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15 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Jason Wen
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5c38aeae0b |
Longitudinal: Dynamic Experimental Control (#572)
* init dec * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * fix static test * ff * fix static test * unitee testt * Refactor test_dynamic_controller and fix formatting issues Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency. * Refactor test indentation for dynamic controller tests Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code. * Migrated to pytest using claude * Integrate radar parameter into dynamic controller's pytest tests Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases. * Disabling unittest file to allow checks on the pipeline to succeed. Pending to remove this, but leaving it to validate the move to pytest is okay before merging * Replace unittest with pytest for dynamic controller tests Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage. * new line... * Refactor and modularize DynamicExperimentalController logic Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports. * Add missing import for messaging in helpers.py The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code. * Format * Formatting * rebase fix * Refactor MpcSource definition and update references. Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. * Format * Refactor DEC into a dedicated longitudinal planner class Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity. * **Refactor DEC module structure for better organization** Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes. * static test * static * had moved to car_state * cleanup * some more * static method * move around * more cleanup * stuff * into their own * rename * check live param * sync with stock * type hint * unused * smoother trans * window time * fix type hint * pass sm.frame from plannerd * more fixes * more * more explicit * fix test * Revert "fix test" This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0. * Revert "pass sm.frame from plannerd" This reverts commit a8deaa69b89f599f86ae517827a570789566e079. * use internal frame * update name * never used * this is why it was never using DEC * more logs * slight cleanup * remove to fail test * update name * more * rename * move around * explicit type hints * move to constants py * Revert "explicit type hints" This reverts commit c205497b * more * don't set to exp mode initial if DEC is active * use walrus for None * Revert "use walrus for None" This reverts commit 5f2396d490deded87d43e378bd9e74738fe307b0. * fix wrong typing and variable name * use walrus (needs cleanup) * fix tests * revert smooht lead for now * dec: how good is FirstOrderFilter? * Update dec.py * dec: faster ? * Revert "dec: faster ?" This reverts commit 40259cd22ad23d01e63a9faa47a0cf0edcc73399. * Revert "Update dec.py" This reverts commit 3f29ccbd99c538e9f3d11c6178bc90b0a2ed3f7b. * Revert "dec: how good is FirstOrderFilter?" This reverts commit 01e06df542894b468fb9460c60bca1b09bed4eec. * Update slow-down logic and constants for improved behavior Adjust the slowdown scaling factor and anomaly handling to refine behavior without abrupt resets. Modify constants to increase window size and adjust probabilities and distances for smoother adaptation. Update version to reflect the new changes. * Fix lead detection fallback for weighted average check. Add a fallback value of -1 when computing the weighted average to prevent errors caused by invalid or None values. This ensures robust lead detection and avoids potential crashes or undefined behavior. * visuals for DEC * try this * add opacity * should be active and dimmer * even dimmer * Update dec.py * Update constants.py * use another method for drawing * migrate to sp only * fix * init --------- Co-authored-by: rav4kumar <meetkumardesai@gmail.com> Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: DevTekVE <devtekve@gmail.com> |
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Kumar
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c3bfd17028 |
Revert "Longitudinal: Dynamic Experimental Control" (#571)
Revert "Longitudinal: Dynamic Experimental Control (#564)"
This reverts commit
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Kumar
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bba3c39e2f |
Longitudinal: Dynamic Experimental Control (#564)
* init dec * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * fix static test * ff * fix static test * unitee testt * Refactor test_dynamic_controller and fix formatting issues Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency. * Refactor test indentation for dynamic controller tests Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code. * Migrated to pytest using claude * Integrate radar parameter into dynamic controller's pytest tests Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases. * Disabling unittest file to allow checks on the pipeline to succeed. Pending to remove this, but leaving it to validate the move to pytest is okay before merging * Replace unittest with pytest for dynamic controller tests Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage. * new line... * Refactor and modularize DynamicExperimentalController logic Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports. * Add missing import for messaging in helpers.py The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code. * Format * Formatting * rebase fix * Refactor MpcSource definition and update references. Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. * Format * Refactor DEC into a dedicated longitudinal planner class Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity. * **Refactor DEC module structure for better organization** Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes. * static test * static * had moved to car_state * cleanup * some more * static method * move around * more cleanup * stuff * into their own * rename * check live param * sync with stock * type hint * unused * smoother trans * window time * fix type hint * pass sm.frame from plannerd * more fixes * more * more explicit * fix test * Revert "fix test" This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0. * Revert "pass sm.frame from plannerd" This reverts commit a8deaa69b89f599f86ae517827a570789566e079. * use internal frame --------- Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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Jason Wen
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8edeb458d4 |
Merge branch 'openpilot/master' into sync-20250108
# Conflicts: # common/base.py # common/comma_connect.py # opendbc_repo # panda |
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Jason Wen
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ec044790fb |
Revert "Sync: commaai/openpilot:master into sunnypilot/sunnypilot:master-new" (#543)
Revert "Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-n…"
This reverts commit
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Jason Wen
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e682957101 |
Sync: commaai/openpilot:master into sunnypilot/sunnypilot:master-new (#533)
* cabana: enhance message heatmap visualization (#34239)
* enhance message heatmap visualization
* TODO
* improve log_factor
* typo
* bit_flip_counts
* Openpilot webcam support improved (#34215)
* control webcam with ENV vars
* WIP: actual instructions
* wording
* file no longer exists
* this is expected behavior, just untested
* more readable
* tested on fresh install
* wording tweaks
* explicit USE_WEBCAM toggle required
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* debug-ability improved
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* newline removed
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Update metadrive wheel (#34292)
* test
* new wheel
* fix IR power scaling (#34293)
* fix IR power scaling
* Update system/hardware/tici/hardware.h
* replay: Update video immediately after seek when paused. (#34237)
replay: Update video immediately after seeking when paused.
