Merge remote-tracking branch 'origin/master' into 5fps-driving

.github/workflows/repo.yml

@@ -8,7 +8,7 @@ on:
 jobs:
   pre-commit-autoupdate:
     name: pre-commit autoupdate
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/cereal:latest
     steps:

.github/workflows/tests.yml

@@ -13,7 +13,7 @@ env:
 jobs:
   build:
     name: build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
     - name: Build docker image
@@ -27,7 +27,7 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         flags: ['', '--asan', '--ubsan']
@@ -51,7 +51,7 @@ jobs:
 
   static_analysis:
     name: static analysis
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
     - name: Build docker image

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -12,6 +12,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     git \
     libbz2-dev \
     libcapnp-dev \
+    libclang-rt-dev \
     libffi-dev \
     liblzma-dev \
     libncurses5-dev \
@@ -26,7 +27,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     cmake \
     ocl-icd-opencl-dev \
     opencl-headers  \
-    python-openssl \
+    python3-dev \
+    python3-pip \
     tk-dev \
     wget \
     xz-utils \
@@ -35,16 +37,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.11.4 && \
-    pyenv global 3.11.4 && \
-    pyenv rehash && \
-    pip3 install --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy
+RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy
 
 WORKDIR /project/
 RUN cd /tmp/ && \
-    git clone https://github.com/catchorg/Catch2.git && \
+    git clone -b v2.x --depth 1 https://github.com/catchorg/Catch2.git && \
     cd Catch2 && \
-    git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
     mv single_include/catch2/ /project/ && \
     cd .. \
     rm -rf Catch2

SConstruct

@@ -59,6 +59,7 @@ env = Environment(
     "-Wunused",
     "-Werror",
     "-Wshadow",
+    "-Wno-vla-cxx-extension",
   ] + ccflags,
   LDFLAGS=ldflags,
   LINKFLAGS=ldflags,

log.capnp

@@ -905,8 +905,8 @@ struct ModelDataV2 {
   # Model perceived motion
   temporalPose @21 :Pose;
 
-  navEnabled @22 :Bool;
-  locationMonoTime @24 :UInt64;
+  navEnabledDEPRECATED @22 :Bool;
+  locationMonoTimeDEPRECATED @24 :UInt64;
 
   # e2e lateral planner
   lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
@@ -2276,7 +2276,6 @@ struct Event {
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
     driverStateV2 @92 :DriverStateV2;
-    navModel @104 :NavModelData;
 
     # camera stuff, each camera state has a matching encode idx
     roadCameraState @2 :FrameData;
@@ -2380,5 +2379,6 @@ struct Event {
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
+    navModelDEPRECATED @104 :NavModelData;
   }
 }

messaging/tests/test_messaging.py

@@ -112,6 +112,11 @@ class TestPubSubSockets(unittest.TestCase):
 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()

services.py

@@ -75,8 +75,6 @@ services: dict[str, tuple] = {
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
-  "navModel": (True, 2., 4.),
-  "mapRenderState": (True, 2., 1.),
   "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),