Merge remote-tracking branch 'origin/navigationd-service' into nav-desires

cereal/custom.capnp

@@ -455,19 +455,18 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
 }
 
 struct Navigationd @0xcb9fd56c7057593a {
-  timestamp @0 :UInt64;
-  upcomingTurn @1 :Text;
-  currentSpeedLimit @2 :UInt64;
-  bannerInstructions @3 :Text;
-  distanceToNextTurn @4 :Float64;
-  routeProgressPercent @5 :Float64;
-  distanceFromRoute @6 :Float64;
-  routePositionCumulative @7 :Float64;
-  distanceToEndOfStep @8 :Float64;
-  totalDistanceRemaining @9 :Float64;
-  totalTimeRemaining @10 :Float64;
-  allManeuvers @11 :List(Maneuver);
-  valid @12 :Bool;
+  upcomingTurn @0 :Text;
+  currentSpeedLimit @1 :UInt64;
+  bannerInstructions @2 :Text;
+  distanceToNextTurn @3 :Float64;
+  routeProgressPercent @4 :Float64;
+  distanceFromRoute @5 :Float64;
+  routePositionCumulative @6 :Float64;
+  distanceToEndOfStep @7 :Float64;
+  totalDistanceRemaining @8 :Float64;
+  totalTimeRemaining @9 :Float64;
+  allManeuvers @10 :List(Maneuver);
+  valid @11 :Bool;
 
   struct Maneuver {
     distance @0 :Float64;

common/params_keys.h

@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"LastGPSPositionLLK", {PERSISTENT, STRING}},
     {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},

selfdrive/ui/qt/offroad/developer_panel.h

@@ -12,7 +12,7 @@ public:
   explicit DeveloperPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
-private:
+protected:
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;

selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc

@@ -60,7 +60,7 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
   bool disable_updates = params.getBool("DisableUpdates");
-  bool is_release = params.getBool("IsReleaseBranch");
+  bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
   bool is_tested = params.getBool("IsTestedBranch");
   bool is_development = params.getBool("IsDevelopmentBranch");
 
@@ -79,6 +79,9 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
   showAdvancedControls->setEnabled(true);
+
+  joystickToggle->setVisible(!is_release);
+  longManeuverToggle->setVisible(!is_release);
 }
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {

sunnypilot/navd/navigation_helpers/nav_instructions.py

@@ -13,7 +13,6 @@ class NavigationInstructions:
     self._no_route = False
 
   def get_route_progress(self, current_lat, current_lon) -> dict | None:
-    """Get current position on route and progress information"""
     route = self.get_current_route()
     if not route or not route['geometry'] or not route['steps']:
       return None
@@ -125,7 +124,8 @@ class NavigationInstructions:
         return str(modifier)
     return 'none'
 
-  def get_current_speed_limit_from_progress(self, progress, is_metric: bool) -> int:
+  @staticmethod
+  def get_current_speed_limit_from_progress(progress, is_metric: bool) -> int:
     if progress and progress['current_maxspeed']:
       speed, _ = progress['current_maxspeed']
       if is_metric:

sunnypilot/navd/navigation_helpers/tests/test_mapbox.py

@@ -16,7 +16,7 @@ class TestMapbox:
     if token:
       cls.mapbox.params.put('MapboxToken', token)
 
-    # setup route
+    # route setup
     cls.current_lon, cls.current_lat = -119.17557, 34.23305
     cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
     cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
@@ -64,7 +64,6 @@ class TestMapbox:
           assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
 
   def test_route_progress_tracking(self):
-    # Test route progress tracking
     progress = self.nav.get_route_progress(self.current_lat, self.current_lon)
     assert progress is not None
     assert 'distance_from_route' in progress
@@ -80,7 +79,6 @@ class TestMapbox:
     assert progress['total_time_remaining'] >= 0
     assert isinstance(progress['all_maneuvers'], list)
 
-    # Test speed limit extraction
     speed_limit_metric = self.nav.get_current_speed_limit_from_progress(progress, True)
     speed_limit_imperial = self.nav.get_current_speed_limit_from_progress(progress, False)
     assert isinstance(speed_limit_metric, int)

sunnypilot/navd/navigationd.py

@@ -1,5 +1,4 @@
 import math
-import time
 
 import cereal.messaging as messaging
 from cereal import custom
@@ -92,7 +91,6 @@ class Navigationd:
 
   def _build_navigation_message(self, banner_instructions, progress, nav_data):
     msg = custom.Navigationd.new_message()
-    msg.timestamp = int(time.monotonic() * 1000)
     msg.upcomingTurn = nav_data.get('upcoming_turn', 'none')
     msg.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
     msg.bannerInstructions = banner_instructions

sunnypilot/navd/tests/test_navigationd.py

@@ -1,58 +1,65 @@
+import platform
+import pytest
+
 import cereal.messaging as messaging
 
 from sunnypilot.navd.navigationd import Navigationd
 from openpilot.sunnypilot.navd.helpers import Coordinate
 
