Merge branch 'upstream/openpilot/master' into sync-20250731

# Conflicts: # .github/workflows/selfdrive_tests.yaml # common/params.h # common/params_keys.h # common/params_pyx.pyx # docs/CARS.md # opendbc_repo # panda # selfdrive/car/tests/test_models.py # selfdrive/pandad/pandad.cc # selfdrive/pandad/pandad.h # selfdrive/selfdrived/selfdrived.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # system/athena/athenad.py # system/athena/manage_athenad.py # system/manager/manager.py # system/sentry.py # uv.lock Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master` Sync: `commaai/panda:master` into `sunnypilot/panda:master`
2026-08-05 00:05:57 +08:00 · 2025-08-01 12:26:50 -04:00
parent 40f298f033 c4b63cd439
commit d6474aa0a9
211 changed files with 4017 additions and 18401 deletions
@@ -1,7 +1,7 @@
 name: "PR review"
 on:
  pull_request_target:
-    types: [opened, reopened, synchronize, edited]
+    types: [ opened, reopened, synchronize, edited ]

 jobs:
  labeler:
@@ -39,7 +39,7 @@ jobs:
    name: Update fork's PR Labels
    runs-on: ubuntu-latest
    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env: 
+    env:
      PR_LABEL: 'dev-c3'
      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
    steps:
@@ -64,7 +64,7 @@ jobs:
            
            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-      
+
      - name: Remove trust-fork-pr label if present
        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
        uses: actions/github-script@v7
@@ -72,14 +72,14 @@ jobs:
          github-token: ${{ secrets.GITHUB_TOKEN }}
          script: |
            const prNumber = context.payload.pull_request.number;
-            
+
            await github.rest.issues.removeLabel({
              owner: context.repo.owner,
              repo: context.repo.repo,
              issue_number: prNumber,
              name: process.env.TRUST_FORK_PR_LABEL
            });
-            
+
            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
            
            // Add a comment to the PR
@@ -13,7 +13,7 @@ on:
  pull_request:
    branches:
      - 'master'
-  workflow_dispatch:  # enables manual triggering
+  workflow_dispatch: # enables manual triggering
    inputs:
      upstream_branch:
        default: 'master'
@@ -30,7 +30,7 @@ jobs:
        with:
          repository: 'commaai/openpilot'
          ref: ${{ inputs.upstream_branch }}
-      
+
      - name: LFS Fetch
        run: |
          git lfs fetch
@@ -48,7 +48,7 @@ jobs:
      - name: Add GitLab public keys
        run: |
          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-      
+
      - name: Ensure branch
        run: |
          if git symbolic-ref -q HEAD >/dev/null; then
@@ -18,7 +18,6 @@ concurrency:
  cancel-in-progress: true

 env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
  PYTHONWARNINGS: error
  BASE_IMAGE: openpilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
@@ -34,8 +33,12 @@ jobs:
  build_release:
    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
    name: build release
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
@@ -68,8 +71,12 @@ jobs:
      run: release/check-submodules.sh

  build:
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v4
      with:
@@ -85,6 +92,7 @@ jobs:

  build_mac:
    name: build macOS
+    if: false  # temp disable since homebrew install is getting stuck
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v4
@@ -130,8 +138,12 @@ jobs:

  static_analysis:
    name: static analysis
-    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'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    env:
      PYTHONWARNINGS: default
    steps:
@@ -145,17 +157,22 @@ jobs:

  unit_tests:
    name: unit tests
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
      run: |
        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
@@ -165,14 +182,19 @@ jobs:

  process_replay:
    name: process replay
-    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
-    runs-on:
-      - 'ubuntu-24.04'
+    if: false  # disable process_replay for forks
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v4
@@ -183,7 +205,7 @@ jobs:
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
      run: |
        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        chmod -R 777 /tmp/comma_download_cache"
@@ -208,106 +230,26 @@ jobs:
        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                        chmod -R 777 /tmp/comma_download_cache"

-  test_cars:
-    name: cars
-    runs-on:
-      - 'ubuntu-24.04'
-    strategy:
-      fail-fast: false
-      matrix:
-        job: [0, 1, 2, 3]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
-      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-      env:
-        NUM_JOBS: 4
-        JOB_ID: ${{ matrix.job }}
-
-  car_docs_diff:
-    name: PR comments
-    runs-on: ubuntu-latest
-    #if: github.event_name == 'pull_request'
-    if: false  # TODO: run this in opendbc?
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          ref: ${{ github.event.pull_request.base.ref }}
-      - run: git lfs pull
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Get base car info
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          path: current
-      - run: cd current && git lfs pull
-      - name: Save car docs diff
-        id: save_diff
-        run: |
-          cd current
-          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
-          output="${output//$'\n'/'%0A'}"
-          echo "::set-output name=diff::$output"
-      - name: Find comment
-        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          body-includes: This PR makes changes to
-      - name: Update comment
-        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: "${{ steps.save_diff.outputs.diff }}"
-          edit-mode: replace
-      - name: Delete comment
-        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v7
-        with:
-          script: |
-            github.rest.issues.deleteComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              comment_id: ${{ steps.fc.outputs.comment-id }}
-            })
-
  simulator_driving:
    name: simulator driving
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Driving test
-      timeout-minutes: 1
+      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                        source selfdrive/test/setup_vsound.sh && \
@@ -316,8 +258,13 @@ jobs:
  create_ui_report:
    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
    name: Create UI Report
-    runs-on:
-      - 'ubuntu-24.04'
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    if: false  # FIXME: FrameReader is broken on CI runners
    steps:
      - uses: actions/checkout@v4
        with:
@@ -341,5 +288,5 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: ${{ env.REPORT_NAME }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: selfdrive/ui/tests/test_ui/report_1/screenshots
@@ -10,9 +10,17 @@ inputs:
    required: false
    default: 30

