Merge remote-tracking branch 'upstream/master' into palisade-2023-port-1

.github/workflows/repo-maintenance.yaml

@@ -1,4 +1,4 @@
-name: repo
+name: repo maintenance
 
 on:
   schedule:
@@ -6,13 +6,17 @@ on:
   workflow_dispatch:
 
 jobs:
-  pre-commit-autoupdate:
-    name: pre-commit autoupdate
+  updates:
+    name: updates
     runs-on: ubuntu-20.04
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     steps:
     - uses: actions/checkout@v3
+    - name: poetry lock
+      run: |
+        pip install poetry
+        poetry lock
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'
@@ -21,8 +25,8 @@ jobs:
       uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
       with:
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update pre-commit hook versions
-        title: 'pre-commit: autoupdate hooks'
-        branch: pre-commit-updates
+        commit-message: Update Python packages and pre-commit hooks
+        title: 'Update Python packages and pre-commit hooks'
+        branch: auto-package-updates
         base: master
         delete-branch: true

.github/workflows/selfdrive_tests.yaml

@@ -26,6 +26,7 @@ env:
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5
 
 jobs:
   build_release:
@@ -248,23 +249,9 @@ jobs:
       timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $UNIT_TEST common && \
-                        $UNIT_TEST opendbc/can && \
-                        $UNIT_TEST selfdrive/boardd && \
-                        $UNIT_TEST selfdrive/controls && \
-                        $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST system/loggerd && \
-                        $UNIT_TEST selfdrive/car && \
-                        $UNIT_TEST selfdrive/locationd && \
-                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
-                        $UNIT_TEST system/tests && \
-                        $UNIT_TEST system/ubloxd && \
+                        $PYTEST && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \
-                        $UNIT_TEST selfdrive/athena && \
-                        $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST system/hardware/tici && \
-                        $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
@@ -275,8 +262,7 @@ jobs:
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
-                        ./selfdrive/test/process_replay/test_fuzzy.py && \
-                        coverage xml"
+                        ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
@@ -375,7 +361,7 @@ jobs:
     - name: Test car models
       timeout-minutes: 25
       run: |
-        ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 5

.github/workflows/tools_tests.yaml

@@ -33,11 +33,10 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |

.pre-commit-config.yaml

@@ -1,3 +1,4 @@
+exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
     hooks:
@@ -14,6 +15,8 @@ repos:
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
@@ -35,7 +38,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.285
+    rev: v0.0.287
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'

common/prefix.py

@@ -2,11 +2,11 @@ import os
 import shutil
 import uuid
 
-from typing import List, Optional
+from typing import Optional
 
 from openpilot.common.params import Params
 
-class OpenpilotPrefix(object):
+class OpenpilotPrefix:
   def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
     self.prefix = prefix if prefix else str(uuid.uuid4())
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
@@ -24,7 +24,10 @@ class OpenpilotPrefix(object):
   def __exit__(self, exc_type, exc_obj, exc_tb):
     if self.clean_dirs_on_exit:
       self.clean_dirs()
-    del os.environ['OPENPILOT_PREFIX']
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+    except KeyError:
+      pass
     return False
 
   def clean_dirs(self):
@@ -33,17 +36,3 @@ class OpenpilotPrefix(object):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-
-
-class DummySocket:
-  def __init__(self):
-    self.data: List[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)

common/tests/test_params.py

@@ -1,8 +1,6 @@
 import os
 import threading
 import time
-import tempfile
-import shutil
 import uuid
 import unittest
 
@@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no
 
 class TestParams(unittest.TestCase):
   def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    print("using", self.tmpdir)
-    self.params = Params(self.tmpdir)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
+    self.params = Params()
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
@@ -90,19 +83,19 @@ class TestParams(unittest.TestCase):
     self.assertFalse(self.params.get_bool("IsMetric"))
 
   def test_put_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test", self.tmpdir)
+      put_nonblocking("CarParams", "test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
   def test_put_bool_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True, self.tmpdir)
+      put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"

conftest.py

@@ -0,0 +1,10 @@
+import pytest
+
+from openpilot.common.prefix import OpenpilotPrefix
+
+
+@pytest.fixture(scope="function", autouse=True)
+def global_setup_and_teardown():
+  # setup a clean environment for each test
+  with OpenpilotPrefix():
+    yield

docs/CARS.md

@@ -2,7 +2,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+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.
 
 # 262 Supported Cars
 
@@ -83,14 +83,14 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade (with HDA II) 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -188,7 +188,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
 |Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
 |Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
 |Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
 |Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
 |Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||

pyproject.toml

@@ -1,11 +1,27 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
   "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
 ]
+testpaths = [
+  "common",
+  "selfdrive/athena",
+  "selfdrive/boardd",
+  "selfdrive/car",
+  "selfdrive/controls",
+  "selfdrive/locationd",
+  "selfdrive/monitoring",
+  "selfdrive/thermald",
+  "selfdrive/test/longitudinal_maneuvers",
+  "system/hardware/tici",
+  "system/loggerd",
+  "system/tests",
+  "system/ubloxd",
+  "tools/lib/tests"
+]
 
 [tool.mypy]
 python_version = "3.11"
@@ -112,6 +128,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" }
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"

selfdrive/athena/tests/test_athenad.py

@@ -48,6 +48,7 @@ class TestAthenadMethods(unittest.TestCase):
       else:
         os.unlink(p)
 
+    dispatcher["listUploadQueue"]() # ensure queue is empty at start
 
   # *** test helpers ***
 

selfdrive/car/CARS_template.md

@@ -10,7 +10,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+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.
 
