diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 2bd1ccfd62..af67bdbe5d 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,6 +1,6 @@
FROM ghcr.io/commaai/openpilot-base:latest
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
RUN pip install ipython jupyter jupyterlab
RUN cd /tmp && \
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 7174ee2800..3f5b38d12e 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -14,6 +14,7 @@
"force_color_prompt": "1"
},
"runArgs": [
+ "--volume=/dev:/dev",
"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
"--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
"--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
@@ -49,4 +50,4 @@
"mounts": [
"type=volume,source=scons_cache,target=/tmp/scons_cache"
]
-}
\ No newline at end of file
+}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 8316fedda0..447e559c90 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -5,7 +5,7 @@ on:
jobs:
labeler:
- name: apply labels
+ name: review
permissions:
contents: read
pull-requests: write
@@ -14,17 +14,17 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: false
+
+ # Label PRs
- uses: actions/labeler@v5.0.0
with:
dot: true
configuration-path: .github/labeler.yaml
- pr_branch_check:
- name: check branch
- runs-on: ubuntu-latest
- if: github.repository == 'commaai/openpilot'
- steps:
- - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+ # Check PR target branch
+ - name: check branch
+ uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+ if: github.repository == 'commaai/openpilot'
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
with:
@@ -34,194 +34,20 @@ jobs:
already-exists-action: close_this
already-exists-comment: "Your PR should be made against the `master` branch"
- comment:
- runs-on: ubuntu-latest
- steps:
- - name: comment
- uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
- if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
- with:
- message: |
-
- Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
- * Convert your PR to a draft unless it's ready to review
- * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
- * Before marking as "ready for review", ensure:
- * the goal is clearly stated in the description
- * all the tests are passing
- * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
- * include a route or your device' dongle ID if relevant
- comment_tag: run_id
- GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
- check-pr-template:
- runs-on: ubuntu-latest
- permissions:
- contents: read
- issues: write
- pull-requests: write
- actions: read
- if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
- steps:
- - uses: actions/github-script@v7
- with:
- script: |
- // Comment to add to the PR if no template has been used
- const NO_TEMPLATE_MESSAGE =
- "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
- Also make sure that you didn't modify any of the checkboxes or headings within the template.";
- // body data for future requests
- const body_data = {
- issue_number: context.issue.number,
- owner: context.repo.owner,
- repo: context.repo.repo,
- };
-
- // Utility function to extract all headings
- const extractHeadings = (markdown) => {
- const headingRegex = /^(#{1,6})\s+(.+)$/gm;
- const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
- const headings = [];
- let headingMatch;
- while ((headingMatch = headingRegex.exec(markdown))) {
- headings.push(headingMatch[2].trim());
- }
- let boldMatch;
- while ((boldMatch = boldTextRegex.exec(markdown))) {
- headings.push(boldMatch[1].trim());
- }
- return headings;
- };
-
- // Utility function to extract all check box descriptions
- const extractCheckBoxTexts = (markdown) => {
- const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
- const checkboxes = [];
- let match;
- while ((match = checkboxRegex.exec(markdown))) {
- checkboxes.push(match[2].trim());
- }
- return checkboxes;
- };
-
- // Utility function to check if a list is a subset of another list
- isSubset = (subset, superset) => {
- return subset.every((item) => superset.includes(item));
- };
-
- // Utility function to check if a list of checkboxes is a subset of another list of checkboxes
- isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
- // Check if each template checkbox text is a substring of at least one PR checkbox text
- // (user should be allowed to add additional text)
- return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
- }
-
- // Get filenames of all currently checked-in PR templates
- const template_contents = await github.rest.repos.getContent({
- owner: context.repo.owner,
- repo: context.repo.repo,
- path: ".github/PULL_REQUEST_TEMPLATE",
- });
- var template_filenames = [];
- for (const content of template_contents.data) {
- template_filenames.push(content.path);
- }
- console.debug("Received template filenames: " + template_filenames);
- // Retrieve templates
- var templates = [];
- for (const template_filename of template_filenames) {
- const template_response = await github.rest.repos.getContent({