+outputs:
+  duration:
+    description: 'Duration of the setup process in seconds'
+    value: ${{ steps.get_duration.outputs.duration }}
+
 runs:
  using: "composite"
  steps:
+    - id: start_time
+      shell: bash
+      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
    - id: setup1
      uses: ./.github/workflows/setup
      continue-on-error: true
@@ -35,3 +43,10 @@ runs:
      uses: ./.github/workflows/setup
      with:
        is_retried: true
+    - id: get_duration
+      shell: bash
+      run: |
+        END_TIME=$(date +%s)
+        DURATION=$((END_TIME - START_TIME))
+        echo "Total duration: $DURATION seconds"
+        echo "duration=$DURATION" >> $GITHUB_OUTPUT
@@ -80,10 +80,10 @@ jobs:
      - name: Set Feature Branch Prebuilt Configuration
        id: set_feature_configuration
        if: (
-              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-              !(startsWith(github.ref, 'refs/tags/'))
-            )
+          !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
+          !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
+          !(startsWith(github.ref, 'refs/tags/'))
+          )
        run: |
          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
@@ -91,9 +91,9 @@ jobs:
      - name: Set dev-c3-new prebuilt Configuration
        id: set_dev_configuration
        if: (
-                steps.set_feature_configuration.outcome == 'skipped' && 
-                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-            )
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
+          )
        run: |
          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
@@ -102,11 +102,11 @@ jobs:
      - name: Set staging-c3-new prebuilt Configuration
        id: set_staging_configuration
        if: (
-                steps.set_feature_configuration.outcome == 'skipped' &&
-                !contains(github.event_name, 'pull_request') &&
-                steps.set_dev_configuration.outcome == 'skipped' && 
-                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-            )
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          !contains(github.event_name, 'pull_request') &&
+          steps.set_dev_configuration.outcome == 'skipped' &&
+          (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
+          )
        run: |
          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
@@ -115,11 +115,11 @@ jobs:
      - name: Set release-c3-new prebuilt Configuration
        id: set_tag_configuration
        if: (
-              steps.set_feature_configuration.outcome == 'skipped' &&
-              !contains(github.event_name, 'pull_request') &&
-              steps.set_staging_configuration.outcome == 'skipped' &&
-              startsWith(github.ref, 'refs/tags/')
-            )
+          steps.set_feature_configuration.outcome == 'skipped' &&
+          !contains(github.event_name, 'pull_request') &&
+          steps.set_staging_configuration.outcome == 'skipped' &&
+          startsWith(github.ref, 'refs/tags/')
+          )
        run: |
          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
@@ -227,7 +227,6 @@ jobs:
        run: |
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

-
  publish:
    concurrency:
      group: publish-${{ github.head_ref || github.ref_name }}
@@ -268,7 +267,7 @@ jobs:
            "${{ needs.build.outputs.version }}" \
            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
            "-${{ needs.build.outputs.extra_version_identifier }}"
-          
+
          echo ""
          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
          echo ""
@@ -299,7 +298,7 @@ jobs:
          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-          
+
          echo ""
          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
          echo ""
@@ -307,7 +306,7 @@ jobs:
          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
          echo "3. Update as needed (JSON array with no spaces)"
        shell: alpine.sh {0}
-  
+
  manage-pr-labels:
    name: Remove prebuilt label
    runs-on: ubuntu-latest
@@ -12,8 +12,8 @@ on:
    branches:
      - master
  pull_request_target:
-    types: [ labeled ]  
-    branches:    
+    types: [ labeled ]
+    branches:
      - 'master'
  workflow_dispatch:
    inputs:
@@ -41,10 +41,10 @@ jobs:
  reset-and-squash:
    runs-on: ubuntu-latest
    if: (
-            (github.event_name == 'workflow_dispatch')
-            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-        )
+      (github.event_name == 'workflow_dispatch')
+      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+      )
    steps:
      - uses: actions/checkout@v4
        with:
@@ -54,9 +54,9 @@ jobs:
      - name: Wait for Tests
        uses: ./.github/workflows/wait-for-action # Path to where you place the action
        if: (
-                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-            )
+          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+          )
        with:
          workflow: selfdrive_tests.yaml # The workflow file to monitor
          github-token: ${{ secrets.GITHUB_TOKEN }}