 # {{all_car_info | length}} Supported Cars
 

selfdrive/car/__init__.py

@@ -40,7 +40,7 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, ca
 
 
 def gen_empty_fingerprint():
-  return {i: {} for i in range(0, 8)}
+  return {i: {} for i in range(8)}
 
 
 # these params were derived for the Civic and used to calculate params for other cars

selfdrive/car/body/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 from cereal import car
 from openpilot.common.realtime import DT_CTRL

selfdrive/car/body/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/disable_ecu.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.system.swaglog import cloudlog
 

selfdrive/car/ford/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV

selfdrive/car/ford/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser

selfdrive/car/ford/values.py

@@ -265,6 +265,7 @@ FW_VERSIONS = {
       b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },

selfdrive/car/hyundai/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV

selfdrive/car/hyundai/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 
 from cereal import car

selfdrive/car/hyundai/values.py

@@ -183,7 +183,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
-  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])),
+  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -587,11 +587,13 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -604,6 +606,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
+      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -1941,6 +1944,7 @@ FW_VERSIONS = {
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
@@ -2004,7 +2008,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
                           CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                           CAR.KIA_OPTIMA_H}
 

selfdrive/car/nissan/interface.py

@@ -1,5 +1,5 @@
-#!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
       ret.mass = 1492
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/nissan/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/subaru/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config

selfdrive/car/subaru/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/subaru/values.py

@@ -310,6 +310,7 @@ FW_VERSIONS = {
       b'\xa2 !`\000',
       b'\xf1\x00\xb2\x06\x04',
       b'\xa2  `\x00',
+      b'\xa2 !3\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9a\xc0\000\000',
@@ -323,6 +324,7 @@ FW_VERSIONS = {
       b'\x00\x00eq\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
+      b'\x00\x00e\xa4\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xca!ap\a',
@@ -337,6 +339,7 @@ FW_VERSIONS = {
       b'\xf3"fp\x07',
       b'\xe6"f0\x07',
       b'\xe6"fp\x07',
+      b'\xe6!`@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
@@ -348,6 +351,7 @@ FW_VERSIONS = {
       b'\xe9\xf6F0\x00',
       b'\xe9\xf5B0\x00',
       b'\xe9\xf6B0\x00',
+      b'\xe9\xf5"\x00\x00',
     ],
   },
   CAR.CROSSTREK_HYBRID: {

selfdrive/car/tests/routes.py

@@ -127,9 +127,11 @@ routes = [
   CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
+  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV),  # openpilot longitudinal enabled
   CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
   CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
   CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
+  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ),  # openpilot longitudinal enabled
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
@@ -167,6 +169,7 @@ routes = [
   CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
   CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
   CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
+  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
   CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
   CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
   CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
@@ -207,6 +210,7 @@ routes = [
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
+  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2),  # openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),

selfdrive/car/tests/test_fw_fingerprint.py

@@ -175,7 +175,7 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.1
+  TOL: float = 0.12
 
   @staticmethod
   def _run_thread(thread: threading.Thread) -> float:

selfdrive/car/tests/test_models.py

@@ -21,8 +21,10 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
+from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
 PandaType = log.PandaState.PandaType
+SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
@@ -62,8 +64,6 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
   return test_cases
 
 
-SKIP_ENV_VAR = "SKIP_LONG_TESTS"
-
 
 class TestCarModelBase(unittest.TestCase):
   car_model: Optional[str] = None
@@ -71,6 +71,7 @@ class TestCarModelBase(unittest.TestCase):
   ci: bool = True
 
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
+  elm_frame: Optional[int]
 
   @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
@@ -106,6 +107,7 @@ class TestCarModelBase(unittest.TestCase):
 
       car_fw = []
       can_msgs = []
+      cls.elm_frame = None
       fingerprint = defaultdict(dict)
       experimental_long = False
       enabled_toggle = True
@@ -131,6 +133,16 @@ class TestCarModelBase(unittest.TestCase):
             if param.key == 'OpenpilotEnabledToggle':
               enabled_toggle = param.value.strip(b'\x00') == b'1'
 
+        # Log which can frame the panda safety mode left ELM327, for CAN validity checks
+        if msg.which() == 'pandaStates':
+          for ps in msg.pandaStates:
+            if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
+              cls.elm_frame = len(can_msgs)
+
+        elif msg.which() == 'pandaStateDEPRECATED':
+          if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
+            cls.elm_frame = len(can_msgs)
+
       if len(can_msgs) > int(50 / DT_CTRL):
         break
     else:
@@ -205,8 +217,10 @@ class TestCarModelBase(unittest.TestCase):
     RI = RadarInterface(self.CP)
     assert RI
 
+    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
+    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
-    for i, msg in enumerate(self.can_msgs):
+    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
       rr = RI.update((msg.as_builder().to_bytes(),))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
@@ -239,9 +253,9 @@ class TestCarModelBase(unittest.TestCase):
         if t > 1e6:
           self.assertTrue(self.safety.addr_checks_valid())
 