- owner: context.repo.owner,
- repo: context.repo.repo,
- path: template_filename,
- });
- // Convert Base64 content back
- const decoded_template = atob(template_response.data.content);
- const headings = extractHeadings(decoded_template);
- const checkboxes = extractCheckBoxTexts(decoded_template);
- if (!headings.length && !checkboxes.length) {
- console.warn(
- "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
- decoded_template
- );
- } else {
- templates.push({ headings: headings, checkboxes: checkboxes });
- }
- }
- // Retrieve the PR Body
- const pull_request = await github.rest.issues.get({
- ...body_data,
- });
- const pull_request_text = pull_request.data.body;
- console.debug("Received Pull Request body: \n" + pull_request_text);
-
- /* Check if the PR Body matches one of the templates
- A template is defined by all headings and checkboxes it contains
- We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
- */
- const pr_headings = extractHeadings(pull_request_text);
- const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
- console.debug("Found Headings in PR body:\n" + pr_headings);
- console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
- var template_found = false;
- // Iterate over each template to check if it applies
- for (const template of templates) {
- console.log(
- "Checking for headings: [" +
- template.headings +
- "] and checkboxes: [" +
- template.checkboxes + "]"
- );
- if (
- isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
- isSubset(template.headings, pr_headings)
- ) {
- console.debug("Found matching template!");
- template_found = true;
- }
- }
-
- // List comments from previous runs
- var existing_comments = [];
- const comments = await github.rest.issues.listComments({
- ...body_data,
- });
- for (const comment of comments.data) {
- if (comment.body === NO_TEMPLATE_MESSAGE) {
- existing_comments.push(comment);
- }
- }
-
- // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
- if (!template_found) {
- var comment_already_sent = false;
-
- // Add an 'in-bot-review' label since this PR doesn't have the template
- github.rest.issues.addLabels({
- ...body_data,
- labels: ["in-bot-review"],
- });
-
- if (existing_comments.length < 1) {
- github.rest.issues.createComment({
- ...body_data,
- body: NO_TEMPLATE_MESSAGE,
- });
- }
- } else {
- // If template has been found, delete any old comment about missing template
- for (const existing_comment of existing_comments) {
- github.rest.issues.deleteComment({
- ...body_data,
- comment_id: existing_comment.id,
- });
- }
- // Remove the 'in-bot-review' label after the review is done and the PR has passed
- github.rest.issues.removeLabel({
- ...body_data,
- name: "in-bot-review",
- }).catch((error) => {
- console.log("Label 'in-bot-review' not found, ignoring");
- });
- }
-
+ # Welcome comment
+ - name: comment
+ uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+ if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+ with:
+ message: |
+
+ Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+ * Convert your PR to a draft unless it's ready to review
+ * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+ * Before marking as "ready for review", ensure:
+ * the goal is clearly stated in the description
+ * all the tests are passing
+ * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+ * include a route or your device' dongle ID if relevant
+ comment_tag: run_id
+ GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 2be83b1654..9001ca86fc 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -47,13 +47,13 @@ jobs:
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
run: |
cd $STRIPPED_DIR
- ${{ env.RUN }} "python selfdrive/manager/build.py"
+ ${{ env.RUN }} "python system/manager/build.py"
- name: Run tests
timeout-minutes: 3
run: |
cd $STRIPPED_DIR
${{ env.RUN }} "release/check-dirty.sh && \
- MAX_EXAMPLES=5 $PYTEST selfdrive/car"
+ MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
- name: pre-commit
timeout-minutes: 3
run: |
@@ -62,7 +62,7 @@ jobs:
cp pyproject.toml $STRIPPED_DIR
cp poetry.lock $STRIPPED_DIR
cd $STRIPPED_DIR
- ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+ ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
build:
strategy:
@@ -76,24 +76,8 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: true
- - uses: ./.github/workflows/setup-with-retry
- with:
- docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
- - uses: ./.github/workflows/compile-openpilot
- timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-
- docker_push:
- name: docker push
- strategy:
- matrix:
- arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
- runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
- if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: true
- - name: Setup to push to repo
+ - name: Setup docker push
+ if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
@@ -101,12 +85,14 @@ jobs:
- uses: ./.github/workflows/setup-with-retry
with:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+ - uses: ./.github/workflows/compile-openpilot
+ timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
docker_push_multiarch:
name: docker push multiarch tag
runs-on: ubuntu-latest
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
- needs: [docker_push]
+ needs: [build]
steps:
- uses: actions/checkout@v4
with:
@@ -134,24 +120,6 @@ jobs:
timeout-minutes: 4
run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
- valgrind:
- name: valgrind
- runs-on: ubuntu-latest
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: true
- - uses: ./.github/workflows/setup-with-retry
- - name: Build openpilot
- run: ${{ env.RUN }} "scons -j$(nproc)"
- - name: Run valgrind
- timeout-minutes: 1
- run: |
- ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
- - name: Print logs
- if: always()
- run: cat selfdrive/test/valgrind_logs.txt
-
unit_tests:
name: unit tests
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -200,7 +168,7 @@ jobs:
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
- key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+ key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
@@ -225,64 +193,18 @@ jobs:
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- - name: "Upload coverage to Codecov"
- uses: codecov/codecov-action@v4
- with:
- name: ${{ github.job }}
- env:
- CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
- regen:
- name: regen
- runs-on: 'ubuntu-latest'
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: true
- - uses: ./.github/workflows/setup-with-retry
- - name: Cache test routes
- id: dependency-cache
- uses: actions/cache@v4
- with:
- path: .ci_cache/comma_download_cache
- key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
- - name: Build base Docker image
- run: eval "$BUILD"
- - name: Build openpilot
- run: |
- ${{ env.RUN }} "scons -j$(nproc)"
- - name: Run regen
- timeout-minutes: 30
- run: |
- ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
- chmod -R 777 /tmp/comma_download_cache"
-
- test_modeld:
- name: model tests
- runs-on: ubuntu-latest
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: true
- - uses: ./.github/workflows/setup-with-retry
- - name: Build base Docker image
- run: eval "$BUILD"
- - name: Build openpilot
- run: |
- ${{ env.RUN }} "scons -j$(nproc)"
# PYTHONWARNINGS triggers a SyntaxError in onnxruntime
- name: Run model replay with ONNX
timeout-minutes: 4
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && \
- ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
- coverage combine && \
- coverage xml"
- - name: Run unit tests
+ ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+ coverage combine && coverage xml"
+ - name: Run regen
timeout-minutes: 4
run: |
- ${{ env.RUN }} "unset PYTHONWARNINGS && \
- $PYTEST selfdrive/modeld"
+ ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+ chmod -R 777 /tmp/comma_download_cache"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
with:
@@ -298,7 +220,7 @@ jobs:
strategy:
fail-fast: false
matrix:
- job: [0, 1, 2, 3, 4]
+ job: [0, 1]
steps:
- uses: actions/checkout@v4
with:
@@ -313,12 +235,12 @@ jobs:
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Test car models
- timeout-minutes: 10
+ timeout-minutes: 20
run: |
${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
chmod -R 777 /tmp/comma_download_cache"
env:
- NUM_JOBS: 5
+ NUM_JOBS: 2
JOB_ID: ${{ matrix.job }}
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index b33945cae2..3c86b8e854 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -5,8 +5,8 @@ on:
workflow_dispatch:
env:
- DAYS_BEFORE_PR_CLOSE: 7
- DAYS_BEFORE_PR_STALE: 30
+ DAYS_BEFORE_PR_CLOSE: 3
+ DAYS_BEFORE_PR_STALE: 14
jobs:
stale:
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index ccd3368cb0..b3cfd56d13 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -20,23 +20,6 @@ env:
jobs:
- plotjuggler:
- name: plotjuggler
- runs-on: ubuntu-latest
- timeout-minutes: 45
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: true
- - uses: ./.github/workflows/setup-with-retry
- - name: Build openpilot
- timeout-minutes: 5
- run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
- - name: Test PlotJuggler
- timeout-minutes: 2
- run: |
- ${{ env.RUN }} "pytest tools/plotjuggler/"
-
simulator_build:
name: simulator docker build
runs-on: ubuntu-latest
@@ -66,8 +49,6 @@ jobs:
submodules: true
- run: git lfs pull
- uses: ./.github/workflows/setup-with-retry
- - name: Build base docker image
- run: eval "$BUILD"
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
@@ -76,7 +57,7 @@ jobs:
${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
- CI=1 tools/sim/tests/test_metadrive_bridge.py"
+ CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
devcontainer:
name: devcontainer
@@ -92,7 +73,7 @@ jobs:
- name: Setup Dev Container CLI
run: npm install -g @devcontainers/cli
- name: Build dev container image
- run: devcontainer build --workspace-folder .
+ run: ./scripts/retry.sh devcontainer build --workspace-folder .
