationdProc(unittest.TestCase): time.sleep(1) # wait for async params write lastGPS = json.loads(self.params.get('LastGPSPosition')) - self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3) - self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3) - self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3) - - -if __name__ == "__main__": - unittest.main() + assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001) + assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001) + assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001) diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py old mode 100755 new mode 100644 index 3fdd47275..ca52bffee --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 import pytest -import unittest import numpy as np from collections import defaultdict from enum import Enum @@ -99,7 +97,7 @@ def run_scenarios(scenario, logs): @pytest.mark.xdist_group("test_locationd_scenarios") @pytest.mark.shared_download_cache -class TestLocationdScenarios(unittest.TestCase): +class TestLocationdScenarios: """ Test locationd with different scenarios. In all these scenarios, we expect the following: - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK) @@ -107,7 +105,7 @@ class TestLocationdScenarios(unittest.TestCase): """ @classmethod - def setUpClass(cls): + def setup_class(cls): cls.logs = migrate_all(LogReader(TEST_ROUTE)) def test_base(self): @@ -118,8 +116,8 @@ class TestLocationdScenarios(unittest.TestCase): - roll: unchanged """ orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) def test_gps_off(self): """ @@ -130,9 +128,9 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: False """ orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0)) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.all(replayed_data['gps_flag'] == 0.0) def test_gps_off_midway(self): """ @@ -143,9 +141,9 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: True for the first half, False for the second half """ orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.diff(replayed_data['gps_flag'])[512] == -1.0 def test_gps_on_midway(self): """ @@ -156,9 +154,9 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: False for the first half, True for the second half """ orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))) - self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)) + assert np.diff(replayed_data['gps_flag'])[505] == 1.0 def test_gps_tunnel(self): """ @@ -169,10 +167,10 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: False for the middle section, True for the rest """ orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0) - self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.diff(replayed_data['gps_flag'])[213] == -1.0 + assert np.diff(replayed_data['gps_flag'])[805] == 1.0 def test_gyro_off(self): """ @@ -183,9 +181,9 @@ class TestLocationdScenarios(unittest.TestCase): - sensorsOK: False """ _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs) - self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) - self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) - self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + assert np.allclose(replayed_data['yaw_rate'], 0.0) + assert np.allclose(replayed_data['roll'], 0.0) + assert np.all(replayed_data['sensors_flag'] == 0.0) def test_gyro_spikes(self): """ @@ -196,10 +194,10 @@ class TestLocationdScenarios(unittest.TestCase): - inputsOK: False for some time after the spike, True for the rest """ orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0) - self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.diff(replayed_data['inputs_flag'])[500] == -1.0 + assert np.diff(replayed_data['inputs_flag'])[694] == 1.0 def test_accel_off(self): """ @@ -210,9 +208,9 @@ class TestLocationdScenarios(unittest.TestCase): - sensorsOK: False """ _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs) - self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) - self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) - self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + assert np.allclose(replayed_data['yaw_rate'], 0.0) + assert np.allclose(replayed_data['roll'], 0.0) + assert np.all(replayed_data['sensors_flag'] == 0.0) def test_accel_spikes(self): """ @@ -221,9 +219,5 @@ class TestLocationdScenarios(unittest.TestCase): Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes. """ orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - - -if __name__ == "__main__": - unittest.main() + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 2d15223d1..deb84d595 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,3 +1,5 @@ +import glob + Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') lenv = env.Clone() lenvCython = envCython.Clone() @@ -50,11 +52,12 @@ lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=c lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)] + # Get model metadata fn = File("models/supercombo").abspath cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' -files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.endswith("get_model_metadata.py")], []) -lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd) +lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) # Build thneed model if arch == "larch64" or GetOption('pc_thneed'): @@ -64,7 +67,6 @@ if arch == "larch64" or GetOption('pc_thneed'): tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed" - tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], []) lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl']) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index ef403b44f..a388bf089 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -9,7 +9,7 @@ from pathlib import Path from cereal import messaging from cereal.messaging import PubMaster, SubMaster -from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 35e2a29aa..1e33b7b3f 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -6,16 +6,16 @@ import numpy as np import cereal.messaging as messaging from cereal import car, log from pathlib import Path -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname from cereal.messaging import PubMaster, SubMaster -from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix -from openpilot.selfdrive import sentry +from openpilot.system import sentry from openpilot.selfdrive.car.car_helpers import get_demo_car_params from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime @@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext -PROCESS_NAME = "selfdrive.modeld.modeld" +THREAD_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PATHS = { @@ -114,9 +114,9 @@ class ModelState: def main(demo=False): cloudlog.warning("modeld init") - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - setproctitle(PROCESS_NAME) + sentry.set_tag("daemon", THREAD_NAME) + cloudlog.bind(daemon=THREAD_NAME) + setthreadname("modeld") config_realtime_process(7, 54) cloudlog.warning("setting up CL context") @@ -206,9 +206,8 @@ def main(demo=False): continue if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: - cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( - meta_main.frame_id, meta_main.timestamp_sof / 1e9, - meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) + cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ + extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") else: # Use single camera @@ -287,7 +286,7 @@ if __name__ == "__main__": args = parser.parse_args() main(demo=args.demo) except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") + cloudlog.warning(f"child {THREAD_NAME} got SIGINT") except Exception: sentry.capture_exception() raise diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 5e28e9b95..523ce00e4 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -1,13 +1,10 @@ #include "selfdrive/modeld/models/commonmodel.h" -#include #include #include #include #include "common/clutil.h" -#include "common/mat.h" -#include "common/timing.h" ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) { input_frames = std::make_unique(buf_size); @@ -52,21 +49,6 @@ ModelFrame::~ModelFrame() { CL_CHECK(clReleaseCommandQueue(q)); } -void softmax(const float* input, float* output, size_t len) { - const float max_val = *std::max_element(input, input + len); - float denominator = 0; - for (int i = 0; i < len; i++) { - float const v_exp = expf(input[i] - max_val); - denominator += v_exp; - output[i] = v_exp; - } - - const float inv_denominator = 1. / denominator; - for (int i = 0; i < len; i++) { - output[i] *= inv_denominator; - } -} - float sigmoid(float input) { return 1 / (1 + expf(-input)); } diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 1a079da05..2cf79094a 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -13,20 +13,11 @@ #endif #include "common/mat.h" -#include "cereal/messaging/messaging.h" #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL; - -void softmax(const float* input, float* output, size_t len); float sigmoid(float input); -template -constexpr const kj::ArrayPtr to_kj_array_ptr(const std::array &arr) { - return kj::ArrayPtr(arr.data(), arr.size()); -} - class ModelFrame { public: ModelFrame(cl_device_id device_id, cl_context context); diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index 57b79aeaf..7c3eb0b3d 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -1,6 +1,6 @@ # distutils: language = c++ -from cereal.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem cdef extern from "common/mat.h": cdef struct mat3: diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd index 97e391458..0bb798625 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pxd +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -1,7 +1,7 @@ # distutils: language = c++ -from cereal.visionipc.visionipc cimport cl_mem -from cereal.visionipc.visionipc_pyx cimport CLContext as BaseCLContext +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext cdef class CLContext(BaseCLContext): pass diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index e33d301af..e292bb0d2 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -5,8 +5,8 @@ import numpy as np cimport numpy as cnp from libc.string cimport memcpy -from cereal.visionipc.visionipc cimport cl_mem -from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame @@ -37,7 +37,11 @@ cdef class ModelFrame: def prepare(self, VisionBuf buf, float[:] projection, CLMem output): cdef mat3 cprojection memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef float * data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + cdef float * data + if output is None: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) + else: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) if not data: return None return np.asarray( data) diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd index 1f928da33..a911b4358 100644 --- a/selfdrive/modeld/runners/snpemodel.pxd +++ b/selfdrive/modeld/runners/snpemodel.pxd @@ -2,7 +2,7 @@ from libcpp.string cimport string -from cereal.visionipc.visionipc cimport cl_context +from msgq.visionipc.visionipc cimport cl_context cdef extern from "selfdrive/modeld/runners/snpemodel.h": cdef cppclass SNPEModel: diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd index 90af97286..79e24dbdd 100644 --- a/selfdrive/modeld/runners/thneedmodel.pxd +++ b/selfdrive/modeld/runners/thneedmodel.pxd @@ -2,7 +2,7 @@ from libcpp.string cimport string -from cereal.visionipc.visionipc cimport cl_context +from msgq.visionipc.visionipc cimport cl_context cdef extern from "selfdrive/modeld/runners/thneedmodel.h": cdef cppclass ThneedModel: diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py old mode 100755 new mode 100644 index 67c6f7103..1e19a591b --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -1,14 +1,12 @@ -#!/usr/bin/env python3 -import unittest import numpy as np import random import cereal.messaging as messaging -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.car.car_helpers import write_car_param -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam @@ -16,9 +14,9 @@ IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() -class TestModeld(unittest.TestCase): +class TestModeld: - def setUp(self): + def setup_method(self): self.vipc_server = VisionIpcServer("camerad") self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height) @@ -32,7 +30,7 @@ class TestModeld(unittest.TestCase): managed_processes['modeld'].start() self.pm.wait_for_readers_to_update("roadCameraState", 10) - def tearDown(self): + def teardown_method(self): managed_processes['modeld'].stop() del self.vipc_server @@ -65,15 +63,15 @@ class TestModeld(unittest.TestCase): self._wait() mdl = self.sm['modelV2'] - self.assertEqual(mdl.frameId, n) - self.assertEqual(mdl.frameIdExtra, n) - self.assertEqual(mdl.timestampEof, cs.timestampEof) - self.assertEqual(mdl.frameAge, 0) - self.assertEqual(mdl.frameDropPerc, 0) + assert mdl.frameId == n + assert mdl.frameIdExtra == n + assert mdl.timestampEof == cs.timestampEof + assert mdl.frameAge == 0 + assert mdl.frameDropPerc == 0 odo = self.sm['cameraOdometry'] - self.assertEqual(odo.frameId, n) - self.assertEqual(odo.timestampEof, cs.timestampEof) + assert odo.frameId == n + assert odo.timestampEof == cs.timestampEof def test_dropped_frames(self): """ @@ -95,13 +93,9 @@ class TestModeld(unittest.TestCase): mdl = self.sm['modelV2'] odo = self.sm['cameraOdometry'] - self.assertEqual(mdl.frameId, frame_id) - self.assertEqual(mdl.frameIdExtra, frame_id) - self.assertEqual(odo.frameId, frame_id) + assert mdl.frameId == frame_id + assert mdl.frameIdExtra == frame_id + assert odo.frameId == frame_id if n != frame_id: - self.assertFalse(self.sm.updated['modelV2']) - self.assertFalse(self.sm.updated['cameraOdometry']) - - -if __name__ == "__main__": - unittest.main() + assert not self.sm.updated['modelV2'] + assert not self.sm.updated['cameraOdometry'] diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index 4ab0afacb..c629ec2ff 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -6,7 +6,7 @@ import time import numpy as np import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes N = int(os.getenv("N", "5")) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c18bbf29b..80af7b71d 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -2,11 +2,9 @@ import gc import cereal.messaging as messaging -from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority -from openpilot.selfdrive.controls.lib.events import Events -from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus +from openpilot.selfdrive.monitoring.helpers import DriverMonitoring def dmonitoringd_thread(): @@ -17,75 +15,32 @@ def dmonitoringd_thread(): pm = messaging.PubMaster(['driverMonitoringState']) sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2') - driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) - - v_cruise_last = 0 - driver_engaged = False + DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) # 20Hz <- dmonitoringmodeld while True: sm.update() if not sm.updated['driverStateV2']: + # iterate when model has new output continue - # Get interaction - if sm.updated['carState']: - v_cruise = sm['carState'].cruiseState.speed - driver_engaged = len(sm['carState'].buttonEvents) > 0 or \ - v_cruise != v_cruise_last or \ - sm['carState'].steeringPressed or \ - sm['carState'].gasPressed - v_cruise_last = v_cruise + valid = sm.all_checks() + if valid: + DM.run_step(sm) - if sm.updated['modelV2']: - driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo) - - # Get data from dmonitoringmodeld - events = Events() - - if sm.all_checks() and len(sm['liveCalibration'].rpyCalib): - driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) - - # Block engaging after max number of distrations or when alert active - if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ - driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION or \ - driver_status.always_on and driver_status.awareness <= driver_status.threshold_prompt: - events.add(car.CarEvent.EventName.tooDistracted) - - # Update events from driver state - driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, - sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], sm['carState'].vEgo) - - # build driverMonitoringState packet - dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks()) - dat.driverMonitoringState = { - "events": events.to_msg(), - "faceDetected": driver_status.face_detected, - "isDistracted": driver_status.driver_distracted, - "distractedType": sum(driver_status.distracted_types), - "awarenessStatus": driver_status.awareness, - "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(), - "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n, - "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(), - "poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n, - "stepChange": driver_status.step_change, - "awarenessActive": driver_status.awareness_active, - "awarenessPassive": driver_status.awareness_passive, - "isLowStd": driver_status.pose.low_std, - "hiStdCount": driver_status.hi_stds, - "isActiveMode": driver_status.active_monitoring_mode, - "isRHD": driver_status.wheel_on_right, - } + # publish + dat = DM.get_state_packet(valid=valid) pm.send('driverMonitoringState', dat) + # load live always-on toggle if sm['driverStateV2'].frameId % 40 == 1: - driver_status.always_on = params.get_bool("AlwaysOnDM") + DM.always_on = params.get_bool("AlwaysOnDM") # save rhd virtual toggle every 5 mins if (sm['driverStateV2'].frameId % 6000 == 0 and - driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and - driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): - params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) + DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and + DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)): + params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right) def main(): dmonitoringd_thread() diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/helpers.py similarity index 81% rename from selfdrive/monitoring/driver_monitor.py rename to selfdrive/monitoring/helpers.py index 9faa5f4d0..dfb35182b 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/helpers.py @@ -1,6 +1,8 @@ from math import atan2 from cereal import car +import cereal.messaging as messaging +from openpilot.selfdrive.controls.lib.events import Events from openpilot.common.numpy_fast import interp from openpilot.common.realtime import DT_DMON from openpilot.common.filter_simple import FirstOrderFilter @@ -15,7 +17,7 @@ EventName = car.CarEvent.EventName # We recommend that you do not change these numbers from the defaults. # ****************************************************************************************** -class DRIVER_MONITOR_SETTINGS(): +class DRIVER_MONITOR_SETTINGS: def __init__(self): self._DT_DMON = DT_DMON # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2 @@ -71,19 +73,38 @@ class DRIVER_MONITOR_SETTINGS(): self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts +class DistractedType: + NOT_DISTRACTED = 0 + DISTRACTED_POSE = 1 << 0 + DISTRACTED_BLINK = 1 << 1 + DISTRACTED_E2E = 1 << 2 + +class DriverPose: + def __init__(self, max_trackable): + self.yaw = 0. + self.pitch = 0. + self.roll = 0. + self.yaw_std = 0. + self.pitch_std = 0. + self.roll_std = 0. + self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) + self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) + self.calibrated = False + self.low_std = True + self.cfactor_pitch = 1. + self.cfactor_yaw = 1. + +class DriverBlink: + def __init__(self): + self.left = 0. + self.right = 0. + -# TODO: get these live # model output refers to center of undistorted+leveled image EFL = 598.0 # focal length in K cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw -class DistractedType: - NOT_DISTRACTED = 0 - DISTRACTED_POSE = 1 - DISTRACTED_BLINK = 2 - DISTRACTED_E2E = 4 - def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): # the output of these angles are in device frame # so from driver's perspective, pitch is up and yaw is right @@ -102,26 +123,8 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): yaw -= rpy_calib[2] return roll_net, pitch, yaw -class DriverPose(): - def __init__(self, max_trackable): - self.yaw = 0. - self.pitch = 0. - self.roll = 0. - self.yaw_std = 0. - self.pitch_std = 0. - self.roll_std = 0. - self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) - self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) - self.low_std = True - self.cfactor_pitch = 1. - self.cfactor_yaw = 1. -class DriverBlink(): - def __init__(self): - self.left_blink = 0. - self.right_blink = 0. - -class DriverStatus(): +class DriverMonitoring: def __init__(self, rhd_saved=False, settings=None, always_on=False): if settings is None: settings = DRIVER_MONITOR_SETTINGS() @@ -131,7 +134,6 @@ class DriverStatus(): # init driver status self.wheelpos_learner = RunningStatFilter() self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) - self.pose_calibrated = False self.blink = DriverBlink() self.eev1 = 0. self.eev2 = 1. @@ -141,9 +143,6 @@ class DriverStatus(): self.ee2_calibrated = False self.always_on = always_on - self.awareness = 1. - self.awareness_active = 1. - self.awareness_passive = 1. self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) @@ -160,13 +159,18 @@ class DriverStatus(): self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + self._reset_awareness() self._set_timers(active_monitoring=True) + self._reset_events() def _reset_awareness(self): self.awareness = 1. self.awareness_active = 1. self.awareness_passive = 1. + def _reset_events(self): + self.current_events = Events() + def _set_timers(self, active_monitoring): if self.active_monitoring_mode and self.awareness <= self.threshold_prompt: if active_monitoring: @@ -197,41 +201,7 @@ class DriverStatus(): self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME self.active_monitoring_mode = False - def _get_distracted_types(self): - distracted_types = [] - - if not self.pose_calibrated: - pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET - yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET - else: - pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(), - self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) - yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(), - self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) - pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit - yaw_error = abs(yaw_error) - if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ - yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: - distracted_types.append(DistractedType.DISTRACTED_POSE) - - if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: - distracted_types.append(DistractedType.DISTRACTED_BLINK) - - if self.ee1_calibrated: - ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ - * self.settings._EE_THRESH12 - else: - ee1_dist = self.eev1 > self.settings._EE_THRESH11 - # if self.ee2_calibrated: - # ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 - # else: - # ee2_dist = self.eev2 < self.settings._EE_THRESH21 - if ee1_dist: - distracted_types.append(DistractedType.DISTRACTED_E2E) - - return distracted_types - - def set_policy(self, model_data, car_speed): + def _set_policy(self, model_data, car_speed): bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2) bp_normal = max(min(bp / k1, 0.5),0) @@ -242,7 +212,37 @@ class DriverStatus(): [self.settings._POSE_YAW_THRESHOLD_SLACK, self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD - def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): + def _get_distracted_types(self): + distracted_types = [] + + if not self.pose.calibrated: + pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET + yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET + else: + pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(), + self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) + yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(), + self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) + pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit + yaw_error = abs(yaw_error) + if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ + yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: + distracted_types.append(DistractedType.DISTRACTED_POSE) + + if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: + distracted_types.append(DistractedType.DISTRACTED_BLINK) + + if self.ee1_calibrated: + ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ + * self.settings._EE_THRESH12 + else: + ee1_dist = self.eev1 > self.settings._EE_THRESH11 + if ee1_dist: + distracted_types.append(DistractedType.DISTRACTED_E2E) + + return distracted_types + + def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged): rhd_pred = driver_state.wheelOnRightProb # calibrates only when there's movement and either face detected if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or @@ -270,9 +270,9 @@ class DriverStatus(): self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD - self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ + self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ + self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] @@ -291,7 +291,7 @@ class DriverStatus(): self.ee1_offseter.push_and_update(self.eev1) self.ee2_offseter.push_and_update(self.eev2) - self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ + self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT @@ -303,11 +303,18 @@ class DriverStatus(): elif self.face_detected and self.pose.low_std: self.hi_stds = 0 - def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear, car_speed): + def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed): + self._reset_events() + # Block engaging after max number of distrations or when alert active + if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \ + self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \ + self.always_on and self.awareness <= self.threshold_prompt: + self.current_events.add(EventName.tooDistracted) + always_on_valid = self.always_on and not wrong_gear if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \ - (not always_on_valid and not ctrl_active) or \ - (always_on_valid and not ctrl_active and self.awareness <= 0): + (not always_on_valid and not op_engaged) or \ + (always_on_valid and not op_engaged and self.awareness <= 0): # always reset on disengage with normal mode; disengage resets only on red if always on self._reset_awareness() return @@ -331,8 +338,8 @@ class DriverStatus(): _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt _reaching_terminal = self.awareness - self.step_change <= 0 standstill_exemption = standstill and _reaching_audible - always_on_red_exemption = always_on_valid and not ctrl_active and _reaching_terminal - always_on_lowspeed_exemption = always_on_valid and not ctrl_active and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible + always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal + always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected @@ -358,4 +365,52 @@ class DriverStatus(): alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive if alert is not None: - events.add(alert) + self.current_events.add(alert) + + + def get_state_packet(self, valid=True): + # build driverMonitoringState packet + dat = messaging.new_message('driverMonitoringState', valid=valid) + dat.driverMonitoringState = { + "events": self.current_events.to_msg(), + "faceDetected": self.face_detected, + "isDistracted": self.driver_distracted, + "distractedType": sum(self.distracted_types), + "awarenessStatus": self.awareness, + "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(), + "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, + "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), + "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, + "stepChange": self.step_change, + "awarenessActive": self.awareness_active, + "awarenessPassive": self.awareness_passive, + "isLowStd": self.pose.low_std, + "hiStdCount": self.hi_stds, + "isActiveMode": self.active_monitoring_mode, + "isRHD": self.wheel_on_right, + } + return dat + + def run_step(self, sm): + # Set strictness + self._set_policy( + model_data=sm['modelV2'], + car_speed=sm['carState'].vEgo + ) + + # Parse data from dmonitoringmodeld + self._update_states( + driver_state=sm['driverStateV2'], + cal_rpy=sm['liveCalibration'].rpyCalib, + car_speed=sm['carState'].vEgo, + op_engaged=sm['controlsState'].enabled + ) + + # Update distraction events + self._update_events( + driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed, + op_engaged=sm['controlsState'].enabled, + standstill=sm['carState'].standstill, + wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], + car_speed=sm['carState'].vEgo + ) diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py old mode 100755 new mode 100644 index 50b2746e2..f750437dc --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -1,11 +1,8 @@ -#!/usr/bin/env python3 -import unittest import numpy as np from cereal import car, log from openpilot.common.realtime import DT_DMON -from openpilot.selfdrive.controls.lib.events import Events -from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS +from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS EventName = car.CarEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() @@ -52,24 +49,22 @@ always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON) always_true = [True] * int(TEST_TIMESPAN / DT_DMON) always_false = [False] * int(TEST_TIMESPAN / DT_DMON) -# TODO: this only tests DriverStatus -class TestMonitoring(unittest.TestCase): +class TestMonitoring: def _run_seq(self, msgs, interaction, engaged, standstill): - DS = DriverStatus() + DM = DriverMonitoring() events = [] for idx in range(len(msgs)): - e = Events() - DS.update_states(msgs[idx], [0, 0, 0], 0, engaged[idx]) + DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx]) # cal_rpy and car_speed don't matter here # evaluate events at 10Hz for tests - DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0, 0) - events.append(e) + DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0) + events.append(DM.current_events) assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs" - return events, DS + return events, DM def _assert_no_events(self, events): - self.assertTrue(all(not len(e) for e in events)) + assert all(not len(e) for e in events) # engaged, driver is attentive all the time def test_fully_aware_driver(self): @@ -79,27 +74,27 @@ class TestMonitoring(unittest.TestCase): # engaged, driver is distracted and does nothing def test_fully_distracted_driver(self): events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false) - self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], - EventName.preDriverDistracted) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + - ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME + - ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted) - self.assertIs(type(d_status.awareness), float) + assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \ + ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ + EventName.preDriverDistracted + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \ + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((d_status.settings._DISTRACTED_TIME + \ + ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted + assert isinstance(d_status.awareness, float) # engaged, no face detected the whole time, no action def test_fully_invisible_driver(self): events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false) - self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0) - self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], - EventName.preDriverUnresponsive) - self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + - ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertEqual(events[int((d_status.settings._AWARENESS_TIME + - ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive) + assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 + assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \ + ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ + EventName.preDriverUnresponsive + assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \ + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((d_status.settings._AWARENESS_TIME + \ + ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention @@ -111,12 +106,12 @@ class TestMonitoring(unittest.TestCase): interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \ [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]), 0) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0) + assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0 # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ # driver dodges, and then touches wheel to no avail, disengages and reengages @@ -135,10 +130,10 @@ class TestMonitoring(unittest.TestCase): op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0], EventName.driverDistracted) - self.assertTrue(len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0) + assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted + assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted + assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0 # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears # - both actions should clear the alert, but momentary appearance should not @@ -150,15 +145,15 @@ class TestMonitoring(unittest.TestCase): [msg_ATTENTIVE] * int(_visible_time/DT_DMON) interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) - self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0) + assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0 if _visible_time == 0.5: - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive) + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive elif _visible_time == 10: - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0) + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0 # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages # - only disengage will clear the alert @@ -171,18 +166,18 @@ class TestMonitoring(unittest.TestCase): interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON) op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0], EventName.driverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0], EventName.driverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0], EventName.driverUnresponsive) - self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0) + assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0 # disengaged, always distracted driver # - dm should stay quiet when not engaged def test_pure_dashcam_user(self): events, _ = self._run_seq(always_distracted, always_false, always_false, always_false) - self.assertTrue(sum(len(event) for event in events) == 0) + assert sum(len(event) for event in events) == 0 # engaged, car stops at traffic light, down to orange, no action, then car starts moving # - should only reach green when stopped, but continues counting down on launch @@ -191,10 +186,10 @@ class TestMonitoring(unittest.TestCase): standstill_vector = always_true[:] standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON) events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], - EventName.preDriverDistracted) - self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted) - self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted) + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \ + EventName.preDriverDistracted + assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted + assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted # engaged, model is somehow uncertain and driver is distracted # - should fall back to wheel touch after uncertain alert @@ -202,13 +197,10 @@ class TestMonitoring(unittest.TestCase): ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - self.assertTrue(EventName.preDriverUnresponsive in - events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names) - self.assertTrue(EventName.promptDriverUnresponsive in - events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) - self.assertTrue(EventName.driverUnresponsive in - events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) + assert EventName.preDriverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names + assert EventName.promptDriverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names + assert EventName.driverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 5a049f18b..295e8127d 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -1,8 +1,8 @@ -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') map_env = qt_env.Clone() -libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, cereal, visionipc, transformations, - 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] +libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations, + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': libs.append(':libEGL_mesa.so.0') diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 7a3d2c316..956c1d54b 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -12,7 +12,7 @@ #include #include -#include "cereal/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_server.h" #include "cereal/messaging/messaging.h" diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py old mode 100755 new mode 100644 index 832e0d1ea..04363883b --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -1,16 +1,14 @@ -#!/usr/bin/env python3 import time import numpy as np import os import pytest -import unittest import requests import threading import http.server import cereal.messaging as messaging from typing import Any -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman from openpilot.selfdrive.test.helpers import with_processes @@ -66,11 +64,11 @@ class MapBoxInternetDisabledServer(threading.Thread): @pytest.mark.skip(reason="not used") -class TestMapRenderer(unittest.TestCase): +class TestMapRenderer: server: MapBoxInternetDisabledServer @classmethod - def setUpClass(cls): + def setup_class(cls): assert "MAPBOX_TOKEN" in os.environ cls.original_token = os.environ["MAPBOX_TOKEN"] cls.server = MapBoxInternetDisabledServer() @@ -78,10 +76,10 @@ class TestMapRenderer(unittest.TestCase): time.sleep(0.5) # wait for server to startup @classmethod - def tearDownClass(cls) -> None: + def teardown_class(cls) -> None: cls.server.stop() - def setUp(self): + def setup_method(self): self.server.enable_internet() os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}' @@ -203,15 +201,12 @@ class TestMapRenderer(unittest.TestCase): def assert_stat(stat, nominal, tol=0.3): tol = (nominal / (1+tol)), (nominal * (1+tol)) - self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}") + assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}" assert_stat(_mean, 0.030) assert_stat(_median, 0.027) assert_stat(_stddev, 0.0078) - self.assertLess(_max, 0.065) - self.assertGreater(_min, 0.015) + assert _max < 0.065 + assert _min > 0.015 - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py old mode 100755 new mode 100644 index 61be6cc38..b6580acff --- a/selfdrive/navd/tests/test_navd.py +++ b/selfdrive/navd/tests/test_navd.py @@ -1,22 +1,20 @@ -#!