-          # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
-          # TODO: detect when relay has flipped to properly check relay malfunction
-          if self.openpilot_enabled and t > 5e6:
+          # No need to check relay malfunction on disabled routes (relay closed),
+          # or before fingerprinting is done (1s of tolerance to exit silent mode)
+          if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100):
             self.assertFalse(self.safety.get_relay_malfunction())
           else:
             self.safety.set_relay_malfunction(False)

selfdrive/car/toyota/carstate.py

@@ -210,7 +210,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       messages += [
         ("PRE_COLLISION", 33),
       ]

selfdrive/car/toyota/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda import Panda
@@ -205,7 +204,8 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    if 0x2FF in fingerprint[0]:
+    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
+    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
     # No radar dbc for cars without DSU which are not TSS 2.0
@@ -219,13 +219,14 @@ class CarInterface(CarInterfaceBase):
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
-    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
+    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
-    if candidate in RADAR_ACC_CAR:
+    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
       ret.experimentalLongitudinalAvailable = use_sdsu
 
       if not use_sdsu:
-        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+        # Disabling radar is only supported on TSS2 radar-ACC cars
+        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -237,6 +238,7 @@ class CarInterface(CarInterfaceBase):
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars w/ smartDSU installed
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
+    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 

selfdrive/car/volkswagen/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/volkswagen/values.py

@@ -265,7 +265,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
   CAR.SKODA_OCTAVIA_MK3: [
-    VWCarInfo("Škoda Octavia 2015, 2018-19"),
+    VWCarInfo("Škoda Octavia 2015-19"),
     VWCarInfo("Škoda Octavia RS 2016"),
   ],
 }
@@ -1254,6 +1254,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027HD\xf1\x893742',
       b'\xf1\x8704E906027MH\xf1\x894786',
       b'\xf1\x8704L906021DT\xf1\x898127',
+      b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026BS\xf1\x891541',
       b'\xf1\x875G0906259C \xf1\x890002',
     ],
@@ -1263,11 +1264,13 @@ FW_VERSIONS = {
       b'\xf1\x870CW300043B \xf1\x891601',
       b'\xf1\x870CW300043P \xf1\x891605',
       b'\xf1\x870D9300041C \xf1\x894936',
+      b'\xf1\x870D9300041H \xf1\x895220',
       b'\xf1\x870D9300041J \xf1\x894902',
       b'\xf1\x870D9300041P \xf1\x894507',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
       b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
@@ -1279,13 +1282,15 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
-      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
+      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
       b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],

selfdrive/controls/lib/events.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import math
 import os
 from enum import IntEnum

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -290,7 +290,7 @@ class LongitudinalMpc:
     self.x0[1] = v
     self.x0[2] = a
     if abs(v_prev - v) > 2.:  # probably only helps if v < v_prev
-      for i in range(0, N+1):
+      for i in range(N+1):
         self.solver.set(i, 'x', self.x0)
 
   @staticmethod

selfdrive/controls/tests/test_following_distance.py

@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
 import unittest
+import itertools
+from parameterized import parameterized_class
+
 from openpilot.common.params import Params
 from cereal import log
 
@@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
   return output[-1,2] - output[-1,1]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      [log.LongitudinalPersonality.relaxed, # personality
+                       log.LongitudinalPersonality.standard,
+                       log.LongitudinalPersonality.aggressive],
+                      [0,10,35])) # speed
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
-                     log.LongitudinalPersonality.standard,
-                     log.LongitudinalPersonality.aggressive]
-    for personality in personalities:
-      params.put("LongitudinalPersonality", str(personality))
-      for e2e in [False, True]:
-        for speed in [0,10,35]:
-          print(f'Testing {speed} m/s')
-          v_lead = float(speed)
-          simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
-          correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
-          err_ratio = 0.2 if e2e else 0.1
-          self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    params.put("LongitudinalPersonality", str(self.personality))
+    v_lead = float(self.speed)
+    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e)
+    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__":

selfdrive/locationd/test/test_laikad.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import time
 import unittest
 from cereal import log
@@ -18,6 +19,7 @@ from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
+from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
 GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
 UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
@@ -92,6 +94,7 @@ def get_measurement_mock(gpstime, sat_ephemeris):
   return meas
 
 
+@unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Laika test skipped since it's long and not currently used. Unset {SKIP_ENV_VAR} to run")
 class TestLaikad(unittest.TestCase):
 
   @classmethod

selfdrive/locationd/test/test_locationd.py

@@ -80,7 +80,7 @@ class TestLocationdProc(unittest.TestCase):
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)
       if msg.which() == "cameraOdometry":
-        self.pm.wait_for_readers_to_update(msg.which(), 0.1)
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPosition'))

selfdrive/modeld/SConscript

@@ -44,6 +44,10 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
+snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
+snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
+snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
+
 cython_libs = envCython["LIBS"] + libs
 onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
 snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
@@ -52,7 +56,7 @@ driving_lib = lenv.Library('driving', ['models/driving.cc'])
 
 lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
 lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks)
+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)
 lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 

selfdrive/modeld/modeld.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import os
 import sys
 import time
 import numpy as np
@@ -8,25 +7,21 @@ from typing import Dict, Optional
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.hardware import PC, TICI
 from openpilot.system.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.model import get_warp_matrix
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 from openpilot.selfdrive.modeld.models.driving_pyx import (
   PublishState, create_model_msg, create_pose_msg,
   FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
   OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
 