- name: Run dev container
run: |
mkdir -p /tmp/devcontainer_scons_cache/
@@ -104,21 +85,3 @@ jobs:
devcontainer exec --workspace-folder . pip install pip-install-test
devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
devcontainer exec --workspace-folder . sudo touch /root/test.txt
-
- notebooks:
- name: notebooks
- runs-on: ubuntu-latest
- if: false && github.repository == 'commaai/openpilot'
- timeout-minutes: 45
- steps:
- - uses: actions/checkout@v4
- with:
- submodules: true
- - uses: ./.github/workflows/setup-with-retry
- - name: Build openpilot
- timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
- run: ${{ env.RUN }} "scons -j$(nproc)"
- - name: Test notebooks
- timeout-minutes: 3
- run: |
- ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
diff --git a/.gitignore b/.gitignore
index 98fc70d029..693c532c54 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,12 +55,8 @@ selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/
-one
notebooks
-xx
-yy
hyperthneed
-panda_jungle
provisioning
.coverage*
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index e9c7d93d88..28f8acd6e2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,7 @@ repos:
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit
- rev: v0.4.3
+ rev: v0.4.4
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -47,7 +47,7 @@ repos:
args:
- --local-partial-types
- --explicit-package-bases
- exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
+ exclude: '^(third_party/)|(body/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
- repo: local
hooks:
- id: cppcheck
@@ -89,7 +89,7 @@ repos:
entry: selfdrive/ui/tests/test_translations.py
language: script
pass_filenames: false
- files: 'selfdrive/ui/translations/*'
+ files: '^selfdrive/ui/translations/'
- repo: https://github.com/python-poetry/poetry
rev: '1.8.0'
hooks:
@@ -98,6 +98,6 @@ repos:
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
- rev: 0.28.2
+ rev: 0.28.3
hooks:
- id: check-github-workflows
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index a6c4c71790..0789a39c3e 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN cd /tmp && \
- tools/install_ubuntu_dependencies.sh && \
- rm -rf /var/lib/apt/lists/* && \
- rm -rf /tmp/* && \
- # remove unused architectures from gcc for panda
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+ rm -rf /var/lib/apt/lists/* /tmp/* && \
cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
- rm -rf arm/ && \
- rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
# Add OpenCL
RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -83,4 +79,4 @@ RUN cd /tmp && \
rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
\ No newline at end of file
+RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/Jenkinsfile b/Jenkinsfile
index 9d12b77746..0a044ff039 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -183,7 +183,7 @@ node {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
- ["build openpilot", "cd selfdrive/manager && ./build.py"],
+ ["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
@@ -191,52 +191,53 @@ node {
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
- ["build", "cd selfdrive/manager && ./build.py"],
+ ["build", "cd system/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
- ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+ ["test manager", "pytest system/manager/test/test_manager.py"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
- ["build openpilot", "cd selfdrive/manager && ./build.py"],
+ ["build openpilot", "cd system/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
- ["build", "cd selfdrive/manager && ./build.py"],
+ ["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
- ["build", "cd selfdrive/manager && ./build.py"],
+ ["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
- ["build", "cd selfdrive/manager && ./build.py"],
+ ["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
- ["build", "cd selfdrive/manager && ./build.py"],
+ ["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
- ["build", "cd selfdrive/manager && ./build.py"],
+ ["build", "cd system/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
- ["build openpilot", "cd selfdrive/manager && ./build.py"],
+ ["build openpilot", "cd system/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+ ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
diff --git a/RELEASES.md b/RELEASES.md
index da22a87a47..971ba7867d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,9 +1,9 @@
-Version 0.9.7 (2024-05-XX)
+Version 0.9.7 (2024-06-11)
========================
* New driving model
* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Support for hybrid variants of supported Ford models
* Fingerprinting without the OBD-II port on all cars