/usr/bin/env python3 import json import random -import unittest import numpy as np from parameterized import parameterized import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes -class TestNavd(unittest.TestCase): - def setUp(self): +class TestNavd: + def setup_method(self): self.params = Params() self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) - def tearDown(self): + def teardown_method(self): managed_processes['navd'].stop() def _check_route(self, start, end, check_coords=True): @@ -57,7 +55,3 @@ class TestNavd(unittest.TestCase): start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} self._check_route(start, end, check_coords=False) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/pandad/.gitignore b/selfdrive/pandad/.gitignore new file mode 100644 index 000000000..f7226cdb8 --- /dev/null +++ b/selfdrive/pandad/.gitignore @@ -0,0 +1,3 @@ +pandad +pandad_api_impl.cpp +tests/test_pandad_usbprotocol diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript new file mode 100644 index 000000000..63a2c1e65 --- /dev/null +++ b/selfdrive/pandad/SConscript @@ -0,0 +1,11 @@ +Import('env', 'envCython', 'common', 'messaging') + +libs = ['usb-1.0', common, messaging, 'pthread'] +panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) + +env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs) +env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) + +envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +if GetOption('extras'): + env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/boardd/boardd.py b/selfdrive/pandad/__init__.py similarity index 81% rename from selfdrive/boardd/boardd.py rename to selfdrive/pandad/__init__.py index 0cdaf5e91..8081a62dd 100644 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/pandad/__init__.py @@ -1,5 +1,5 @@ # Cython, now uses scons to build -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp assert can_list_to_can_capnp def can_capnp_to_can_list(can, src_filter=None): diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc similarity index 95% rename from selfdrive/boardd/can_list_to_can_capnp.cc rename to selfdrive/pandad/can_list_to_can_capnp.cc index 72ca72688..9fc2648da 100644 --- a/selfdrive/boardd/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,5 +1,5 @@ #include "cereal/messaging/messaging.h" -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { MessageBuilder msg; diff --git a/selfdrive/boardd/main.cc b/selfdrive/pandad/main.cc similarity index 71% rename from selfdrive/boardd/main.cc rename to selfdrive/pandad/main.cc index cb17a584b..b63d884a4 100644 --- a/selfdrive/boardd/main.cc +++ b/selfdrive/pandad/main.cc @@ -1,22 +1,22 @@ #include -#include "selfdrive/boardd/boardd.h" +#include "selfdrive/pandad/pandad.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" int main(int argc, char *argv[]) { - LOGW("starting boardd"); + LOGW("starting pandad"); if (!Hardware::PC()) { int err; err = util::set_realtime_priority(54); assert(err == 0); - err = util::set_core_affinity({4}); + err = util::set_core_affinity({3}); assert(err == 0); } std::vector serials(argv + 1, argv + argc); - boardd_main_thread(serials); + pandad_main_thread(serials); return 0; } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/pandad/panda.cc similarity index 95% rename from selfdrive/boardd/panda.cc rename to selfdrive/pandad/panda.cc index a2e557409..a404ad388 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -1,4 +1,4 @@ -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" #include @@ -220,12 +220,18 @@ bool Panda::can_receive(std::vector& out_vec) { if (!comms_healthy()) { return false; } - if (recv == RECV_SIZE) { - LOGW("Panda receive buffer full"); - } - receive_buffer_size += recv; - return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); + if (getenv("PANDAD_MAXOUT") != NULL) { + static uint8_t junk[RECV_SIZE]; + handle->bulk_read(0xab, junk, RECV_SIZE - recv); + } + + bool ret = true; + if (recv > 0) { + receive_buffer_size += recv; + ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); + } + return ret; } void Panda::can_reset_communications() { @@ -246,9 +252,9 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector #include diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/pandad/panda_comms.h similarity index 94% rename from selfdrive/boardd/panda_comms.h rename to selfdrive/pandad/panda_comms.h index 6b64768c1..9c452faf6 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/pandad/panda_comms.h @@ -56,6 +56,13 @@ private: }; #ifndef __APPLE__ +struct __attribute__((packed)) spi_header { + uint8_t sync; + uint8_t endpoint; + uint16_t tx_len; + uint16_t max_rx_len; +}; + class PandaSpiHandle : public PandaCommsHandle { public: PandaSpiHandle(std::string serial); @@ -79,5 +86,8 @@ private: int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); int lltransfer(spi_ioc_transfer &t); + + spi_header header; + uint32_t xfer_count = 0; }; #endif diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/pandad/pandad.cc similarity index 97% rename from selfdrive/boardd/boardd.cc rename to selfdrive/pandad/pandad.cc index fcbf58999..095a7893b 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/pandad/pandad.cc @@ -1,4 +1,4 @@ -#include "selfdrive/boardd/boardd.h" +#include "selfdrive/pandad/pandad.h" #include #include @@ -25,7 +25,7 @@ // - The internal panda will always be the first panda // - Consecutive pandas will be sorted based on panda type, and then serial number // Connecting: -// - If a panda connection is dropped, boardd will reconnect to all pandas +// - If a panda connection is dropped, pandad will reconnect to all pandas // - If a panda is added, we will only reconnect when we are offroad // CAN buses: // - Each panda will have it's block of 4 buses. E.g.: the second panda will use @@ -163,7 +163,7 @@ Panda *connect(std::string serial="", uint32_t index=0) { } void can_send_thread(std::vector pandas, bool fake_send) { - util::set_thread_name("boardd_can_send"); + util::set_thread_name("pandad_can_send"); AlignedBuffer aligned_buf; std::unique_ptr context(Context::create()); @@ -198,12 +198,12 @@ void can_send_thread(std::vector pandas, bool fake_send) { } void can_recv_thread(std::vector pandas) { - util::set_thread_name("boardd_can_recv"); + util::set_thread_name("pandad_can_recv"); PubMaster pm({"can"}); // run at 100Hz - RateKeeper rk("boardd_can_recv", 100); + RateKeeper rk("pandad_can_recv", 100); std::vector raw_can_data; while (!do_exit && check_all_connected(pandas)) { @@ -405,7 +405,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { } void panda_state_thread(std::vector pandas, bool spoofing_started) { - util::set_thread_name("boardd_panda_state"); + util::set_thread_name("pandad_panda_state"); Params params; SubMaster sm({"controlsState"}); @@ -495,7 +495,7 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { void peripheral_control_thread(Panda *panda, bool no_fan_control) { - util::set_thread_name("boardd_peripheral_control"); + util::set_thread_name("pandad_peripheral_control"); SubMaster sm({"deviceState", "driverCameraState"}); @@ -546,8 +546,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { } } -void boardd_main_thread(std::vector serials) { - LOGW("launching boardd"); +void pandad_main_thread(std::vector serials) { + LOGW("launching pandad"); if (serials.size() == 0) { serials = Panda::list(); diff --git a/selfdrive/boardd/boardd.h b/selfdrive/pandad/pandad.h similarity index 53% rename from selfdrive/boardd/boardd.h rename to selfdrive/pandad/pandad.h index 0646fc618..9d35949a8 100644 --- a/selfdrive/boardd/boardd.h +++ b/selfdrive/pandad/pandad.h @@ -3,7 +3,7 @@ #include #include -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" bool safety_setter_thread(std::vector pandas); -void boardd_main_thread(std::vector serials); +void pandad_main_thread(std::vector serials); diff --git a/selfdrive/boardd/pandad.py b/selfdrive/pandad/pandad.py similarity index 95% rename from selfdrive/boardd/pandad.py rename to selfdrive/pandad/pandad.py index b4ac2d954..12accdbf5 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -# simple boardd wrapper that updates the panda first +# simple pandad wrapper that updates the panda first import os import usb1 import time @@ -157,10 +157,10 @@ def main() -> NoReturn: first_run = False - # run boardd with all connected serials as arguments - os.environ['MANAGER_DAEMON'] = 'boardd' - os.chdir(os.path.join(BASEDIR, "selfdrive/boardd")) - subprocess.run(["./boardd", *panda_serials], check=True) + # run pandad with all connected serials as arguments + os.environ['MANAGER_DAEMON'] = 'pandad' + os.chdir(os.path.join(BASEDIR, "selfdrive/pandad")) + subprocess.run(["./pandad", *panda_serials], check=True) if __name__ == "__main__": main() diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx similarity index 100% rename from selfdrive/boardd/boardd_api_impl.pyx rename to selfdrive/pandad/pandad_api_impl.pyx diff --git a/selfdrive/boardd/spi.cc b/selfdrive/pandad/spi.cc similarity index 85% rename from selfdrive/boardd/spi.cc rename to selfdrive/pandad/spi.cc index 66e6a0f0a..8f1e29689 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/pandad/spi.cc @@ -13,7 +13,7 @@ #include "common/timing.h" #include "common/swaglog.h" #include "panda/board/comms_definitions.h" -#include "selfdrive/boardd/panda_comms.h" +#include "selfdrive/pandad/panda_comms.h" #define SPI_SYNC 0x5AU @@ -28,13 +28,6 @@ enum SpiError { ACK_TIMEOUT = -3, }; -struct __attribute__((packed)) spi_header { - uint8_t sync; - uint8_t endpoint; - uint16_t tx_len; - uint16_t max_rx_len; -}; - const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds const std::string SPI_DEVICE = "/dev/spidev0.0"; @@ -55,6 +48,12 @@ private: std::recursive_mutex &m; }; +#define SPILOG(fn, fmt, ...) do { \ + fn(fmt, ## __VA_ARGS__); \ + fn(" %d / 0x%x / %d / %d / tx: %s", \ + xfer_count, header.endpoint, header.tx_len, header.max_rx_len, \ + util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \ + } while (0) PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { int ret; @@ -178,7 +177,7 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t } if (d < 0) { - LOGE("SPI: bulk transfer failed with %d", d); + SPILOG(LOGE, "SPI: bulk transfer failed with %d", d); comms_healthy = false; return d; } @@ -240,6 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1 // due to full TX buffers nack_count += 1; if (nack_count > 3) { + SPILOG(LOGE, "NACK sleep %d", nack_count); usleep(std::clamp(nack_count*10, 200, 2000)); } } @@ -247,7 +247,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1 } while (ret < 0 && connected && !timed_out); if (ret < 0) { - LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); + SPILOG(LOGE, "transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); } return ret; @@ -258,32 +258,32 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, if (timeout == 0) { timeout = SPI_ACK_TIMEOUT; } - timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT); + timeout = std::clamp(timeout, 20U, SPI_ACK_TIMEOUT); spi_ioc_transfer transfer = { .tx_buf = (uint64_t)tx_buf, .rx_buf = (uint64_t)rx_buf, - .len = length + .len = length, }; - tx_buf[0] = tx; + memset(tx_buf, tx, length); while (true) { int ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to send ACK request"); + SPILOG(LOGE, "SPI: failed to send ACK request"); return ret; } if (rx_buf[0] == ack) { break; } else if (rx_buf[0] == SPI_NACK) { - LOGD("SPI: got NACK"); + SPILOG(LOGD, "SPI: got NACK, waiting for 0x%x", ack); return SpiError::NACK; } // handle timeout if (millis_since_boot() - start_millis > timeout) { - LOGD("SPI: timed out waiting for ACK"); + SPILOG(LOGW, "SPI: timed out waiting for ACK, waiting for 0x%x", ack); return SpiError::ACK_TIMEOUT; } } @@ -334,7 +334,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx assert(tx_len < SPI_BUF_SIZE); assert(max_rx_len < SPI_BUF_SIZE); - spi_header header = { + xfer_count++; + header = { .sync = SPI_SYNC, .endpoint = endpoint, .tx_len = tx_len, @@ -352,14 +353,14 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx transfer.len = sizeof(header) + 1; ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to send header"); - return ret; + SPILOG(LOGE, "SPI: failed to send header"); + goto fail; } // Wait for (N)ACK ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1); if (ret < 0) { - return ret; + goto fail; } // Send data @@ -370,33 +371,33 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx transfer.len = tx_len + 1; ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to send data"); - return ret; + SPILOG(LOGE, "SPI: failed to send data"); + goto fail; } // Wait for (N)ACK ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3); if (ret < 0) { - return ret; + goto fail; } // Read data rx_data_len = *(uint16_t *)(rx_buf+1); if (rx_data_len >= SPI_BUF_SIZE) { - LOGE("SPI: RX data len larger than buf size %d", rx_data_len); - return -1; + SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len); + goto fail; } transfer.len = rx_data_len + 1; transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to read rx data"); - return ret; + SPILOG(LOGE, "SPI: failed to read rx data"); + goto fail; } if (!check_checksum(rx_buf, rx_data_len + 4)) { - LOGE("SPI: bad checksum"); - return -1; + SPILOG(LOGE, "SPI: bad checksum"); + goto fail; } if (rx_data != NULL) { @@ -404,5 +405,20 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } return rx_data_len; + +fail: + // ensure slave is in a consistent state + // and ready for the next transfer + int nack_cnt = 0; + while (nack_cnt < 3) { + if (wait_for_ack(SPI_NACK, 0x14, 1, SPI_BUF_SIZE/2) == 0) { + nack_cnt += 1; + } else { + nack_cnt = 0; + } + } + + if (ret > 0) ret = -1; + return ret; } #endif diff --git a/selfdrive/athena/tests/__init__.py b/selfdrive/pandad/tests/__init__.py similarity index 100% rename from selfdrive/athena/tests/__init__.py rename to selfdrive/pandad/tests/__init__.py diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/pandad/tests/bootstub.panda.bin similarity index 100% rename from selfdrive/boardd/tests/bootstub.panda.bin rename to selfdrive/pandad/tests/bootstub.panda.bin diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/pandad/tests/bootstub.panda_h7.bin similarity index 100% rename from selfdrive/boardd/tests/bootstub.panda_h7.bin rename to selfdrive/pandad/tests/bootstub.panda_h7.bin diff --git a/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin similarity index 100% rename from selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin rename to selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py old mode 100755 new mode 100644 similarity index 88% rename from selfdrive/boardd/tests/test_pandad.py rename to selfdrive/pandad/tests/test_pandad.py index 3434be3fe..467c7f04c --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/pandad/tests/test_pandad.py @@ -1,14 +1,12 @@ -#!/usr/bin/env python3 import os import pytest import time -import unittest import cereal.messaging as messaging from cereal import log from openpilot.common.gpio import gpio_set, gpio_init from panda import Panda, PandaDFU, PandaProtocolMismatch -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.tici.pins import GPIO @@ -16,16 +14,16 @@ HERE = os.path.dirname(os.path.realpath(__file__)) @pytest.mark.tici -class TestPandad(unittest.TestCase): +class TestPandad: - def setUp(self): + def setup_method(self): # ensure panda is up if len(Panda.list()) == 0: self._run_test(60) self.spi = HARDWARE.get_device_type() != 'tici' - def tearDown(self): + def teardown_method(self): managed_processes['pandad'].stop() def _run_test(self, timeout=30) -> float: @@ -41,7 +39,7 @@ class TestPandad(unittest.TestCase): managed_processes['pandad'].stop() if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown: - raise Exception("boardd failed to start") + raise Exception("pandad failed to start") return dt @@ -65,7 +63,7 @@ class TestPandad(unittest.TestCase): assert Panda.wait_for_panda(None, 10) if expect_mismatch: - with self.assertRaises(PandaProtocolMismatch): + with pytest.raises(PandaProtocolMismatch): Panda() else: with Panda() as p: @@ -103,14 +101,15 @@ class TestPandad(unittest.TestCase): ts.append(dt) # 5s for USB (due to enumeration) - # - 0.2s pandad -> boardd + # - 0.2s pandad -> pandad # - plus some buffer assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0) print("startup times", ts, sum(ts) / len(ts)) + def test_protocol_version_check(self): if not self.spi: - raise unittest.SkipTest("SPI test") + pytest.skip("SPI test") # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") self._flash_bootstub_and_test(fn, expect_mismatch=True) @@ -127,7 +126,3 @@ class TestPandad(unittest.TestCase): self._assert_no_panda() self._run_test(60) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py old mode 100755 new mode 100644 similarity index 86% rename from selfdrive/boardd/tests/test_boardd_loopback.py rename to selfdrive/pandad/tests/test_pandad_loopback.py index 3ab3a9c5b..d2b6d047d --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/pandad/tests/test_pandad_loopback.py @@ -1,29 +1,30 @@ -#!/usr/bin/env python3 import os import copy import random import time import pytest -import unittest from collections import defaultdict from pprint import pprint import cereal.messaging as messaging from cereal import car, log +from openpilot.common.retry import retry from openpilot.common.params import Params from openpilot.common.timeout import Timeout -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.car import make_can_msg from openpilot.system.hardware import TICI from openpilot.selfdrive.test.helpers import phone_only, with_processes -def setup_boardd(num_pandas): +@retry(attempts=3) +def setup_pandad(num_pandas): params = Params() + params.clear_all() params.put_bool("IsOnroad", False) - with Timeout(90, "boardd didn't start"): - sm = messaging.SubMaster(['pandaStates']) + sm = messaging.SubMaster(['pandaStates']) + with Timeout(90, "pandad didn't start"): while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): sm.update(1000) @@ -32,7 +33,7 @@ def setup_boardd(num_pandas): assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \ connect another panda for multipanda tests." - # boardd safety setting relies on these params + # pandad safety setting relies on these params cp = car.CarParams.new_message() safety_config = car.CarParams.SafetyConfig.new_message() @@ -44,6 +45,9 @@ def setup_boardd(num_pandas): params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) + with Timeout(90, "pandad didn't set safety mode"): + while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']): + sm.update(1000) def send_random_can_messages(sendcan, count, num_pandas=1): sent_msgs = defaultdict(set) @@ -72,15 +76,16 @@ class TestBoarddLoopback: @with_processes(['pandad']) def test_loopback(self): num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 - setup_boardd(num_pandas) + setup_pandad(num_pandas) + sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) sm = messaging.SubMaster(['pandaStates']) - time.sleep(0.5) + time.sleep(1) n = 200 for i in range(n): - print(f"boardd loopback {i}/{n}") + print(f"pandad loopback {i}/{n}") sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas) @@ -107,7 +112,3 @@ class TestBoarddLoopback: pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow for bus in sent_loopback.keys(): assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages" - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/boardd/tests/test_boardd_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py old mode 100755 new mode 100644 similarity index 54% rename from selfdrive/boardd/tests/test_boardd_spi.py rename to selfdrive/pandad/tests/test_pandad_spi.py index d384caadd..11e20e72c --- a/selfdrive/boardd/tests/test_boardd_spi.py +++ b/selfdrive/pandad/tests/test_pandad_spi.py @@ -1,15 +1,16 @@ -#!/usr/bin/env python3 import os import time import numpy as np import pytest +import random import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.system.hardware import HARDWARE from openpilot.selfdrive.test.helpers import phone_only, with_processes -from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd +from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages +JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ @pytest.mark.tici class TestBoarddSpi: @@ -18,38 +19,67 @@ class TestBoarddSpi: if HARDWARE.get_device_type() == 'tici': pytest.skip("only for spi pandas") os.environ['STARTED'] = '1' - os.environ['BOARDD_LOOPBACK'] = '1' os.environ['SPI_ERR_PROB'] = '0.001' + if not JUNGLE_SPAM: + os.environ['BOARDD_LOOPBACK'] = '1' @phone_only @with_processes(['pandad']) def test_spi_corruption(self, subtests): - setup_boardd(1) + setup_pandad(1) + sendcan = messaging.pub_sock('sendcan') socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')} time.sleep(2) for s in socks.values(): messaging.drain_sock_raw(s) + total_recv_count = 0 + total_sent_count = 0 + sent_msgs = {bus: list() for bus in range(3)} + st = time.monotonic() ts = {s: list() for s in socks.keys()} - for _ in range(20): + for _ in range(int(os.getenv("TEST_TIME", "20"))): + # send some CAN messages + if not JUNGLE_SPAM: + sent = send_random_can_messages(sendcan, random.randrange(2, 20)) + for k, v in sent.items(): + sent_msgs[k].extend(list(v)) + total_sent_count += len(v) + for service, sock in socks.items(): for m in messaging.drain_sock(sock): ts[service].append(m.logMonoTime) # sanity check for corruption - assert m.valid + assert m.valid or (service == "can") if service == "can": - assert len(m.can) == 0 + for msg in m.can: + if JUNGLE_SPAM: + # PandaJungle.set_generated_can(True) + i = msg.address - 0x200 + assert msg.address >= 0x200 + assert msg.src == (i%3) + assert msg.dat == b"\xff"*(i%8) + total_recv_count += 1 + continue + + if msg.src > 4: + continue + key = (msg.address, msg.dat) + assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}" + # TODO: enable this + #sent_msgs[msg.src].remove(key) + total_recv_count += 1 elif service == "pandaStates": assert len(m.pandaStates) == 1 ps = m.pandaStates[0] - assert ps.uptime < 100 + assert ps.uptime < 1000 assert ps.pandaType == "tres" assert ps.ignitionLine assert not ps.ignitionCan - assert ps.voltage < 14000 + assert 4000 < ps.voltage < 14000 elif service == "peripheralState": ps = m.peripheralState assert ps.pandaType == "tres" @@ -67,6 +97,10 @@ class TestBoarddSpi: with subtests.test(msg="timing check", service=service): edt = 1e3 / SERVICE_LIST[service].frequency assert edt*0.9 < np.mean(dts) < edt*1.1 - assert np.max(dts) < edt*3 + assert np.max(dts) < edt*8 assert np.min(dts) < edt assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8) + + with subtests.test(msg="CAN traffic"): + print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received") + assert total_recv_count > 20 diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_usbprotocol.cc similarity index 99% rename from selfdrive/boardd/tests/test_boardd_usbprotocol.cc rename to selfdrive/pandad/tests/test_pandad_usbprotocol.cc index aa67e8cf8..11f7184ef 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/pandad/tests/test_pandad_usbprotocol.cc @@ -4,7 +4,7 @@ #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" struct PandaTest : public Panda { PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index 5f77ceb10..4d58a1507 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,7 +17,7 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh index f8a423762..2887fff74 100644 --- a/selfdrive/test/docker_common.sh +++ b/selfdrive/test/docker_common.sh @@ -1,9 +1,6 @@ if [ "$1" = "base" ]; then export DOCKER_IMAGE=openpilot-base export DOCKER_FILE=Dockerfile.openpilot_base -elif [ "$1" = "sim" ]; then - export DOCKER_IMAGE=openpilot-sim - export DOCKER_FILE=tools/sim/Dockerfile.sim elif [ "$1" = "prebuilt" ]; then export DOCKER_IMAGE=openpilot-prebuilt export DOCKER_FILE=Dockerfile.openpilot diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 26c35c0c1..94eb0dfaa 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -2,6 +2,7 @@ import capnp import hypothesis.strategies as st from typing import Any from collections.abc import Callable +from functools import cache from cereal import log @@ -11,67 +12,62 @@ DrawType = Callable[[st.SearchStrategy], Any] class FuzzyGenerator: def __init__(self, draw: DrawType, real_floats: bool): self.draw = draw - self.real_floats = real_floats + self.native_type_map = FuzzyGenerator._get_native_type_map(real_floats) def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]: - def floats(**kwargs) -> st.SearchStrategy[float]: - allow_nan = not self.real_floats - allow_infinity = not self.real_floats - return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity) - - if field == 'bool': - return st.booleans() - elif field == 'int8': - return st.integers(min_value=-2**7, max_value=2**7-1) - elif field == 'int16': - return st.integers(min_value=-2**15, max_value=2**15-1) - elif field == 'int32': - return st.integers(min_value=-2**31, max_value=2**31-1) - elif field == 'int64': - return st.integers(min_value=-2**63, max_value=2**63-1) - elif field == 'uint8': - return st.integers(min_value=0, max_value=2**8-1) - elif field == 'uint16': - return st.integers(min_value=0, max_value=2**16-1) - elif field == 'uint32': - return st.integers(min_value=0, max_value=2**32-1) - elif field == 'uint64': - return st.integers(min_value=0, max_value=2**64-1) - elif field == 'float32': - return floats(width=32) - elif field == 'float64': - return floats(width=64) - elif field == 'text': - return st.text(max_size=1000) - elif field == 'data': - return st.binary(max_size=1000) - elif field == 'anyPointer': - return st.text() + value_func = self.native_type_map.get(field) + if value_func is not None: + return value_func else: - raise NotImplementedError(f'Invalid type : {field}') + raise NotImplementedError(f'Invalid type: {field}') def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy: def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy: - if field_type.which() == 'struct': + type_which = field_type.which() + if type_which == 'struct': return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema) - elif field_type.which() == 'list': + elif type_which == 'list': return st.lists(rec(field_type.list.elementType)) - elif field_type.which() == 'enum': + elif type_which == 'enum': schema = field.schema.elementType if base_type == 'list' else field.schema return st.sampled_from(list(schema.enumerants.keys())) else: - return self.generate_native_type(field_type.which()) + return self.generate_native_type(type_which) - if 'slot' in field.proto.to_dict(): - base_type = field.proto.slot.type.which() - return rec(field.proto.slot.type) - else: + try: + if hasattr(field.proto, 'slot'): + slot_type = field.proto.slot.type + base_type = slot_type.which() + return rec(slot_type) + else: + return self.generate_struct(field.schema) + except capnp.lib.capnp.KjException: return self.generate_struct(field.schema) def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]: - full_fill: list[str] = list(schema.non_union_fields) - single_fill: list[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else [] - return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill}) + single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () + fields_to_generate = schema.non_union_fields + single_fill + return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) + + @staticmethod + @cache + def _get_native_type_map(real_floats: bool) -> dict[str, st.SearchStrategy]: + return { + 'bool': st.booleans(), + 'int8': st.integers(min_value=-2**7, max_value=2**7-1), + 'int16': st.integers(min_value=-2**15, max_value=2**15-1), + 'int32': st.integers(min_value=-2**31, max_value=2**31-1), + 'int64': st.integers(min_value=-2**63, max_value=2**63-1), + 'uint8': st.integers(min_value=0, max_value=2**8-1), + 'uint16': st.integers(min_value=0, max_value=2**16-1), + 'uint32': st.integers(min_value=0, max_value=2**32-1), + 'uint64': st.integers(min_value=0, max_value=2**64-1), + 'float32': st.floats(width=32, allow_nan=not real_floats, allow_infinity=not real_floats), + 'float64': st.floats(width=64, allow_nan=not real_floats, allow_infinity=not real_floats), + 'text': st.text(max_size=1000), + 'data': st.binary(max_size=1000), + 'anyPointer': st.text(), # Note: No need to define a separate function for anyPointer + } @classmethod def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> dict[str, Any]: diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index ce8918aec..b7f5bb183 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -3,12 +3,13 @@ import http.server import os import threading import time +import pytest from functools import wraps import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version @@ -32,15 +33,15 @@ def phone_only(f): @wraps(f) def wrap(self, *args, **kwargs): if PC: - self.skipTest("This test is not meant to run on PC") - f(self, *args, **kwargs) + pytest.skip("This test is not meant to run on PC") + return f(self, *args, **kwargs) return wrap def release_only(f): @wraps(f) def wrap(self, *args, **kwargs): if "RELEASE" not in os.environ: - self.skipTest("This test is only for release branches") + pytest.skip("This test is only for release branches") f(self, *args, **kwargs) return wrap diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index ac54967f8..daf7cec32 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -83,7 +83,7 @@ class Plant: lead = log.RadarState.LeadData.new_message() lead.dRel = float(d_rel) - lead.yRel = float(0.0) + lead.yRel = 0.0 lead.vRel = float(v_rel) lead.aRel = float(a_lead - self.acceleration) lead.vLead = float(v_lead) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py old mode 100755 new mode 100644 index 713b7801f..62a95babe --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 import itertools -import unittest from parameterized import parameterized_class from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE @@ -144,17 +142,13 @@ def create_maneuvers(kwargs): @parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2)) -class LongitudinalControl(unittest.TestCase): +class TestLongitudinalControl: e2e: bool force_decel: bool - def test_maneuver(self): + def test_maneuver(self, subtests): for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}): - with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): + with subtests.test(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode') valid, _ = maneuver.evaluate() - self.assertTrue(valid) - - -if __name__ == "__main__": - unittest.main(failfast=True) + assert valid diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 152f28194..0715fcf7b 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -4,7 +4,7 @@ from cereal import messaging from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index from openpilot.selfdrive.car.toyota.values import EPS_SCALE -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from panda import Panda @@ -14,6 +14,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, msgs = migrate_carParams(msgs, old_logtime) msgs = migrate_gpsLocation(msgs) msgs = migrate_deviceState(msgs) + msgs = migrate_carOutput(msgs) if manager_states: msgs = migrate_managerState(msgs) if panda_states: @@ -69,6 +70,23 @@ def migrate_deviceState(lr): return all_msgs +def migrate_carOutput(lr): + # migration needed only for routes before carOutput + if any(msg.which() == 'carOutput' for msg in lr): + return lr + + all_msgs = [] + for msg in lr: + if msg.which() == 'carControl': + co = messaging.new_message('carOutput') + co.valid = msg.valid + co.logMonoTime = msg.logMonoTime + co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED + all_msgs.append(co.as_reader()) + all_msgs.append(msg) + return all_msgs + + def migrate_pandaStates(lr): all_msgs = [] # TODO: safety param migration should be handled automatically @@ -183,9 +201,7 @@ def migrate_carParams(lr, old_logtime=False): all_msgs = [] for msg in lr: if msg.which() == 'carParams': - CP = messaging.new_message('carParams') - CP.valid = True - CP.carParams = msg.carParams.as_builder() + CP = msg.as_builder() CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint) for car_fw in CP.carParams.carFw: car_fw.brand = CP.carParams.carName diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 233f5d746..a55396002 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -6,7 +6,7 @@ import json import heapq import signal import platform -from collections import OrderedDict +from collections import Counter, OrderedDict from dataclasses import dataclass, field from typing import Any from collections.abc import Callable, Iterable @@ -16,14 +16,14 @@ import capnp import cereal.messaging as messaging from cereal import car from cereal.services import SERVICE_LIST -from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name +from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.car.car_helpers import get_car, interfaces -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture @@ -317,12 +317,12 @@ class ProcessContainer: return output_msgs -def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint): +def card_fingerprint_callback(rc, pm, msgs, fingerprint): print("start fingerprinting") params = Params() canmsgs = [msg for msg in msgs if msg.which() == "can"][:300] - # controlsd expects one arbitrary can and pandaState + # card expects one arbitrary can and pandaState rc.send_sync(pm, "can", messaging.new_message("can", 1)) pm.send("pandaStates", messaging.new_message("pandaStates", 1)) rc.send_sync(pm, "can", messaging.new_message("can", 1)) @@ -356,12 +356,20 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) + + if not params.get_bool("DisengageOnAccelerator"): + CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + params.put("CarParams", CP.to_bytes()) return CP def controlsd_rcv_callback(msg, cfg, frame): - # no sendcan until controlsd is initialized + return (frame - 1) == 0 or msg.which() == 'carState' + + +def card_rcv_callback(msg, cfg, frame): + # no sendcan until card is initialized if msg.which() != "can": return False @@ -461,18 +469,28 @@ CONFIGS = [ ProcessConfig( proc_name="controlsd", pubs=[ - "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", + "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", - "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope" + "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput" ], - subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"], + subs=["controlsState", "carControl", "onroadEvents"], ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"], config_callback=controlsd_config_callback, - init_callback=controlsd_fingerprint_callback, + init_callback=get_car_params_callback, should_recv_callback=controlsd_rcv_callback, tolerance=NUMPY_TOLERANCE, processing_time=0.004, + ), + ProcessConfig( + proc_name="card", + pubs=["pandaStates", "carControl", "onroadEvents", "can"], + subs=["sendcan", "carState", "carParams", "carOutput"], + ignore=["logMonoTime", "carState.cumLagMs"], + init_callback=card_fingerprint_callback, + should_recv_callback=card_rcv_callback, + tolerance=NUMPY_TOLERANCE, + processing_time=0.004, main_pub="can", ), ProcessConfig( @@ -487,7 +505,7 @@ CONFIGS = [ ProcessConfig( proc_name="plannerd", pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], - subs=["longitudinalPlan", "uiPlan"], + subs=["longitudinalPlan"], ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("modelV2"), @@ -537,7 +555,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["liveLocationKalman", "carState", "carControl"], + pubs=["liveLocationKalman", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, @@ -798,3 +816,18 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool: max_enabled_count = max(max_enabled_count, cur_enabled_count) return max_enabled_count > int(10. / DT_CTRL) + + +def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool: + msgs_counts = Counter(msg.which() for msg in msgs) + msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid) + + most_valid_for_service = {} + for msg_type in msgs_counts.keys(): + valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type] + ok = valid_share >= threshold + if not ok: + print(f"WARNING: Service {msg_type} has {valid_share * 100:.2f}% valid messages, which is below threshold of {threshold * 100:.2f}%") + most_valid_for_service[msg_type] = ok + + return all(most_valid_for_service.values()) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a61fd8e23..227202839 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a385503e4307ae77c73736a602380b08e61334 +6438bd5edad674c2de3c7e2d126271cb2576383d diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index ec3023c5d..bf7a4bfd9 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -9,7 +9,7 @@ from typing import Any from collections.abc import Iterable from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ - check_openpilot_enabled, get_custom_params_from_lr + check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES from openpilot.selfdrive.test.update_ci_routes import upload_route from openpilot.tools.lib.route import Route @@ -129,6 +129,8 @@ def regen_and_save( if not check_openpilot_enabled(output_logs): raise Exception("Route did not engage for long enough") + if not check_most_messages_valid(output_logs): + raise Exception("Route has too many invalid messages") if upload: upload_route(rel_log_dir) diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py old mode 100755 new mode 100644 index 6c81119fb..c802d9c57 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -1,9 +1,7 @@ -#!