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-if USE_THNEED:
-  from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
-else:
-  from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner
-
-MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}")
+MODEL_PATHS = {
+  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
 
 class FrameMeta:
   frame_id: int = 0
@@ -58,7 +53,7 @@ class ModelState:
       'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
     }
 
-    self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context)
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
     self.model.addInput("input_imgs", None)
     self.model.addInput("big_input_imgs", None)
     for k,v in self.inputs.items():
@@ -94,8 +89,7 @@ class ModelState:
 def main():
   cloudlog.bind(daemon="selfdrive.modeld.modeld")
   setproctitle("selfdrive.modeld.modeld")
-  if not PC:
-    config_realtime_process(7, 54)
+  config_realtime_process(7, 54)
 
   cl_context = CLContext()
   model = ModelState(cl_context)

selfdrive/modeld/models/commonmodel.pxd

@@ -12,12 +12,9 @@ cdef extern from "common/clutil.h":
   cl_context cl_create_context(cl_device_id)
 
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
+  float sigmoid(float)
+
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
     float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
-
-cdef extern from "selfdrive/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -8,13 +8,10 @@ from libc.string cimport memcpy
 from cereal.visionipc.visionipc cimport cl_mem
 from cereal.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 USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
 
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
+def sigmoid(x):
+  return cppSigmoid(x)
 
 cdef class CLContext(BaseCLContext):
   def __cinit__(self):

selfdrive/modeld/models/driving.pxd

@@ -3,8 +3,6 @@
 from libcpp cimport bool
 from libc.stdint cimport uint32_t, uint64_t
 
-from .commonmodel cimport mat3
-
 cdef extern from "cereal/messaging/messaging.h":
   cdef cppclass MessageBuilder:
     size_t getSerializedSize()

selfdrive/modeld/runners/__init__.py

@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)

selfdrive/modeld/runners/runmodel.pxd

@@ -3,6 +3,10 @@
 from libcpp.string cimport string
 
 cdef extern from "selfdrive/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
+
   cdef cppclass RunModel:
     void addInput(string, float*, int)
     void setInputBuffer(string, float*, int)

selfdrive/modeld/runners/runmodel_pyx.pyx

@@ -4,8 +4,14 @@
 from libcpp.string cimport string
 from libc.string cimport memcpy
 
+from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
 
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
 cdef class RunModel:
   def __dealloc__(self):
     del self.model

selfdrive/modeld/runners/snpemodel_pyx.pyx

@@ -1,6 +1,7 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii
 
+import os
 from libcpp cimport bool
 from libcpp.string cimport string
 
@@ -9,6 +10,8 @@ from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
 from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
 from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
 
+os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
+
 cdef class SNPEModel(RunModel):
   def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
     self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)

selfdrive/test/helpers.py

@@ -1,6 +1,7 @@
 import os
 import time
 import tempfile
+from typing import List, Union
 
 from unittest import mock
 from functools import wraps
@@ -11,6 +12,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
 
+SKIP_ENV_VAR = "SKIP_LONG_TESTS"
 
 def set_params_enabled():
   os.environ['PASSIVE'] = "0"
@@ -72,17 +74,44 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
   return wrapper
 
 
-def temporary_mock_dir(mock_path):
+def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory):
+  """
+  mock_paths_in: string or string list representing the full path of the variable you want to mock.
+  kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory.
+  generator: a context to use to generate the temporary directory
+  """
   def wrapper(func):
     @wraps(func)
     def wrap(*args, **kwargs):
-      with tempfile.TemporaryDirectory() as temp_dir:
-        cache_dir_patch = mock.patch(mock_path, temp_dir)
-        cache_dir_patch.start()
-        func(*args, **kwargs, temp_dir=temp_dir)
-        cache_dir_patch.stop()
+      mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in]
+      with generator() as temp_dir:
+        mocks = []
+        for mock_path in mock_paths:
+          mocks.append(mock.patch(mock_path, str(temp_dir)))
+        [mock.start() for mock in mocks]
+        try:
+          if kwarg is not None:
+            kwargs[kwarg] = temp_dir
+          func(*args, **kwargs)
+        finally:
+          [mock.stop() for mock in mocks]
+
     return wrap
   return wrapper
 
+def string_context(context):
+  class StringContext:
+    def __enter__(self):
+      return context
+
+    def __exit__(self, *args):
+      pass
+
+  return StringContext
+
+temporary_dir = temporary_mock_dir([], "temp_dir")
 temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
-temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR")
+temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir")
+temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER")
+temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"],
+                                           generator=string_context("/tmp/test_swaglog_ipc"))

selfdrive/test/process_replay/process_replay.py

@@ -17,12 +17,12 @@ from cereal import car
 from cereal.services import service_list
 from cereal.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.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket
 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
@@ -33,6 +33,18 @@ NUMPY_TOLERANCE = 1e-7
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
+class DummySocket:
+  def __init__(self):
+    self.data: List[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)
 
 class LauncherWithCapture:
   def __init__(self, capture: ProcessOutputCapture, launcher: Callable):

selfdrive/test/process_replay/regen_all.py

@@ -6,7 +6,7 @@ import random
 import traceback
 from tqdm import tqdm
 
-from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.test.process_replay.regen import regen_and_save
 from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
 from openpilot.tools.lib.route import SegmentName

selfdrive/thermald/tests/test_power_monitoring.py

@@ -25,12 +25,9 @@ def pm_patch(name, value, constant=False):
 