Otherwise, if paused then have to resume playback for the video
frame to update and show the new location.
Implemented by temporarily un-pausing replay for a single
frame time.
* cabana: add live and time-window heatmap modes for enhanced signal analysis (#34296)
add live and time-window heatmap modes
* timed: diff against absolute value of timedelta (#34299)
* cabana: miscellaneous bug fixes and enhancements (#34297)
* toHexString
* use QToolBar
* fix incorrect groove rect
* limit CAN_MAX_DATA_BYTES
* add series type selector to chart toolbar
* dim inactive messages
* rename
* add help to chart
* cleanup
* cabana: real-time cursor and video frame sync for chart and video (#34301)
* sync cursor and thumbnail between chart and video
* Revert "replay: Update video immediately after seek when paused. (#34237)"
This reverts commit
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DevTekVE
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ee5c1c4507 |
Modular Assistive Driving System (MADS) (#446)
* allow re-regage
* bump opendbc
* bump panda
* apply pause/resume fix for hyundai (should do this in a separate PR)
* bump opendbc
* fix
* rename
* Fix?
* make sure to disengage for allow always cars
* fix
* combine
* more fix
* not needed
* check if engagement is from openpilot's state machine
* Rename
* fix panda safety
* fix
* no fake lfa button for @devtekve ;)
* fix non drive gear re-engage
* fix settings
* combine
* add replace method
* use replace
* remoev already checks if it exists
* fix
* group
* add todo
* reserve events
* cleaner
* hyundai: only allow for cars with lfa button
* sunnyParams
* make sure it's car only
* Move car-specific changes to opendbc
* no need
* bump opendbc
* more fixes
* no more available
* more!
* final?
* always emit user disable
* no longer needed
* move unit test
* add sunnypilot to unit tests
* bump opendbc
* use new cereal
* bump opendbc
* static analysis
* no unittest
* no need available
* UI border update
* show MADS updates
* Add TODO
* no longer needed
* fix changed events
* fix cluster enabled
* don't add pre enable if not long
* should use enabled
* enabled <-> active
* better format
* bump opendbc
* static analysis
* static analysis
* Rename test as collector was dying
* Show our overriding
* Revert "show MADS updates"
This reverts commit daf0ad62
Revert "fix changed events"
This reverts commit 31d8c97f
* ignoring reserved events
* adjusting creation delays
* back to stock
removing allow_cancel
* should be enabled
* revert
* silent lkas disable
* no need
* user disable tests
* just warning
* MUST REMOVE test process replay
* fix no entry
* fixme
* bump opendbc
* need this check
* cleanup
* allow entering paused state if no entry from disabled
* brake hold should apply to all
* in lists
* update unit test
* simpler
* unused
* same thing
* fix
* only mads in enabled state and long in disabled state
* unify silent enable
* do this for dlob
* bump submodules
* fix
* bump submodules
* bump opendbc
* less frequent
* more events
* fix
* allow no entry to paused for non-drive gears
* fix
* use cereal
* Revert "allow no entry to paused for non-drive gears"
This reverts commit 6d64a4dd9c6de5ad14ef1e88dbc3b6ad174232d8.
* allow in all
* Revert "allow in all"
This reverts commit 6375f1489176dc6c69cb7fa388676e482713f80a.
* should not be all!
* rename for clarity
* silent park brake
* flipped
* bump submodules
* Bump to latest mads-new panda
* bump panda
* more nissan
* bump panda
* bump msgq
* bump panda
* bump submodules
* bump opendbc
* bump opendbc
* improving the state
* Revert "PlayStation® model (#34133)"
This reverts commit
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DevTekVE
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993c4a0d2a |
Driving Model Manager (#457)
* Introduce Model Manager to handle downloads and verification
This commit introduces a new Model Manager responsible for handling model downloads, including driving and navigation application models. The manager also verifies file hashes and communicates download progress for an improved user experience.