/usr/bin/env python3 import copy from hypothesis import given, HealthCheck, Phase, settings import hypothesis.strategies as st from parameterized import parameterized -import unittest from cereal import log from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA @@ -13,11 +11,11 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable -NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] +NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] -class TestFuzzProcesses(unittest.TestCase): +class TestFuzzProcesses: # TODO: make this faster and increase examples @parameterized.expand(TEST_CASES) @@ -28,6 +26,3 @@ class TestFuzzProcesses(unittest.TestCase): lr = [log.Event.new_message(**m).as_reader() for m in msgs] cfg.timeout = 5 pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True) - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py old mode 100755 new mode 100644 index a980548ba..27d0541a5 --- a/selfdrive/test/process_replay/test_imgproc.py +++ b/selfdrive/test/process_replay/test_imgproc.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import numpy as np import hashlib @@ -93,7 +92,7 @@ if __name__ == "__main__": if pix_hash != ref_hash: print("result changed! please check kernel") - print("ref: %s" % ref_hash) - print("new: %s" % pix_hash) + print(f"ref: {ref_hash}") + print(f"new: {pix_hash}") else: print("test passed") diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 7a482c1bd..533ab125f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -11,7 +11,8 @@ from openpilot.common.git import get_commit from openpilot.selfdrive.car.car_helpers import interface_names from openpilot.tools.lib.openpilotci import get_url, upload_file from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ + check_openpilot_enabled, check_most_messages_valid from openpilot.tools.lib.filereader import FileReader from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.helpers import save_log @@ -41,23 +42,23 @@ source_segments = [ ] segments = [ - ("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"), - ("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"), - ("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"), - ("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"), - ("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"), - ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"), - ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"), - ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"), - ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"), - ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"), - ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"), - ("GM", "regenF6393D64745|2023-10-30--23-17-18--0"), - ("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"), - ("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"), - ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"), - ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"), - ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"), + ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"), + ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"), + ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"), + ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"), + ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"), + ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"), + ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"), + ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"), + ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"), + ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"), + ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"), + ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"), + ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"), + ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"), + ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"), + ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"), + ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -107,11 +108,11 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": if not check_openpilot_enabled(log_msgs): - # FIXME: these segments should work, but the replay enabling logic is too brittle - if segment not in ("regen6CA24BC3035|2023-10-30--23-14-28--0", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"): - return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs + return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs + if not check_most_messages_valid(log_msgs): + return f"Route did not have enough valid messages: {new_log_path}", log_msgs - if cfg.proc_name != 'ubloxd' or segment != 'regen6CA24BC3035|2023-10-30--23-14-28--0': + if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0': seen_msgs = {m.which() for m in log_msgs} expected_msgs = set(cfg.subs) if seen_msgs != expected_msgs: diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py old mode 100755 new mode 100644 index d98963549..17fefcb49 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -1,7 +1,3 @@ -#!/usr/bin/env python3 - -import unittest - from parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader @@ -30,7 +26,7 @@ def ci_setup_data_readers(route, sidx): return lr, frs -class TestRegen(unittest.TestCase): +class TestRegen: @parameterized.expand(TESTED_SEGMENTS) def test_engaged(self, case_name, segment): route, sidx = segment.rsplit("--", 1) @@ -38,8 +34,4 @@ class TestRegen(unittest.TestCase): output_logs = regen_segment(lr, frs, disable_tqdm=True) engaged = check_openpilot_enabled(output_logs) - self.assertTrue(engaged, f"openpilot not engaged in {case_name}") - - -if __name__=='__main__': - unittest.main() + assert engaged, f"openpilot not engaged in {case_name}" diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py index 9bfe214c1..12deb5872 100644 --- a/selfdrive/test/process_replay/vision_meta.py +++ b/selfdrive/test/process_replay/vision_meta.py @@ -1,5 +1,5 @@ from collections import namedtuple -from cereal.visionipc import VisionStreamType +from msgq.visionipc import VisionStreamType from openpilot.common.realtime import DT_MDL, DT_DMON from openpilot.common.transformations.camera import DEVICE_CAMERAS diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py index 7f3b0126f..93ba21538 100644 --- a/selfdrive/test/profiling/lib.py +++ b/selfdrive/test/profiling/lib.py @@ -8,7 +8,7 @@ class ReplayDone(Exception): pass -class SubSocket(): +class SubSocket: def __init__(self, msgs, trigger): self.i = 0 self.trigger = trigger @@ -28,7 +28,7 @@ class SubSocket(): return msg -class PubSocket(): +class PubSocket: def send(self, data): pass diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 5c85312f1..84dae2582 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -70,6 +70,7 @@ safe_checkout() { git checkout $GIT_COMMIT git clean -xdff git submodule sync + git submodule foreach --recursive "git reset --hard && git clean -xdff" git submodule update --init --recursive git submodule foreach --recursive "git reset --hard && git clean -xdff" @@ -95,6 +96,7 @@ unsafe_checkout() { git reset --hard $GIT_COMMIT git clean -df git submodule sync + git submodule foreach --recursive "git reset --hard && git clean -df" git submodule update --init --recursive git submodule foreach --recursive "git reset --hard && git clean -df" diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py old mode 100755 new mode 100644 index cd0846c89..7b44a3b80 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import bz2 import math import json @@ -10,7 +9,6 @@ import shutil import subprocess import time import numpy as np -import unittest from collections import Counter, defaultdict from functools import cached_property from pathlib import Path @@ -36,31 +34,32 @@ CPU usage budget MAX_TOTAL_CPU = 250. # total for all 8 cores PROCS = { # Baseline CPU usage by process - "selfdrive.controls.controlsd": 46.0, - "./loggerd": 14.0, - "./encoderd": 17.0, - "./camerad": 14.5, - "./locationd": 11.0, + "selfdrive.controls.controlsd": 32.0, + "selfdrive.car.card": 22.0, + "loggerd": 14.0, + "encoderd": 17.0, + "camerad": 14.5, + "locationd": 11.0, "selfdrive.controls.plannerd": 11.0, - "./ui": 18.0, + "ui": 18.0, "selfdrive.locationd.paramsd": 9.0, - "./sensord": 7.0, + "sensord": 7.0, "selfdrive.controls.radard": 7.0, - "selfdrive.modeld.modeld": 13.0, + "modeld": 13.0, "selfdrive.modeld.dmonitoringmodeld": 8.0, - "selfdrive.thermald.thermald": 3.87, + "system.hardware.hardwared": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.ui.soundd": 3.5, "selfdrive.monitoring.dmonitoringd": 4.0, - "./proclogd": 1.54, + "proclogd": 1.54, "system.logmessaged": 0.2, - "selfdrive.tombstoned": 0, - "./logcatd": 0, + "system.tombstoned": 0, + "logcatd": 0, "system.micd": 6.0, "system.timed": 0, - "selfdrive.boardd.pandad": 0, - "selfdrive.statsd": 0.4, + "selfdrive.pandad.pandad": 0, + "system.statsd": 0.4, "selfdrive.navd.navd": 0.4, "system.loggerd.uploader": (0.5, 15.0), "system.loggerd.deleter": 0.1, @@ -68,12 +67,12 @@ PROCS = { PROCS.update({ "tici": { - "./boardd": 4.0, - "./ubloxd": 0.02, + "pandad": 4.0, + "ubloxd": 0.02, "system.ubloxd.pigeond": 6.0, }, "tizi": { - "./boardd": 19.0, + "pandad": 19.0, "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) @@ -102,10 +101,10 @@ def cputime_total(ct): @pytest.mark.tici -class TestOnroad(unittest.TestCase): +class TestOnroad: @classmethod - def setUpClass(cls): + def setup_class(cls): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) @@ -125,7 +124,7 @@ class TestOnroad(unittest.TestCase): # start manager and run openpilot for a minute proc = None try: - manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + manager_path = os.path.join(BASEDIR, "system/manager/manager.py") proc = subprocess.Popen(["python", manager_path]) sm = messaging.SubMaster(['carState']) @@ -181,7 +180,7 @@ class TestOnroad(unittest.TestCase): msgs[m.which()].append(m) return msgs - def test_service_frequencies(self): + def test_service_frequencies(self, subtests): for s, msgs in self.service_msgs.items(): if s in ('initData', 'sentinel'): continue @@ -190,18 +189,18 @@ class TestOnroad(unittest.TestCase): if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'): continue - with self.subTest(service=s): + with subtests.test(service=s): assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55) def test_cloudlog_size(self): msgs = [m for m in self.lr if m.which() == 'logMessage'] total_size = sum(len(m.as_builder().to_bytes()) for m in msgs) - self.assertLess(total_size, 3.5e5) + assert total_size < 3.5e5 cnt = Counter(json.loads(m.logMessage)['filename'] for m in msgs) big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.] - self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}") + assert len(big_logs) == 0, f"Log spam: {big_logs}" def test_log_sizes(self): for f, sz in self.log_sizes.items(): @@ -230,15 +229,15 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) - self.assertLess(max(ts), 250.) - self.assertLess(np.mean(ts), 10.) + assert max(ts) < 250. + assert np.mean(ts) < 10. #self.assertLess(np.std(ts), 5.) # some slow frames are expected since camerad/modeld can preempt ui veryslow = [x for x in ts if x > 40.] assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}" - def test_cpu_usage(self): + def test_cpu_usage(self, subtests): result = "\n" result += "------------------------------------------------\n" result += "------------------ CPU Usage -------------------\n" @@ -248,8 +247,7 @@ class TestOnroad(unittest.TestCase): for pl in self.service_msgs['procLog']: for x in pl.procLog.procs: if len(x.cmdline) > 0: - n = list(x.cmdline)[0] - plogs_by_proc[n].append(x) + plogs_by_proc[x.name].append(x) print(plogs_by_proc.keys()) cpu_ok = True @@ -257,8 +255,9 @@ class TestOnroad(unittest.TestCase): for proc_name, expected_cpu in PROCS.items(): err = "" + exp = "???" cpu_usage = 0. - x = plogs_by_proc[proc_name] + x = plogs_by_proc[proc_name[-15:]] if len(x) > 2: cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) cpu_usage = cpu_time / dt * 100. @@ -286,12 +285,12 @@ class TestOnroad(unittest.TestCase): # Ensure there's no missing procs all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning} for p in all_procs: - with self.subTest(proc=p): + with subtests.test(proc=p): assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" # total CPU check procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()]) - with self.subTest(name="total CPU"): + with subtests.test(name="total CPU"): assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded" result += "------------------------------------------------\n" result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n" @@ -299,7 +298,7 @@ class TestOnroad(unittest.TestCase): print(result) - self.assertTrue(cpu_ok) + assert cpu_ok def test_memory_usage(self): mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']] @@ -307,10 +306,10 @@ class TestOnroad(unittest.TestCase): # check for big leaks. note that memory usage is # expected to go up while the MSGQ buffers fill up - self.assertLessEqual(max(mems) - min(mems), 3.0) + assert max(mems) - min(mems) <= 3.0 def test_gpu_usage(self): - self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}) + assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"} def test_camera_processing_time(self): result = "\n" @@ -319,14 +318,14 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()] - self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}") + assert min(ts) < 0.025, f"high execution time: {min(ts)}" result += f"execution time: min {min(ts):.5f}s\n" result += f"execution time: max {max(ts):.5f}s\n" result += f"execution time: mean {np.mean(ts):.5f}s\n" result += "------------------------------------------------\n" print(result) - @unittest.skip("TODO: enable once timings are fixed") + @pytest.mark.skip("TODO: enable once timings are fixed") def test_camera_frame_timings(self): result = "\n" result += "------------------------------------------------\n" @@ -336,7 +335,7 @@ class TestOnroad(unittest.TestCase): ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] d_ms = np.diff(ts) / 1e6 d50 = np.abs(d_ms-50) - self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") + assert max(d50) < 1.0, f"high sof delta vs 50ms: {max(d50)}" result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" @@ -352,8 +351,8 @@ class TestOnroad(unittest.TestCase): cfgs = [("longitudinalPlan", 0.05, 0.05),] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] - self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") - self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") + assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" + assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" result += f"'{s}' execution time: min {min(ts):.5f}s\n" result += f"'{s}' execution time: max {max(ts):.5f}s\n" result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" @@ -372,8 +371,8 @@ class TestOnroad(unittest.TestCase): ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]] - self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") - self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") + assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" + assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" result += f"'{s}' execution time: min {min(ts):.5f}s\n" result += f"'{s}' execution time: max {max(ts):.5f}s\n" result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" @@ -409,7 +408,7 @@ class TestOnroad(unittest.TestCase): result += f"{''.ljust(40)} {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n" result += "="*67 print(result) - self.assertTrue(passed) + assert passed @release_only def test_startup(self): @@ -420,7 +419,7 @@ class TestOnroad(unittest.TestCase): startup_alert = msg.controlsState.alertText1 break expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1 - self.assertEqual(startup_alert, expected, "wrong startup alert") + assert startup_alert == expected, "wrong startup alert" def test_engagable(self): no_entries = Counter() @@ -432,7 +431,3 @@ class TestOnroad(unittest.TestCase): eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']] assert all(eng), \ f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}" - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py old mode 100755 new mode 100644 index b85d40dbc..e08d0e676 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import pytest import time @@ -17,7 +16,7 @@ EventName = car.CarEvent.EventName def test_time_to_onroad(): # launch set_params_enabled() - manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + manager_path = os.path.join(BASEDIR, "system/manager/manager.py") proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py old mode 100755 new mode 100644 index dd79e03de..ea945d94c --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -1,10 +1,8 @@ -#!/usr/bin/env python3 import datetime import os import pytest import time import tempfile -import unittest import shutil import signal import subprocess @@ -15,9 +13,9 @@ from openpilot.common.params import Params @pytest.mark.tici -class TestUpdated(unittest.TestCase): +class TestUpdated: - def setUp(self): + def setup_method(self): self.updated_proc = None self.tmp_dir = tempfile.TemporaryDirectory() @@ -59,7 +57,7 @@ class TestUpdated(unittest.TestCase): self.params.clear_all() os.sync() - def tearDown(self): + def teardown_method(self): try: if self.updated_proc is not None: self.updated_proc.terminate() @@ -90,7 +88,7 @@ class TestUpdated(unittest.TestCase): os.environ["UPDATER_STAGING_ROOT"] = self.staging_dir os.environ["UPDATER_NEOS_VERSION"] = self.neos_version os.environ["UPDATER_NEOSUPDATE_DIR"] = self.neosupdate_dir - updated_path = os.path.join(self.basedir, "selfdrive/updated.py") + updated_path = os.path.join(self.basedir, "system/updated.py") return subprocess.Popen(updated_path, env=os.environ) def _start_updater(self, offroad=True, nosleep=False): @@ -166,8 +164,8 @@ class TestUpdated(unittest.TestCase): # make sure LastUpdateTime is recent t = self._read_param("LastUpdateTime") last_update_time = datetime.datetime.fromisoformat(t) - td = datetime.datetime.utcnow() - last_update_time - self.assertLess(td.total_seconds(), 10) + td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time + assert td.total_seconds() < 10 self.params.remove("LastUpdateTime") # wait a bit for the rest of the params to be written @@ -175,13 +173,13 @@ class TestUpdated(unittest.TestCase): # check params update = self._read_param("UpdateAvailable") - self.assertEqual(update == "1", update_available, f"UpdateAvailable: {repr(update)}") - self.assertEqual(self._read_param("UpdateFailedCount"), "0") + assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}" + assert self._read_param("UpdateFailedCount") == "0" # TODO: check that the finalized update actually matches remote # check the .overlay_init and .overlay_consistent flags - self.assertTrue(os.path.isfile(os.path.join(self.basedir, ".overlay_init"))) - self.assertEqual(os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")), update_available) + assert os.path.isfile(os.path.join(self.basedir, ".overlay_init")) + assert os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")) == update_available # *** test cases *** @@ -214,7 +212,7 @@ class TestUpdated(unittest.TestCase): self._check_update_state(True) # Let the updater run for 10 cycles, and write an update every cycle - @unittest.skip("need to make this faster") + @pytest.mark.skip("need to make this faster") def test_update_loop(self): self._start_updater() @@ -243,12 +241,12 @@ class TestUpdated(unittest.TestCase): # run another cycle, should have a new mtime self._wait_for_update(clear_param=True) second_mtime = os.path.getmtime(overlay_init_fn) - self.assertTrue(first_mtime != second_mtime) + assert first_mtime != second_mtime # run another cycle, mtime should be same as last cycle self._wait_for_update(clear_param=True) new_mtime = os.path.getmtime(overlay_init_fn) - self.assertTrue(second_mtime == new_mtime) + assert second_mtime == new_mtime # Make sure updated exits if another instance is running def test_multiple_instances(self): @@ -260,7 +258,7 @@ class TestUpdated(unittest.TestCase): # start another instance second_updated = self._get_updated_proc() ret_code = second_updated.wait(timeout=5) - self.assertTrue(ret_code is not None) + assert ret_code is not None # *** test cases with NEOS updates *** @@ -277,10 +275,10 @@ class TestUpdated(unittest.TestCase): self._start_updater() self._wait_for_update(clear_param=True) self._check_update_state(False) - self.assertFalse(os.path.isdir(self.neosupdate_dir)) + assert not os.path.isdir(self.neosupdate_dir) # Let the updater run with no update for a cycle, then write an update - @unittest.skip("TODO: only runs on device") + @pytest.mark.skip("TODO: only runs on device") def test_update_with_neos_update(self): # bump the NEOS version and commit it self._run([ @@ -295,8 +293,4 @@ class TestUpdated(unittest.TestCase): self._check_update_state(True) # TODO: more comprehensive check - self.assertTrue(os.path.isdir(self.neosupdate_dir)) - - -if __name__ == "__main__": - unittest.main() + assert os.path.isdir(self.neosupdate_dir) diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py deleted file mode 100755 index 75520df91..000000000 --- a/selfdrive/test/test_valgrind_replay.py +++ /dev/null @@ -1,117 +0,0 @@ -#!/usr/bin/env python3 -import os -import threading -import time -import unittest -import subprocess -import signal - -if "CI" in os.environ: - def tqdm(x): - return x -else: - from tqdm import tqdm # type: ignore - -import cereal.messaging as messaging -from collections import namedtuple -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.openpilotci import get_url -from openpilot.common.basedir import BASEDIR - -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) - -CONFIGS = [ - ProcessConfig( - proc_name="ubloxd", - pub_sub={ - "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"], - }, - ignore=[], - command="./ubloxd", - path="system/ubloxd", - segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", - wait_for_response=True - ), -] - - -class TestValgrind(unittest.TestCase): - def extract_leak_sizes(self, log): - if "All heap blocks were freed -- no leaks are possible" in log: - return (0,0,0) - - log = log.replace(",","") # fixes casting to int issue with large leaks - err_lost1 = log.split("definitely lost: ")[1] - err_lost2 = log.split("indirectly lost: ")[1] - err_lost3 = log.split("possibly lost: ")[1] - definitely_lost = int(err_lost1.split(" ")[0]) - indirectly_lost = int(err_lost2.split(" ")[0]) - possibly_lost = int(err_lost3.split(" ")[0]) - return (definitely_lost, indirectly_lost, possibly_lost) - - def valgrindlauncher(self, arg, cwd): - os.chdir(os.path.join(BASEDIR, cwd)) - # Run valgrind on a process - command = "valgrind --leak-check=full " + arg - p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid) - - while not self.replay_done: - time.sleep(0.1) - - # Kill valgrind and extract leak output - os.killpg(os.getpgid(p.pid), signal.SIGINT) - _, err = p.communicate() - error_msg = str(err, encoding='utf-8') - with open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "a") as f: - f.write(error_msg) - f.write(5 * "\n") - definitely_lost, indirectly_lost, possibly_lost = self.extract_leak_sizes(error_msg) - if max(definitely_lost, indirectly_lost, possibly_lost) > 0: - self.leak = True - print("LEAKS from", arg, "\nDefinitely lost:", definitely_lost, "\nIndirectly lost", indirectly_lost, "\nPossibly lost", possibly_lost) - else: - self.leak = False - - def replay_process(self, config, logreader): - pub_sockets = list(config.pub_sub.keys()) # We dump data from logs here - sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub] # We get responses here - pm = messaging.PubMaster(pub_sockets) - sm = messaging.SubMaster(sub_sockets) - - print("Sorting logs") - all_msgs = sorted(logreader, key=lambda msg: msg.logMonoTime) - pub_msgs = [msg for msg in all_msgs if msg.which() in list(config.pub_sub.keys())] - - thread = threading.Thread(target=self.valgrindlauncher, args=(config.command, config.path)) - thread.daemon = True - thread.start() - - while not all(pm.all_readers_updated(s) for s in config.pub_sub.keys()): - time.sleep(0) - - for msg in tqdm(pub_msgs): - pm.send(msg.which(), msg.as_builder()) - if config.wait_for_response: - sm.update(100) - - self.replay_done = True - - def test_config(self): - open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "w").close() - - for cfg in CONFIGS: - self.leak = None - self.replay_done = False - - r, n = cfg.segment.rsplit("--", 1) - lr = LogReader(get_url(r, n)) - self.replay_process(cfg, lr) - - while self.leak is None: - time.sleep(0.1) # Wait for the valgrind to finish - - self.assertFalse(self.leak) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/thermald/tests/__init__.py b/selfdrive/thermald/tests/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py deleted file mode 100755 index 7081e1353..000000000 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ /dev/null @@ -1,56 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from unittest.mock import Mock, patch -from parameterized import parameterized - -from openpilot.selfdrive.thermald.fan_controller import TiciFanController - -ALL_CONTROLLERS = [(TiciFanController,)] - -def patched_controller(controller_class): - with patch("os.system", new=Mock()): - return controller_class() - -class TestFanController(unittest.TestCase): - def wind_up(self, controller, ignition=True): - for _ in range(1000): - controller.update(100, ignition) - - def wind_down(self, controller, ignition=False): - for _ in range(1000): - controller.update(10, ignition) - - @parameterized.expand(ALL_CONTROLLERS) - def test_hot_onroad(self, controller_class): - controller = patched_controller(controller_class) - self.wind_up(controller) - self.assertGreaterEqual(controller.update(100, True), 70) - - @parameterized.expand(ALL_CONTROLLERS) - def test_offroad_limits(self, controller_class): - controller = patched_controller(controller_class) - self.wind_up(controller) - self.assertLessEqual(controller.update(100, False), 30) - - @parameterized.expand(ALL_CONTROLLERS) - def test_no_fan_wear(self, controller_class): - controller = patched_controller(controller_class) - self.wind_down(controller) - self.assertEqual(controller.update(10, False), 0) - - @parameterized.expand(ALL_CONTROLLERS) - def test_limited(self, controller_class): - controller = patched_controller(controller_class) - self.wind_up(controller, True) - self.assertEqual(controller.update(100, True), 100) - - @parameterized.expand(ALL_CONTROLLERS) - def test_windup_speed(self, controller_class): - controller = patched_controller(controller_class) - self.wind_down(controller, True) - for _ in range(10): - controller.update(90, True) - self.assertGreaterEqual(controller.update(90, True), 60) - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py deleted file mode 100755 index c3a890f06..000000000 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ /dev/null @@ -1,200 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from unittest.mock import patch - -from openpilot.common.params import Params -from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S - - -# Create fake time -ssb = 0. -def mock_time_monotonic(): - global ssb - ssb += 1. - return ssb - -TEST_DURATION_S = 50 -GOOD_VOLTAGE = 12 * 1e3 -VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 - -def pm_patch(name, value, constant=False): - if constant: - return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) - return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) - - -@patch("time.monotonic", new=mock_time_monotonic) -class TestPowerMonitoring(unittest.TestCase): - def setUp(self): - self.params = Params() - - # Test to see that it doesn't do anything when pandaState is None - def test_pandaState_present(self): - pm = PowerMonitoring() - for _ in range(10): - pm.calculate(None, None) - self.assertEqual(pm.get_power_used(), 0) - self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10)) - - # Test to see that it doesn't integrate offroad when ignition is True - def test_offroad_ignition(self): - pm = PowerMonitoring() - for _ in range(10): - pm.calculate(GOOD_VOLTAGE, True) - self.assertEqual(pm.get_power_used(), 0) - - # Test to see that it integrates with discharging battery - def test_offroad_integration_discharging(self): - POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) - self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10) - - # Test to check positive integration of car_battery_capacity - def test_car_battery_integration_onroad(self): - POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 0 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, True) - expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10) - - # Test to check positive integration upper limit - def test_car_battery_integration_upper_limit(self): - POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, True) - estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10) - - # Test to check negative integration of car_battery_capacity - def test_car_battery_integration_offroad(self): - POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10) - - # Test to check negative integration lower limit - def test_car_battery_integration_lower_limit(self): - POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 1000 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10) - - # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S - def test_max_time_offroad(self): - MOCKED_MAX_OFFROAD_TIME = 3600 - POWER_DRAW = 0 # To stop shutting down for other reasons - with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - start_time = ssb - ignition = False - while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: - pm.calculate(GOOD_VOLTAGE, ignition) - if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: - self.assertFalse(pm.should_shutdown(ignition, True, start_time, False)) - self.assertTrue(pm.should_shutdown(ignition, True, start_time, False)) - - def test_car_voltage(self): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 350 - VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 - with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \ - pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - start_time = ssb - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertEqual(pm.should_shutdown(ignition, True, start_time, True), - (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and - (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and - (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)) - self.assertTrue(pm.should_shutdown(ignition, True, start_time, True)) - - # Test to check policy of not stopping charging when DisablePowerDown is set - def test_disable_power_down(self): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 - self.params.put_bool("DisablePowerDown", True) - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) - - # Test to check policy of not stopping charging when ignition - def test_ignition(self): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = True - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) - - # Test to check policy of not stopping charging when harness is not connected - def test_harness_connection(self): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - - ignition = False - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) - self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) - - def test_delay_shutdown_time(self): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 0 - ignition = False - in_car = True - offroad_timestamp = ssb - started_seen = True - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - - while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: - self.assertFalse(pm.should_shutdown(ignition, in_car, - offroad_timestamp, - started_seen), - f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time") - self.assertTrue(pm.should_shutdown(ignition, in_car, - offroad_timestamp, - started_seen), - f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time") - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index e2ef2cdb2..8c2f7cfca 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,16 +1,15 @@ import os import json -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', - 'cereal', 'transformations') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') + +base_libs = [common, messaging, visionipc, transformations, + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] def insert_src(list, after_src, src): return list[:list.index(after_src)+1] + src + list[list.index(after_src)+1:] dp_priv = len(os.listdir(Dir(f"#dp_priv/").abspath)) > 2 -base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] - if arch == 'larch64': base_libs.append('EGL') @@ -143,4 +142,4 @@ if GetOption('extras') and arch != "Darwin": # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) + qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'msgq', 'visionipc']) diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc index 0e321d4e1..6889b40e5 100644 --- a/selfdrive/ui/qt/api.cc +++ b/selfdrive/ui/qt/api.cc @@ -1,6 +1,5 @@ #include "selfdrive/ui/qt/api.h" -#include #include #include @@ -8,38 +7,41 @@ #include #include #include -#include #include #include +#include #include -#include "common/params.h" #include "common/util.h" #include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" namespace CommaApi { -QByteArray rsa_sign(const QByteArray &data) { - static std::string key = util::read_file(Path::rsa_file()); - if (key.empty()) { - qDebug() << "No RSA private key found, please run manager.py or registration.py"; - return {}; +RSA *get_rsa_private_key() { + static std::unique_ptr rsa_private(nullptr, RSA_free); + if (!rsa_private) { + FILE *fp = fopen(Path::rsa_file().c_str(), "rb"); + if (!fp) { + qDebug() << "No RSA private key found, please run manager.py or registration.py"; + return nullptr; + } + rsa_private.reset(PEM_read_RSAPrivateKey(fp, NULL, NULL, NULL)); + fclose(fp); } + return rsa_private.get(); +} - BIO* mem = BIO_new_mem_buf(key.data(), key.size()); - assert(mem); - RSA* rsa_private = PEM_read_bio_RSAPrivateKey(mem, NULL, NULL, NULL); - assert(rsa_private); - auto sig = QByteArray(); - sig.resize(RSA_size(rsa_private)); +QByteArray rsa_sign(const QByteArray &data) { + RSA *rsa_private = get_rsa_private_key(); + if (!rsa_private) return {}; + + QByteArray sig(RSA_size(rsa_private), Qt::Uninitialized); unsigned int sig_len; int ret = RSA_sign(NID_sha256, (unsigned char*)data.data(), data.size(), (unsigned char*)sig.data(), &sig_len, rsa_private); assert(ret == 1); - assert(sig_len == sig.size()); - BIO_free(mem); - RSA_free(rsa_private); + assert(sig.size() == sig_len); return sig; } @@ -57,9 +59,7 @@ QString create_jwt(const QJsonObject &payloads, int expiry) { QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts); auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256); - auto sig = rsa_sign(hash); - jwt += '.' + sig.toBase64(b64_opts); - return jwt; + return jwt + "." + rsa_sign(hash).toBase64(b64_opts); } } // namespace CommaApi diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 5f178e9f8..490eb118c 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -5,6 +5,7 @@ #include +#include "common/swaglog.h" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/ui.h" @@ -118,6 +119,14 @@ void MapWindow::updateState(const UIState &s) { const SubMaster &sm = *(s.sm); update(); + // on rising edge of a valid system time, reinitialize the map to set a new token + if (sm.valid("clocks") && !prev_time_valid) { + LOGW("Time is now valid, reinitializing map"); + m_settings.setApiKey(get_mapbox_token()); + initializeGL(); + } + prev_time_valid = sm.valid("clocks"); + if (sm.updated("liveLocationKalman")) { auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); auto locationd_pos = locationd_location.getPositionGeodetic(); @@ -262,6 +271,10 @@ void MapWindow::initializeGL() { loaded_once = true; } }); + + QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) { + LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); + }); } void MapWindow::paintGL() { diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 8193d5572..31a44f27b 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -51,6 +51,7 @@ private: void setError(const QString &err_str); bool loaded_once = false; + bool prev_time_valid = true; // Panning QPointF m_lastPos; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index d12db3f87..c8245205c 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -17,7 +17,7 @@ void SoftwarePanel::checkForUpdates() { - std::system("pkill -SIGUSR1 -f selfdrive.updated.updated"); + std::system("pkill -SIGUSR1 -f system.updated.updated"); } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { @@ -36,7 +36,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { if (downloadBtn->text() == tr("CHECK")) { checkForUpdates(); } else { - std::system("pkill -SIGHUP -f selfdrive.updated.updated"); + std::system("pkill -SIGHUP -f system.updated.updated"); } }); addItem(downloadBtn); diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 91b5d7bbd..1c6df41d0 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -280,8 +280,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { if (sm["controlsState"].getControlsState().getExperimentalMode()) { #endif // The first half of track_vertices are the points for the right side of the path - // and the indices match the positions of accel from uiPlan - const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel(); + const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX(); const int max_len = std::min(scene.track_vertices.length() / 2, acceleration.size()); for (int i = 0; i < max_len; ++i) { @@ -457,7 +456,7 @@ void AnnotatedCameraWidget::paintGL() { painter.setPen(Qt::NoPen); if (s->scene.world_objects_visible) { - update_model(s, model, sm["uiPlan"].getUiPlan()); + update_model(s, model); drawLaneLines(painter, s); #ifdef DP diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index e4f139626..914b04b65 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -11,6 +11,7 @@ #include #include +#include #include #include @@ -104,6 +105,7 @@ CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); + QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread); } CameraWidget::~CameraWidget() { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index c97038cf4..85ec49873 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -22,7 +22,7 @@ #include #endif -#include "cereal/visionipc/visionipc_client.h" +#include "msgq/visionipc/visionipc_client.h" #include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/ui.h" diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py old mode 100755 new mode 100644 index 94ce26eb4..468bc92cc --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -1,6 +1,3 @@ -#!