 
 @patch("time.monotonic", new=mock_time_monotonic)
-@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y))
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
     self.params = Params()
-    self.params.remove("CarBatteryCapacity")
-    self.params.remove("DisablePowerDown")
 
   # Test to see that it doesn't do anything when pandaState is None
   def test_pandaState_present(self):

selfdrive/ui/qt/maps/map_panel.cc

@@ -14,21 +14,21 @@ MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : Q
 
   auto map = new MapWindow(mapboxSettings);
   QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
-  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
+  QObject::connect(device(), &Device::interactiveTimeout, this, [=]() {
     content_stack->setCurrentIndex(0);
   });
-  QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) {
+  QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) {
     // when we show the map for a new route, signal HomeWindow to hide the sidebar
     if (visible) { emit mapPanelRequested(); }
     setVisible(visible);
   });
-  QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) {
+  QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) {
     content_stack->setCurrentIndex(settings ? 1 : 0);
   });
   content_stack->addWidget(map);
 
   auto settings = new MapSettings(true, parent);
-  QObject::connect(settings, &MapSettings::closeSettings, [=]() {
+  QObject::connect(settings, &MapSettings::closeSettings, this, [=]() {
     content_stack->setCurrentIndex(0);
   });
   content_stack->addWidget(settings);

selfdrive/ui/qt/widgets/cameraview.cc

@@ -41,6 +41,8 @@ const char frame_fragment_shader[] =
   "out vec4 colorOut;\n"
   "void main() {\n"
   "  colorOut = texture(uTexture, vTexCoord);\n"
+  // gamma to improve worst case visibility when dark
+  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
   "}\n";
 #else
 const char frame_fragment_shader[] =

selfdrive/ui/soundd/sound.cc

@@ -15,12 +15,13 @@
 Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) {
   qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName();
 
-  for (auto &[alert, fn, loops] : sound_list) {
+  for (auto &[alert, fn, loops, volume] : sound_list) {
     QSoundEffect *s = new QSoundEffect(this);
     QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
       assert(s->status() != QSoundEffect::Error);
     });
     s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn));
+    s->setVolume(volume);
     sounds[alert] = {s, loops};
   }
 

selfdrive/ui/soundd/sound.h

@@ -9,18 +9,21 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
-const std::tuple<AudibleAlert, QString, int> sound_list[] = {
+
+const float MAX_VOLUME = 1.0;
+
+const std::tuple<AudibleAlert, QString, int, float> sound_list[] = {
   // AudibleAlert, file name, loop count
-  {AudibleAlert::ENGAGE, "engage.wav", 0},
-  {AudibleAlert::DISENGAGE, "disengage.wav", 0},
-  {AudibleAlert::REFUSE, "refuse.wav", 0},
+  {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME},
+  {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME},
+  {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME},
 
-  {AudibleAlert::PROMPT, "prompt.wav", 0},
-  {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite},
-  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite},
+  {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME},
+  {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME},
+  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME},
 
-  {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite},
-  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite},
+  {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME},
+  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME},
 };
 
 class Sound : public QObject {

selfdrive/ui/tests/test_sound.cc

@@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) {
 
   const int DT_CTRL = 10;  // ms
   for (int i = 0; i < loop_cnt; ++i) {
-    for (auto &[alert, fn, loops] : sound_list) {
+    for (auto &[alert, fn, loops, volume] : sound_list) {
       printf("testing %s\n", qPrintable(fn));
       for (int j = 0; j < 1000 / DT_CTRL; ++j) {
         MessageBuilder msg;

system/camerad/test/test_camerad.py

@@ -11,8 +11,8 @@ from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import TICI
 
 TEST_TIMESPAN = 30
-LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
-                       log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame
+LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts
+                       log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame
 FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
                        log.FrameData.ImageSensor.ox03c10: 1.0}
 

system/hardware/tici/amplifier.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import time
 from smbus2 import SMBus
 from collections import namedtuple

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -135,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     }
 
     if (env_debug_encoder) {
-      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id);
+      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id);
     }
 
     publisher_publish(this, segment_num, counter, *extra,

system/loggerd/encoder/v4l_encoder.cc

@@ -75,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
-  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename);
+  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name);
   util::set_thread_name(dequeue_thread_name.c_str());
 
   e->segment_num++;
@@ -105,7 +105,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
     }
 
     if (env_debug_encoder >= 2) {
-      printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot());
+      printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot());
     }
 
     int frame_id = -1;
@@ -133,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
       if (env_debug_encoder) {
         printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
-          e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
+          e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
       }
 
       // requeue the buffer

system/loggerd/loggerd.cc

@@ -116,6 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
         }
         // if we aren't actually recording, don't create the writer
         if (encoder_info.record) {
+          assert(encoder_info.filename != NULL);
           re.writer.reset(new VideoWriter(s->segment_path,
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
             encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));

system/logmessaged.py

@@ -5,6 +5,7 @@ from typing import NoReturn
 import cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
 from openpilot.system.swaglog import get_file_handler
+from system.swaglog import SWAGLOG_IPC
 
 
 def main() -> NoReturn:
@@ -14,7 +15,7 @@ def main() -> NoReturn:
 