 
-def test_init():
-  nav = Navigationd()
-  assert nav.sm is not None
-  assert nav.pm is not None
-  assert nav.rk is not None
-  assert nav.route is None
-  assert nav.destination is None
-  assert nav.new_destination == ''
-  assert nav.frame == -1
-  assert nav.last_position is None
-  assert not nav.is_metric
-  assert not nav.valid
+class TestNavigationd:
+  is_darwin = platform.system() == "Darwin"
 
-def test_update_params():
-  nav = Navigationd()
-  nav.last_position = None
-  nav._update_params()
-  assert nav.frame == -1
-  nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-  nav._update_params()
-  assert nav.frame == 0  # frame only updates when last position is set
+  @pytest.fixture(autouse=True)
+  def setup_method(self, mocker):
+    if self.is_darwin:
+      mocker.patch('cereal.messaging.SubMaster')
+      mocker.patch('cereal.messaging.PubMaster')
 
-def test_update_navigation_no_position():
-  nav = Navigationd()
-  nav.last_position = None
-  banner, progress, nav_data = nav._update_navigation()
-  assert banner == ''
-  assert progress is None
-  assert nav_data == {}
+  def test_update_params(self):
+    nav = Navigationd()
+    nav.last_position = None
+    nav._update_params()
+    assert nav.frame == -1
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav._update_params()
+    assert nav.frame == 0  # frame only updates when last position is set
 
-def test_update_navigation():
-  nav = Navigationd()
-  nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
-  nav.route = {'580 Winchester dr, oxnard, CA': True}
-  banner, progress, nav_data = nav._update_navigation()
-  assert isinstance(banner, str)
-  assert not progress  # no route was actually set
-  assert isinstance(nav_data, dict)
+  def test_update_navigation_no_position(self):
+    nav = Navigationd()
+    nav.last_position = None
+    banner, progress, nav_data = nav._update_navigation()
+    assert banner == ''
+    assert progress is None
+    assert nav_data == {}
 
-def test_build_navigation_message():
-  sm = messaging.SubMaster(['navigationd'])
-  nav = Navigationd()
-  msg = nav._build_navigation_message('', None, {})
+  def test_update_navigation(self):
+    nav = Navigationd()
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav.route = {'580 Winchester dr, oxnard, CA': True}
+    banner, progress, nav_data = nav._update_navigation()
+    assert isinstance(banner, str)
+    assert not progress  # no route was actually set
+    assert isinstance(nav_data, dict)
 
-  nav.pm.send('navigationd', msg)
-  sm.update()
-  received_msg = sm['navigationd']
+  def test_build_navigation_message(self):
+    if self.is_darwin:
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {})
+      assert msg.bannerInstructions == ''
+      assert msg.totalDistanceRemaining == 0.0
+      assert msg.totalTimeRemaining == 0.0
+      assert msg.valid is False
+    else:
+      sm = messaging.SubMaster(['navigationd'])
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {})
 
-  assert received_msg.bannerInstructions == msg.bannerInstructions
-  assert received_msg.totalDistanceRemaining == msg.totalDistanceRemaining
-  assert received_msg.totalTimeRemaining == msg.totalTimeRemaining
-  assert received_msg.valid == msg.valid
+      nav.pm.send('navigationd', msg)
+      sm.update()
+      received_msg = sm['navigationd']
+
+      assert received_msg.bannerInstructions == msg.bannerInstructions
+      assert received_msg.totalDistanceRemaining == msg.totalDistanceRemaining
+      assert received_msg.totalTimeRemaining == msg.totalTimeRemaining
+      assert received_msg.valid == msg.valid

system/manager/manager.py

@@ -67,6 +67,7 @@ def manager_init() -> None:
   params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
   params.put("HardwareSerial", serial)
 
   # set dongle id

system/version.py

@@ -13,8 +13,8 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3', 'release']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
 
 SP_BRANCH_MIGRATIONS = {
   ("tici", "staging-c3-new"): "staging-tici",
@@ -96,7 +96,9 @@ class OpenpilotMetadata:
   @property
   def sunnypilot_remote(self) -> bool:
     return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
-                                          "github.com/sunnypilot/openpilot")
+                                          "github.com/sunnypilot/openpilot",
+                                          "github.com/sunnyhaibin/sunnypilot",
+                                          "github.com/sunnyhaibin/openpilot")
 
   @property
   def git_normalized_origin(self) -> str:
@@ -120,6 +122,10 @@ class BuildMetadata:
   def release_channel(self) -> bool:
     return self.channel in RELEASE_BRANCHES
 
+  @property
+  def release_sp_channel(self) -> bool:
+    return self.channel in RELEASE_SP_BRANCHES
+
   @property
   def canonical(self) -> str:
     return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
@@ -146,7 +152,7 @@ class BuildMetadata:
       return "staging"
     elif self.master_channel:
       return "master"
-    elif self.release_channel:
+    elif self.release_channel or self.release_sp_channel:
       return "release"
     else:
       return "feature"