/usr/bin/env python3 -import unittest - from cereal import car from cereal import messaging from cereal.messaging import SubMaster, PubMaster @@ -11,7 +8,7 @@ import time AudibleAlert = car.CarControl.HUDControl.AudibleAlert -class TestSoundd(unittest.TestCase): +class TestSoundd: def test_check_controls_timeout_alert(self): sm = SubMaster(['controlsState']) pm = PubMaster(['controlsState']) @@ -26,16 +23,13 @@ class TestSoundd(unittest.TestCase): sm.update(0) - self.assertFalse(check_controls_timeout_alert(sm)) + assert not check_controls_timeout_alert(sm) for _ in range(CONTROLS_TIMEOUT * 110): sm.update(0) time.sleep(0.01) - self.assertTrue(check_controls_timeout_alert(sm)) + assert check_controls_timeout_alert(sm) # TODO: add test with micd for checking that soundd actually outputs sounds - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py old mode 100755 new mode 100644 index 8e50695e7..0967152fa --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -1,8 +1,7 @@ -#!/usr/bin/env python3 +import pytest import json import os import re -import unittest import shutil import tempfile import xml.etree.ElementTree as ET @@ -21,7 +20,7 @@ FORMAT_ARG = re.compile("%[0-9]+") @parameterized_class(("name", "file"), translation_files.items()) -class TestTranslations(unittest.TestCase): +class TestTranslations: name: str file: str @@ -32,8 +31,8 @@ class TestTranslations(unittest.TestCase): return f.read() def test_missing_translation_files(self): - self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), - f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py") + assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \ + f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py" def test_translations_updated(self): with tempfile.TemporaryDirectory() as tmpdir: @@ -42,19 +41,19 @@ class TestTranslations(unittest.TestCase): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) new_translations = self._read_translation_file(tmpdir, self.file) - self.assertEqual(cur_translations, new_translations, - f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") + assert cur_translations == new_translations, \ + f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files" - @unittest.skip("Only test unfinished translations before going to release") + @pytest.mark.skip("Only test unfinished translations before going to release") def test_unfinished_translations(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) - self.assertTrue(UNFINISHED_TRANSLATION_TAG not in cur_translations, - f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") + assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \ + f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist" def test_vanished_translations(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) - self.assertTrue("" not in cur_translations, - f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + assert "" not in cur_translations, \ + f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them" def test_finished_translations(self): """ @@ -81,27 +80,27 @@ class TestTranslations(unittest.TestCase): numerusform = [t.text for t in translation.findall("numerusform")] for nf in numerusform: - self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") - self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") - self.assertIsNone(FORMAT_ARG.search(nf), f"Plural translations must use %n, not %1, %2, etc.: {numerusform}") + assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}" + assert "%n" in nf, "Ensure numerus argument (%n) exists in translation." + assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}" else: - self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + assert translation.text is not None, f"Ensure translation is completed: {source_text}" source_args = FORMAT_ARG.findall(source_text) translation_args = FORMAT_ARG.findall(translation.text) - self.assertEqual(sorted(source_args), sorted(translation_args), - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") + assert sorted(source_args) == sorted(translation_args), \ + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`" def test_no_locations(self): for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): - self.assertFalse(line.strip().startswith(LOCATION_TAG), - f"Line contains location tag: {line.strip()}, remove all line numbers.") + assert not line.strip().startswith(LOCATION_TAG), \ + f"Line contains location tag: {line.strip()}, remove all line numbers." def test_entities_error(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) matches = re.findall(r'@(\w+);', cur_translations) - self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'" def test_bad_language(self): IGNORED_WORDS = {'pédale'} @@ -128,7 +127,3 @@ class TestTranslations(unittest.TestCase): words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) bad_words_found = words & (banned_words - IGNORED_WORDS) assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index c83410778..1d33c103a 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -8,11 +8,9 @@ import numpy as np import os import pywinctl import time -import unittest -from parameterized import parameterized from cereal import messaging, car, log -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal.messaging import SubMaster, PubMaster from openpilot.common.mock import mock_messages @@ -122,16 +120,11 @@ TEST_OUTPUT_DIR = TEST_DIR / "report" SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" -class TestUI(unittest.TestCase): - @classmethod - def setUpClass(cls): +class TestUI: + def __init__(self): os.environ["SCALE"] = "1" sys.modules["mouseinfo"] = False - @classmethod - def tearDownClass(cls): - del sys.modules["mouseinfo"] - def setup(self): self.sm = SubMaster(["uiDebug"]) self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman']) @@ -147,8 +140,8 @@ class TestUI(unittest.TestCase): def screenshot(self): import pyautogui im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) - self.assertEqual(im.width, 2160) - self.assertEqual(im.height, 1080) + assert im.width == 2160 + assert im.height == 1080 img = np.array(im) im.close() return img @@ -158,7 +151,6 @@ class TestUI(unittest.TestCase): pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) time.sleep(UI_DELAY) # give enough time for the UI to react - @parameterized.expand(CASES.items()) @with_processes(["ui"]) def test_ui(self, name, setup_case): self.setup() @@ -188,7 +180,10 @@ def create_screenshots(): shutil.rmtree(TEST_OUTPUT_DIR) SCREENSHOTS_DIR.mkdir(parents=True) - unittest.main(exit=False) + + t = TestUI() + for name, setup in CASES.items(): + t.test_ui(name, setup) if __name__ == "__main__": print("creating test screenshots") diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 306678363..32119ee10 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -299,11 +299,11 @@ Pair Device - + 配对设备 PAIR - + 配对 @@ -487,23 +487,23 @@ OnroadAlerts openpilot Unavailable - + 无法使用 openpilot Waiting for controls to start - + 等待控制服务啟動 TAKE CONTROL IMMEDIATELY - + 立即接管 Controls Unresponsive - + 控制服务无响应 Reboot Device - + 重启设备 @@ -628,7 +628,7 @@ now - + 现在 @@ -1152,11 +1152,11 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - + 推荐使用标准模式。在积极模式下，openpilot 会更靠近前方车辆，并在油门和刹车方面更加激进。在放松模式下，openpilot 会与前方车辆保持更远距离。在支持的车型上，你可以使用方向盘上的距离按钮来循环切换这些驾驶风格。 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + 在低速时，驾驶可视化将转换为道路朝向的广角摄像头，以更好地展示某些转弯。测试模式标志也将显示在右上角。 Always-On Driver Monitoring diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 8d0df30f9..9d1c16db9 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -247,11 +247,11 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重設的情況。 + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 Your device is pointed %1° %2 and %3° %4. - 你的設備目前朝%2 %1° 以及朝%4 %3° 。 + 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 down @@ -295,15 +295,15 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + 將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 Pair Device - + 配對裝置 PAIR - + 配對 @@ -437,11 +437,11 @@ An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - 一個給您設備的操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 + 一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - 設備註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方設備，請訪問 https://comma.ai/support 。 + 裝置註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方裝置，請訪問 https://comma.ai/support 。 NVMe drive not mounted. @@ -449,7 +449,7 @@ Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - 檢測到不支援的 NVMe 固態硬碟。您的設備因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。 + 檢測到不支援的 NVMe 固態硬碟。您的裝置因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。 openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. @@ -461,11 +461,11 @@ openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 + openpilot 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - 設備溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 + 裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 @@ -487,30 +487,30 @@ OnroadAlerts openpilot Unavailable - + 無法使用 openpilot Waiting for controls to start - + 等待操控服務開始 TAKE CONTROL IMMEDIATELY - + 立即接管 Controls Unresponsive - + 操控服務沒有反應 Reboot Device - + 請重新啟裝置 PairingPopup Pair your device to your comma account - 將設備與您的 comma 帳號配對 + 將裝置與您的 comma 帳號配對 Go to https://connect.comma.ai on your phone @@ -628,7 +628,7 @@ now - + 現在 @@ -639,7 +639,7 @@ Are you sure you want to reset your device? - 您確定要重設你的設備嗎？ + 您確定要重設你的裝置嗎？ System Reset @@ -659,12 +659,12 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。 + 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重置。 Resetting device... This may take up to a minute. - 設備重設中… + 重置中… 這可能需要一分鐘的時間。 @@ -680,7 +680,7 @@ This may take up to a minute. Device - 設備 + 裝置 Network @@ -755,7 +755,7 @@ This may take up to a minute. Ensure the entered URL is valid, and the device’s internet connection is good. - 請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。 + 請確定您輸入的是有效的安裝網址，並且確定裝置的網路連線狀態良好。 Reboot device @@ -771,7 +771,7 @@ This may take up to a minute. Something went wrong. Reboot the device. - 發生了一些錯誤。請重新啟動您的設備。 + 發生了一些錯誤。請重新啟動您的裝置。 Select a language @@ -798,11 +798,11 @@ This may take up to a minute. Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + 將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 Pair device - 配對設備 + 配對裝置 @@ -1152,11 +1152,11 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - + 建議使用標準模式。在積極模式下，openpilot 會更接近前車並更積極地使用油門和剎車。在輕鬆模式下，openpilot 會與前車保持較遠距離。對於支援的汽車，您可以使用方向盤上的距離按鈕來切換這些駕駛風格。 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + 在低速時，駕駛可視化將切換至道路朝向的廣角攝影機，以更好地顯示某些彎道。在右上角還會顯示「實驗模式」的標誌。 Always-On Driver Monitoring @@ -1175,7 +1175,7 @@ This may take up to a minute. An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - 設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。 + 需要進行作業系統更新。建議將您的裝置連接上 Wi-Fi 獲得更快的更新下載。下載大小約為 1GB。 Connect to Wi-Fi diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 6b915624f..dc22213aa 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -57,37 +57,30 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - QPolygonF left_points, right_points; - left_points.reserve(max_idx + 1); - right_points.reserve(max_idx + 1); - + QPointF left, right; + pvd->clear(); for (int i = 0; i <= max_idx; i++) { // highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera if (line_x[i] < 0) continue; - QPointF left, right; + bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); if (l && r) { // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts - if (!allow_invert && left_points.size() && left.y() > left_points.back().y()) { + if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) { continue; } - left_points.push_back(left); - right_points.push_front(right); + pvd->push_back(left); + pvd->push_front(right); } } - *pvd = left_points + right_points; } void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model, - const cereal::UiPlan::Reader &plan) { + const cereal::ModelDataV2::Reader &model) { UIScene &scene = s->scene; - auto plan_position = plan.getPosition(); - if (plan_position.getX().size() < model.getPosition().getX().size()) { - plan_position = model.getPosition(); - } - float max_distance = std::clamp(*(plan_position.getX().end() - 1), + auto model_position = model.getPosition(); + float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines @@ -113,8 +106,8 @@ void update_model(UIState *s, const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); } - max_idx = get_path_length_idx(plan_position, max_distance); - update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); + max_idx = get_path_length_idx(model_position, max_distance); + update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); } void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { @@ -128,25 +121,27 @@ void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &drivers scene.driver_pose_coss[i] = cosf(scene.driver_pose_vals[i]*(1.0-dm_fade_state)); } + auto [sin_y, sin_x, sin_z] = scene.driver_pose_sins; + auto [cos_y, cos_x, cos_z] = scene.driver_pose_coss; + const mat3 r_xyz = (mat3){{ - scene.driver_pose_coss[1]*scene.driver_pose_coss[2], - scene.driver_pose_coss[1]*scene.driver_pose_sins[2], - -scene.driver_pose_sins[1], + cos_x * cos_z, + cos_x * sin_z, + -sin_x, - -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_coss[0]*scene.driver_pose_sins[2], - -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_coss[0]*scene.driver_pose_coss[2], - -scene.driver_pose_sins[0]*scene.driver_pose_coss[1], + -sin_y * sin_x * cos_z - cos_y * sin_z, + -sin_y * sin_x * sin_z + cos_y * cos_z, + -sin_y * cos_x, - scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_sins[0]*scene.driver_pose_sins[2], - scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_sins[0]*scene.driver_pose_coss[2], - scene.driver_pose_coss[0]*scene.driver_pose_coss[1], + cos_y * sin_x * cos_z - sin_y * sin_z, + cos_y * sin_x * sin_z + sin_y * cos_z, + cos_y * cos_x, }}; // transform vertices for (int kpi = 0; kpi < std::size(default_face_kpts_3d); kpi++) { - vec3 kpt_this = default_face_kpts_3d[kpi]; - kpt_this = matvecmul3(r_xyz, kpt_this); - scene.face_kpts_draw[kpi] = (vec3){{(float)kpt_this.v[0], (float)kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}}; + vec3 kpt_this = matvecmul3(r_xyz, default_face_kpts_3d[kpi]); + scene.face_kpts_draw[kpi] = (vec3){{kpt_this.v[0], kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}}; } } @@ -213,8 +208,7 @@ static void update_state(UIState *s) { scene.world_objects_visible = scene.world_objects_visible || (scene.started && sm.rcv_frame("liveCalibration") > scene.started_frame && - sm.rcv_frame("modelV2") > scene.started_frame && - sm.rcv_frame("uiPlan") > scene.started_frame); + sm.rcv_frame("modelV2") > scene.started_frame); // dp scene.alka_enabled = sm["controlsStateExt"].getControlsStateExt().getAlkaEnabled(); @@ -253,7 +247,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks", // dp // alka diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 4607dd71c..d6a538c3a 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -201,8 +201,7 @@ Device *device(); void ui_update_params(UIState *s); int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model, - const cereal::UiPlan::Reader &plan); + const cereal::ModelDataV2::Reader &model); void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, diff --git a/selfdrive/boardd/__init__.py b/system/athena/__init__.py similarity index 100% rename from selfdrive/boardd/__init__.py rename to system/athena/__init__.py diff --git a/selfdrive/athena/athenad.py b/system/athena/athenad.py similarity index 100% rename from selfdrive/athena/athenad.py rename to system/athena/athenad.py diff --git a/selfdrive/athena/manage_athenad.py b/system/athena/manage_athenad.py similarity index 88% rename from selfdrive/athena/manage_athenad.py rename to system/athena/manage_athenad.py index 2ec92cc3e..f5ab81720 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/system/athena/manage_athenad.py @@ -4,7 +4,7 @@ import time from multiprocessing import Process from openpilot.common.params import Params -from openpilot.selfdrive.manager.process import launcher +from openpilot.system.manager.process import launcher from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE from openpilot.system.version import get_build_metadata @@ -28,7 +28,7 @@ def main(): try: while 1: cloudlog.info("starting athena daemon") - proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad')) + proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad')) proc.start() proc.join() cloudlog.event("athenad exited", exitcode=proc.exitcode) diff --git a/selfdrive/athena/registration.py b/system/athena/registration.py similarity index 96% rename from selfdrive/athena/registration.py rename to system/athena/registration.py index 6574d9ac2..97289e419 100755 --- a/selfdrive/athena/registration.py +++ b/system/athena/registration.py @@ -4,7 +4,7 @@ import json import jwt from pathlib import Path -from datetime import datetime, timedelta +from datetime import datetime, timedelta, UTC from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.spinner import Spinner @@ -66,7 +66,7 @@ def register(show_spinner=False) -> str | None: start_time = time.monotonic() while True: try: - register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256') + register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256') cloudlog.info("getting pilotauth") resp = api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token) diff --git a/selfdrive/boardd/tests/__init__.py b/system/athena/tests/__init__.py similarity index 100% rename from selfdrive/boardd/tests/__init__.py rename to system/athena/tests/__init__.py diff --git a/selfdrive/athena/tests/helpers.py b/system/athena/tests/helpers.py similarity index 95% rename from selfdrive/athena/tests/helpers.py rename to system/athena/tests/helpers.py index 322e9d81d..a0a9cccdc 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/system/athena/tests/helpers.py @@ -9,7 +9,7 @@ class MockResponse: self.status_code = status_code -class EchoSocket(): +class EchoSocket: def __init__(self, port): self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.socket.bind(('127.0.0.1', port)) @@ -34,7 +34,7 @@ class EchoSocket(): self.socket.close() -class MockApi(): +class MockApi: def __init__(self, dongle_id): pass @@ -42,7 +42,7 @@ class MockApi(): return "fake-token" -class MockWebsocket(): +class MockWebsocket: sock = socket.socket() def __init__(self, recv_queue, send_queue): diff --git a/selfdrive/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py old mode 100755 new mode 100644 similarity index 69% rename from selfdrive/athena/tests/test_athenad.py rename to system/athena/tests/test_athenad.py index 4850ab9a3..48519a0ff --- a/selfdrive/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -1,5 +1,5 @@ -#!/usr/bin/env python3 -from functools import partial, wraps +import pytest +from functools import wraps import json import multiprocessing import os @@ -8,12 +8,9 @@ import shutil import time import threading import queue -import unittest from dataclasses import asdict, replace from datetime import datetime, timedelta -from parameterized import parameterized -from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException @@ -21,10 +18,10 @@ from cereal import messaging from openpilot.common.params import Params from openpilot.common.timeout import Timeout -from openpilot.selfdrive.athena import athenad -from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket -from openpilot.selfdrive.test.helpers import with_http_server +from openpilot.system.athena import athenad +from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher +from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket +from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths @@ -37,10 +34,6 @@ def seed_athena_server(host, port): except requests.exceptions.ConnectionError: time.sleep(0.1) - -with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server) - - def with_upload_handler(func): @wraps(func) def wrapper(*args, **kwargs): @@ -54,15 +47,23 @@ def with_upload_handler(func): thread.join() return wrapper +@pytest.fixture +def mock_create_connection(mocker): + return mocker.patch('openpilot.system.athena.athenad.create_connection') -class TestAthenadMethods(unittest.TestCase): +@pytest.fixture +def host(): + with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port): + yield f"http://{host}:{port}" + +class TestAthenadMethods: @classmethod - def setUpClass(cls): + def setup_class(cls): cls.SOCKET_PORT = 45454 athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} - def setUp(self): + def setup_method(self): self.default_params = { "DongleId": "0000000000000000", "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 @@ -109,8 +110,8 @@ class TestAthenadMethods(unittest.TestCase): def test_echo(self): assert dispatcher["echo"]("bob") == "bob" - def test_getMessage(self): - with self.assertRaises(TimeoutError) as _: + def test_get_message(self): + with pytest.raises(TimeoutError) as _: dispatcher["getMessage"]("controlsState") end_event = multiprocessing.Event() @@ -133,7 +134,7 @@ class TestAthenadMethods(unittest.TestCase): end_event.set() p.join() - def test_listDataDirectory(self): + def test_list_data_directory(self): route = '2021-03-29--13-32-47' segments = [0, 1, 2, 3, 11] @@ -143,69 +144,66 @@ class TestAthenadMethods(unittest.TestCase): self._create_file(file) resp = dispatcher["listDataDirectory"]() - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, files) + assert resp, 'list empty!' + assert len(resp) == len(files) resp = dispatcher["listDataDirectory"](f'{route}--123') - self.assertCountEqual(resp, []) + assert len(resp) == 0 prefix = f'{route}' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) prefix = f'{route}--1' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) prefix = f'{route}--1/' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) prefix = f'{route}--1/q' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) def test_strip_bz2_extension(self): fn = self._create_file('qlog.bz2') if fn.endswith('.bz2'): - self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) + assert athenad.strip_bz2_extension(fn) == fn[:-4] - @parameterized.expand([(True,), (False,)]) - @with_mock_athena - def test_do_upload(self, compress, host): + @pytest.mark.parametrize("compress", [True, False]) + def test_do_upload(self, host, compress): # random bytes to ensure rather large object post-compression fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) upload_fn = fn + ('.bz2' if compress else '') item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') - with self.assertRaises(requests.exceptions.ConnectionError): + with pytest.raises(requests.exceptions.ConnectionError): athenad._do_upload(item) item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='') resp = athenad._do_upload(item) - self.assertEqual(resp.status_code, 201) + assert resp.status_code == 201 - @with_mock_athena - def test_uploadFileToUrl(self, host): + def test_upload_file_to_url(self, host): fn = self._create_file('qlog.bz2') resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) - self.assertEqual(resp['enqueued'], 1) - self.assertNotIn('failed', resp) - self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items()) - self.assertIsNotNone(resp['items'][0].get('id')) - self.assertEqual(athenad.upload_queue.qsize(), 1) + assert resp['enqueued'] == 1 + assert 'failed' not in resp + assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items() + assert resp['items'][0].get('id') is not None + assert athenad.upload_queue.qsize() == 1 - @with_mock_athena - def test_uploadFileToUrl_duplicate(self, host): + def test_upload_file_to_url_duplicate(self, host): self._create_file('qlog.bz2') url1 = f"{host}/qlog.bz2?sig=sig1" @@ -214,14 +212,12 @@ class TestAthenadMethods(unittest.TestCase): # Upload same file again, but with different signature url2 = f"{host}/qlog.bz2?sig=sig2" resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) - self.assertEqual(resp, {'enqueued': 0, 'items': []}) + assert resp == {'enqueued': 0, 'items': []} - @with_mock_athena - def test_uploadFileToUrl_does_not_exist(self, host): + def test_upload_file_to_url_does_not_exist(self, host): not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) - self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) + assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']} - @with_mock_athena @with_upload_handler def test_upload_handler(self, host): fn = self._create_file('qlog.bz2') @@ -233,13 +229,12 @@ class TestAthenadMethods(unittest.TestCase): # TODO: verify that upload actually succeeded # TODO: also check that end_event and metered network raises AbortTransferException - self.assertEqual(athenad.upload_queue.qsize(), 0) + assert athenad.upload_queue.qsize() == 0 - @parameterized.expand([(500, True), (412, False)]) - @with_mock_athena - @mock.patch('requests.put') + @pytest.mark.parametrize("status,retry", [(500,True), (412,False)]) @with_upload_handler - def test_upload_handler_retry(self, status, retry, mock_put, host): + def test_upload_handler_retry(self, mocker, host, status, retry): + mock_put = mocker.patch('requests.put') mock_put.return_value.status_code = status fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -248,10 +243,10 @@ class TestAthenadMethods(unittest.TestCase): self._wait_for_upload() time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0) + assert athenad.upload_queue.qsize() == (1 if retry else 0) if retry: - self.assertEqual(athenad.upload_queue.get().retry_count, 1) + assert athenad.upload_queue.get().retry_count == 1 @with_upload_handler def test_upload_handler_timeout(self): @@ -265,33 +260,33 @@ class TestAthenadMethods(unittest.TestCase): time.sleep(0.1) # Check that upload with retry count exceeded is not put back - self.assertEqual(athenad.upload_queue.qsize(), 0) + assert athenad.upload_queue.qsize() == 0 athenad.upload_queue.put_nowait(item) self._wait_for_upload() time.sleep(0.1) # Check that upload item was put back in the queue with incremented retry count - self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertEqual(athenad.upload_queue.get().retry_count, 1) + assert athenad.upload_queue.qsize() == 1 + assert athenad.upload_queue.get().retry_count == 1 @with_upload_handler - def test_cancelUpload(self): + def test_cancel_upload(self): item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) dispatcher["cancelUpload"](item.id) - self.assertIn(item.id, athenad.cancelled_uploads) + assert item.id in athenad.cancelled_uploads self._wait_for_upload() time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 0) - self.assertEqual(len(athenad.cancelled_uploads), 0) + assert athenad.upload_queue.qsize() == 0 + assert len(athenad.cancelled_uploads) == 0 @with_upload_handler - def test_cancelExpiry(self): + def test_cancel_expiry(self): t_future = datetime.now() - timedelta(days=40) ts = int(t_future.strftime("%s")) * 1000 @@ -303,15 +298,14 @@ class TestAthenadMethods(unittest.TestCase): self._wait_for_upload() time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 0) + assert athenad.upload_queue.qsize() == 0 - def test_listUploadQueueEmpty(self): + def test_list_upload_queue_empty(self): items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 0) + assert len(items) == 0 - @with_http_server @with_upload_handler - def test_listUploadQueueCurrent(self, host: str): + def test_list_upload_queue_current(self, host: str): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -319,22 +313,22 @@ class TestAthenadMethods(unittest.TestCase): self._wait_for_upload() items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 1) - self.assertTrue(items[0]['current']) + assert len(items) == 1 + assert items[0]['current'] - def test_listUploadQueue(self): + def test_list_upload_queue(self): item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 1) - self.assertDictEqual(items[0], asdict(item)) - self.assertFalse(items[0]['current']) + assert len(items) == 1 + assert items[0] == asdict(item) + assert not items[0]['current'] athenad.cancelled_uploads.add(item.id) items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 0) + assert len(items) == 0 def test_upload_queue_persistence(self): item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') @@ -353,11 +347,10 @@ class TestAthenadMethods(unittest.TestCase): athenad.upload_queue.queue.clear() athenad.UploadQueueCache.initialize(athenad.upload_queue) - self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) + assert athenad.upload_queue.qsize() == 1 + assert asdict(athenad.upload_queue.queue[-1]) == asdict(item1) - @mock.patch('openpilot.selfdrive.athena.athenad.create_connection') - def test_startLocalProxy(self, mock_create_connection): + def test_start_local_proxy(self, mock_create_connection): end_event = threading.Event() ws_recv = queue.Queue() @@ -380,21 +373,21 @@ class TestAthenadMethods(unittest.TestCase): ws_recv.put_nowait(WebSocketConnectionClosedException()) socket_thread.join() - def test_getSshAuthorizedKeys(self): + def test_get_ssh_authorized_keys(self): keys = dispatcher["getSshAuthorizedKeys"]() - self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8')) + assert keys == self.default_params["GithubSshKeys"].decode('utf-8') - def test_getGithubUsername(self): + def test_get_github_username(self): keys = dispatcher["getGithubUsername"]() - self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8')) + assert keys == self.default_params["GithubUsername"].decode('utf-8') - def test_getVersion(self): + def test_get_version(self): resp = dispatcher["getVersion"]() keys = ["version", "remote", "branch", "commit"] - self.assertEqual(list(resp.keys()), keys) + assert list(resp.keys()) == keys for k in keys: - self.assertIsInstance(resp[k], str, f"{k} is not a string") - self.assertTrue(len(resp[k]) > 0, f"{k} has no value") + assert isinstance(resp[k], str), f"{k} is not a string" + assert len(resp[k]) > 0, f"{k} has no value" def test_jsonrpc_handler(self): end_event = threading.Event() @@ -405,15 +398,15 @@ class TestAthenadMethods(unittest.TestCase): # with params athenad.recv_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0})) resp = athenad.send_queue.get(timeout=3) - self.assertDictEqual(json.loads(resp), {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'}) + assert json.loads(resp) == {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'} # without params athenad.recv_queue.put_nowait(json.dumps({"method": "getNetworkType", "jsonrpc": "2.0", "id": 0})) resp = athenad.send_queue.get(timeout=3) - self.assertDictEqual(json.loads(resp), {'result': 1, 'id': 0, 'jsonrpc': '2.0'}) + assert json.loads(resp) == {'result': 1, 'id': 0, 'jsonrpc': '2.0'} # log forwarding athenad.recv_queue.put_nowait(json.dumps({'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'})) resp = athenad.log_recv_queue.get(timeout=3) - self.assertDictEqual(json.loads(resp), {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'}) + assert json.loads(resp) == {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'} finally: end_event.set() thread.join() @@ -427,8 +420,4 @@ class TestAthenadMethods(unittest.TestCase): # ensure the list is all logs except most recent sl = athenad.get_logs_to_send_sorted() - self.assertListEqual(sl, fl[:-1]) - - -if __name__ == '__main__': - unittest.main() + assert sl == fl[:-1] diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py old mode 100755 new mode 100644 similarity index 65% rename from selfdrive/athena/tests/test_athenad_ping.py rename to system/athena/tests/test_athenad_ping.py index f56fcac8b..73fe7783a --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/system/athena/tests/test_athenad_ping.py @@ -1,15 +1,13 @@ -#!/usr/bin/env python3 +import pytest import subprocess import threading import time -import unittest from typing import cast -from unittest import mock from openpilot.common.params import Params from openpilot.common.timeout import Timeout -from openpilot.selfdrive.athena import athenad -from openpilot.selfdrive.manager.helpers import write_onroad_params +from openpilot.system.athena import athenad +from openpilot.system.manager.helpers import write_onroad_params from openpilot.system.hardware import TICI TIMEOUT_TOLERANCE = 20 # seconds @@ -22,7 +20,7 @@ def wifi_radio(on: bool) -> None: subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True) -class TestAthenadPing(unittest.TestCase): +class TestAthenadPing: params: Params dongle_id: str @@ -39,10 +37,10 @@ class TestAthenadPing(unittest.TestCase): return self._get_ping_time() is not None @classmethod - def tearDownClass(cls) -> None: + def teardown_class(cls) -> None: wifi_radio(True) - def setUp(self) -> None: + def setup_method(self) -> None: self.params = Params() self.dongle_id = self.params.get("DongleId", encoding="utf-8") @@ -52,21 +50,23 @@ class TestAthenadPing(unittest.TestCase): self.exit_event = threading.Event() self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,)) - def tearDown(self) -> None: + def teardown_method(self) -> None: if self.athenad.is_alive(): self.exit_event.set() self.athenad.join() - @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection)) - def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None: + def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None: self.athenad.start() + mock_create_connection = mocker.patch('openpilot.system.athena.athenad.create_connection', + new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection)) + time.sleep(1) mock_create_connection.assert_called_once() mock_create_connection.reset_mock() # check normal behaviour, server pings on connection - with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"): + with subtests.test("Wi-Fi: receives ping"), Timeout(70, "no ping received"): while not self._received_ping(): time.sleep(0.1) print("ping received") @@ -74,7 +74,7 @@ class TestAthenadPing(unittest.TestCase): mock_create_connection.assert_not_called() # websocket should attempt reconnect after short time - with self.subTest("LTE: attempt reconnect"): + with subtests.test("LTE: attempt reconnect"): wifi_radio(False) print("waiting for reconnect attempt") start_time = time.monotonic() @@ -86,21 +86,17 @@ class TestAthenadPing(unittest.TestCase): self._clear_ping_time() # check ping received after reconnect - with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"): + with subtests.test("LTE: receives ping"), Timeout(70, "no ping received"): while not self._received_ping(): time.sleep(0.1) print("ping received") - @unittest.skipIf(not TICI, "only run on desk") - def test_offroad(self) -> None: + @pytest.mark.skipif(not TICI, reason="only run on desk") + def test_offroad(self, subtests, mocker) -> None: write_onroad_params(False, self.params) - self.assertTimeout(60 + TIMEOUT_TOLERANCE) # based using TCP keepalive settings + self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker) # based using TCP keepalive settings - @unittest.skipIf(not TICI, "only run on desk") - def test_onroad(self) -> None: + @pytest.mark.skipif(not TICI, reason="only run on desk") + def test_onroad(self, subtests, mocker) -> None: write_onroad_params(True, self.params) - self.assertTimeout(21 + TIMEOUT_TOLERANCE) - - -if __name__ == "__main__": - unittest.main() + self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker) diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py new file mode 100644 index 000000000..4f663fbc0 --- /dev/null +++ b/system/athena/tests/test_registration.py @@ -0,0 +1,74 @@ +import json +from Crypto.PublicKey import RSA +from pathlib import Path + +from openpilot.common.params import Params +from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.system.athena.tests.helpers import MockResponse +from openpilot.system.hardware.hw import Paths + + +class TestRegistration: + + def setup_method(self): + # clear params and setup key paths + self.params = Params() + self.params.clear_all() + + persist_dir = Path(Paths.persist_root()) / "comma" + persist_dir.mkdir(parents=True, exist_ok=True) + + self.priv_key = persist_dir / "id_rsa" + self.pub_key = persist_dir / "id_rsa.pub" + + def _generate_keys(self): + self.pub_key.touch() + k = RSA.generate(2048) + with open(self.priv_key, "wb") as f: + f.write(k.export_key()) + with open(self.pub_key, "wb") as f: + f.write(k.publickey().export_key()) + + def test_valid_cache(self, mocker): + # if all params are written, return the cached dongle id + self.params.put("IMEI", "imei") + self.params.put("HardwareSerial", "serial") + self._generate_keys() + + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) + dongle = "DONGLE_ID_123" + self.params.put("DongleId", dongle) + assert register() == dongle + assert not m.called + + def test_no_keys(self, mocker): + # missing pubkey + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) + dongle = register() + assert m.call_count == 0 + assert dongle == UNREGISTERED_DONGLE_ID + assert self.params.get("DongleId", encoding='utf-8') == dongle + + def test_missing_cache(self, mocker): + # keys exist but no dongle id + self._generate_keys() + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) + dongle = "DONGLE_ID_123" + m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) + assert register() == dongle + assert m.call_count == 1 + + # call again, shouldn't hit the API this time + assert register() == dongle + assert m.call_count == 1 + assert self.params.get("DongleId", encoding='utf-8') == dongle + + def test_unregistered(self, mocker): + # keys exist, but unregistered + self._generate_keys() + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) + m.return_value = MockResponse(None, 402) + dongle = register() + assert m.call_count == 1 + assert dongle == UNREGISTERED_DONGLE_ID + assert self.params.get("DongleId", encoding='utf-8') == dongle diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 8f19e7ee1..511664c27 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') +Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] +libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic'] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 587968fcc..555362ab8 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -5,7 +5,7 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_server.h" #include "common/queue.h" #include "common/util.h" diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 8c1b6084c..4ba38c1df 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -6,12 +6,12 @@ import numpy as np from PIL import Image import cereal.messaging as messaging -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.system.hardware import PC from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes VISION_STREAMS = { @@ -83,7 +83,7 @@ def snapshot(): front_camera_allowed = params.get_bool("RecordFront") params.put_bool("IsTakingSnapshot", True) set_offroad_alert("Offroad_IsTakingSnapshot", True) - time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start + time.sleep(2.0) # Give hardwared time to read the param, or if just started give camerad time to start # Check if camerad is already started try: diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py old mode 100755 new mode 100644 index 408115607..ada959489 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import time import numpy as np @@ -8,7 +7,7 @@ from collections import defaultdict import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes TEST_TIMESPAN = 30 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py old mode 100755 new mode 100644 index 50467f9db..dbe6f3d88 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 import time -import unittest import numpy as np from openpilot.selfdrive.test.helpers import with_processes, phone_only @@ -9,9 +7,9 @@ from openpilot.system.camerad.snapshot.snapshot import get_snapshots TEST_TIME = 45 REPEAT = 5 -class TestCamerad(unittest.TestCase): +class TestCamerad: @classmethod - def setUpClass(cls): + def setup_class(cls): pass def _numpy_rgb2gray(self, im): @@ -49,7 +47,4 @@ class TestCamerad(unittest.TestCase): passed += int(res) time.sleep(2) - self.assertGreaterEqual(passed, REPEAT) - -if __name__ == "__main__": - unittest.main() + assert passed >= REPEAT diff --git a/system/hardware/base.h b/system/hardware/base.h index dc2282a93..ca24633a1 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -5,7 +5,7 @@ #include #include -#include "cereal/messaging/messaging.h" +#include "cereal/gen/cpp/log.capnp.h" // no-op base hw class class HardwareNone { diff --git a/selfdrive/thermald/fan_controller.py b/system/hardware/fan_controller.py similarity index 94% rename from selfdrive/thermald/fan_controller.py rename to system/hardware/fan_controller.py index 19c3292ce..f32133f6b 100755 --- a/selfdrive/thermald/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from abc import ABC, abstractmethod -from openpilot.common.realtime import DT_TRML +from openpilot.common.realtime import DT_HW from openpilot.common.numpy_fast import interp from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.pid import PIDController @@ -18,7 +18,7 @@ class TiciFanController(BaseFanController): cloudlog.info("Setting up TICI fan handler") self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML)) + self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW)) def update(self, cur_temp: float, ignition: bool) -> int: self.controller.neg_limit = -(100 if ignition else 30) diff --git a/selfdrive/thermald/thermald.py b/system/hardware/hardwared.py similarity index 96% rename from selfdrive/thermald/thermald.py rename to system/hardware/hardwared.py index f5fc94963..e3a4c8171 100755 --- a/selfdrive/thermald/thermald.py +++ b/system/hardware/hardwared.py @@ -15,14 +15,14 @@ from cereal.services import SERVICE_LIST from openpilot.common.dict_helpers import strip_deprecated_keys from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params -from openpilot.common.realtime import DT_TRML +from openpilot.common.realtime import DT_HW from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.loggerd.config import get_available_percent -from openpilot.selfdrive.statsd import statlog +from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring -from openpilot.selfdrive.thermald.fan_controller import TiciFanController +from openpilot.system.hardware.power_monitoring import PowerMonitoring +from openpilot.system.hardware.