The Model Manager is asynchronous and utilizes asyncio and aiohttp for enhanced performance, including robust error handling.
Impacted files in the 'cereal', 'common', 'sunnypilot', and 'system' directories have been updated accordingly. The 'ModelsFetcher' process configuration has been modified to run only when off-road, ensuring optimum resource management.
This update aims to enhance code clarity, improve performance, and streamline the handling of model downloads.
* "Update model management and fetching for SunnyPilot"
This update refactors the model management, downloading and cache verification mechanisms of SunnyPilot. New functionalities, such as smart cache handling, have been implemented in ModelFetcher in sunnypilot/models/model_fetcher.py. Also, the model downloading process has been moved to a separate async function _download_bundle in ModelManagerSP in sunnypilot/models/model_manager.py. Hash verification of files is now performed in an async function verify_file in sunnypilot/models/model_helper.py. Changes in system parameters related to model management have been reflected in system/manager/manager.py.
* Integrate download ETA calculations in model manager
This commit introduces a new feature that calculates and tracks the Estimated Time of Arrival (ETA) for downloading models in the model manager component. The 'eta' property in the 'DownloadProgress' structure in 'custom.capnp' is changed from 'Float32' to 'UInt32'.
In the 'model_manager.py' file, a new method '_calculate_eta' has been added to perform ETA calculations. An additional dictionary '_download_start_times' has been created to keep track of the start time of each model download. The ETA is calculated every time a portion of the model file is downloaded, and it gets updated in the 'DownloadProgress' structure. Finally, the start time is cleared after the download completes.
In 'model_manager_audit.py', an additional check is added to only print downloadProgress for the downloads currently in progress.
* format
* no default model cache {} because it can be considered a valid json, we do not want that
* Refactor typing annotations to use PEP 604 syntax.
Updated type hints to adopt PEP 604 union syntax (`X | None`) and replaced `List` and `Dict` with modern built-in `list` and `dict`. This change improves consistency and readability while aligning with Python 3.10+ standards.
* Simplify logging messages and remove unused imports.
Removed an unused import from `model_manager.py` to improve clarity and maintainability. Also refined a log message in `model_fetcher.py` by removing unnecessary formatting for consistency.
* Refactor model handling and simplify cache fallback logic.
Updated type annotations for `selected_bundle` in `model_manager.py` for clarity. Streamlined cache fallback logic in `model_fetcher.py` by removing redundant conditionals while preserving functionality. These changes improve code readability and maintainability.
* "Fix formatting for ModelManager_DownloadIndex retrieval
Condensed parameter alignment in the get method for improved readability and adherence to style guidelines. This change does not affect functionality but ensures consistent code formatting."
* Need to have main defined for process_config to be able to run it
* Refactor model management to support active bundle tracking
Introduce the concept of an active model bundle with a new persistent parameter and API updates. Added fields for `generation` and `environment` in model metadata, improved caching, and updated methods to manage active model states efficiently.
* UI commit (#515)
* Refactor model management to support active bundle tracking
Introduce the concept of an active model bundle with a new persistent parameter and API updates. Added fields for `generation` and `environment` in model metadata, improved caching, and updated methods to manage active model states efficiently.
* Add new driving model selection feature to settings
This commit introduces a new feature to the settings that allows users to select different driving models. It fetches available models and displays their download progress. The created UI also suggests a calibration reset after model download. The changes include the creation of 'SoftwarePanelSP' within 'settings.' Additionally, 'sunnypilot/SConscript' has been updated to include 'settings.cc' and 'software_panel.cc'. Changes also include localization for this feature.
* Show model description during download status
This update ensures the model description is displayed when a model is in the downloading state. It improves the user interface by providing real-time feedback during the download process.
* Update translations for multiple languages
Added new and updated translation strings in several language files, including Spanish, Arabic, Chinese (Simplified and Traditional), Turkish, Korean, Thai, Japanese, and Brazilian Portuguese. These updates include placeholder translations for new UI elements and features.
* Refactor model name handling and add generation check.
Replaced `bundleName` with `model_name` for better clarity in status messages. Added a generation mismatch check before showing the reset parameters dialog to avoid unnecessary prompts.
* Update model handling in SoftwarePanelSP
Remove unused "common/model.h" and replace "CURRENT_MODEL" with "..." as the default return value in GetModelName. Adjust logic to check for active bundles instead of selected bundles for improved accuracy. Minor text change for clarity in UI label.
* Rename `GetModelName` to `GetActiveModelName` for clarity.
The new name better reflects the function's purpose of retrieving the active model name, improving code readability. All relevant calls and references have been updated to ensure consistency across the codebase.