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
-  sock.bind("ipc:///tmp/logmessage")
+  sock.bind(f"ipc://{SWAGLOG_IPC}")
 
   # and we publish them
   log_message_sock = messaging.pub_sock('logMessage')

system/sensord/rawgps/nmeaport.py

@@ -0,0 +1,169 @@
+import os
+import sys
+from dataclasses import dataclass, fields
+from subprocess import check_output, CalledProcessError
+from time import sleep
+from typing import NoReturn
+
+DEBUG = int(os.environ.get("DEBUG", "0"))
+
+@dataclass
+class GnssClockNmeaPort:
+  # flags bit mask:
+  # 0x01 = leap_seconds valid
+  # 0x02 = time_uncertainty_ns valid
+  # 0x04 = full_bias_ns valid
+  # 0x08 = bias_ns valid
+  # 0x10 = bias_uncertainty_ns valid
+  # 0x20 = drift_nsps valid
+  # 0x40 = drift_uncertainty_nsps valid
+  flags: int
+  leap_seconds: int
+  time_ns: int
+  time_uncertainty_ns: int # 1-sigma
+  full_bias_ns: int
+  bias_ns: float
+  bias_uncertainty_ns: float # 1-sigma
+  drift_nsps: float
+  drift_uncertainty_nsps: float # 1-sigma
+
+  def __post_init__(self):
+    for field in fields(self):
+      val = getattr(self, field.name)
+      setattr(self, field.name, field.type(val) if val else None)
+
+@dataclass
+class GnssMeasNmeaPort:
+  messageCount: int
+  messageNum: int
+  svCount: int
+  # constellation enum:
+  # 1 = GPS
+  # 2 = SBAS
+  # 3 = GLONASS
+  # 4 = QZSS
+  # 5 = BEIDOU
+  # 6 = GALILEO
+  constellation: int
+  svId: int
+  flags: int # always zero
+  time_offset_ns: int
+  # state bit mask:
+  # 0x0001 = CODE LOCK
+  # 0x0002 = BIT SYNC
+  # 0x0004 = SUBFRAME SYNC
+  # 0x0008 = TIME OF WEEK DECODED
+  # 0x0010 = MSEC AMBIGUOUS
+  # 0x0020 = SYMBOL SYNC
+  # 0x0040 = GLONASS STRING SYNC
+  # 0x0080 = GLONASS TIME OF DAY DECODED
+  # 0x0100 = BEIDOU D2 BIT SYNC
+  # 0x0200 = BEIDOU D2 SUBFRAME SYNC
+  # 0x0400 = GALILEO E1BC CODE LOCK
+  # 0x0800 = GALILEO E1C 2ND CODE LOCK
+  # 0x1000 = GALILEO E1B PAGE SYNC
+  # 0x2000 = GALILEO E1B PAGE SYNC
+  state: int
+  time_of_week_ns: int
+  time_of_week_uncertainty_ns: int # 1-sigma
+  carrier_to_noise_ratio: float
+  pseudorange_rate: float
+  pseudorange_rate_uncertainty: float # 1-sigma
+
+  def __post_init__(self):
+    for field in fields(self):
+      val = getattr(self, field.name)
+      setattr(self, field.name, field.type(val) if val else None)
+
+def nmea_checksum_ok(s):
+  checksum = 0
+  for i, c in enumerate(s[1:]):
+    if c == "*":
+      if i != len(s) - 4: # should be 3rd to last character
+        print("ERROR: NMEA string does not have checksum delimiter in correct location:", s)
+        return False
+      break
+    checksum ^= ord(c)
+  else:
+    print("ERROR: NMEA string does not have checksum delimiter:", s)
+    return False
+
+  return True
+
+def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
+  while True:
+    try:
+      with open(device, "r") as nmeaport:
+        for line in nmeaport:
+          line = line.strip()
+          if DEBUG:
+            print(line)
+          if not line.startswith("$"): # all NMEA messages start with $
+            continue
+          if not nmea_checksum_ok(line):
+            continue
+
+          fields = line.split(",")
+          match fields[0]:
+            case "$GNCLK":
+              # fields at end are reserved (not used)
+              gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type]
+              print(gnss_clock)
+            case "$GNMEAS":
+              # fields at end are reserved (not used)
+              gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type]
+              print(gnss_meas)
+    except Exception as e:
+      print(e)
+      sleep(1)
+
+def main() -> NoReturn:
+  from openpilot.common.gpio import gpio_init, gpio_set
+  from openpilot.system.hardware.tici.pins import GPIO
+  from openpilot.system.sensord.rawgps.rawgpsd import at_cmd
+
+  try:
+    check_output(["pidof", "rawgpsd"])
+    print("rawgpsd 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)
+      raise e
+
+  print("power up antenna ...")
+  gpio_init(GPIO.GNSS_PWR_EN, True)
+  gpio_set(GPIO.GNSS_PWR_EN, True)
+
+  if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""):
+    print("stop location tracking ...")
+    at_cmd("AT+QGPSEND")
+
+  if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""):
+    print("configure outport ...")
+    at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1
+
+  if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""):
+    print("configure gnssrawdata ...")
+    # AT+QGPSCFG="gnssrawdata",<constellation-mask>,<port>'
+    # <constellation-mask> values:
+    # 0x01 = GPS
+    # 0x02 = GLONASS
+    # 0x04 = BEIDOU
+    # 0x08 = GALILEO
+    # 0x10 = QZSS
+    # <port> values:
+    # 0 = NMEA port
+    # 1 = AT port
+    at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port
+    print("rebooting ...")
+    at_cmd('AT+CFUN=1,1')
+    print("re-run this script when it is back up")
+    sys.exit(2)
+
+  print("starting location tracking ...")
+  at_cmd("AT+QGPS=1")
+
+  process_nmea_port_messages()
+
+if __name__ == "__main__":
+  main()