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus @@ -106,7 +106,7 @@ def hw_state_thread(end_event, hw_queue): while not end_event.is_set(): # these are expensive calls. update every 10s - if (count % int(10. / DT_TRML)) == 0: + if (count % int(10. / DT_HW)) == 0: try: network_type = HARDWARE.get_network_type() modem_temps = HARDWARE.get_modem_temperatures() @@ -159,10 +159,10 @@ def hw_state_thread(end_event, hw_queue): cloudlog.exception("Error getting hardware state") count += 1 - time.sleep(DT_TRML) + time.sleep(DT_HW) -def thermald_thread(end_event, hw_queue) -> None: +def hardware_thread(end_event, hw_queue) -> None: pm = messaging.PubMaster(['deviceState']) sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates") @@ -190,8 +190,8 @@ def thermald_thread(end_event, hw_queue) -> None: modem_temps=[], ) - all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) - offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) + all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False) + offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False) should_start_prev = False in_car = False engaged_prev = False @@ -232,7 +232,7 @@ def thermald_thread(end_event, hw_queue) -> None: # Run at 2Hz, plus rising edge of ignition ign_edge = started_ts is None and onroad_conditions["ignition"] - if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge: + if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge: continue msg = read_thermal(thermal_config) @@ -349,7 +349,7 @@ def thermald_thread(end_event, hw_queue) -> None: try: with open('/dev/kmsg', 'w') as kmsg: - kmsg.write(f"<3>[thermald] engaged: {engaged}\n") + kmsg.write(f"<3>[hardware] engaged: {engaged}\n") except Exception: pass @@ -423,7 +423,7 @@ def thermald_thread(end_event, hw_queue) -> None: # report to server once every 10 minutes rising_edge_started = should_start and not should_start_prev - if rising_edge_started or (count % int(600. / DT_TRML)) == 0: + if rising_edge_started or (count % int(600. / DT_HW)) == 0: dat = { 'count': count, 'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates], @@ -452,7 +452,7 @@ def main(): threads = [ threading.Thread(target=hw_state_thread, args=(end_event, hw_queue)), - threading.Thread(target=thermald_thread, args=(end_event, hw_queue)), + threading.Thread(target=hardware_thread, args=(end_event, hw_queue)), ] for t in threads: diff --git a/selfdrive/thermald/power_monitoring.py b/system/hardware/power_monitoring.py similarity index 99% rename from selfdrive/thermald/power_monitoring.py rename to system/hardware/power_monitoring.py index 073589edb..5a94625b4 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/system/hardware/power_monitoring.py @@ -4,7 +4,7 @@ import threading from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.statsd import statlog +from openpilot.system.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) diff --git a/selfdrive/manager/__init__.py b/system/hardware/tests/__init__.py similarity index 100% rename from selfdrive/manager/__init__.py rename to system/hardware/tests/__init__.py diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py new file mode 100644 index 000000000..002c1edfd --- /dev/null +++ b/system/hardware/tests/test_fan_controller.py @@ -0,0 +1,50 @@ +import pytest + +from openpilot.system.hardware.fan_controller import TiciFanController + +ALL_CONTROLLERS = [TiciFanController] + +def patched_controller(mocker, controller_class): + mocker.patch("os.system", new=mocker.Mock()) + return controller_class() + +class TestFanController: + def wind_up(self, controller, ignition=True): + for _ in range(1000): + controller.update(100, ignition) + + def wind_down(self, controller, ignition=False): + for _ in range(1000): + controller.update(10, ignition) + + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_hot_onroad(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) + self.wind_up(controller) + assert controller.update(100, True) >= 70 + + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_offroad_limits(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) + self.wind_up(controller) + assert controller.update(100, False) <= 30 + + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_no_fan_wear(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) + self.wind_down(controller) + assert controller.update(10, False) == 0 + + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_limited(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) + self.wind_up(controller, True) + assert controller.update(100, True) == 100 + + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_windup_speed(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) + self.wind_down(controller, True) + for _ in range(10): + controller.update(90, True) + assert controller.update(90, True) >= 60 diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py new file mode 100644 index 000000000..1dff6c6c5 --- /dev/null +++ b/system/hardware/tests/test_power_monitoring.py @@ -0,0 +1,199 @@ +import pytest + +from openpilot.common.params import Params +from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ + CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S + +# Create fake time +ssb = 0. +def mock_time_monotonic(): + global ssb + ssb += 1. + return ssb + +TEST_DURATION_S = 50 +GOOD_VOLTAGE = 12 * 1e3 +VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 + +def pm_patch(mocker, name, value, constant=False): + if constant: + mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", value) + else: + mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value) + + +@pytest.fixture(autouse=True) +def mock_time(mocker): + mocker.patch("time.monotonic", mock_time_monotonic) + + +class TestPowerMonitoring: + def setup_method(self): + self.params = Params() + + # Test to see that it doesn't do anything when pandaState is None + def test_panda_state_present(self): + pm = PowerMonitoring() + for _ in range(10): + pm.calculate(None, None) + assert pm.get_power_used() == 0 + assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10) + + # Test to see that it doesn't integrate offroad when ignition is True + def test_offroad_ignition(self): + pm = PowerMonitoring() + for _ in range(10): + pm.calculate(GOOD_VOLTAGE, True) + assert pm.get_power_used() == 0 + + # Test to see that it integrates with discharging battery + def test_offroad_integration_discharging(self, mocker): + POWER_DRAW = 4 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, False) + expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) + assert abs(pm.get_power_used() - expected_power_usage) < 10 + + # Test to check positive integration of car_battery_capacity + def test_car_battery_integration_onroad(self, mocker): + POWER_DRAW = 4 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 0 + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, True) + expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6) + assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10 + + # Test to check positive integration upper limit + def test_car_battery_integration_upper_limit(self, mocker): + POWER_DRAW = 4 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000 + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, True) + estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6) + assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10 + + # Test to check negative integration of car_battery_capacity + def test_car_battery_integration_offroad(self, mocker): + POWER_DRAW = 4 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, False) + expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) + assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10 + + # Test to check negative integration lower limit + def test_car_battery_integration_lower_limit(self, mocker): + POWER_DRAW = 4 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 1000 + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, False) + estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6) + assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10 + + # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S + def test_max_time_offroad(self, mocker): + MOCKED_MAX_OFFROAD_TIME = 3600 + POWER_DRAW = 0 # To stop shutting down for other reasons + pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + start_time = ssb + ignition = False + while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: + pm.calculate(GOOD_VOLTAGE, ignition) + if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: + assert not pm.should_shutdown(ignition, True, start_time, False) + assert pm.should_shutdown(ignition, True, start_time, False) + + def test_car_voltage(self, mocker): + POWER_DRAW = 0 # To stop shutting down for other reasons + TEST_TIME = 350 + VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 + pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + ignition = False + start_time = ssb + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert pm.should_shutdown(ignition, True, start_time, True) == \ + (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \ + (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \ + (ssb - start_time) > DELAY_SHUTDOWN_TIME_S) + assert pm.should_shutdown(ignition, True, start_time, True) + + # Test to check policy of not stopping charging when DisablePowerDown is set + def test_disable_power_down(self, mocker): + POWER_DRAW = 0 # To stop shutting down for other reasons + TEST_TIME = 100 + self.params.put_bool("DisablePowerDown", True) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + ignition = False + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert not pm.should_shutdown(ignition, True, ssb, False) + assert not pm.should_shutdown(ignition, True, ssb, False) + + # Test to check policy of not stopping charging when ignition + def test_ignition(self, mocker): + POWER_DRAW = 0 # To stop shutting down for other reasons + TEST_TIME = 100 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + ignition = True + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert not pm.should_shutdown(ignition, True, ssb, False) + assert not pm.should_shutdown(ignition, True, ssb, False) + + # Test to check policy of not stopping charging when harness is not connected + def test_harness_connection(self, mocker): + POWER_DRAW = 0 # To stop shutting down for other reasons + TEST_TIME = 100 + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + + ignition = False + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert not pm.should_shutdown(ignition, False, ssb, False) + assert not pm.should_shutdown(ignition, False, ssb, False) + + def test_delay_shutdown_time(self): + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 0 + ignition = False + in_car = True + offroad_timestamp = ssb + started_seen = True + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + + while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: + assert not pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), \ + f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time" + assert pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), \ + f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time" diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 45d20d976..a5dee88b5 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -379,23 +379,19 @@ class Tici(HardwareBase): # *** CPU config *** - # offline big cluster, leave core 4 online for boardd - for i in range(5, 8): + # offline big cluster, leave core 4 online for pandad + for i in range(4, 8): val = '0' if powersave_enabled else '1' sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online') for n in ('0', '4'): + if powersave_enabled and n == '4': + continue gov = 'ondemand' if powersave_enabled else 'performance' sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor') # *** IRQ config *** - # boardd core - affine_irq(4, "spi_geni") # SPI - affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) - if "tici" in self.get_device_type(): - affine_irq(4, "xhci-hcd:usb1") # internal panda USB (also modem) - # GPU affine_irq(5, "kgsl-3d0") @@ -416,7 +412,7 @@ class Tici(HardwareBase): if self.amplifier is not None: self.amplifier.initialize_configuration(self.get_device_type()) - # Allow thermald to write engagement status to kmsg + # Allow hardwared to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL @@ -453,6 +449,18 @@ class Tici(HardwareBase): sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") + # pandad core + affine_irq(3, "spi_geni") # SPI + if "tici" in self.get_device_type(): + affine_irq(3, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) + affine_irq(3, "xhci-hcd:usb1") # internal panda USB (also modem) + try: + pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip() + subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid]) + subprocess.call(["sudo", "taskset", "-pc", "3", pid]) + except subprocess.CalledProcessException as e: + print(str(e)) + def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py old mode 100755 new mode 100644 index 86bc78881..a1bbd363f --- a/system/hardware/tici/tests/test_agnos_updater.py +++ b/system/hardware/tici/tests/test_agnos_updater.py @@ -1,14 +1,12 @@ -#!/usr/bin/env python3 import json import os -import unittest import requests TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) MANIFEST = os.path.join(TEST_DIR, "../agnos.json") -class TestAgnosUpdater(unittest.TestCase): +class TestAgnosUpdater: def test_manifest(self): with open(MANIFEST) as f: @@ -17,10 +15,6 @@ class TestAgnosUpdater(unittest.TestCase): for img in m: r = requests.head(img['url'], timeout=10) r.raise_for_status() - self.assertEqual(r.headers['Content-Type'], "application/x-xz") + assert r.headers['Content-Type'] == "application/x-xz" if not img['sparse']: assert img['hash'] == img['hash_raw'] - - -if __name__ == "__main__": - unittest.main() diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py old mode 100755 new mode 100644 index cd3b0f90f..3f75436db --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -1,7 +1,6 @@ -#!/usr/bin/env python3 +import pytest import time import random -import unittest import subprocess from panda import Panda @@ -10,14 +9,14 @@ from openpilot.system.hardware.tici.hardware import Tici from openpilot.system.hardware.tici.amplifier import Amplifier -class TestAmplifier(unittest.TestCase): +class TestAmplifier: @classmethod - def setUpClass(cls): + def setup_class(cls): if not TICI: - raise unittest.SkipTest + pytest.skip() - def setUp(self): + def setup_method(self): # clear dmesg subprocess.check_call("sudo dmesg -C", shell=True) @@ -25,7 +24,7 @@ class TestAmplifier(unittest.TestCase): Panda.wait_for_panda(None, 30) self.panda = Panda() - def tearDown(self): + def teardown_method(self): HARDWARE.reset_internal_panda() def _check_for_i2c_errors(self, expected): @@ -68,8 +67,4 @@ class TestAmplifier(unittest.TestCase): if self._check_for_i2c_errors(True): break else: - self.fail("didn't hit any i2c errors") - - -if __name__ == "__main__": - unittest.main() + pytest.fail("didn't hit any i2c errors") diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py old mode 100755 new mode 100644 index 6c41c383a..75f53e7cd --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -1,7 +1,5 @@ -#!/usr/bin/env python3 import pytest import time -import unittest import numpy as np from openpilot.system.hardware.tici.hardware import Tici @@ -10,19 +8,19 @@ HARDWARE = Tici() @pytest.mark.tici -class TestHardware(unittest.TestCase): +class TestHardware: def test_power_save_time(self): - ts = [] + ts = {True: [], False: []} for _ in range(5): for on in (True, False): st = time.monotonic() HARDWARE.set_power_save(on) - ts.append(time.monotonic() - st) + ts[on].append(time.monotonic() - st) - assert 0.1 < np.mean(ts) < 0.25 - assert max(ts) < 0.3 + # disabling power save is the main time-critical one + assert 0.1 < np.mean(ts[False]) < 0.15 + assert max(ts[False]) < 0.2 - -if __name__ == "__main__": - unittest.main() + assert 0.1 < np.mean(ts[True]) < 0.35 + assert max(ts[True]) < 0.4 diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py old mode 100755 new mode 100644 index ba7e0a6d9..866f7d118 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -1,7 +1,5 @@ -#!/usr/bin/env python3 from collections import defaultdict, deque import pytest -import unittest import time import numpy as np from dataclasses import dataclass @@ -12,8 +10,8 @@ from cereal.services import SERVICE_LIST from openpilot.common.mock import mock_messages from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.system.hardware.tici.power_monitor import get_power -from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.manager.manager import manager_cleanup +from openpilot.system.manager.process_config import managed_processes +from openpilot.system.manager.manager import manager_cleanup SAMPLE_TIME = 8 # seconds to sample power MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid samples @@ -40,15 +38,15 @@ PROCS = [ @pytest.mark.tici -class TestPowerDraw(unittest.TestCase): +class TestPowerDraw: - def setUp(self): + def setup_method(self): write_car_param() # wait a bit for power save to disable time.sleep(5) - def tearDown(self): + def teardown_method(self): manager_cleanup() def get_expected_messages(self, proc): @@ -97,7 +95,7 @@ class TestPowerDraw(unittest.TestCase): return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME @mock_messages(['liveLocationKalman']) - def test_camera_procs(self): + def test_camera_procs(self, subtests): baseline = get_power() prev = baseline @@ -122,12 +120,8 @@ class TestPowerDraw(unittest.TestCase): expected = proc.power msgs_received = sum(msg_counts[msg] for msg in proc.msgs) tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)]) - with self.subTest(proc=proc.name): - self.assertTrue(self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs") - self.assertTrue(self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W") + with subtests.test(proc=proc.name): + assert self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs" + assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W" print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") - - -if __name__ == "__main__": - unittest.main() diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript index 6bd7c6ff3..ac2a79a1f 100644 --- a/system/logcatd/SConscript +++ b/system/logcatd/SConscript @@ -1,3 +1,3 @@ -Import('env', 'cereal', 'messaging', 'common') +Import('env', 'messaging', 'common') -env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11']) +env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd', 'json11']) diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index d4f52fb5f..196d18476 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -1,9 +1,8 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc') +Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, cereal, messaging, visionipc, - 'zmq', 'capnp', 'kj', 'z', - 'avformat', 'avcodec', 'swscale', 'avutil', - 'yuv', 'OpenCL', 'pthread'] +libs = [common, messaging, visionipc, + 'z', 'avformat', 'avcodec', 'swscale', + 'avutil', 'yuv', 'OpenCL', 'pthread'] src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] if arch != "larch64": diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index c4bd91bcf..313a0f57a 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width; out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height; - pm.reset(new PubMaster({encoder_info.publish_name})); + + std::vector pubs = {encoder_info.publish_name}; + if (encoder_info.thumbnail_name != NULL) { + pubs.push_back(encoder_info.thumbnail_name); + } + pm.reset(new PubMaster(pubs)); } void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, @@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t kj::ArrayOutputStream output_stream(kj::ArrayPtr(e->msg_cache.data(), bytes_size)); capnp::writeMessage(output_stream, msg); e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); -} + + // Publish keyframe thumbnail + if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) { + MessageBuilder tm; + auto thumbnail = tm.initEvent().initThumbnail(); + thumbnail.setFrameId(extra.frame_id); + thumbnail.setTimestampEof(extra.timestamp_eof); + thumbnail.setThumbnail(dat); + thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME); + pm->send(e->encoder_info.thumbnail_name, tm); + } +} \ No newline at end of file diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 7c203f919..72848609e 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,7 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc.h" #include "common/queue.h" #include "system/camerad/cameras/camera_common.h" #include "system/loggerd/loggerd.h" @@ -25,6 +25,8 @@ public: void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); protected: + void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr dat); + int in_width, in_height; int out_width, out_height; const EncoderInfo encoder_info; diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 3c0ffc166..a324479fb 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -215,7 +215,7 @@ void loggerd_thread() { const bool encoder = util::ends_with(it.name, "EncodeData"); const bool livestream_encoder = util::starts_with(it.name, "livestream"); if (!it.should_log && (!encoder || livestream_encoder)) continue; - LOGD("logging %s (on port %d)", it.name.c_str(), it.port); + LOGD("logging %s", it.name.c_str()); SubSocket * sock = SubSocket::create(ctx.get(), it.name); assert(sock != NULL); diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index ea288f486..7c80ba51a 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -4,7 +4,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/services.h" -#include "cereal/visionipc/visionipc_client.h" +#include "msgq/visionipc/visionipc_client.h" #include "system/camerad/cameras/camera_common.h" #include "system/hardware/hw.h" #include "common/params.h" @@ -33,6 +33,7 @@ constexpr char PRESERVE_ATTR_VALUE = '1'; class EncoderInfo { public: const char *publish_name; + const char *thumbnail_name = NULL; const char *filename = NULL; bool record = true; int frame_width = -1; @@ -76,6 +77,7 @@ const EncoderInfo main_driver_encoder_info = { const EncoderInfo stream_road_encoder_info = { .publish_name = "livestreamRoadEncodeData", + //.thumbnail_name = "thumbnail", .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, .bitrate = LIVESTREAM_BITRATE, diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 877c872b6..15fd997eb 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -1,6 +1,5 @@ import os import random -import unittest from pathlib import Path @@ -29,12 +28,12 @@ def create_random_file(file_path: Path, size_mb: float, lock: bool = False, uplo if upload_xattr is not None: setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr) -class MockResponse(): +class MockResponse: def __init__(self, text, status_code): self.text = text self.status_code = status_code -class MockApi(): +class MockApi: def __init__(self, dongle_id): pass @@ -44,7 +43,7 @@ class MockApi(): def get_token(self): return "fake-token" -class MockApiIgnore(): +class MockApiIgnore: def __init__(self, dongle_id): pass @@ -54,7 +53,7 @@ class MockApiIgnore(): def get_token(self): return "fake-token" -class UploaderTestCase(unittest.TestCase): +class UploaderTestCase: f_type = "UNKNOWN" root: Path @@ -66,7 +65,7 @@ class UploaderTestCase(unittest.TestCase): def set_ignore(self): uploader.Api = MockApiIgnore - def setUp(self): + def setup_method(self): uploader.Api = MockApi uploader.fake_upload = True uploader.force_wifi = True diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py old mode 100755 new mode 100644 index 37d25507e..6222ea253 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -1,7 +1,5 @@ -#!/usr/bin/env python3 import time import threading -import unittest from collections import namedtuple from pathlib import Path from collections.abc import Sequence @@ -17,9 +15,9 @@ class TestDeleter(UploaderTestCase): def fake_statvfs(self, d): return self.fake_stats - def setUp(self): + def setup_method(self): self.f_type = "fcamera.hevc" - super().setUp() + super().setup_method() self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096) deleter.os.statvfs = self.fake_statvfs @@ -64,7 +62,7 @@ class TestDeleter(UploaderTestCase): finally: self.join_thread() - self.assertEqual(deleted_order, f_paths, "Files not deleted in expected order") + assert deleted_order == f_paths, "Files not deleted in expected order" def test_delete_order(self): self.assertDeleteOrder([ @@ -105,7 +103,7 @@ class TestDeleter(UploaderTestCase): time.sleep(0.01) self.join_thread() - self.assertTrue(f_path.exists(), "File deleted with available space") + assert f_path.exists(), "File deleted with available space" def test_no_delete_with_lock_file(self): f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True) @@ -116,8 +114,4 @@ class TestDeleter(UploaderTestCase): time.sleep(0.01) self.join_thread() - self.assertTrue(f_path.exists(), "File deleted when locked") - - -if __name__ == "__main__": - unittest.main() + assert f_path.exists(), "File deleted when locked" diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py old mode 100755 new mode 100644 index bd076dc5f..75862a9d4 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import math import os import pytest @@ -6,7 +5,6 @@ import random import shutil import subprocess import time -import unittest from pathlib import Path from parameterized import parameterized @@ -15,7 +13,7 @@ from tqdm import trange from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.system.hardware import TICI -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.tools.lib.logreader import LogReader from openpilot.system.hardware.hw import Paths @@ -29,18 +27,18 @@ CAMERAS = [ ] # we check frame count, so we don't have to be too strict on size -FILE_SIZE_TOLERANCE = 0.5 +FILE_SIZE_TOLERANCE = 0.7 @pytest.mark.tici # TODO: all of loggerd should work on PC -class TestEncoder(unittest.TestCase): +class TestEncoder: - def setUp(self): + def setup_method(self): self._clear_logs() os.environ["LOGGERD_TEST"] = "1" os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH) - def tearDown(self): + def teardown_method(self): self._clear_logs() def _clear_logs(self): @@ -85,7 +83,7 @@ class TestEncoder(unittest.TestCase): file_path = f"{route_prefix_path}--{i}/{camera}" # check file exists - self.assertTrue(os.path.exists(file_path), f"segment #{i}: '{file_path}' missing") + assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing" # TODO: this ffprobe call is really slow # check frame count @@ -98,13 +96,13 @@ class TestEncoder(unittest.TestCase): frame_count = int(probe.split('\n')[0].strip()) counts.append(frame_count) - self.assertEqual(frame_count, expected_frames, - f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}") + assert frame_count == expected_frames, \ + f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}" # sanity check file size file_size = os.path.getsize(file_path) - self.assertTrue(math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), - f"{file_path} size {file_size} isn't close to target size {size}") + assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \ + f"{file_path} size {file_size} isn't close to target size {size}" # Check encodeIdx if encode_idx_name is not None: @@ -118,24 +116,24 @@ class TestEncoder(unittest.TestCase): frame_idxs = [m.frameId for m in encode_msgs] # Check frame count - self.assertEqual(frame_count, len(segment_idxs)) - self.assertEqual(frame_count, len(encode_idxs)) + assert frame_count == len(segment_idxs) + assert frame_count == len(encode_idxs) # Check for duplicates or skips - self.assertEqual(0, segment_idxs[0]) - self.assertEqual(len(set(segment_idxs)), len(segment_idxs)) + assert 0 == segment_idxs[0] + assert len(set(segment_idxs)) == len(segment_idxs) - self.assertTrue(all(valid)) + assert all(valid) - self.assertEqual(expected_frames * i, encode_idxs[0]) + assert expected_frames * i == encode_idxs[0] first_frames.append(frame_idxs[0]) - self.assertEqual(len(set(encode_idxs)), len(encode_idxs)) + assert len(set(encode_idxs)) == len(encode_idxs) - self.assertEqual(1, len(set(first_frames))) + assert 1 == len(set(first_frames)) if TICI: expected_frames = fps * SEGMENT_LENGTH - self.assertEqual(min(counts), expected_frames) + assert min(counts) == expected_frames shutil.rmtree(f"{route_prefix_path}--{i}") try: @@ -150,7 +148,3 @@ class TestEncoder(unittest.TestCase): managed_processes['encoderd'].stop() managed_processes['camerad'].stop() managed_processes['sensord'].stop() - - -if __name__ == "__main__": - unittest.main() diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py old mode 100755 new mode 100644 index fdea60a28..6a24540ac --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import numpy as np import os import re @@ -19,11 +18,11 @@ from openpilot.common.timeout import Timeout from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.version import get_version from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import DEVICE_CAMERAS SentinelType = log.Sentinel.SentinelType diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py old mode 100755 new mode 100644 index 73917a30c..659119828 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -1,8 +1,6 @@ -#!