* Update sunnypilot/models/model_helper.py
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
* Refactor download status handling and add 'cached' state
Introduce 'cached' as a new download status and adjust relevant logic across components to support it. Simplify and streamline model status handling in the software panel for better readability and maintainability. Ensure consistent status reporting for all model types.
* Update translations for multiple languages
Refined and expanded translations across various languages, replacing placeholders with meaningful text. This improves clarity and user experience in the multilingual interface.
* Update terminology from 'bundle' to 'model' in UI texts
Replaced occurrences of 'bundle' with 'model' in button labels, dialog titles, and messages in the SoftwarePanelSP code. This improves clarity and aligns terminology with current functionality.
* Update translation placeholders for model fetching texts
Replaced "Fetching bundles" with "Fetching models" across multiple languages to align text placeholders with the updated functionality. Adjusted related background download messages for clarity and consistency.
* cleanup
* not used, and likely not needed
---------
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
* cleaning up
* Update system/manager/process_config.py
* Simplify model parsing and index handling logic.
Refactored `ModelManager_DownloadIndex` retrieval to use the walrus operator, streamlining the conditional logic. Additionally, restructured model list initialization in `_parse_bundle` for improved readability and maintainability. These changes enhance code clarity and reduce redundancy.
* `Improve error handling in model cache retrieval`
Revised the `get` method to ensure it returns an empty dictionary on errors or missing data, avoiding potential `None`-related issues. Added logging for clearer diagnostics when cached model data is unavailable or retrieval fails. This improves reliability and debuggability of the model fetching process.
* Fix cached model data handling by parsing JSON response
Previously, cached model data was returned as a raw string, causing potential issues when using the data. The change ensures the cached data is properly parsed into JSON format before returning, improving reliability and consistency.
* Adjust modelManagerSP rate and Ratekeeper frequency
Reduced the rate for modelManagerSP in services and aligned the Ratekeeper frequency in model_manager.py to 0.1.
* Update model fetcher URL and adjust modelManagerSP rate
Updated the model fetcher URL to point to the correct resource for driving models. Adjusted the rate of modelManagerSP in both its service definition and the corresponding Ratekeeper initialization to 1 Hz for improved consistency.
* Refactor model download logic for clarity and efficiency
Simplify the logic for finding the model to download by combining redundant constructs into a single line. This improves code readability and reduces unnecessary variable assignments.
* Fix cache keys for manual prebuilt actions because they were missing the cache when manually built
* no need to log
* formatting
* revert ci changes
* Refactor and restructure `modeld` to `models` module.
Renamed `modeld` directory to `models` for clarity and consistency. Updated all references and imports to reflect the new structure. This improves maintainability and aligns with naming conventions.
---------
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
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Adeeb Shihadeh
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9cf02ca8db | Skip registration on newer devices (#34316) | ||
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DevTekVE
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8f7bbe4ee3 |
macos: use /tmp instead of /dev/shm (#34097)
* No /dev/shm on MacOS so we go to tmp instead given that the /dev/shm makes tests not really work fine on mac * Cleanups Fix cereal messaging tests * keep msgq stock More shm updates for macos * typo * fix return * Semicolon... |
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Adeeb Shihadeh
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484aaf4307 |
no PC anymore
old-commit-hash: 4e2624783fd5b102301cea3a812609cda8f6f552 |
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Adeeb Shihadeh
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854d03a819 |
manager: remove LastUpdateTime default
old-commit-hash: 39c64d44a183663bbd83fb942eb036df5be8195e |
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Mauricio Alvarez Leon
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008008b03a |
Update to Python 3.12 (#32548)
* 3.12 * pprofile is broken * use modified metadrivepy3-12 * 0.3.0 metadrive * add metadrive/commaai git dependency * metadrive git set * pin sounddevice 0.4.6 * datetime.utcnow() deprecation * poetry lock * make datetime not aware * poetry lock * pin pytools * google_crc32c wheel * unpin sounddevice * clean metadrive * use python crc * mypy * 3.12.4 * allow python3.11 * test * no pip * poetry * better * better * merge * remove * try * test * try this * snok * python * simpler * setuptools * lower * try * try * work? * ubuntu deps * ubuntu * try * remove * move * remove this * names * Update .github/workflows/tools_tests.yaml Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * python<4 * <3.13 --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> old-commit-hash: 148eaf8fa6c9b23cdd346e926f58fad61f79ff1d |
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Adeeb Shihadeh
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2c6829ed67 |
boardd is pandad (#32628)
* boardd is pandad * rename tests old-commit-hash: 34e329649d7a388d4cd1f25dac9dda9d5409bf4a |
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Adeeb Shihadeh
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cc4f53e6c6 |
manager: move to system/ (#32538)
* manager: move to system/ * one more old-commit-hash: accdade4cfe73cdca41f5afa73cf4ad085802930 |