Version 0.9.6 (2024-02-27)
diff --git a/cereal b/cereal
index 5ce28549ba..53cdd80fa8 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 5ce28549ba09cdf199f5a0edaf7dc8e9b8a53344
+Subproject commit 53cdd80fa87725334df67ca9667ba0582d9b2e00
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 79875023a2..f3a7d83842 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -7,7 +7,7 @@ from openpilot.system.version import get_version
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-class Api():
+class Api:
def __init__(self, dongle_id):
self.dongle_id = dongle_id
with open(Paths.persist_root()+'/comma/id_rsa') as f:
diff --git a/common/gpio.py b/common/gpio.py
index 68932cb87a..66b2adf438 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,5 +1,5 @@
import os
-from functools import lru_cache
+from functools import cache
def gpio_init(pin: int, output: bool) -> None:
try:
@@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None:
except Exception:
print(f"Failed to export gpio {pin}")
-@lru_cache(maxsize=None)
+@cache
def get_irq_action(irq: int) -> list[str]:
try:
with open(f"/sys/kernel/irq/{irq}/actions") as f:
diff --git a/common/prefix.h b/common/prefix.h
index f5abe14b2b..11d0bc1066 100644
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -5,6 +5,7 @@
#include "common/params.h"
#include "common/util.h"
+#include "system/hardware/hw.h"
class OpenpilotPrefix {
public:
@@ -25,6 +26,10 @@ public:
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
unlink(param_path.c_str());
}
+ if (getenv("COMMA_CACHE") == nullptr) {
+ system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+ }
+ system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
unsetenv("OPENPILOT_PREFIX");
}
diff --git a/common/spinner.py b/common/spinner.py
index 43d4bb2cc2..dcf22641c4 100644
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -3,7 +3,7 @@ import subprocess
from openpilot.common.basedir import BASEDIR
-class Spinner():
+class Spinner:
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
diff --git a/common/stat_live.py b/common/stat_live.py
index a91c1819bb..3901c448d8 100644
--- a/common/stat_live.py
+++ b/common/stat_live.py
@@ -1,6 +1,6 @@
import numpy as np
-class RunningStat():
+class RunningStat:
# tracks realtime mean and standard deviation without storing any data
def __init__(self, priors=None, max_trackable=-1):
self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
def params_to_save(self):
return [self.M, self.S, self.n]
-class RunningStatFilter():
+class RunningStatFilter:
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
self.raw_stat = RunningStat(raw_priors, -1)
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py
index 1817f77cd2..a9977c2362 100644
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@@ -1,11 +1,10 @@
import os
-import unittest
from uuid import uuid4
from openpilot.common.file_helpers import atomic_write_in_dir
-class TestFileHelpers(unittest.TestCase):
+class TestFileHelpers:
def run_atomic_write_func(self, atomic_write_func):
path = f"/tmp/tmp{uuid4()}"
with atomic_write_func(path) as f:
@@ -13,12 +12,8 @@ class TestFileHelpers(unittest.TestCase):
assert not os.path.exists(path)
with open(path) as f:
- self.assertEqual(f.read(), "test")
+ assert f.read() == "test"
os.remove(path)
def test_atomic_write_in_dir(self):
self.run_atomic_write_func(atomic_write_in_dir)
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py
index de7bb972e7..aa53851db0 100644
--- a/common/tests/test_numpy_fast.py
+++ b/common/tests/test_numpy_fast.py
@@ -1,10 +1,9 @@
import numpy as np
-import unittest
from openpilot.common.numpy_fast import interp
-class InterpTest(unittest.TestCase):
+class TestInterp:
def test_correctness_controls(self):
_A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
_A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
@@ -20,7 +19,3 @@ class InterpTest(unittest.TestCase):
expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
np.testing.assert_equal(actual, expected)
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 490ee122be..16cbc45295 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -1,13 +1,13 @@
+import pytest
import os
import threading
import time
import uuid
-import unittest
from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
-class TestParams(unittest.TestCase):
- def setUp(self):
+class TestParams:
+ def setup_method(self):
self.params = Params()
def test_params_put_and_get(self):
@@ -49,16 +49,16 @@ class TestParams(unittest.TestCase):
assert self.params.get("CarParams", True) == b"test"
def test_params_unknown_key_fails(self):
- with self.assertRaises(UnknownKeyName):
+ with pytest.raises(UnknownKeyName):
self.params.get("swag")
- with self.assertRaises(UnknownKeyName):
+ with pytest.raises(UnknownKeyName):