system/sensord/tests/test_sensord.py

@@ -9,6 +9,7 @@ import cereal.messaging as messaging
 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.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 
@@ -73,15 +74,24 @@ def get_irq_count(irq: int):
 def read_sensor_events(duration_sec):
   sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
                   'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
-  esocks = {}
+  socks = {}
+  poller = messaging.Poller()
   events = defaultdict(list)
   for stype in sensor_types:
-    esocks[stype] = messaging.sub_sock(stype, timeout=0.1)
+    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
 
-  start_time_sec = time.monotonic()
-  while time.monotonic() - start_time_sec < duration_sec:
-    for esock in esocks:
-      events[esock] += messaging.drain_sock(esocks[esock])
+  # wait for sensors to come up
+  with Timeout(60, "sensors didn't come up"):
+    while len(poller.poll(250)) == 0:
+      pass
+  time.sleep(1)
+  for s in socks.values():
+    messaging.drain_sock_raw(s)
+
+  st = time.monotonic()
+  while time.monotonic() - st < duration_sec:
+    for s in socks:
+      events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
 
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
@@ -101,8 +111,7 @@ class TestSensord(unittest.TestCase):
     os.system("pkill -f ./_sensord")
     try:
       managed_processes["sensord"].start()
-      time.sleep(3)
-      cls.sample_secs = 10
+      cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
       cls.events = read_sensor_events(cls.sample_secs)
 
       # determine sensord's irq

system/swaglog.py

@@ -15,6 +15,8 @@ if PC:
 else:
   SWAGLOG_DIR = "/data/log/"
 
+SWAGLOG_IPC = "/tmp/logmessage"
+
 def get_file_handler():
   Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
   base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
@@ -89,7 +91,7 @@ class UnixDomainSocketHandler(logging.Handler):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect("ipc:///tmp/logmessage")
+    self.sock.connect(f"ipc://{SWAGLOG_IPC}")
     self.pid = os.getpid()
 
   def emit(self, record):

system/tests/test_logmessaged.py

@@ -7,7 +7,7 @@ import unittest
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.swaglog import cloudlog, ipchandler
-from selfdrive.test.helpers import temporary_swaglog_dir
+from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc
 
 
 class TestLogmessaged(unittest.TestCase):
@@ -35,6 +35,7 @@ class TestLogmessaged(unittest.TestCase):
     return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*")))
 
   @temporary_swaglog_dir
+  @temporary_swaglog_ipc
   def test_simple_log(self, temp_dir):
     self._setup(temp_dir)
     msgs = [f"abc {i}" for i in range(10)]
@@ -46,6 +47,7 @@ class TestLogmessaged(unittest.TestCase):
     assert len(self._get_log_files()) >= 1
 
   @temporary_swaglog_dir
+  @temporary_swaglog_ipc
   def test_big_log(self, temp_dir):
     self._setup(temp_dir)
     n = 10

system/timezoned.py

@@ -11,6 +11,9 @@ from timezonefinder import TimezoneFinder
 from openpilot.common.params import Params
 from openpilot.system.hardware import AGNOS
 from openpilot.system.swaglog import cloudlog
+from openpilot.system.version import get_version
+
+REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()}
 
 
 def set_timezone(valid_timezones, timezone):
@@ -18,7 +21,7 @@ def set_timezone(valid_timezones, timezone):
     cloudlog.error(f"Timezone not supported {timezone}")
     return
 
-  cloudlog.debug(f"Setting timezone to {timezone}")
+  cloudlog.info(f"Setting timezone to {timezone}")
   try:
     if AGNOS:
       tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
@@ -58,7 +61,7 @@ def main() -> NoReturn:
     if location is None:
       cloudlog.debug("Setting timezone based on IP lookup")
       try:
-        r = requests.get("https://ipapi.co/timezone", timeout=10)
+        r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10)
         if r.status_code == 200:
           set_timezone(valid_timezones, r.text)
         else:

system/ubloxd/tests/test_ublox_processing.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import unittest
 import time
 import numpy as np
@@ -9,6 +10,7 @@ from laika.opt import calc_pos_fix
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.helpers import temporary_dir
 import cereal.messaging as messaging
 
 def get_gnss_measurements(log_reader):
@@ -54,8 +56,9 @@ class TestUbloxProcessing(unittest.TestCase):
     self.assertEqual(count_gps, 5036)
     self.assertEqual(count_glonass, 3651)
 
-  def test_get_fix(self):
-    dog = AstroDog()
+  @temporary_dir
+  def test_get_fix(self, temp_dir):
+    dog = AstroDog(cache_dir=temp_dir)
     position_fix_found = 0
     count_processed_measurements = 0
     count_corrected_measurements = 0

tools/bodyteleop/static/js/webrtc.js

@@ -108,37 +108,47 @@ export function createDummyVideoTrack() {
 export function start(pc, dc) {
   pc = createPeerConnection(pc);
 