/usr/bin/env python3 import os import time import threading -import unittest import logging import json from pathlib import Path @@ -38,8 +36,8 @@ cloudlog.addHandler(log_handler) class TestUploader(UploaderTestCase): - def setUp(self): - super().setUp() + def setup_method(self): + super().setup_method() log_handler.reset() def start_thread(self): @@ -80,13 +78,13 @@ class TestUploader(UploaderTestCase): exp_order = self.gen_order([self.seg_num], []) - self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") - self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") - self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + assert len(log_handler.upload_ignored) == 0, "Some files were ignored" + assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" + assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" def test_upload_with_wrong_xattr(self): self.gen_files(lock=False, xattr=b'0') @@ -98,13 +96,13 @@ class TestUploader(UploaderTestCase): exp_order = self.gen_order([self.seg_num], []) - self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") - self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") - self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + assert len(log_handler.upload_ignored) == 0, "Some files were ignored" + assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" + assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" def test_upload_ignored(self): self.set_ignore() @@ -117,13 +115,13 @@ class TestUploader(UploaderTestCase): exp_order = self.gen_order([self.seg_num], []) - self.assertTrue(len(log_handler.upload_order) == 0, "Some files were not ignored") - self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore") - self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice") + assert len(log_handler.upload_order) == 0, "Some files were not ignored" + assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore" + assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not ignored" - self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order") + assert log_handler.upload_ignored == exp_order, "Files ignored in wrong order" def test_upload_files_in_create_order(self): seg1_nums = [0, 1, 2, 10, 20] @@ -142,13 +140,13 @@ class TestUploader(UploaderTestCase): time.sleep(5) self.join_thread() - self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") - self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") - self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + assert len(log_handler.upload_ignored) == 0, "Some files were ignored" + assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" + assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" def test_no_upload_with_lock_file(self): self.start_thread() @@ -163,7 +161,7 @@ class TestUploader(UploaderTestCase): for f_path in f_paths: fn = f_path.with_suffix(f_path.suffix.replace(".bz2", "")) uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE - self.assertFalse(uploaded, "File upload when locked") + assert not uploaded, "File upload when locked" def test_no_upload_with_xattr(self): self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE) @@ -173,7 +171,7 @@ class TestUploader(UploaderTestCase): time.sleep(5) self.join_thread() - self.assertEqual(len(log_handler.upload_order), 0, "File uploaded again") + assert len(log_handler.upload_order) == 0, "File uploaded again" def test_clear_locks_on_startup(self): f_paths = self.gen_files(lock=True, boot=False) @@ -183,8 +181,4 @@ class TestUploader(UploaderTestCase): for f_path in f_paths: lock_path = f_path.with_suffix(f_path.suffix + ".lock") - self.assertFalse(lock_path.is_file(), "File lock not cleared on startup") - - -if __name__ == "__main__": - unittest.main() + assert not lock_path.is_file(), "File lock not cleared on startup" diff --git a/selfdrive/manager/test/__init__.py b/system/manager/__init__.py similarity index 100% rename from selfdrive/manager/test/__init__.py rename to system/manager/__init__.py diff --git a/selfdrive/manager/build.py b/system/manager/build.py similarity index 99% rename from selfdrive/manager/build.py rename to system/manager/build.py index 859d0920c..956336a60 100755 --- a/selfdrive/manager/build.py +++ b/system/manager/build.py @@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2560 +TOTAL_SCONS_NODES = 2820 MAX_BUILD_PROGRESS = 100 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: diff --git a/selfdrive/manager/helpers.py b/system/manager/helpers.py similarity index 100% rename from selfdrive/manager/helpers.py rename to system/manager/helpers.py diff --git a/selfdrive/manager/manager.py b/system/manager/manager.py similarity index 92% rename from selfdrive/manager/manager.py rename to system/manager/manager.py index 51f26aaa9..6819408bb 100755 --- a/selfdrive/manager/manager.py +++ b/system/manager/manager.py @@ -7,14 +7,14 @@ import traceback from cereal import log import cereal.messaging as messaging -import openpilot.selfdrive.sentry as sentry +import openpilot.system.sentry as sentry from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE, PC -from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog -from openpilot.selfdrive.manager.process import ensure_running -from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog +from openpilot.system.manager.process import ensure_running +from openpilot.system.manager.process_config import managed_processes +from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version @@ -50,7 +50,7 @@ def manager_init() -> None: ("dp_nav_full_screen", "0"), ] if not PC: - default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) + default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) @@ -153,7 +153,7 @@ def manager_thread() -> None: elif not started and started_prev: params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) - # update onroad params, which drives boardd's safety setter thread + # update onroad params, which drives pandad's safety setter thread if started != started_prev: write_onroad_params(started, params) diff --git a/selfdrive/manager/process.py b/system/manager/process.py similarity index 98% rename from selfdrive/manager/process.py rename to system/manager/process.py index 7964f5229..9214e417c 100644 --- a/selfdrive/manager/process.py +++ b/system/manager/process.py @@ -8,11 +8,11 @@ from collections.abc import Callable, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname from cereal import car, log import cereal.messaging as messaging -import openpilot.selfdrive.sentry as sentry +import openpilot.system.sentry as sentry from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog @@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None: mod = importlib.import_module(proc) # rename the process - setproctitle(proc) + setthreadname(proc) # create new context since we forked messaging.context = messaging.Context() diff --git a/selfdrive/manager/process_config.py b/system/manager/process_config.py similarity index 85% rename from selfdrive/manager/process_config.py rename to system/manager/process_config.py index 4c34e7339..ced31077c 100644 --- a/selfdrive/manager/process_config.py +++ b/system/manager/process_config.py @@ -3,7 +3,7 @@ import os from cereal import car from openpilot.common.params import Params from openpilot.system.hardware import PC, TICI -from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None @@ -42,7 +42,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool: return not started procs = [ - DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), + DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), @@ -60,26 +60,27 @@ procs = [ NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), - NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False), + NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), + PythonProcess("card", "selfdrive.car.card", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), - PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), + PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), PythonProcess("radard", "selfdrive.controls.radard", only_onroad), - PythonProcess("thermald", "selfdrive.thermald.thermald", always_run), - PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC), - PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC), + PythonProcess("hardwared", "system.hardware.hardwared", always_run), + PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), + PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), - PythonProcess("statsd", "selfdrive.statsd", always_run), + PythonProcess("statsd", "system.statsd", always_run), # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), diff --git a/selfdrive/thermald/__init__.py b/system/manager/test/__init__.py similarity index 100% rename from selfdrive/thermald/__init__.py rename to system/manager/test/__init__.py diff --git a/selfdrive/manager/test/test_manager.py b/system/manager/test/test_manager.py old mode 100755 new mode 100644 similarity index 63% rename from selfdrive/manager/test/test_manager.py rename to system/manager/test/test_manager.py index 1ae94b26a..e5960d111 --- a/selfdrive/manager/test/test_manager.py +++ b/system/manager/test/test_manager.py @@ -1,17 +1,15 @@ -#!/usr/bin/env python3 import os import pytest import signal import time -import unittest from parameterized import parameterized from cereal import car from openpilot.common.params import Params -import openpilot.selfdrive.manager.manager as manager -from openpilot.selfdrive.manager.process import ensure_running -from openpilot.selfdrive.manager.process_config import managed_processes +import openpilot.system.manager.manager as manager +from openpilot.system.manager.process import ensure_running +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" @@ -21,15 +19,15 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] @pytest.mark.tici -class TestManager(unittest.TestCase): - def setUp(self): +class TestManager: + def setup_method(self): HARDWARE.set_power_save(False) # ensure clean CarParams params = Params() params.clear_all() - def tearDown(self): + def teardown_method(self): manager.manager_cleanup() def test_manager_prepare(self): @@ -38,7 +36,7 @@ class TestManager(unittest.TestCase): def test_blacklisted_procs(self): # TODO: ensure there are blacklisted procs until we have a dedicated test - self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run") + assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run" @parameterized.expand([(i,) for i in range(10)]) def test_startup_time(self, index): @@ -48,8 +46,8 @@ class TestManager(unittest.TestCase): t = time.monotonic() - start assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" - @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad") - def test_clean_exit(self): + @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad") + def test_clean_exit(self, subtests): """ Ensure all processes exit cleanly when stopped. """ @@ -62,21 +60,17 @@ class TestManager(unittest.TestCase): time.sleep(10) for p in procs: - with self.subTest(proc=p.name): + with subtests.test(proc=p.name): state = p.get_process_state_msg() - self.assertTrue(state.running, f"{p.name} not running") + assert state.running, f"{p.name} not running" exit_code = p.stop(retry=False) - self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started") + assert p.name not in BLACKLIST_PROCS, f"{p.name} was started" - self.assertTrue(exit_code is not None, f"{p.name} failed to exit") + assert exit_code is not None, f"{p.name} failed to exit" # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code exit_codes = [0, 1] if p.sigkill: exit_codes = [-signal.SIGKILL] - self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}") - - -if __name__ == "__main__": - unittest.main() + assert exit_code in exit_codes, f"{p.name} died with {exit_code}" diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index 1f4b76701..9ca8e7354 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -1,5 +1,5 @@ -Import('env', 'cereal', 'messaging', 'common') -libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] +Import('env', 'messaging', 'common') +libs = [messaging, 'pthread', 'common', 'zmq', 'json11'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) if GetOption('extras'): diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py index caff7af64..8b9ab5108 100644 --- a/system/qcomgpsd/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -127,7 +127,7 @@ def main() -> NoReturn: print("qcomgpsd is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (boardd not running) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e print("power up antenna ...") diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index 21c7995a7..43ddb8993 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -173,7 +173,7 @@ def setup_quectel(diag: ModemDiag) -> bool: os.remove(ASSIST_DATA_FILE) #at_cmd("AT+QGPSXTRADATA?") if system_time_valid(): - time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S") at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py old mode 100755 new mode 100644 index 6c93f7dd9..716bc33ed --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -1,38 +1,36 @@ -#!/usr/bin/env python3 import os import pytest import json import time import datetime -import unittest import subprocess import cereal.messaging as messaging from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) @pytest.mark.tici -class TestRawgpsd(unittest.TestCase): +class TestRawgpsd: @classmethod - def setUpClass(cls): + def setup_class(cls): os.system("sudo systemctl start systemd-resolved") os.system("sudo systemctl restart ModemManager lte") wait_for_modem() @classmethod - def tearDownClass(cls): + def teardown_class(cls): managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart ModemManager lte") - def setUp(self): + def setup_method(self): at_cmd("AT+QGPSDEL=0") self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) - def tearDown(self): + def teardown_method(self): managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") @@ -57,18 +55,18 @@ class TestRawgpsd(unittest.TestCase): os.system("sudo systemctl restart ModemManager") assert self._wait_for_output(30) - def test_startup_time(self): + def test_startup_time(self, subtests): for internet in (True, False): if not internet: os.system("sudo systemctl stop systemd-resolved") - with self.subTest(internet=internet): + with subtests.test(internet=internet): managed_processes['qcomgpsd'].start() assert self._wait_for_output(7) managed_processes['qcomgpsd'].stop() - def test_turns_off_gnss(self): + def test_turns_off_gnss(self, subtests): for s in (0.1, 1, 5): - with self.subTest(runtime=s): + with subtests.test(runtime=s): managed_processes['qcomgpsd'].start() time.sleep(s) managed_processes['qcomgpsd'].stop() @@ -87,7 +85,7 @@ class TestRawgpsd(unittest.TestCase): if should_be_loaded: assert valid_duration == "10080" # should be max time injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S") - self.assertLess(abs((datetime.datetime.utcnow() - injected_time).total_seconds()), 60*60*12) + assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12 else: valid_duration, injected_time_str = out.split(",", 1) injected_time_str = injected_time_str.replace('\"', '').replace('\'', '') @@ -119,6 +117,3 @@ class TestRawgpsd(unittest.TestCase): time.sleep(15) managed_processes['qcomgpsd'].stop() self.check_assistance(True) - -if __name__ == "__main__": - unittest.main(failfast=True) diff --git a/system/sensord/SConscript b/system/sensord/SConscript index 7974eb07a..e2dfb522c 100644 --- a/system/sensord/SConscript +++ b/system/sensord/SConscript @@ -1,4 +1,4 @@ -Import('env', 'arch', 'common', 'cereal', 'messaging') +Import('env', 'arch', 'common', 'messaging') sensors = [ 'sensors/i2c_sensor.cc', @@ -11,7 +11,7 @@ sensors = [ 'sensors/lsm6ds3_temp.cc', 'sensors/mmc5603nj_magn.cc', ] -libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread'] +libs = [common, messaging, 'pthread'] if arch == "larch64": libs.append('i2c') env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py old mode 100755 new mode 100644 index 3075c8a34..1871012dd --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -1,8 +1,6 @@ -#!/usr/bin/env python3 import os import pytest import time -import unittest import numpy as np from collections import namedtuple, defaultdict @@ -11,7 +9,7 @@ from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.gpio import get_irqs_for_action from openpilot.common.timeout import Timeout -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes BMX = { ('bmx055', 'acceleration'), @@ -99,9 +97,9 @@ def read_sensor_events(duration_sec): return {k: v for k, v in events.items() if len(v) > 0} @pytest.mark.tici -class TestSensord(unittest.TestCase): +class TestSensord: @classmethod - def setUpClass(cls): + def setup_class(cls): # enable LSM self test os.environ["LSM_SELF_TEST"] = "1" @@ -119,10 +117,10 @@ class TestSensord(unittest.TestCase): managed_processes["sensord"].stop() @classmethod - def tearDownClass(cls): + def teardown_class(cls): managed_processes["sensord"].stop() - def tearDown(self): + def teardown_method(self): managed_processes["sensord"].stop() def test_sensors_present(self): @@ -133,9 +131,9 @@ class TestSensord(unittest.TestCase): m = getattr(measurement, measurement.which()) seen.add((str(m.source), m.which())) - self.assertIn(seen, SENSOR_CONFIGURATIONS) + assert seen in SENSOR_CONFIGURATIONS - def test_lsm6ds3_timing(self): + def test_lsm6ds3_timing(self, subtests): # verify measurements are sampled and published at 104Hz sensor_t = { @@ -152,7 +150,7 @@ class TestSensord(unittest.TestCase): sensor_t[m.sensor].append(m.timestamp) for s, vals in sensor_t.items(): - with self.subTest(sensor=s): + with subtests.test(sensor=s): assert len(vals) > 0 tdiffs = np.diff(vals) / 1e6 # millis @@ -166,9 +164,9 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 2.0, f"Standard-dev to big {stddev}" - def test_sensor_frequency(self): + def test_sensor_frequency(self, subtests): for s, msgs in self.events.items(): - with self.subTest(sensor=s): + with subtests.test(sensor=s): freq = len(msgs) / self.sample_secs ef = SERVICE_LIST[s].frequency assert ef*0.85 <= freq <= ef*1.15 @@ -246,6 +244,3 @@ class TestSensord(unittest.TestCase): state_two = get_irq_count(self.sensord_irq) assert state_one == state_two, "Interrupts received after sensord stop!" - -if __name__ == "__main__": - unittest.main() diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py index e023489ed..a9cc16d70 100755 --- a/system/sensord/tests/ttff_test.py +++ b/system/sensord/tests/ttff_test.py @@ -4,7 +4,7 @@ import time import atexit from cereal import messaging -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes TIMEOUT = 10*60 diff --git a/selfdrive/sentry.py b/system/sentry.py similarity index 97% rename from selfdrive/sentry.py rename to system/sentry.py index 204d9cab0..5f4772fa7 100644 --- a/selfdrive/sentry.py +++ b/system/sentry.py @@ -4,7 +4,7 @@ from enum import Enum from sentry_sdk.integrations.threading import ThreadingIntegration from openpilot.common.params import Params -from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.system.athena.registration import is_registered_device from openpilot.system.hardware import HARDWARE, PC from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata, get_version diff --git a/selfdrive/statsd.py b/system/statsd.py similarity index 97% rename from selfdrive/statsd.py rename to system/statsd.py index 2f9149b09..5e76b73ae 100755 --- a/selfdrive/statsd.py +++ b/system/statsd.py @@ -4,7 +4,7 @@ import zmq import time from pathlib import Path from collections import defaultdict -from datetime import datetime, timezone +from datetime import datetime, UTC from typing import NoReturn from openpilot.common.params import Params @@ -133,7 +133,7 @@ def main() -> NoReturn: # flush when started state changes or after FLUSH_TIME_S if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): result = "" - current_time = datetime.utcnow().replace(tzinfo=timezone.utc) + current_time = datetime.now(UTC) tags['started'] = sm['deviceState'].started for key, value in gauges.items(): diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py old mode 100755 new mode 100644 index d27dae46a..3baf5300c --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -1,17 +1,15 @@ -#!/usr/bin/env python3 import glob import os import time -import unittest import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog, ipchandler -class TestLogmessaged(unittest.TestCase): - def setUp(self): +class TestLogmessaged: + def setup_method(self): # clear the IPC buffer in case some other tests used cloudlog and filled it ipchandler.close() ipchandler.connect() @@ -25,7 +23,7 @@ class TestLogmessaged(unittest.TestCase): messaging.drain_sock(self.sock) messaging.drain_sock(self.error_sock) - def tearDown(self): + def teardown_method(self): del self.sock del self.error_sock managed_processes['logmessaged'].stop(block=True) @@ -55,6 +53,3 @@ class TestLogmessaged(unittest.TestCase): logsize = sum([os.path.getsize(f) for f in self._get_log_files()]) assert (n*len(msg)) < logsize < (n*(len(msg)+1024)) - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/tombstoned.py b/system/tombstoned.py similarity index 99% rename from selfdrive/tombstoned.py rename to system/tombstoned.py index 2c99c7eaf..5bcced266 100755 --- a/selfdrive/tombstoned.py +++ b/system/tombstoned.py @@ -9,7 +9,7 @@ import time import glob from typing import NoReturn -import openpilot.selfdrive.sentry as sentry +import openpilot.system.sentry as sentry from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript index 67d9856da..ce09e235e 100644 --- a/system/ubloxd/SConscript +++ b/system/ubloxd/SConscript @@ -1,6 +1,6 @@ -Import('env', 'common', 'cereal', 'messaging') +Import('env', 'common', 'messaging') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] +loc_libs = [messaging, common, 'kaitai', 'pthread'] if GetOption('kaitai'): generated = Dir('generated').srcnode().abspath diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py index 21b3a86f9..8809689dc 100755 --- a/system/ubloxd/pigeond.py +++ b/system/ubloxd/pigeond.py @@ -6,7 +6,7 @@ import serial import struct import requests import urllib.parse -from datetime import datetime +from datetime import datetime, UTC from cereal import messaging from openpilot.common.params import Params @@ -61,7 +61,7 @@ def get_assistnow_messages(token: bytes) -> list[bytes]: return msgs -class TTYPigeon(): +class TTYPigeon: def __init__(self): self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0) @@ -196,7 +196,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: cloudlog.error(f"failed to restore almanac backup, status: {restore_status}") # sending time to ublox - t_now = datetime.utcnow() + t_now = datetime.now(UTC).replace(tzinfo=None) if t_now >= datetime(2021, 6, 1): cloudlog.warning("Sending current time to ublox") diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py old mode 100755 new mode 100644 index 742e20bb9..202820e41 --- a/system/ubloxd/tests/test_pigeond.py +++ b/system/ubloxd/tests/test_pigeond.py @@ -1,21 +1,19 @@ -#!/usr/bin/env python3 import pytest import time -import unittest import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.common.gpio import gpio_read from openpilot.selfdrive.test.helpers import with_processes -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware.tici.pins import GPIO # TODO: test TTFF when we have good A-GNSS @pytest.mark.tici -class TestPigeond(unittest.TestCase): +class TestPigeond: - def tearDown(self): + def teardown_method(self): managed_processes['pigeond'].stop() @with_processes(['pigeond']) @@ -54,7 +52,3 @@ class TestPigeond(unittest.TestCase): assert gpio_read(GPIO.UBLOX_RST_N) == 0 assert gpio_read(GPIO.GNSS_PWR_EN) == 0 - - -if __name__ == "__main__": - unittest.main() diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py index 5c547e73a..a5a8238bb 100644 --- a/system/updated/casync/tar.py +++ b/system/updated/casync/tar.py @@ -1,6 +1,7 @@ import pathlib import tarfile -from typing import IO, Callable +from typing import IO +from collections.abc import Callable def include_default(_) -> bool: diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py old mode 100755 new mode 100644 index 34427d562..bc171e743 --- a/system/updated/casync/tests/test_casync.py +++ b/system/updated/casync/tests/test_casync.py @@ -1,7 +1,6 @@ -#!/usr/bin/env python3 +import pytest import os import pathlib -import unittest import tempfile import subprocess @@ -14,9 +13,10 @@ from openpilot.system.updated.casync import tar LOOPBACK = os.environ.get('LOOPBACK', None) -class TestCasync(unittest.TestCase): +@pytest.mark.skip("not used yet") +class TestCasync: @classmethod - def setUpClass(cls): + def setup_class(cls): cls.tmpdir = tempfile.TemporaryDirectory() # Build example contents @@ -43,7 +43,7 @@ class TestCasync(unittest.TestCase): # Ensure we have chunk reuse assert len(hashes) > len(set(hashes)) - def setUp(self): + def setup_method(self): # Clear target_lo if LOOPBACK is not None: self.target_lo = LOOPBACK @@ -53,7 +53,7 @@ class TestCasync(unittest.TestCase): self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) - def tearDown(self): + def teardown_method(self): for fn in [self.target_fn, self.seed_fn]: try: os.unlink(fn) @@ -67,9 +67,9 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as target_f: - self.assertEqual(target_f.read(), self.contents) + assert target_f.read() == self.contents - self.assertEqual(stats['remote'], len(self.contents)) + assert stats['remote'] == len(self.contents) def test_seed(self): target = casync.parse_caibx(self.manifest_fn) @@ -83,10 +83,10 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as target_f: - self.assertEqual(target_f.read(), self.contents) + assert target_f.read() == self.contents - self.assertGreater(stats['seed'], 0) - self.assertLess(stats['remote'], len(self.contents)) + assert stats['seed'] > 0 + assert stats['remote'] < len(self.contents) def test_already_done(self): """Test that an already flashed target doesn't download any chunks""" @@ -101,9 +101,9 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as f: - self.assertEqual(f.read(), self.contents) + assert f.read() == self.contents - self.assertEqual(stats['target'], len(self.contents)) + assert stats['target'] == len(self.contents) def test_chunk_reuse(self): """Test that chunks that are reused are only downloaded once""" @@ -119,11 +119,11 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as f: - self.assertEqual(f.read(), self.contents) + assert f.read() == self.contents - self.assertLess(stats['remote'], len(self.contents)) + assert stats['remote'] < len(self.contents) - @unittest.skipUnless(LOOPBACK, "requires loopback device") + @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") def test_lo_simple_extract(self): target = casync.parse_caibx(self.manifest_fn) sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] @@ -131,11 +131,11 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_lo) with open(self.target_lo, 'rb') as target_f: - self.assertEqual(target_f.read(len(self.contents)), self.contents) + assert target_f.read(len(self.contents)) == self.contents - self.assertEqual(stats['remote'], len(self.contents)) + assert stats['remote'] == len(self.contents) - @unittest.skipUnless(LOOPBACK, "requires loopback device") + @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") def test_lo_chunk_reuse(self): """Test that chunks that are reused are only downloaded once""" target = casync.parse_caibx(self.manifest_fn) @@ -146,12 +146,13 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_lo) with open(self.target_lo, 'rb') as f: - self.assertEqual(f.read(len(self.contents)), self.contents) + assert f.read(len(self.contents)) == self.contents - self.assertLess(stats['remote'], len(self.contents)) + assert stats['remote'] < len(self.contents) -class TestCasyncDirectory(unittest.TestCase): +@pytest.mark.skip("not used yet") +class TestCasyncDirectory: """Tests extracting a directory stored as a casync tar archive""" NUM_FILES = 16 @@ -174,7 +175,7 @@ class TestCasyncDirectory(unittest.TestCase): os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt")) @classmethod - def setUpClass(cls): + def setup_class(cls): cls.tmpdir = tempfile.TemporaryDirectory() # Create casync files @@ -190,16 +191,16 @@ class TestCasyncDirectory(unittest.TestCase): subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) @classmethod - def tearDownClass(cls): + def teardown_class(cls): cls.tmpdir.cleanup() cls.directory_to_extract.cleanup() - def setUp(self): + def setup_method(self): self.cache_dir = tempfile.TemporaryDirectory() self.working_dir = tempfile.TemporaryDirectory() self.out_dir = tempfile.TemporaryDirectory() - def tearDown(self): + def teardown_method(self): self.cache_dir.cleanup() self.working_dir.cleanup() self.out_dir.cleanup() @@ -216,32 +217,32 @@ class TestCasyncDirectory(unittest.TestCase): stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename) with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f: - self.assertEqual(f.read(), self.contents) + assert f.read() == self.contents with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f: - self.assertEqual(f.read(), self.contents) - self.assertEqual(os.readlink(os.path.join(self.out_dir.name, "link_0.txt")), "file_0.txt") + assert f.read() == self.contents + assert os.readlink(os.path.join(self.out_dir.name, "link_0.txt")) == "file_0.txt" return stats def test_no_cache(self): self.setup_cache(self.cache_dir.name, []) stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertEqual(stats['cache'], 0) + assert stats['remote'] > 0 + assert stats['cache'] == 0 def test_full_cache(self): self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) stats = self.run_test() - self.assertEqual(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) + assert stats['remote'] == 0 + assert stats['cache'] > 0 def test_one_file_cache(self): self.setup_cache(self.cache_dir.name, range(1)) stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) - self.assertLess(stats['cache'], stats['remote']) + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] < stats['remote'] def test_one_file_incorrect_cache(self): self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) @@ -249,19 +250,15 @@ class TestCasyncDirectory(unittest.TestCase): f.write(b"1234") stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) - self.assertGreater(stats['cache'], stats['remote']) + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] > stats['remote'] def test_one_file_missing_cache(self): self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) os.unlink(os.path.join(self.cache_dir.name, "file_12.txt")) stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) - self.assertGreater(stats['cache'], stats['remote']) - - -if __name__ == "__main__": - unittest.main() + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] > stats['remote'] diff --git a/selfdrive/updated/tests/test_base.py b/system/updated/tests/test_base.py similarity index 82% rename from selfdrive/updated/tests/test_base.py rename to system/updated/tests/test_base.py index b59f03fe7..928d07cbe 100644 --- a/selfdrive/updated/tests/test_base.py +++ b/system/updated/tests/test_base.py @@ -6,13 +6,10 @@ import stat import subprocess import tempfile import time -import unittest -from unittest import mock - import pytest from openpilot.common.params import Params -from openpilot.selfdrive.manager.process import ManagerProcess +from openpilot.system.manager.process import ManagerProcess from openpilot.selfdrive.test.helpers import processes_context @@ -52,13 +49,13 @@ def get_version(path: str) -> str: @pytest.mark.slow # TODO: can we test overlayfs in GHA? -class BaseUpdateTest(unittest.TestCase): +class TestBaseUpdate: @classmethod - def setUpClass(cls): + def setup_class(cls): if "Base" in cls.__name__: - raise unittest.SkipTest + pytest.skip() - def setUp(self): + def setup_method(self): self.tmpdir = tempfile.mkdtemp() run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs @@ -76,8 +73,6 @@ class BaseUpdateTest(unittest.TestCase): self.remote_dir = self.mock_update_path / "remote" self.remote_dir.mkdir() - mock.patch("openpilot.common.basedir.BASEDIR", self.basedir).start() - os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root) os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock") @@ -86,6 +81,10 @@ class BaseUpdateTest(unittest.TestCase): "master": ("0.1.3", "1.2", "0.1.3 release notes"), } + @pytest.fixture(autouse=True) + def mock_basedir(self, mocker): + mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir) + def set_target_branch(self, branch): self.params.put("UpdaterTargetBranch", branch) @@ -102,8 +101,7 @@ class BaseUpdateTest(unittest.TestCase): def additional_context(self): raise NotImplementedError("") - def tearDown(self): - mock.patch.stopall() + def teardown_method(self): try: run(["sudo", "umount", "-l", str(self.staging_root / "merged")]) run(["sudo", "umount", "-l", self.tmpdir]) @@ -125,17 +123,17 @@ class BaseUpdateTest(unittest.TestCase): time.sleep(1) def _test_finalized_update(self, branch, version, agnos_version, release_notes): - self.assertEqual(get_version(str(self.staging_root / "finalized")), version) - self.assertEqual(get_consistent_flag(str(self.staging_root / "finalized")), True) - self.assertTrue(os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK)) + assert get_version(str(self.staging_root / "finalized")) == version + assert get_consistent_flag(str(self.staging_root / "finalized")) + assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK) with open(self.staging_root / "finalized" / "test_symlink") as f: - self.assertIn(version, f.read()) + assert version in f.read() -class ParamsBaseUpdateTest(BaseUpdateTest): +class ParamsBaseUpdateTest(TestBaseUpdate): def _test_finalized_update(self, branch, version, agnos_version, release_notes): - self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")) - self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"

    {release_notes}

    \n") + assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}") + 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): @@ -145,9 +143,9 @@ class ParamsBaseUpdateTest(BaseUpdateTest): updated.signal(signal.SIGHUP.value) def _test_params(self, branch, fetch_available, update_available): - self.assertEqual(self.params.get("UpdaterTargetBranch", encoding="utf-8"), branch) - self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available) - self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available) + assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch + assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available + assert self.params.get_bool("UpdateAvailable") == update_available def wait_for_idle(self): self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle") @@ -229,17 +227,16 @@ class ParamsBaseUpdateTest(BaseUpdateTest): self._test_params("master", False, True) self._test_finalized_update("master", *self.MOCK_RELEASES["master"]) - def test_agnos_update(self): + def test_agnos_update(self, mocker): # Start on release3, push an update with an agnos change self.setup_remote_release("release3") self.setup_basedir_release("release3") - with self.additional_context(), \ - mock.patch("openpilot.system.hardware.AGNOS", "True"), \ - mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \ - mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \ - mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \ - processes_context(["updated"]) as [updated]: + with self.additional_context(), processes_context(["updated"]) as [updated]: + mocker.patch("openpilot.system.hardware.AGNOS", "True") + mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2") + mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number") + mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update") self._test_params("release3", False, False) self.wait_for_idle() diff --git a/selfdrive/updated/tests/test_git.py b/system/updated/tests/test_git.py similarity index 88% rename from selfdrive/updated/tests/test_git.py rename to system/updated/tests/test_git.py index 51ea77fb8..5a5a27000 100644 --- a/selfdrive/updated/tests/test_git.py +++ b/system/updated/tests/test_git.py @@ -1,5 +1,5 @@ import contextlib -from openpilot.selfdrive.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release +from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release class TestUpdateDGitStrategy(ParamsBaseUpdateTest): diff --git a/selfdrive/updated/updated.py b/system/updated/updated.py similarity index 97% rename from selfdrive/updated/updated.py rename to system/updated/updated.py index c1af41bd9..005c52bc8 100755 --- a/selfdrive/updated/updated.py +++ b/system/updated/updated.py @@ -11,11 +11,11 @@ import time import threading from collections import defaultdict from pathlib import Path -from markdown_it import MarkdownIt from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.time import system_time_valid +from openpilot.common.markdown import parse_markdown from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import AGNOS, HARDWARE @@ -60,7 +60,7 @@ class WaitTimeHelper: self.ready_event.wait(timeout=t) def write_time_to_param(params, param) -> None: - t = datetime.datetime.utcnow() + t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) params.put(param, t.isoformat().encode('utf8')) def read_time_from_param(params, param) -> datetime.datetime | None: @@ -89,7 +89,7 @@ def parse_release_notes(basedir: str) -> bytes: with open(os.path.join(basedir, "RELEASES.md"), "rb") as f: r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes try: - return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8") + return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8") except Exception: return r + b"\n" except FileNotFoundError: @@ -279,7 +279,7 @@ class Updater: if len(self.branches): self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) - last_update = datetime.datetime.utcnow() + last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) if update_success: write_time_to_param(self.params, "LastUpdateTime") else: @@ -323,7 +323,7 @@ class Updater: for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): set_offroad_alert(alert, False) - now = datetime.datetime.utcnow() + now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) dt = now - last_update build_metadata = get_build_metadata() if failed_count > 15 and exception is not None and self.has_internet: @@ -429,7 +429,7 @@ def main() -> None: cloudlog.event("update installed") if not params.get("InstallDate"): - t = datetime.datetime.utcnow().isoformat() + t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat() params.put("InstallDate", t.encode('utf8')) updater = Updater() @@ -469,7 +469,7 @@ def main() -> None: # download update last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") - timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3)) + timed_out = last_fetch is None or (datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_fetch > datetime.timedelta(days=3)) user_requested_fetch = wait_helper.user_request == UserRequest.FETCH if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: cloudlog.info("skipping fetch, connection metered") diff --git a/system/version.py b/system/version.py index f5b8cd49e..94964526b 100755 --- a/system/version.py +++ b/system/version.py @@ -1,14 +1,13 @@ #!/usr/bin/env python3 from dataclasses import dataclass +from functools import cache import json import os import pathlib import subprocess - from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog -from openpilot.common.utils import cache from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] @@ -27,7 +26,7 @@ def get_version(path: str = BASEDIR) -> str: def get_release_notes(path: str = BASEDIR) -> str: - with open(os.path.join(path, "RELEASES.md"), "r") as f: + with open(os.path.join(path, "RELEASES.md")) as f: return f.read().split('\n\n', 1)[0] diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py old mode 100755 new mode 100644 index 2173c3806..46d55ecd9 --- a/system/webrtc/tests/test_stream_session.py +++ b/system/webrtc/tests/test_stream_session.py @@ -1,17 +1,14 @@ -#!