self.params.get_bool("swag")
- with self.assertRaises(UnknownKeyName):
+ with pytest.raises(UnknownKeyName):
self.params.put("swag", "abc")
- with self.assertRaises(UnknownKeyName):
+ with pytest.raises(UnknownKeyName):
self.params.put_bool("swag", True)
def test_remove_not_there(self):
@@ -68,19 +68,19 @@ class TestParams(unittest.TestCase):
def test_get_bool(self):
self.params.remove("IsMetric")
- self.assertFalse(self.params.get_bool("IsMetric"))
+ assert not self.params.get_bool("IsMetric")
self.params.put_bool("IsMetric", True)
- self.assertTrue(self.params.get_bool("IsMetric"))
+ assert self.params.get_bool("IsMetric")
self.params.put_bool("IsMetric", False)
- self.assertFalse(self.params.get_bool("IsMetric"))
+ assert not self.params.get_bool("IsMetric")
self.params.put("IsMetric", "1")
- self.assertTrue(self.params.get_bool("IsMetric"))
+ assert self.params.get_bool("IsMetric")
self.params.put("IsMetric", "0")
- self.assertFalse(self.params.get_bool("IsMetric"))
+ assert not self.params.get_bool("IsMetric")
def test_put_non_blocking_with_get_block(self):
q = Params()
@@ -107,7 +107,3 @@ class TestParams(unittest.TestCase):
assert len(keys) > 20
assert len(keys) == len(set(keys))
assert b"CarParams" in keys
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py
index f641cd19e6..f4a967e58a 100644
--- a/common/tests/test_simple_kalman.py
+++ b/common/tests/test_simple_kalman.py
@@ -1,10 +1,8 @@
-import unittest
-
from openpilot.common.simple_kalman import KF1D
-class TestSimpleKalman(unittest.TestCase):
- def setUp(self):
+class TestSimpleKalman:
+ def setup_method(self):
dt = 0.01
x0_0 = 0.0
x1_0 = 0.0
@@ -24,12 +22,8 @@ class TestSimpleKalman(unittest.TestCase):
def test_getter_setter(self):
self.kf.set_x([[1.0], [1.0]])
- self.assertEqual(self.kf.x, [[1.0], [1.0]])
+ assert self.kf.x == [[1.0], [1.0]]
def update_returns_state(self):
x = self.kf.update(100)
- self.assertEqual(x, self.kf.x)
-
-
-if __name__ == "__main__":
- unittest.main()
+ assert x == self.kf.x
diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py
index 7ae79403bd..41076d9b3f 100755
--- a/common/transformations/tests/test_coordinates.py
+++ b/common/transformations/tests/test_coordinates.py
@@ -1,7 +1,6 @@
#!/usr/bin/env python3
import numpy as np
-import unittest
import openpilot.common.transformations.coordinates as coord
@@ -44,7 +43,7 @@ ned_offsets_batch = np.array([[ 53.88103168, 43.83445935, -46.27488057],
[ 78.56272609, 18.53100158, -43.25290759]])
-class TestNED(unittest.TestCase):
+class TestNED:
def test_small_distances(self):
start_geodetic = np.array([33.8042184, -117.888593, 0.0])
local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
@@ -54,13 +53,13 @@ class TestNED(unittest.TestCase):
west_geodetic = start_geodetic + [0, -0.0005, 0]
west_ned = local_coord.geodetic2ned(west_geodetic)
- self.assertLess(np.abs(west_ned[0]), 1e-3)
- self.assertLess(west_ned[1], 0)
+ assert np.abs(west_ned[0]) < 1e-3
+ assert west_ned[1] < 0
southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0]
southwest_ned = local_coord.geodetic2ned(southwest_geodetic)
- self.assertLess(southwest_ned[0], 0)
- self.assertLess(southwest_ned[1], 0)
+ assert southwest_ned[0] < 0
+ assert southwest_ned[1] < 0
def test_ecef_geodetic(self):
# testing single
@@ -105,5 +104,3 @@ class TestNED(unittest.TestCase):
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
ecef_positions_offset_batch,
rtol=1e-9, atol=1e-7)
-if __name__ == "__main__":
- unittest.main()
diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py
index f77827d2f9..695642774e 100755
--- a/common/transformations/tests/test_orientation.py
+++ b/common/transformations/tests/test_orientation.py
@@ -1,7 +1,6 @@
#!/usr/bin/env python3
import numpy as np
-import unittest
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
rot2quat, quat2rot, \
@@ -32,7 +31,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808],
[ 2.50450101, 0.36304151, 0.33136365]])
-class TestOrientation(unittest.TestCase):
+class TestOrientation:
def test_quat_euler(self):
for i, eul in enumerate(eulers):
np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,7 +61,3 @@ class TestOrientation(unittest.TestCase):
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/conftest.py b/conftest.py
index 0d2a4a8fc4..fc4931fb54 100644
--- a/conftest.py
+++ b/conftest.py
@@ -5,7 +5,7 @@ import pytest
import random
from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.manager import manager
+from openpilot.system.manager import manager
from openpilot.system.hardware import TICI, HARDWARE
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index 7e7ee3b8d3..9d0718c572 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -9,6 +9,7 @@ Get paid to improve openpilot!