-  if (constraints.audio || constraints.video) {
-    // add audio track
-    navigator.mediaDevices.getUserMedia(constraints).then(function(stream) {
-      stream.getTracks().forEach(function(track) {
-        pc.addTrack(track, stream);
-        // only audio?
-        // if (track.kind === 'audio'){
-        //     pc.addTrack(track, stream);
-        // }
-      });
-        return negotiate(pc);
-      }, function(err) {
-        alert('Could not acquire media: ' + err);
-      });
+  // add audio track
+  navigator.mediaDevices.enumerateDevices()
+    .then(function(devices) {
+      const hasAudioInput = devices.find((device) => { device.kind === "audioinput" });
+      var modifiedConstraints = {};
+      modifiedConstraints.video = constraints.video;
+      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
 
-    // add a fake video?
-    // const dummyVideoTrack = createDummyVideoTrack();
-    // const dummyMediaStream = new MediaStream();
-    // dummyMediaStream.addTrack(dummyVideoTrack);
-    // pc.addTrack(dummyVideoTrack, dummyMediaStream);
+      return Promise.resolve(modifiedConstraints);
+    })
+    .then(function(constraints) {
+      if (constraints.audio || constraints.video) {
+        return navigator.mediaDevices.getUserMedia(constraints);
+      } else{
+        return Promise.resolve(null);
+      }
+    })
+    .then(function(stream) {
+      if (stream) {
+        stream.getTracks().forEach(function(track) {
+          pc.addTrack(track, stream);
+        });
+      }
 
-  } else {
-    negotiate(pc);
-  }
+      return negotiate(pc);
+    })
+    .catch(function(err) {
+      alert('Could not acquire media: ' + err);
+    });
+
+  // add a fake video?
+  // const dummyVideoTrack = createDummyVideoTrack();
+  // const dummyMediaStream = new MediaStream();
+  // dummyMediaStream.addTrack(dummyVideoTrack);
+  // pc.addTrack(dummyVideoTrack, dummyMediaStream);
   
   // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
   // var video = document.querySelector('video');
   // var print = function (e, f){console.log(e, f);  video.requestVideoFrameCallback(print);};
   // video.requestVideoFrameCallback(print);
 
-
   var parameters = {"ordered": true};
   dc = pc.createDataChannel('data', parameters);
   dc.onclose = function() {

tools/lib/tests/test_caching.py

@@ -32,7 +32,7 @@ class TestFileDownload(unittest.TestCase):
     self.assertEqual(response_cached, response_downloaded)
 
   @temporary_cache_dir
-  def test_small_file(self, temp_dir):
+  def test_small_file(self):
     # Make sure we don't force cache
     os.environ["FILEREADER_CACHE"] = "0"
     small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md"
@@ -53,7 +53,7 @@ class TestFileDownload(unittest.TestCase):
       self.compare_loads(small_file_url, 100 * i, 100)
 
   @temporary_cache_dir
-  def test_large_file(self, temp_dir):
+  def test_large_file(self):
     large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
     #  Load the end 100 bytes of both files
     file_large = URLFile(large_file_url)

tools/plotjuggler/layouts/longitudinal.xml

@@ -3,10 +3,10 @@
  <tabbed_widget name="Main Window" parent="main_window">
   <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter orientation="-" sizes="0.333601;0.332799;0.333601" count="3">
+    <DockSplitter orientation="-" sizes="0.250401;0.249599;0.250401;0.249599" count="4">
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="2.131164" left="0.000000" bottom="-3.377712"/>
+       <range right="126.285782" top="1.391623" left="104.907277" bottom="-2.563614"/>
        <limitY/>
        <curve name="/carState/aEgo" color="#f14cc1"/>
        <curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
@@ -15,7 +15,16 @@
      </DockArea>
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="19.304051" left="0.000000" bottom="-0.538805"/>
+       <range right="126.285782" top="1.184960" left="104.907277" bottom="-1.811222" />
+       <limitY/>
+       <curve name="/controlsState/upAccelCmd" color="#1f77b4"/>
+       <curve name="/controlsState/uiAccelCmd" color="#d62728"/>
+       <curve name="/controlsState/ufAccelCmd" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="126.285782" top="15.862889" left="104.907277" bottom="-0.568809" />
        <limitY/>
        <curve name="/carState/vEgo" color="#1ac938"/>
        <curve name="/longitudinalPlan/speeds/0" color="#ff7f0e"/>
@@ -23,7 +32,7 @@
      </DockArea>
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="1.025000" left="0.000000" bottom="-0.025000"/>
+       <range right="126.285782" top="1.025000" left="104.907277" bottom="-0.025000" />
        <limitY/>
        <curve name="/carControl/longActive" color="#1f77b4"/>
        <curve name="/carState/gasPressed" color="#d62728"/>

tools/sim/start_openpilot_docker.sh

@@ -3,7 +3,7 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-OPENPILOT_DIR="/openpilot"
+OPENPILOT_DIR="/tmp/openpilot"
 if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
   OPENPILOT_DIR="$(dirname $(dirname $DIR))"
   EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"

tools/zookeeper/__init__.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import ft4222
 import ft4222.I2CMaster