/usr/bin/env python3 import asyncio -import unittest -from unittest.mock import Mock, MagicMock, patch import json # for aiortc and its dependencies import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel from aiortc import RTCDataChannel from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE import capnp import pyaudio - from cereal import messaging, log from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy @@ -20,15 +17,15 @@ from openpilot.system.webrtc.device.audio import AudioInputStreamTrack from openpilot.common.realtime import DT_DMON -class TestStreamSession(unittest.TestCase): - def setUp(self): +class TestStreamSession: + def setup_method(self): self.loop = asyncio.new_event_loop() - def tearDown(self): + def teardown_method(self): self.loop.stop() self.loop.close() - def test_outgoing_proxy(self): + def test_outgoing_proxy(self, mocker): test_msg = log.Event.new_message() test_msg.logMonoTime = 123 test_msg.valid = True @@ -36,27 +33,27 @@ class TestStreamSession(unittest.TestCase): expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"} expected_json = json.dumps(expected_dict).encode() - channel = Mock(spec=RTCDataChannel) + channel = mocker.Mock(spec=RTCDataChannel) mocked_submaster = messaging.SubMaster(["customReservedRawData0"]) def mocked_update(t): mocked_submaster.update_msgs(0, [test_msg]) - with patch.object(messaging.SubMaster, "update", side_effect=mocked_update): - proxy = CerealOutgoingMessageProxy(mocked_submaster) - proxy.add_channel(channel) + mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update) + proxy = CerealOutgoingMessageProxy(mocked_submaster) + proxy.add_channel(channel) - proxy.update() + proxy.update() - channel.send.assert_called_once_with(expected_json) + channel.send.assert_called_once_with(expected_json) - def test_incoming_proxy(self): + def test_incoming_proxy(self, mocker): tested_msgs = [ {"type": "customReservedRawData0", "data": "test"}, # primitive {"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict ] - mocked_pubmaster = MagicMock(spec=messaging.PubMaster) + mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster) proxy = CerealIncomingMessageProxy(mocked_pubmaster) @@ -65,44 +62,40 @@ class TestStreamSession(unittest.TestCase): mocked_pubmaster.send.assert_called_once() mt, md = mocked_pubmaster.send.call_args.args - self.assertEqual(mt, msg["type"]) - self.assertIsInstance(md, capnp._DynamicStructBuilder) - self.assertTrue(hasattr(md, msg["type"])) + assert mt == msg["type"] + assert isinstance(md, capnp._DynamicStructBuilder) + assert hasattr(md, msg["type"]) mocked_pubmaster.reset_mock() - def test_livestream_track(self): + def test_livestream_track(self, mocker): fake_msg = messaging.new_message("livestreamDriverEncodeData") config = {"receive.return_value": fake_msg.to_bytes()} - with patch("cereal.messaging.SubSocket", spec=True, **config): - track = LiveStreamVideoStreamTrack("driver") + mocker.patch("msgq.SubSocket", spec=True, **config) + track = LiveStreamVideoStreamTrack("driver") - self.assertTrue(track.id.startswith("driver")) - self.assertEqual(track.codec_preference(), "H264") + assert track.id.startswith("driver") + assert track.codec_preference() == "H264" - for i in range(5): - packet = self.loop.run_until_complete(track.recv()) - self.assertEqual(packet.time_base, VIDEO_TIME_BASE) - self.assertEqual(packet.pts, int(i * DT_DMON * VIDEO_CLOCK_RATE)) - self.assertEqual(packet.size, 0) + for i in range(5): + packet = self.loop.run_until_complete(track.recv()) + assert packet.time_base == VIDEO_TIME_BASE + assert packet.pts == int(i * DT_DMON * VIDEO_CLOCK_RATE) + assert packet.size == 0 - def test_input_audio_track(self): + def test_input_audio_track(self, mocker): packet_time, rate = 0.02, 16000 sample_count = int(packet_time * rate) - mocked_stream = MagicMock(spec=pyaudio.Stream) + mocked_stream = mocker.MagicMock(spec=pyaudio.Stream) mocked_stream.read.return_value = b"\x00" * 2 * sample_count config = {"open.side_effect": lambda *args, **kwargs: mocked_stream} - with patch("pyaudio.PyAudio", spec=True, **config): - track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) + mocker.patch("pyaudio.PyAudio", spec=True, **config) + track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) - for i in range(5): - frame = self.loop.run_until_complete(track.recv()) - self.assertEqual(frame.rate, rate) - self.assertEqual(frame.samples, sample_count) - self.assertEqual(frame.pts, i * sample_count) - - -if __name__ == "__main__": - unittest.main() + for i in range(5): + frame = self.loop.run_until_complete(track.recv()) + assert frame.rate == rate + assert frame.samples == sample_count + assert frame.pts == i * sample_count diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py old mode 100755 new mode 100644 index e5742dba0..4fa6d8953 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -1,11 +1,10 @@ -#!/usr/bin/env python +import pytest import asyncio import json -import unittest -from unittest.mock import MagicMock, AsyncMock # for aiortc and its dependencies import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel from openpilot.system.webrtc.webrtcd import get_stream @@ -20,19 +19,20 @@ from parameterized import parameterized_class (["testJoystick"], []), ([], []), ]) -class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): +@pytest.mark.asyncio +class TestWebrtcdProc: async def assertCompletesWithTimeout(self, awaitable, timeout=1): try: async with asyncio.timeout(timeout): await awaitable except TimeoutError: - self.fail("Timeout while waiting for awaitable to complete") + pytest.fail("Timeout while waiting for awaitable to complete") - async def test_webrtcd(self): - mock_request = MagicMock() + async def test_webrtcd(self, mocker): + mock_request = mocker.MagicMock() async def connect(offer): body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services} - mock_request.json.side_effect = AsyncMock(return_value=body) + mock_request.json.side_effect = mocker.AsyncMock(return_value=body) response = await get_stream(mock_request) response_json = json.loads(response.text) return aiortc.RTCSessionDescription(**response_json) @@ -48,9 +48,9 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): await self.assertCompletesWithTimeout(stream.start()) await self.assertCompletesWithTimeout(stream.wait_for_connection()) - self.assertTrue(stream.has_incoming_video_track("road")) - self.assertTrue(stream.has_incoming_audio_track()) - self.assertEqual(stream.has_messaging_channel(), len(self.in_services) > 0 or len(self.out_services) > 0) + assert stream.has_incoming_video_track("road") + assert stream.has_incoming_audio_track() + assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0) video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() await self.assertCompletesWithTimeout(video_track.recv()) @@ -59,10 +59,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): await self.assertCompletesWithTimeout(stream.stop()) # cleanup, very implementation specific, test may break if it changes - self.assertTrue(mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test") + assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test" _, session = mock_request.app["streams"].__setitem__.call_args.args await self.assertCompletesWithTimeout(session.post_run_cleanup()) - -if __name__ == "__main__": - unittest.main() diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 51c86aacc..79c5b4888 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -11,6 +11,7 @@ from typing import Any, TYPE_CHECKING # aiortc and its dependencies have lots of internal warnings :( import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel import capnp from aiohttp import web @@ -24,7 +25,7 @@ from cereal import messaging, log class CerealOutgoingMessageProxy: def __init__(self, sm: messaging.SubMaster): self.sm = sm - self.channels: list['RTCDataChannel'] = [] + self.channels: list[RTCDataChannel] = [] def add_channel(self, channel: 'RTCDataChannel'): self.channels.append(channel) @@ -97,8 +98,8 @@ class CerealProxyRunner: except InvalidStateError: self.logger.warning("Cereal outgoing proxy invalid state (connection closed)") break - except Exception as ex: - self.logger.error("Cereal outgoing proxy failure: %s", ex) + except Exception: + self.logger.exception("Cereal outgoing proxy failure") await asyncio.sleep(0.01) @@ -175,8 +176,8 @@ class StreamSession: assert self.incoming_bridge is not None try: self.incoming_bridge.send(message) - except Exception as ex: - self.logger.error("Cereal incoming proxy failure: %s", ex) + except Exception: + self.logger.exception("Cereal incoming proxy failure") async def run(self): try: @@ -200,8 +201,8 @@ class StreamSession: await self.post_run_cleanup() self.logger.info("Stream session (%s) ended", self.identifier) - except Exception as ex: - self.logger.error("Stream session failure: %s", ex) + except Exception: + self.logger.exception("Stream session failure") async def post_run_cleanup(self): await self.stream.stop() diff --git a/teleoprtc_repo b/teleoprtc_repo index f2e5a6dd9..fdcff87aa 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit f2e5a6dd9e13a184b2f0e95a6c8afd308ec2da89 +Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5 diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py index 8b1378917..e69de29bb 100644 --- a/third_party/acados/acados_template/gnsf/__init__.py +++ b/third_party/acados/acados_template/gnsf/__init__.py @@ -1 +0,0 @@ - diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 2574e3368..ba4a14245 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,7 +1,7 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') @@ -39,4 +39,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json' generate_dbc = cabana_env.Command('#' + output_json_file, ['dbc/generate_dbc_json.py'], "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file) -cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")]) +cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")]) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index bb29a7e3a..4a3b4126d 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -91,7 +91,6 @@ int main(int argc, char *argv[]) { w.openStream(); } w.show(); - int ret = app.exec(); - delete can; - return ret; + + return app.exec(); } diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 540634b9b..2e6ca9662 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -3,6 +3,7 @@ #include #include +#include #include "common/timing.h" #include "tools/cabana/settings.h" @@ -19,6 +20,7 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); event_buffer_ = std::make_unique(EVENT_NEXT_BUFFER_SIZE); + QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &AbstractStream::stop); QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 3d63ee49b..cfd423b36 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -64,6 +64,7 @@ public: AbstractStream(QObject *parent); virtual ~AbstractStream() {} virtual void start() = 0; + virtual void stop() {} virtual bool liveStreaming() const { return true; } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; @@ -128,11 +129,15 @@ private: }; class AbstractOpenStreamWidget : public QWidget { + Q_OBJECT public: AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} virtual bool open() = 0; virtual QString title() = 0; +signals: + void enableOpenButton(bool); + protected: AbstractStream **stream = nullptr; }; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 4e1f6d77d..d9d96e23b 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -42,6 +42,10 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); } +LiveStream::~LiveStream() { + stop(); +} + void LiveStream::startUpdateTimer() { update_timer.stop(); update_timer.start(1000.0 / settings.fps, this); @@ -55,11 +59,14 @@ void LiveStream::start() { begin_date_time = QDateTime::currentDateTime(); } -LiveStream::~LiveStream() { +void LiveStream::stop() { + if (!stream_thread) return; + update_timer.stop(); stream_thread->requestInterruption(); stream_thread->quit(); stream_thread->wait(); + stream_thread = nullptr; } // called in streamThread diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 7a0f8cd83..9ca7e8d74 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -14,6 +14,7 @@ public: LiveStream(QObject *parent); virtual ~LiveStream(); void start() override; + void stop() override; inline QDateTime beginDateTime() const { return begin_date_time; } inline double routeStartTime() const override { return begin_event_ts / 1e9; } void setSpeed(float speed) override { speed_ = speed; } diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index 308391a10..030783a89 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -6,12 +6,17 @@ #include #include #include +#include -PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {} +PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { + if (!connect()) { + throw std::runtime_error("Failed to connect to panda"); + } +} bool PandaStream::connect() { try { - qDebug() << "Connecting to panda with serial" << config.serial; + qDebug() << "Connecting to panda " << config.serial; panda.reset(new Panda(config.serial.toStdString())); config.bus_config.resize(3); qDebug() << "Connected"; @@ -80,6 +85,13 @@ AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) { OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { form_layout = new QFormLayout(this); + if (can && dynamic_cast(can) != nullptr) { + form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName()))); + form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.")); + QTimer::singleShot(0, [this]() { emit enableOpenButton(false); }); + return; + } + QHBoxLayout *serial_layout = new QHBoxLayout(); serial_layout->addWidget(serial_edit = new QComboBox()); @@ -116,6 +128,7 @@ void OpenPandaWidget::buildConfigForm() { Panda panda(serial.toStdString()); has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); } catch (const std::exception& e) { + qDebug() << "failed to open panda" << serial; has_panda = false; } } @@ -170,13 +183,11 @@ void OpenPandaWidget::buildConfigForm() { } bool OpenPandaWidget::open() { - if (!config.serial.isEmpty()) { - auto panda_stream = std::make_unique(qApp, config); - if (panda_stream->connect()) { - *stream = panda_stream.release(); - return true; - } + try { + *stream = new PandaStream(qApp, config); + return true; + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); + return false; } - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda")); - return false; } diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index ce0adfc9f..3e7624768 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -7,7 +7,7 @@ #include #include "tools/cabana/streams/livestream.h" -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; @@ -21,13 +21,14 @@ class PandaStream : public LiveStream { Q_OBJECT public: PandaStream(QObject *parent, PandaStreamConfig config_ = {}); - bool connect(); + ~PandaStream() { stop(); } static AbstractOpenStreamWidget *widget(AbstractStream **stream); inline QString routeName() const override { - return QString("Live Streaming From Panda %1").arg(config.serial); + return QString("Panda: %1").arg(config.serial); } protected: + bool connect(); void streamThread() override; std::unique_ptr panda; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 3c3e431ce..5fda6b048 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -64,6 +64,12 @@ void ReplayStream::start() { replay->start(); } +void ReplayStream::stop() { + if (replay) { + replay->stop(); + } +} + bool ReplayStream::eventFilter(const Event *event) { static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index e3278d9a3..049ccddaf 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -16,6 +16,7 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); void start() override; + void stop() override; bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); void seekTo(double ts) override; diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index e0fb826ac..952f1aaa5 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -17,6 +17,7 @@ class SocketCanStream : public LiveStream { Q_OBJECT public: SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); + ~SocketCanStream() { stop(); } static AbstractOpenStreamWidget *widget(AbstractStream **stream); static bool available(); diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index d12f1a5df..209b577c9 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -1,6 +1,5 @@ #include "tools/cabana/streamselector.h" -#include #include #include #include @@ -31,7 +30,7 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial line->setFrameStyle(QFrame::HLine | QFrame::Sunken); layout->addWidget(line); - auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); + btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); layout->addWidget(btn_box); addStreamWidget(ReplayStream::widget(stream)); @@ -60,4 +59,6 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) { tab->addTab(w, w->title()); + auto open_btn = btn_box->button(QDialogButtonBox::Open); + QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled); } diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h index 19b438d55..a702fc76a 100644 --- a/tools/cabana/streamselector.h +++ b/tools/cabana/streamselector.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -17,4 +18,5 @@ public: private: QLineEdit *dbc_file; QTabWidget *tab; + QDialogButtonBox *btn_box; }; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index cd412f727..7fca45c39 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -151,7 +151,7 @@ QWidget *VideoWidget::createCameraWidget() { setMaximumTime(can->totalSeconds()); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); }); QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); - QObject::connect(can, &AbstractStream::eventsMerged, [this]() { slider->update(); }); + QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); }); QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated); diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index df9de096f..6c27e861f 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -6,9 +6,10 @@ import argparse import numpy as np import multiprocessing import time +import signal import cereal.messaging as messaging -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType V4L2_BUF_FLAG_KEYFRAME = 8 @@ -18,8 +19,8 @@ V4L2_BUF_FLAG_KEYFRAME = 8 ENCODE_SOCKETS = { VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData", - VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData", VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData", + VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData", } def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): @@ -147,10 +148,14 @@ if __name__ == "__main__": vision_streams = [ VisionStreamType.VISION_STREAM_ROAD, - VisionStreamType.VISION_STREAM_WIDE_ROAD, VisionStreamType.VISION_STREAM_DRIVER, + VisionStreamType.VISION_STREAM_WIDE_ROAD, ] vsts = [vision_streams[int(x)] for x in args.cams.split(",")] cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent)) + + # register exit handler + signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill()) + cvipc.join() diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py index 5f8294fd3..cf0be1a80 100755 --- a/tools/car_porting/test_car_model.py +++ b/tools/car_porting/test_car_model.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse import sys -import unittest +import unittest # noqa: TID251 from openpilot.selfdrive.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModel diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index df815b582..af25ec642 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -41,7 +41,7 @@ fi export MAKEFLAGS="-j$(nproc)" -PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) +PYENV_PYTHON_VERSION="3.12.4" if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then # no pyenv update on mac if [ "$(uname)" == "Linux" ]; then diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 75d19141b..1f8ef24ea 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -12,24 +12,16 @@ if [[ ! $(id -u) -eq 0 ]]; then SUDO="sudo" fi -# Install packages present in all supported versions of Ubuntu +# Install common packages function install_ubuntu_common_requirements() { $SUDO apt-get update $SUDO apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ ca-certificates \ - casync \ clang \ - cmake \ - make \ cppcheck \ - libtool \ + build-essential \ gcc-arm-none-eabi \ - bzip2 \ liblzma-dev \ - libarchive-dev \ - libbz2-dev \ capnproto \ libcapnp-dev \ curl \ @@ -42,43 +34,53 @@ function install_ubuntu_common_requirements() { libavdevice-dev \ libavutil-dev \ libavfilter-dev \ + libbz2-dev \ libeigen3-dev \ libffi-dev \ libglew-dev \ libgles2-mesa-dev \ libglfw3-dev \ libglib2.0-0 \ + libqt5charts5-dev \ libncurses5-dev \ - libncursesw5-dev \ - libomp-dev \ - libopencv-dev \ - libpng16-16 \ - libportaudio2 \ libssl-dev \ - libsqlite3-dev \ libusb-1.0-0-dev \ libzmq3-dev \ + libsqlite3-dev \ libsystemd-dev \ locales \ opencl-headers \ ocl-icd-libopencl1 \ ocl-icd-opencl-dev \ - clinfo \ portaudio19-dev \ - qml-module-qtquick2 \ qtmultimedia5-dev \ qtlocation5-dev \ qtpositioning5-dev \ qttools5-dev-tools \ - libqt5sql5-sqlite \ libqt5svg5-dev \ - libqt5charts5-dev \ libqt5serialbus5-dev \ libqt5x11extras5-dev \ - libqt5opengl5-dev \ + libqt5opengl5-dev +} + +# Install extra packages +function install_extra_packages() { + echo "Installing extra packages..." + $SUDO apt-get install -y --no-install-recommends \ + casync \ + cmake \ + make \ + clinfo \ + libqt5sql5-sqlite \ libreadline-dev \ libdw1 \ - valgrind + autoconf \ + libtool \ + bzip2 \ + libarchive-dev \ + libncursesw5-dev \ + libportaudio2 \ + locales } # Install Ubuntu 24.04 LTS packages @@ -127,7 +129,19 @@ if [ -f "/etc/os-release" ]; then install_ubuntu_lts_latest_requirements fi esac + + # Install extra packages + if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then + read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r + echo "" + if [[ $REPLY =~ ^[Yy]$ ]]; then + INSTALL_EXTRA_PACKAGES="yes" + fi + fi + if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then + install_extra_packages + fi else - echo "No /etc/os-release in the system" + echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar." exit 1 fi diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md index a961f8361..421a6a0b4 100644 --- a/tools/latencylogger/README.md +++ b/tools/latencylogger/README.md @@ -76,7 +76,7 @@ Frame ID: 1202 Events updated 111.183541 sendcan published 112.981692 controlsState published 113.731994 - boardd + pandad sending sendcan to panda: 250027001751393037323631 81.928119 sendcan sent to panda: 250027001751393037323631 82.164834 sending sendcan to panda: 250027001751393037323631 93.569986 diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 8c6af56b6..8691149e9 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -12,7 +12,7 @@ from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" -SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd'] +SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'pandad'] MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime'] MSGQ_TO_SERVICE = { 'roadCameraState': 'camerad', @@ -137,7 +137,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times): timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time)) continue - if service == "boardd": + if service == "pandad": timestamps[latest_controls_frameid][service].append((event, time)) end_times[latest_controls_frameid][service] = time else: @@ -153,7 +153,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times): failed_inserts += 1 if latest_controls_frameid == 0: - print("Warning: failed to bind boardd logs to a frame ID. Add a timestamp cloudlog in controlsd.") + print("Warning: failed to bind pandad logs to a frame ID. Add a timestamp cloudlog in controlsd.") elif failed_inserts > len(timestamps): print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID") diff --git a/tools/lib/api.py b/tools/lib/api.py index 6ff9242f2..92a75d2a3 100644 --- a/tools/lib/api.py +++ b/tools/lib/api.py @@ -2,7 +2,7 @@ import os import requests API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') -class CommaApi(): +class CommaApi: def __init__(self, token=None): self.session = requests.Session() self.session.headers['User-agent'] = 'OpenpilotTools' diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py index f5a3a8bfb..a5d650e98 100644 --- a/tools/lib/azure_container.py +++ b/tools/lib/azure_container.py @@ -1,5 +1,5 @@ import os -from datetime import datetime, timedelta +from datetime import datetime, timedelta, UTC from functools import lru_cache from pathlib import Path from typing import IO @@ -20,7 +20,7 @@ def get_azure_credential(): @lru_cache def get_container_sas(account_name: str, container_name: str): from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas - start_time = datetime.utcnow() + start_time = datetime.now(UTC).replace(tzinfo=None) expiry_time = start_time + timedelta(hours=1) blob_service = BlobServiceClient( account_url=f"https://{account_name}.blob.core.windows.net", diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py old mode 100755 new mode 100644 index 5d3dfeba4..2bb63b4dc --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,13 +1,10 @@ -#!/usr/bin/env python3 -from functools import partial import http.server import os import shutil import socket -import unittest +import pytest -from parameterized import parameterized -from openpilot.selfdrive.test.helpers import with_http_server +from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.url_file import URLFile @@ -31,22 +28,23 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): self.end_headers() -with_caching_server = partial(with_http_server, handler=CachingTestRequestHandler) +@pytest.fixture +def host(): + with http_server_context(handler=CachingTestRequestHandler) as (host, port): + yield f"http://{host}:{port}" +class TestFileDownload: -class TestFileDownload(unittest.TestCase): - - @with_caching_server def test_pipeline_defaults(self, host): # TODO: parameterize the defaults so we don't rely on hard-coded values in xx - self.assertEqual(URLFile.pool_manager().pools._maxsize, 10) # PoolManager num_pools param + assert URLFile.pool_manager().pools._maxsize == 10# PoolManager num_pools param pool_manager_defaults = { "maxsize": 100, "socket_options": [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),], } for k, v in pool_manager_defaults.items(): - self.assertEqual(URLFile.pool_manager().connection_pool_kw.get(k), v) + assert URLFile.pool_manager().connection_pool_kw.get(k) == v retry_defaults = { "total": 5, @@ -54,7 +52,7 @@ class TestFileDownload(unittest.TestCase): "status_forcelist": [409, 429, 503, 504], } for k, v in retry_defaults.items(): - self.assertEqual(getattr(URLFile.pool_manager().connection_pool_kw["retries"], k), v) + assert getattr(URLFile.pool_manager().connection_pool_kw["retries"], k) == v # ensure caching off by default and cache dir doesn't get created os.environ.pop("FILEREADER_CACHE", None) @@ -62,7 +60,7 @@ class TestFileDownload(unittest.TestCase): shutil.rmtree(Paths.download_cache_root()) URLFile(f"{host}/test.txt").get_length() URLFile(f"{host}/test.txt").read() - self.assertEqual(os.path.exists(Paths.download_cache_root()), False) + assert not os.path.exists(Paths.download_cache_root()) def compare_loads(self, url, start=0, length=None): """Compares range between cached and non cached version""" @@ -72,21 +70,21 @@ class TestFileDownload(unittest.TestCase): file_cached.seek(start) file_downloaded.seek(start) - self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) - self.assertLessEqual(length + start if length is not None else 0, file_downloaded.get_length()) + assert file_cached.get_length() == file_downloaded.get_length() + assert length + start if length is not None else 0 <= file_downloaded.get_length() response_cached = file_cached.read(ll=length) response_downloaded = file_downloaded.read(ll=length) - self.assertEqual(response_cached, response_downloaded) + assert response_cached == response_downloaded # Now test with cache in place file_cached = URLFile(url, cache=True) file_cached.seek(start) response_cached = file_cached.read(ll=length) - self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) - self.assertEqual(response_cached, response_downloaded) + assert file_cached.get_length() == file_downloaded.get_length() + assert response_cached == response_downloaded def test_small_file(self): # Make sure we don't force cache @@ -117,22 +115,16 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(large_file_url, length - 100, 100) self.compare_loads(large_file_url) - @parameterized.expand([(True, ), (False, )]) - @with_caching_server - def test_recover_from_missing_file(self, cache_enabled, host): + @pytest.mark.parametrize("cache_enabled", [True, False]) + def test_recover_from_missing_file(self, host, cache_enabled): os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" file_url = f"{host}/test.png" CachingTestRequestHandler.FILE_EXISTS = False length = URLFile(file_url).get_length() - self.assertEqual(length, -1) + assert length == -1 CachingTestRequestHandler.FILE_EXISTS = True length = URLFile(file_url).get_length() - self.assertEqual(length, 4) - - - -if __name__ == "__main__": - unittest.main() + assert length == 4 diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py index 91bab9434..b9a4def75 100644 --- a/tools/lib/tests/test_comma_car_segments.py +++ b/tools/lib/tests/test_comma_car_segments.py @@ -1,5 +1,4 @@ import pytest -import unittest import requests from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url @@ -8,7 +7,7 @@ from openpilot.tools.lib.route import SegmentRange @pytest.mark.skip(reason="huggingface is flaky, run this test manually to check for issues") -class TestCommaCarSegments(unittest.TestCase): +class TestCommaCarSegments: def test_database(self): database = get_comma_car_segments_database() @@ -28,12 +27,8 @@ class TestCommaCarSegments(unittest.TestCase): url = get_url(sr.route_name, sr.slice) resp = requests.get(url) - self.assertEqual(resp.status_code, 200) + assert resp.status_code == 200 lr = LogReader(url) CP = lr.first("carParams") - self.assertEqual(MIGRATION.get(CP.carFingerprint, CP.carFingerprint), fp) - - -if __name__ == "__main__": - unittest.main() + assert MIGRATION.get(CP.carFingerprint, CP.carFingerprint) == fp diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py old mode 100755 new mode 100644 index fc72202b2..6bc7ba877 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -1,16 +1,13 @@ -#!/usr/bin/env python3 import capnp import contextlib import io import shutil import tempfile import os -import unittest import pytest import requests from parameterized import parameterized -from unittest import mock from cereal import log as capnp_log from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException @@ -28,24 +25,22 @@ def noop(segment: LogIterable): @contextlib.contextmanager -def setup_source_scenario(is_internal=False): - with ( - mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock, - mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock, - mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock, - ): - if is_internal: - internal_source_mock.return_value = [QLOG_FILE] - else: - internal_source_mock.side_effect = InternalUnavailableException +def setup_source_scenario(mocker, is_internal=False): + internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source") + openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source") + comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source") + if is_internal: + internal_source_mock.return_value = [QLOG_FILE] + else: + internal_source_mock.side_effect = InternalUnavailableException - openpilotci_source_mock.return_value = [None] - comma_api_source_mock.return_value = [QLOG_FILE] + openpilotci_source_mock.return_value = [None] + comma_api_source_mock.return_value = [QLOG_FILE] - yield + yield -class TestLogReader(unittest.TestCase): +class TestLogReader: @parameterized.expand([ (f"{TEST_ROUTE}", ALL_SEGS), (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS), @@ -74,7 +69,7 @@ class TestLogReader(unittest.TestCase): def test_indirect_parsing(self, identifier, expected): parsed, _, _ = parse_indirect(identifier) sr = SegmentRange(parsed) - self.assertListEqual(list(sr.seg_idxs), expected, identifier) + assert list(sr.seg_idxs) == expected, identifier @parameterized.expand([ (f"{TEST_ROUTE}", f"{TEST_ROUTE}"), @@ -86,11 +81,11 @@ class TestLogReader(unittest.TestCase): ]) def test_canonical_name(self, identifier, expected): sr = SegmentRange(identifier) - self.assertEqual(str(sr), expected) + assert str(sr) == expected - @parameterized.expand([(True,), (False,)]) - @mock.patch("openpilot.tools.lib.logreader.file_exists") - def test_direct_parsing(self, cache_enabled, file_exists_mock): + @pytest.mark.parametrize("cache_enabled", [True, False]) + def test_direct_parsing(self, mocker, cache_enabled): + file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) @@ -100,13 +95,13 @@ class TestLogReader(unittest.TestCase): for f in [QLOG_FILE, qlog.name]: l = len(list(LogReader(f))) - self.assertGreater(l, 100) + assert l > 100 - with self.assertRaises(URLFileException) if not cache_enabled else self.assertRaises(AssertionError): + with pytest.raises(URLFileException) if not cache_enabled else pytest.raises(AssertionError): l = len(list(LogReader(QLOG_FILE.replace("/3/", "/200/")))) # file_exists should not be called for direct files - self.assertEqual(file_exists_mock.call_count, 0) + assert file_exists_mock.call_count == 0 @parameterized.expand([ (f"{TEST_ROUTE}///",), @@ -121,110 +116,110 @@ class TestLogReader(unittest.TestCase): (f"{TEST_ROUTE}--3a",), ]) def test_bad_ranges(self, segment_range): - with self.assertRaises(AssertionError): + with pytest.raises(AssertionError): _ = SegmentRange(segment_range).seg_idxs - @parameterized.expand([ + @pytest.mark.parametrize("segment_range, api_call", [ (f"{TEST_ROUTE}/0", False), (f"{TEST_ROUTE}/:2", False), (f"{TEST_ROUTE}/0:", True), (f"{TEST_ROUTE}/-1", True), (f"{TEST_ROUTE}", True), ]) - def test_slicing_api_call(self, segment_range, api_call): - with mock.patch("openpilot.tools.lib.route.get_max_seg_number_cached") as max_seg_mock: - max_seg_mock.return_value = NUM_SEGS - _ = SegmentRange(segment_range).seg_idxs - self.assertEqual(api_call, max_seg_mock.called) + def test_slicing_api_call(self, mocker, segment_range, api_call): + max_seg_mock = mocker.patch("openpilot.tools.lib.route.get_max_seg_number_cached") + max_seg_mock.return_value = NUM_SEGS + _ = SegmentRange(segment_range).seg_idxs + assert api_call == max_seg_mock.called @pytest.mark.slow def test_modes(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) - self.assertLess(qlog_len * 6, rlog_len) + assert qlog_len * 6 < rlog_len @pytest.mark.slow def test_modes_from_name(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) - self.assertLess(qlog_len * 6, rlog_len) + assert qlog_len * 6 < rlog_len @pytest.mark.slow def test_list(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"]))) - self.assertEqual(qlog_len * 2, qlog_len_2) + assert qlog_len * 2 == qlog_len_2 @pytest.mark.slow - @mock.patch("openpilot.tools.lib.logreader._LogFileReader") - def test_multiple_iterations(self, init_mock): + def test_multiple_iterations(self, mocker): + init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader") lr = LogReader(f"{TEST_ROUTE}/0/q") qlog_len1 = len(list(lr)) qlog_len2 = len(list(lr)) # ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice - self.assertEqual(init_mock.call_count, 1) + assert init_mock.call_count == 1 - self.assertEqual(qlog_len1, qlog_len2) + assert qlog_len1 == qlog_len2 @pytest.mark.slow def test_helpers(self): lr = LogReader(f"{TEST_ROUTE}/0/q") - self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN") - self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr))) + assert lr.first("carParams").carFingerprint == "SUBARU OUTBACK 6TH GEN" + assert 0 < len(list(lr.filter("carParams"))) < len(list(lr)) @parameterized.expand([(True,), (False,)]) @pytest.mark.slow def test_run_across_segments(self, cache_enabled): os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" lr = LogReader(f"{TEST_ROUTE}/0:4") - self.assertEqual(len(lr.run_across_segments(4, noop)), len(list(lr))) + assert len(lr.run_across_segments(4, noop)) == len(list(lr)) @pytest.mark.slow - def test_auto_mode(self): + def test_auto_mode(self, subtests, mocker): lr = LogReader(f"{TEST_ROUTE}/0/q") qlog_len = len(list(lr)) - with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock: - log_paths_mock.return_value = [None] * NUM_SEGS - # Should fall back to qlogs since rlogs are not available + log_paths_mock = mocker.patch("openpilot.tools.lib.route.Route.log_paths") + log_paths_mock.return_value = [None] * NUM_SEGS + # Should fall back to qlogs since rlogs are not available - with self.subTest("interactive_yes"): - with mock.patch("sys.stdin", new=io.StringIO("y\n")): - lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) - log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + with subtests.test("interactive_yes"): + mocker.patch("sys.stdin", new=io.StringIO("y\n")) + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) + log_len = len(list(lr)) + assert qlog_len == log_len - with self.subTest("interactive_no"): - with mock.patch("sys.stdin", new=io.StringIO("n\n")): - with self.assertRaises(AssertionError): - lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) + with subtests.test("interactive_no"): + mocker.patch("sys.stdin", new=io.StringIO("n\n")) + with pytest.raises(AssertionError): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) - with self.subTest("non_interactive"): - lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source) - log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + with subtests.test("non_interactive"): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source) + log_len = len(list(lr)) + assert qlog_len == log_len - @parameterized.expand([(True,), (False,)]) + @pytest.mark.parametrize("is_internal", [True, False]) @pytest.mark.slow - def test_auto_source_scenarios(self, is_internal): + def test_auto_source_scenarios(self, mocker, is_internal): lr = LogReader(QLOG_FILE) qlog_len = len(list(lr)) - with setup_source_scenario(is_internal=is_internal): + with setup_source_scenario(mocker, is_internal=is_internal): lr = LogReader(f"{TEST_ROUTE}/0/q") log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + assert qlog_len == log_len @pytest.mark.slow def test_sort_by_time(self): msgs = list(LogReader(f"{TEST_ROUTE}/0/q")) - self.assertNotEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime)) + assert msgs != sorted(msgs, key=lambda m: m.logMonoTime) msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True)) - self.assertEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime)) + assert msgs == sorted(msgs, key=lambda m: m.logMonoTime) def test_only_union_types(self): with tempfile.NamedTemporaryFile() as qlog: @@ -234,7 +229,7 @@ class TestLogReader(unittest.TestCase): f.write(b"".join(capnp_log.Event.new_message().to_bytes() for _ in range(num_msgs))) msgs = list(LogReader(qlog.name)) - self.assertEqual(len(msgs), num_msgs) + assert len(msgs) == num_msgs [m.which() for m in msgs] # append non-union Event message @@ -246,15 +241,11 @@ class TestLogReader(unittest.TestCase): # ensure new message is added, but is not a union type msgs = list(LogReader(qlog.name)) - self.assertEqual(len(msgs), num_msgs + 1) - with self.assertRaises(capnp.KjException): + assert len(msgs) == num_msgs + 1 + with pytest.raises(capnp.KjException): [m.which() for m in msgs] # should not be added when only_union_types=True msgs = list(LogReader(qlog.name, only_union_types=True)) - self.assertEqual(len(msgs), num_msgs) + assert len(msgs) == num_msgs [m.which() for m in msgs] - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py old mode 100755 new mode 100644 index 1f24ae5c8..624531a1a --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python -import unittest +import pytest import requests import tempfile @@ -9,16 +8,16 @@ from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader -class TestReaders(unittest.TestCase): - @unittest.skip("skip for bandwidth reasons") +class TestReaders: + @pytest.mark.skip("skip for bandwidth reasons") def test_logreader(self): def _check_data(lr): hist = defaultdict(int) for l in lr: hist[l.which()] += 1 - self.assertEqual(hist['carControl'], 6000) - self.assertEqual(hist['logMessage'], 6857) + assert hist['carControl'] == 6000 + assert hist['logMessage'] == 6857 with tempfile.NamedTemporaryFile(suffix=".bz2") as fp: r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10) @@ -31,15 +30,15 @@ class TestReaders(unittest.TestCase): lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") _check_data(lr_url) - @unittest.skip("skip for bandwidth reasons") + @pytest.mark.skip("skip for bandwidth reasons") def test_framereader(self): def _check_data(f): - self.assertEqual(f.frame_count, 1200) - self.assertEqual(f.w, 1164) - self.assertEqual(f.h, 874) + assert f.frame_count == 1200 + assert f.w == 1164 + assert f.h == 874 frame_first_30 = f.get(0, 30) - self.assertEqual(len(frame_first_30), 30) + assert len(frame_first_30) == 30 print(frame_first_30[15]) @@ -62,6 +61,3 @@ class TestReaders(unittest.TestCase): fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true") _check_data(fr_url) - -if __name__ == "__main__": - unittest.main() diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py old mode 100755 new mode 100644 index 7977f17be..491bb8132 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -1,10 +1,8 @@ -#!