* once you open a PR, the bounty is locked to you until you stop working on it
* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
+* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in.
This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
diff --git a/docs/CARS.md b/docs/CARS.md
index 7e5324d322..26b7fe203f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
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.
-# 286 Supported Cars
+# 288 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Hardware Needed
|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -49,7 +49,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|Parts
- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
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- 1 Hyundai A connector
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- 1 Hyundai E connector
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- 1 Hyundai E connector
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- 1 Hyundai P connector
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- 1 Hyundai L connector
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- 1 Hyundai G connector
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- 1 Hyundai E connector
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- 1 Hyundai A connector
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- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
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- 1 Hyundai Q connector
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- 1 Hyundai C connector
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- 1 right angle OBD-C cable (1.5 ft)
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- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
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- 1 Hyundai A connector
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- 1 Hyundai C connector
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- 1 Hyundai C connector
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- 1 Hyundai D connector
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- 1 Hyundai F connector
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- 1 Hyundai A connector
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- 1 Hyundai C connector
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- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
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- 1 Hyundai D connector
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- 1 Hyundai D connector
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- 1 Hyundai F connector
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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- 1 RJ45 cable (7 ft)
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Buy Here{release_notes}
\n")
+ assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
+ assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}
\n"
super()._test_finalized_update(branch, version, agnos_version, release_notes)
def send_check_for_updates_signal(self, updated: ManagerProcess):
@@ -145,9 +143,9 @@ class ParamsBaseUpdateTest(BaseUpdateTest):
updated.signal(signal.SIGHUP.value)
def _test_params(self, branch, fetch_available, update_available):
- self.assertEqual(self.params.get("UpdaterTargetBranch", encoding="utf-8"), branch)
- self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
- self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
+ assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch
+ assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available
+ assert self.params.get_bool("UpdateAvailable") == update_available
def wait_for_idle(self):
self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle")
@@ -229,17 +227,16 @@ class ParamsBaseUpdateTest(BaseUpdateTest):
self._test_params("master", False, True)
self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
- def test_agnos_update(self):
+ def test_agnos_update(self, mocker):
# Start on release3, push an update with an agnos change
self.setup_remote_release("release3")
self.setup_basedir_release("release3")
- with self.additional_context(), \
- mock.patch("openpilot.system.hardware.AGNOS", "True"), \
- mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
- mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
- mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
- processes_context(["updated"]) as [updated]:
+ with self.additional_context(), processes_context(["updated"]) as [updated]:
+ mocker.patch("openpilot.system.hardware.AGNOS", "True")
+ mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2")
+ mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number")
+ mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update")
self._test_params("release3", False, False)
self.wait_for_idle()
diff --git a/selfdrive/updated/tests/test_git.py b/system/updated/tests/test_git.py
similarity index 88%
rename from selfdrive/updated/tests/test_git.py
rename to system/updated/tests/test_git.py