/usr/bin/env python -import unittest from collections import namedtuple from openpilot.tools.lib.route import SegmentName -class TestRouteLibrary(unittest.TestCase): +class TestRouteLibrary: def test_segment_name_formats(self): Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir']) @@ -21,12 +19,9 @@ class TestRouteLibrary(unittest.TestCase): s = SegmentName(route_or_segment_name, allow_route_name=True) - self.assertEqual(str(s.route_name), case.expected_route) - self.assertEqual(s.segment_num, case.expected_segment_num) - self.assertEqual(s.data_dir, case.expected_data_dir) + assert str(s.route_name) == case.expected_route + assert s.segment_num == case.expected_segment_num + assert s.data_dir == case.expected_data_dir for case in cases: _validate(case) - -if __name__ == "__main__": - unittest.main() diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 9ec2097ea..b7f7cb93a 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -6,7 +6,7 @@ if [ -z "$SKIP_PROMPT" ]; then echo "--------------- macOS support ---------------" echo "Running openpilot natively on macOS is not officially supported." echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." - echo + echo echo "Check out devcontainers for a seamless experience (see tools/README.md)." echo "-------------------------------------------------" echo -n "Are you sure you want to continue? [y/N] " @@ -28,7 +28,7 @@ fi # Install brew if required if [[ $(command -v brew) == "" ]]; then - echo "Installing Hombrew" + echo "Installing Homebrew" /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" echo "[ ] installed brew t=$SECONDS" @@ -63,7 +63,6 @@ brew "pyenv" brew "pyenv-virtualenv" brew "qt@5" brew "zeromq" -brew "gcc@13" cask "gcc-arm-embedded" brew "portaudio" EOS diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py old mode 100755 new mode 100644 index 17287fb80..a2c509f94 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -1,10 +1,8 @@ -#!/usr/bin/env python3 import os import glob import signal import subprocess import time -import unittest from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout @@ -12,7 +10,7 @@ from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") -class TestPlotJuggler(unittest.TestCase): +class TestPlotJuggler: def test_demo(self): install() @@ -27,14 +25,14 @@ class TestPlotJuggler(unittest.TestCase): output += p.stderr.readline().decode("utf-8") # ensure plotjuggler didn't crash after exiting the plugin - time.sleep(15) - self.assertEqual(p.poll(), None) + time.sleep(2) + assert p.poll() is None os.killpg(os.getpgid(p.pid), signal.SIGTERM) - self.assertNotIn("Raw file read failed", output) + assert "Raw file read failed" not in output # TODO: also test that layouts successfully load - def test_layouts(self): + def test_layouts(self, subtests): bad_strings = ( # if a previously loaded file is defined, # PJ will throw a warning when loading the layout @@ -43,12 +41,8 @@ class TestPlotJuggler(unittest.TestCase): ) for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")): name = os.path.basename(fn) - with self.subTest(layout=name): + with subtests.test(layout=name): with open(fn) as f: layout = f.read() violations = [s for s in bad_strings if s in layout] assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}" - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 5d88f560b..cf9d74a89 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -1,8 +1,8 @@ Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, 'zmq', - 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, + 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') diff --git a/tools/replay/camera.h b/tools/replay/camera.h index 77a6293ec..21c3d98dc 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -5,7 +5,7 @@ #include #include -#include "cereal/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_server.h" #include "common/queue.h" #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index c7da8caf7..3ab33a1df 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,7 +8,7 @@ import threading os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list +from openpilot.selfdrive.pandad import can_capnp_to_can_list from openpilot.tools.lib.logreader import LogReader from panda import PandaJungle diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index b9abefb7c..7a4d024aa 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -3,7 +3,7 @@ #include #include -#include "cereal/visionipc/visionbuf.h" +#include "msgq/visionipc/visionbuf.h" #include "system/camerad/cameras/camera_common.h" #include "tools/replay/filereader.h" diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 6a159aa8e..861643718 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -46,16 +46,21 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s } Replay::~Replay() { + stop(); +} + +void Replay::stop() { if (!stream_thread_ && segments_.empty()) return; rInfo("shutdown: in progress..."); if (stream_thread_ != nullptr) { - exit_ =true; + exit_ = true; paused_ = true; stream_cv_.notify_one(); stream_thread_->quit(); stream_thread_->wait(); delete stream_thread_; + stream_thread_ = nullptr; } timeline_future.waitForFinished(); rInfo("shutdown: done"); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e3f321e1d..4adbc14df 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -54,6 +54,7 @@ public: ~Replay(); bool load(); void start(int seconds = 0); + void stop(); void pause(bool pause); void seekToFlag(FindFlag flag); void seekTo(double seconds, bool relative); diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 31e4fff74..a790f14ff 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -18,7 +18,7 @@ from openpilot.tools.replay.lib.ui_helpers import (UP, maybe_update_radar_points, plot_lead, plot_model, pygame_modules_have_loaded) -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType os.environ['BASEDIR'] = BASEDIR diff --git a/tools/rerun/run.py b/tools/rerun/run.py index 271f127d3..9975478a7 100755 --- a/tools/rerun/run.py +++ b/tools/rerun/run.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 -import subprocess import sys import argparse import multiprocessing +import rerun as rr +import rerun.blueprint as rrb from functools import partial from openpilot.tools.lib.logreader import LogReader @@ -11,14 +12,6 @@ from cereal.services import SERVICE_LIST NUM_CPUS = multiprocessing.cpu_count() DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" -WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels" - - -def install(): - # currently requires a preview release build - subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True) - print("Rerun installed") - def log_msg(msg, parent_key=''): stack = [(msg, parent_key)] @@ -45,8 +38,8 @@ def log_msg(msg, parent_key=''): else: pass # Not a plottable value - def createBlueprint(): + blueprint = None timeSeriesViews = [] for topic in sorted(SERVICE_LIST.keys()): timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False)) @@ -55,15 +48,16 @@ def createBlueprint(): rrb.Spatial2DView(name="thumbnail", origin="/thumbnail"))) return blueprint - def log_thumbnail(thumbnailMsg): bytesImgData = thumbnailMsg.get('thumbnail') rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData)) - +@rr.shutdown_at_exit def process(blueprint, lr): + rr.init("rerun_test") + rr.connect(default_blueprint=blueprint) + ret = [] - rr.init("rerun_test", spawn=True, default_blueprint=blueprint) for msg in lr: ret.append(msg) rr.set_time_nanos("TIMELINE", msg.logMonoTime) @@ -73,12 +67,10 @@ def process(blueprint, lr): log_thumbnail(msg.to_dict()[msg.which()]) return ret - if __name__ == '__main__': parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--install", action="store_true", help="Install or update rerun") parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") if len(sys.argv) == 1: @@ -86,19 +78,12 @@ if __name__ == '__main__': sys.exit() args = parser.parse_args() - if args.install: - install() - sys.exit() - try: - import rerun as rr - import rerun.blueprint as rrb - except ImportError: - print("Rerun is not installed, run with --install first") - sys.exit() + blueprint = createBlueprint() + rr.init("rerun_test") + rr.spawn(connect=False) # child processes stream data to Viewer route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - blueprint = createBlueprint() print("Getting route log paths") lr = LogReader(route_or_segment_name) lr.run_across_segments(NUM_CPUS, partial(process, blueprint)) diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim deleted file mode 100644 index cb573b33f..000000000 --- a/tools/sim/Dockerfile.sim +++ /dev/null @@ -1,37 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -RUN apt-get update && apt-get install -y --no-install-recommends \ - tmux \ - vim \ - && rm -rf /var/lib/apt/lists/* - -# get same tmux config used on NEOS for debugging -RUN cd $HOME && \ - curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf - -ENV OPENPILOT_PATH /tmp/openpilot -ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} - -RUN mkdir -p ${OPENPILOT_PATH} -WORKDIR ${OPENPILOT_PATH} - -COPY SConstruct ${OPENPILOT_PATH} - -COPY ./openpilot ${OPENPILOT_PATH}/openpilot -COPY ./body ${OPENPILOT_PATH}/body -COPY ./third_party ${OPENPILOT_PATH}/third_party -COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./rednose ${OPENPILOT_PATH}/rednose -COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons -COPY ./common ${OPENPILOT_PATH}/common -COPY ./opendbc ${OPENPILOT_PATH}/opendbc -COPY ./cereal ${OPENPILOT_PATH}/cereal -COPY ./panda ${OPENPILOT_PATH}/panda -COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive -COPY ./system ${OPENPILOT_PATH}/system -COPY ./tools ${OPENPILOT_PATH}/tools -COPY ./release ${OPENPILOT_PATH}/release - -RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly - -RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia deleted file mode 100644 index 5e5dd263d..000000000 --- a/tools/sim/Dockerfile.sim_nvidia +++ /dev/null @@ -1,21 +0,0 @@ -FROM ubuntu:20.04 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && \ - apt-get install -y --no-install-recommends \ - apt-utils \ - sudo \ - ssh \ - curl \ - ca-certificates \ - git \ - git-lfs && \ - rm -rf /var/lib/apt/lists/* - -RUN curl -fsSL https://get.docker.com -o get-docker.sh && \ - sudo sh get-docker.sh && \ - distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \ - curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \ - curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \ - sudo apt-get update && \ - sudo apt-get install -y nvidia-docker2 diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 46d09c7b9..64407143f 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -2,6 +2,8 @@ import signal import threading import functools +from collections import namedtuple +from enum import Enum from multiprocessing import Process, Queue, Value from abc import ABC, abstractmethod @@ -14,6 +16,16 @@ from openpilot.tools.sim.lib.common import SimulatorState, World from openpilot.tools.sim.lib.simulated_car import SimulatedCar from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors +QueueMessage = namedtuple("QueueMessage", ["type", "info"], defaults=[None]) + +class QueueMessageType(Enum): + START_STATUS = 0 + CONTROL_COMMAND = 1 + TERMINATION_INFO = 2 + CLOSE_STATUS = 3 + +def control_cmd_gen(cmd: str): + return QueueMessage(QueueMessageType.CONTROL_COMMAND, cmd) def rk_loop(function, hz, exit_event: threading.Event): rk = Ratekeeper(hz, None) @@ -48,6 +60,8 @@ class SimulatorBridge(ABC): self.past_startup_engaged = False self.startup_button_prev = True + self.test_run = False + def _on_shutdown(self, signal, frame): self.shutdown() @@ -80,11 +94,11 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga """) @abstractmethod - def spawn_world(self) -> World: + def spawn_world(self, q: Queue) -> World: pass def _run(self, q: Queue): - self.world = self.spawn_world() + self.world = self.spawn_world(q) self.simulated_car = SimulatedCar() self.simulated_sensors = SimulatedSensors(self.dual_camera) @@ -114,33 +128,34 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga # Read manual controls if not q.empty(): message = q.get() - m = message.split('_') - if m[0] == "steer": - steer_manual = float(m[1]) - elif m[0] == "throttle": - throttle_manual = float(m[1]) - elif m[0] == "brake": - brake_manual = float(m[1]) - elif m[0] == "cruise": - if m[1] == "down": - self.simulator_state.cruise_button = CruiseButtons.DECEL_SET - elif m[1] == "up": - self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL - elif m[1] == "cancel": - self.simulator_state.cruise_button = CruiseButtons.CANCEL - elif m[1] == "main": - self.simulator_state.cruise_button = CruiseButtons.MAIN - elif m[0] == "blinker": - if m[1] == "left": - self.simulator_state.left_blinker = True - elif m[1] == "right": - self.simulator_state.right_blinker = True - elif m[0] == "ignition": - self.simulator_state.ignition = not self.simulator_state.ignition - elif m[0] == "reset": - self.world.reset() - elif m[0] == "quit": - break + if message.type == QueueMessageType.CONTROL_COMMAND: + m = message.info.split('_') + if m[0] == "steer": + steer_manual = float(m[1]) + elif m[0] == "throttle": + throttle_manual = float(m[1]) + elif m[0] == "brake": + brake_manual = float(m[1]) + elif m[0] == "cruise": + if m[1] == "down": + self.simulator_state.cruise_button = CruiseButtons.DECEL_SET + elif m[1] == "up": + self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL + elif m[1] == "cancel": + self.simulator_state.cruise_button = CruiseButtons.CANCEL + elif m[1] == "main": + self.simulator_state.cruise_button = CruiseButtons.MAIN + elif m[0] == "blinker": + if m[1] == "left": + self.simulator_state.left_blinker = True + elif m[1] == "right": + self.simulator_state.right_blinker = True + elif m[0] == "ignition": + self.simulator_state.ignition = not self.simulator_state.ignition + elif m[0] == "reset": + self.world.reset() + elif m[0] == "quit": + break self.simulator_state.user_brake = brake_manual self.simulator_state.user_gas = throttle_manual @@ -180,7 +195,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga self.world.tick() self.world.read_cameras() - if self.rk.frame % 25 == 0: + # don't print during test, so no print/IO Block between OP and metadrive processes + if not self.test_run and self.rk.frame % 25 == 0: self.print_status() self.started.value = True diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 5c91238c5..74dc1210b 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -1,3 +1,4 @@ +import math from multiprocessing import Queue from metadrive.component.sensors.base_camera import _cuda_enable @@ -27,20 +28,21 @@ def curve_block(length, angle=45, direction=0): } def create_map(track_size=60): + curve_len = track_size * 2 return dict( type=MapGenerateMethod.PG_MAP_FILE, lane_num=2, - lane_width=3.5, + lane_width=4.5, config=[ None, straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), ] ) @@ -48,12 +50,14 @@ def create_map(track_size=60): class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 - def __init__(self, dual_camera, high_quality): - self.should_render = False - + def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False): super().__init__(dual_camera, high_quality) - def spawn_world(self): + self.should_render = False + self.test_run = test_run + self.test_duration = test_duration if self.test_run else math.inf + + def spawn_world(self, queue: Queue): sensors = { "rgb_road": (RGBCameraRoad, W, H, ) } @@ -83,4 +87,4 @@ class MetaDriveBridge(SimulatorBridge): preload_models=False ) - return MetaDriveWorld(Queue(), config, self.dual_camera) + return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 79eefcd54..38c13a143 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -1,4 +1,5 @@ import math +import time import numpy as np from collections import namedtuple @@ -49,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True): def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, - exit_event): + exit_event, op_engaged, test_duration, test_run): arrive_dest_done = config.pop("arrive_dest_done", True) apply_metadrive_patches(arrive_dest_done) @@ -60,9 +61,15 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera env = MetaDriveEnv(config) + def get_current_lane_info(vehicle): + _, lane_info, on_lane = vehicle.navigation._get_current_lane(vehicle) + lane_idx = lane_info[2] if lane_info is not None else None + return lane_idx, on_lane + def reset(): env.reset() env.vehicle.config["max_speed_km_h"] = 1000 + lane_idx_prev, _ = get_current_lane_info(env.vehicle) simulation_state = metadrive_simulation_state( running=True, @@ -71,14 +78,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera ) simulation_state_send.send(simulation_state) - reset() + return lane_idx_prev + + lane_idx_prev = reset() + start_time = None def get_cam_as_rgb(cam): cam = env.engine.sensors[cam] cam.get_cam().reparentTo(env.vehicle.origin) cam.get_cam().setPos(C3_POSITION) cam.get_cam().setHpr(C3_HPR) - img = cam.perceive(clip=False) + img = cam.perceive(to_float=False) if type(img) != np.ndarray: img = img.get() # convert cupy array to numpy return img @@ -95,7 +105,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera bearing=float(math.degrees(env.vehicle.heading_theta)), steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING ) - vehicle_state_send.send(vehicle_state) if controls_recv.poll(0): @@ -108,13 +117,28 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera vc = [steer_metadrive, gas] if should_reset: - reset() + lane_idx_prev = reset() + start_time = None + + is_engaged = op_engaged.is_set() + if is_engaged and start_time is None: + start_time = time.monotonic() if rk.frame % 5 == 0: - obs, _, terminated, _, info = env.step(vc) + _, _, terminated, _, _ = env.step(vc) + timeout = True if start_time is not None and time.monotonic() - start_time >= test_duration else False + lane_idx_curr, on_lane = get_current_lane_info(env.vehicle) + out_of_lane = lane_idx_curr != lane_idx_prev or not on_lane + lane_idx_prev = lane_idx_curr + + if terminated or ((out_of_lane or timeout) and test_run): + if terminated: + done_result = env.done_function("default_agent") + elif out_of_lane: + done_result = (True, {"out_of_lane" : True}) + elif timeout: + done_result = (True, {"timeout" : True}) - if terminated: - done_result = env.done_function("default_agent") simulation_state = metadrive_simulation_state( running=False, done=done_result[0], diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 357020506..5bb4555dc 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -5,6 +5,8 @@ import numpy as np import time from multiprocessing import Pipe, Array + +from openpilot.tools.sim.bridge.common import QueueMessage, QueueMessageType from openpilot.tools.sim.bridge.metadrive.metadrive_process import (metadrive_process, metadrive_simulation_state, metadrive_vehicle_state) from openpilot.tools.sim.lib.common import SimulatorState, World @@ -12,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H class MetaDriveWorld(World): - def __init__(self, status_q, config, dual_camera = False): + def __init__(self, status_q, config, test_duration, test_run, dual_camera=False): super().__init__(dual_camera) self.status_q = status_q self.camera_array = Array(ctypes.c_uint8, W*H*3) @@ -27,22 +29,29 @@ class MetaDriveWorld(World): self.vehicle_state_send, self.vehicle_state_recv = Pipe() self.exit_event = multiprocessing.Event() + self.op_engaged = multiprocessing.Event() + + self.test_run = test_run + + self.first_engage = None + self.last_check_timestamp = 0 + self.distance_moved = 0 self.metadrive_process = multiprocessing.Process(name="metadrive process", target= functools.partial(metadrive_process, dual_camera, config, self.camera_array, self.wide_camera_array, self.image_lock, self.controls_recv, self.simulation_state_send, - self.vehicle_state_send, self.exit_event)) + self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run)) self.metadrive_process.start() - self.status_q.put({"status": "starting"}) + self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting")) print("----------------------------------------------------------") print("---- Spawning Metadrive world, this might take awhile ----") print("----------------------------------------------------------") - self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched - self.status_q.put({"status": "started"}) + self.vehicle_last_pos = self.vehicle_state_recv.recv().position # wait for a state message to ensure metadrive is launched + self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "started")) self.steer_ratio = 15 self.vc = [0.0,0.0] @@ -68,22 +77,46 @@ class MetaDriveWorld(World): while self.simulation_state_recv.poll(0): md_state: metadrive_simulation_state = self.simulation_state_recv.recv() if md_state.done: - self.status_q.put({ - "status": "terminating", - "reason": "done", - "done_info": md_state.done_info - }) + self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, md_state.done_info)) self.exit_event.set() def read_sensors(self, state: SimulatorState): while self.vehicle_state_recv.poll(0): md_vehicle: metadrive_vehicle_state = self.vehicle_state_recv.recv() + curr_pos = md_vehicle.position + state.velocity = md_vehicle.velocity state.bearing = md_vehicle.bearing state.steering_angle = md_vehicle.steering_angle - state.gps.from_xy(md_vehicle.position) + state.gps.from_xy(curr_pos) state.valid = True + is_engaged = state.is_engaged + if is_engaged and self.first_engage is None: + self.first_engage = time.monotonic() + self.op_engaged.set() + + # check moving 5 seconds after engaged, doesn't move right away + after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run + + x_dist = abs(curr_pos[0] - self.vehicle_last_pos[0]) + y_dist = abs(curr_pos[1] - self.vehicle_last_pos[1]) + dist_threshold = 1 + if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving + self.distance_moved += x_dist + y_dist + + time_check_threshold = 30 + current_time = time.monotonic() + since_last_check = current_time - self.last_check_timestamp + if since_last_check >= time_check_threshold: + if after_engaged_check and self.distance_moved == 0: + self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, {"vehicle_not_moving" : True})) + self.exit_event.set() + + self.last_check_timestamp = current_time + self.distance_moved = 0 + self.vehicle_last_pos = curr_pos + def read_cameras(self): pass @@ -94,9 +127,6 @@ class MetaDriveWorld(World): self.should_reset = True def close(self, reason: str): - self.status_q.put({ - "status": "terminating", - "reason": reason, - }) + self.status_q.put(QueueMessage(QueueMessageType.CLOSE_STATUS, reason)) self.exit_event.set() self.metadrive_process.join() diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh deleted file mode 100755 index 451277d59..000000000 --- a/tools/sim/build_container.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/bash - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -cd $DIR/../../ - -docker pull ghcr.io/commaai/openpilot-base:latest -docker build \ - --cache-from ghcr.io/commaai/openpilot-sim:latest \ - -t ghcr.io/commaai/openpilot-sim:latest \ - -f tools/sim/Dockerfile.sim . diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 86d9607bb..1b4ac4ef8 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -18,4 +18,4 @@ SCRIPT_DIR=$(dirname "$0") OPENPILOT_DIR=$SCRIPT_DIR/../../ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py +cd $OPENPILOT_DIR/system/manager && exec ./manager.py diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index 95769dd44..b58cbeaaf 100644 --- a/tools/sim/lib/camerad.py +++ b/tools/sim/lib/camerad.py @@ -3,7 +3,7 @@ import os import pyopencl as cl import pyopencl.array as cl_array -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal import messaging from openpilot.common.basedir import BASEDIR diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index 168b3aa32..132493213 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -17,7 +17,7 @@ class GPSState: self.altitude = 0 def from_xy(self, xy): - """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?""" + """Simulates a lat/lon from an xy coordinate on a plane, for simple simulation. TODO: proper global projection?""" BASE_LAT = 32.75308505188913 BASE_LON = -117.2095393365393 DEG_TO_METERS = 100000 diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index ea255d9ce..0a17f0ee8 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/tools/sim/lib/keyboard_ctrl.py @@ -2,10 +2,13 @@ import sys import termios import time +from multiprocessing import Queue from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK, ISTRIP, IXON, PARENB, VMIN, VTIME) from typing import NoReturn +from openpilot.tools.sim.bridge.common import QueueMessage, control_cmd_gen + # Indexes for termios list. IFLAG = 0 OFLAG = 1 @@ -52,35 +55,35 @@ def getch() -> str: def print_keyboard_help(): print(f"Keyboard Commands:\n{KEYBOARD_HELP}") -def keyboard_poll_thread(q: 'Queue[str]'): +def keyboard_poll_thread(q: 'Queue[QueueMessage]'): print_keyboard_help() while True: c = getch() if c == '1': - q.put("cruise_up") + q.put(control_cmd_gen("cruise_up")) elif c == '2': - q.put("cruise_down") + q.put(control_cmd_gen("cruise_down")) elif c == '3': - q.put("cruise_cancel") + q.put(control_cmd_gen("cruise_cancel")) elif c == 'w': - q.put("throttle_%f" % 1.0) + q.put(control_cmd_gen(f"throttle_{1.0}")) elif c == 'a': - q.put("steer_%f" % -0.15) + q.put(control_cmd_gen(f"steer_{-0.15}")) elif c == 's': - q.put("brake_%f" % 1.0) + q.put(control_cmd_gen(f"brake_{1.0}")) elif c == 'd': - q.put("steer_%f" % 0.15) + q.put(control_cmd_gen(f"steer_{0.15}")) elif c == 'z': - q.put("blinker_left") + q.put(control_cmd_gen("blinker_left")) elif c == 'x': - q.put("blinker_right") + q.put(control_cmd_gen("blinker_right")) elif c == 'i': - q.put("ignition") + q.put(control_cmd_gen("ignition")) elif c == 'r': - q.put("reset") + q.put(control_cmd_gen("reset")) elif c == 'q': - q.put("quit") + q.put(control_cmd_gen("quit")) break else: print_keyboard_help() @@ -92,7 +95,7 @@ def test(q: 'Queue[str]') -> NoReturn: if __name__ == '__main__': from multiprocessing import Process, Queue - q: Queue[str] = Queue() + q: 'Queue[QueueMessage]' = Queue() p = Process(target=test, args=(q,)) p.daemon = True p.start() diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 8a7229653..972f7023b 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -6,6 +6,8 @@ import struct from fcntl import ioctl from typing import NoReturn +from openpilot.tools.sim.bridge.common import control_cmd_gen + # Iterate over the joystick devices. print('Available devices:') for fn in os.listdir('/dev/input'): @@ -153,33 +155,33 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = (1 - fvalue) * 50 - q.put(f"throttle_{normalized:f}") + q.put(control_cmd_gen(f"throttle_{normalized:f}")) elif axis == "rz": # brake fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = (1 - fvalue) * 50 - q.put(f"brake_{normalized:f}") + q.put(control_cmd_gen(f"brake_{normalized:f}")) elif axis == "x": # steer angle fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = fvalue - q.put(f"steer_{normalized:f}") + q.put(control_cmd_gen(f"steer_{normalized:f}")) elif mtype & 0x01: # buttons if value == 1: # press down if number in [0, 19]: # X - q.put("cruise_down") + q.put(control_cmd_gen("cruise_down")) elif number in [3, 18]: # triangle - q.put("cruise_up") + q.put(control_cmd_gen("cruise_up")) elif number in [1, 6]: # square - q.put("cruise_cancel") + q.put(control_cmd_gen("cruise_cancel")) elif number in [10, 21]: # R3 - q.put("reverse_switch") + q.put(control_cmd_gen("reverse_switch")) if __name__ == '__main__': from multiprocessing import Process, Queue diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 8c15195dc..6d324e478 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -3,7 +3,7 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser from openpilot.common.params import Params -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp from openpilot.tools.sim.lib.common import SimulatorState from panda.python import Panda diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py deleted file mode 100755 index 683ce5516..000000000 --- a/tools/sim/scenarios/metadrive/stay_in_lane.py +++ /dev/null @@ -1,92 +0,0 @@ -#!/usr/bin/env python - -from multiprocessing import Queue - -from metadrive.component.sensors.base_camera import _cuda_enable -from metadrive.component.map.pg_map import MapGenerateMethod - -from openpilot.tools.sim.bridge.common import SimulatorBridge -from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide -from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld -from openpilot.tools.sim.lib.camerad import W, H - - -def create_map(): - return dict( - type=MapGenerateMethod.PG_MAP_FILE, - lane_num=2, - lane_width=3.5, - config=[ - { - "id": "S", - "pre_block_socket_index": 0, - "length": 60, - }, - { - "id": "C", - "pre_block_socket_index": 0, - "length": 60, - "radius": 600, - "angle": 45, - "dir": 0, - }, - ] - ) - - -class MetaDriveBridge(SimulatorBridge): - TICKS_PER_FRAME = 5 - - def __init__(self, world_status_q, dual_camera, high_quality): - self.world_status_q = world_status_q - self.should_render = False - - super().__init__(dual_camera, high_quality) - - def spawn_world(self): - sensors = { - "rgb_road": (RGBCameraRoad, W, H, ) - } - - if self.dual_camera: - sensors["rgb_wide"] = (RGBCameraWide, W, H) - - config = dict( - use_render=self.should_render, - vehicle_config=dict( - enable_reverse=False, - image_source="rgb_road", - ), - sensors=sensors, - image_on_cuda=_cuda_enable, - image_observation=True, - interface_panel=[], - out_of_route_done=True, - on_continuous_line_done=True, - crash_vehicle_done=True, - crash_object_done=True, - arrive_dest_done=True, - traffic_density=0.0, - map_config=create_map(), - map_region_size=2048, - decision_repeat=1, - physics_world_step_size=self.TICKS_PER_FRAME/100, - preload_models=False - ) - - return MetaDriveWorld(world_status_q, config, self.dual_camera) - - -if __name__ == "__main__": - command_queue: Queue = Queue() - world_status_q: Queue = Queue() - simulator_bridge = MetaDriveBridge(world_status_q, True, False) - simulator_process = simulator_bridge.run(command_queue) - - while True: - world_status = world_status_q.get() - print(f"World Status: {str(world_status)}") - if world_status["status"] == "terminating": - break - - simulator_process.join() diff --git a/tools/sim/tests/conftest.py b/tools/sim/tests/conftest.py new file mode 100644 index 000000000..ddf663527 --- /dev/null +++ b/tools/sim/tests/conftest.py @@ -0,0 +1,8 @@ +import pytest + +def pytest_addoption(parser): + parser.addoption("--test_duration", action="store", default=60, type=int, help="Seconds to run metadrive drive") + +@pytest.fixture +def test_duration(request): + return request.config.getoption("--test_duration") diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py old mode 100755 new mode 100644 index 6cb8e1465..8849e901c --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,15 +1,21 @@ -#!/usr/bin/env python3 import pytest -import unittest +import warnings + +# Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API +warnings.filterwarnings("ignore", category=DeprecationWarning) from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase @pytest.mark.slow +@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log class TestMetaDriveBridge(TestSimBridgeBase): + @pytest.fixture(autouse=True) + def setup_create_bridge(self, test_duration): + # run bridge test for at least 60s, since not-moving check runs every 30s + if test_duration < 60: + test_duration = 60 + self.test_duration = test_duration + def create_bridge(self): - return MetaDriveBridge(False, False) - - -if __name__ == "__main__": - unittest.main() + return MetaDriveBridge(False, False, self.test_duration, True) diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index d9653d5cf..aaa90f153 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -1,25 +1,26 @@ import os import subprocess import time -import unittest +import pytest from multiprocessing import Queue from cereal import messaging from openpilot.common.basedir import BASEDIR +from openpilot.tools.sim.bridge.common import QueueMessageType SIM_DIR = os.path.join(BASEDIR, "tools/sim") -class TestSimBridgeBase(unittest.TestCase): +class TestSimBridgeBase: @classmethod - def setUpClass(cls): + def setup_class(cls): if cls is TestSimBridgeBase: - raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead") + raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead") - def setUp(self): + def setup_method(self): self.processes = [] - def test_engage(self): + def test_driving(self): # Startup manager and bridge.py. Check processes are running, then engage and verify. p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR) self.processes.append(p_manager) @@ -36,7 +37,7 @@ class TestSimBridgeBase(unittest.TestCase): start_waiting = time.monotonic() while not bridge.started.value and time.monotonic() < start_waiting + max_time_per_step: time.sleep(0.1) - self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}") + assert p_bridge.exitcode is None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}" start_time = time.monotonic() no_car_events_issues_once = False @@ -52,8 +53,8 @@ class TestSimBridgeBase(unittest.TestCase): no_car_events_issues_once = True break - self.assertTrue(no_car_events_issues_once, - f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'") + assert no_car_events_issues_once, \ + f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'" start_time = time.monotonic() min_counts_control_active = 100 @@ -68,9 +69,21 @@ class TestSimBridgeBase(unittest.TestCase): if control_active == min_counts_control_active: break - self.assertEqual(min_counts_control_active, control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}") + assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}" - def tearDown(self): + failure_states = [] + while bridge.started.value: + continue + + while not q.empty(): + state = q.get() + if state.type == QueueMessageType.TERMINATION_INFO: + done_info = state.info + failure_states = [done_state for done_state in done_info if done_state != "timeout" and done_info[done_state]] + break + assert len(failure_states) == 0, f"Simulator fails to finish a loop. Failure states: {failure_states}" + + def teardown_method(self): print("Test shutting down. CommIssues are acceptable") for p in reversed(self.processes): p.terminate() @@ -80,7 +93,3 @@ class TestSimBridgeBase(unittest.TestCase): p.wait(15) else: p.join(15) - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/webcam/Dockerfile b/tools/webcam/Dockerfile deleted file mode 100644 index 78a25e836..000000000 --- a/tools/webcam/Dockerfile +++ /dev/null @@ -1,41 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -ENV PYTHONUNBUFFERED 1 -ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH} - -# Install opencv -ENV OPENCV_VERSION '4.2.0' -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - libvtk6-dev \ - libdc1394-22-dev \ - libavcodec-dev \ - libavformat-dev \ - libswscale-dev \ - libtheora-dev \ - libvorbis-dev \ - libxvidcore-dev \ - libx264-dev \ - yasm \ - libopencore-amrnb-dev \ - libopencore-amrwb-dev \ - libv4l-dev \ - libxine2-dev \ - libtbb-dev \ - && rm -rf /var/lib/apt/lists/* && \ - - mkdir /tmp/opencv_build && \ - cd /tmp/opencv_build && \ - - curl -L -O https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.tar.gz && \ - tar -xvf ${OPENCV_VERSION}.tar.gz && \ - mv opencv-${OPENCV_VERSION} OpenCV && \ - cd OpenCV && mkdir build && cd build && \ - cmake -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON \ - -DWITH_XINE=ON -DENABLE_PRECOMPILED_HEADERS=OFF -DBUILD_TESTS=OFF \ - -DBUILD_PERF_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_opencv_apps=OFF .. && \ - make -j8 && \ - make install && \ - ldconfig && \ - - cd / && rm -rf /tmp/* diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 709e8514c..7334d87b3 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -14,10 +14,7 @@ cd ~ git clone https://github.com/commaai/openpilot.git ``` - Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements -- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc -- Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5 - Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz) -- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part) ## Build openpilot for webcam ``` @@ -32,7 +29,7 @@ USE_WEBCAM=1 scons -j$(nproc) ## GO ``` -cd ~/openpilot/selfdrive/manager +cd ~/openpilot/system/manager NOSENSOR=1 USE_WEBCAM=1 ./manager.py ``` - Start the car, then the UI should show the road webcam's view diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index ce33473f9..d0b879a08 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -3,7 +3,7 @@ import threading import os from collections import namedtuple -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal import messaging from openpilot.tools.webcam.camera import Camera