index 51ea77fb81..5a5a27000b 100644
--- a/selfdrive/updated/tests/test_git.py
+++ b/system/updated/tests/test_git.py
@@ -1,5 +1,5 @@
import contextlib
-from openpilot.selfdrive.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release
+from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release
class TestUpdateDGitStrategy(ParamsBaseUpdateTest):
diff --git a/selfdrive/updated/updated.py b/system/updated/updated.py
similarity index 100%
rename from selfdrive/updated/updated.py
rename to system/updated/updated.py
diff --git a/system/version.py b/system/version.py
index f5b8cd49e8..d258fe0492 100755
--- a/system/version.py
+++ b/system/version.py
@@ -27,7 +27,7 @@ def get_version(path: str = BASEDIR) -> str:
def get_release_notes(path: str = BASEDIR) -> str:
- with open(os.path.join(path, "RELEASES.md"), "r") as f:
+ with open(os.path.join(path, "RELEASES.md")) as f:
return f.read().split('\n\n', 1)[0]
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index 2173c3806b..d8defab13f 100755
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -1,7 +1,5 @@
#!/usr/bin/env python3
import asyncio
-import unittest
-from unittest.mock import Mock, MagicMock, patch
import json
# for aiortc and its dependencies
import warnings
@@ -20,15 +18,15 @@ from openpilot.system.webrtc.device.audio import AudioInputStreamTrack
from openpilot.common.realtime import DT_DMON
-class TestStreamSession(unittest.TestCase):
- def setUp(self):
+class TestStreamSession:
+ def setup_method(self):
self.loop = asyncio.new_event_loop()
- def tearDown(self):
+ def teardown_method(self):
self.loop.stop()
self.loop.close()
- def test_outgoing_proxy(self):
+ def test_outgoing_proxy(self, mocker):
test_msg = log.Event.new_message()
test_msg.logMonoTime = 123
test_msg.valid = True
@@ -36,27 +34,27 @@ class TestStreamSession(unittest.TestCase):
expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
expected_json = json.dumps(expected_dict).encode()
- channel = Mock(spec=RTCDataChannel)
+ channel = mocker.Mock(spec=RTCDataChannel)
mocked_submaster = messaging.SubMaster(["customReservedRawData0"])
def mocked_update(t):
mocked_submaster.update_msgs(0, [test_msg])
- with patch.object(messaging.SubMaster, "update", side_effect=mocked_update):
- proxy = CerealOutgoingMessageProxy(mocked_submaster)
- proxy.add_channel(channel)
+ mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
+ proxy = CerealOutgoingMessageProxy(mocked_submaster)
+ proxy.add_channel(channel)
- proxy.update()
+ proxy.update()
- channel.send.assert_called_once_with(expected_json)
+ channel.send.assert_called_once_with(expected_json)
- def test_incoming_proxy(self):
+ def test_incoming_proxy(self, mocker):
tested_msgs = [
{"type": "customReservedRawData0", "data": "test"}, # primitive
{"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list
{"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
]
- mocked_pubmaster = MagicMock(spec=messaging.PubMaster)
+ mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)
proxy = CerealIncomingMessageProxy(mocked_pubmaster)
@@ -65,44 +63,40 @@ class TestStreamSession(unittest.TestCase):
mocked_pubmaster.send.assert_called_once()
mt, md = mocked_pubmaster.send.call_args.args
- self.assertEqual(mt, msg["type"])
- self.assertIsInstance(md, capnp._DynamicStructBuilder)
- self.assertTrue(hasattr(md, msg["type"]))
+ assert mt == msg["type"]
+ assert isinstance(md, capnp._DynamicStructBuilder)
+ assert hasattr(md, msg["type"])
mocked_pubmaster.reset_mock()
- def test_livestream_track(self):
+ def test_livestream_track(self, mocker):
fake_msg = messaging.new_message("livestreamDriverEncodeData")
config = {"receive.return_value": fake_msg.to_bytes()}
- with patch("cereal.messaging.SubSocket", spec=True, **config):
- track = LiveStreamVideoStreamTrack("driver")
+ mocker.patch("cereal.messaging.SubSocket", spec=True, **config)
+ track = LiveStreamVideoStreamTrack("driver")
- self.assertTrue(track.id.startswith("driver"))
- self.assertEqual(track.codec_preference(), "H264")
+ assert track.id.startswith("driver")
+ assert track.codec_preference() == "H264"
- for i in range(5):
- packet = self.loop.run_until_complete(track.recv())
- self.assertEqual(packet.time_base, VIDEO_TIME_BASE)
- self.assertEqual(packet.pts, int(i * DT_DMON * VIDEO_CLOCK_RATE))
- self.assertEqual(packet.size, 0)
+ for i in range(5):
+ packet = self.loop.run_until_complete(track.recv())
+ assert packet.time_base == VIDEO_TIME_BASE
+ assert packet.pts == int(i * DT_DMON * VIDEO_CLOCK_RATE)
+ assert packet.size == 0
- def test_input_audio_track(self):
+ def test_input_audio_track(self, mocker):
packet_time, rate = 0.02, 16000
sample_count = int(packet_time * rate)
- mocked_stream = MagicMock(spec=pyaudio.Stream)
+ mocked_stream = mocker.MagicMock(spec=pyaudio.Stream)
mocked_stream.read.return_value = b"\x00" * 2 * sample_count
config = {"open.side_effect": lambda *args, **kwargs: mocked_stream}
- with patch("pyaudio.PyAudio", spec=True, **config):
- track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate)
+ mocker.patch("pyaudio.PyAudio", spec=True, **config)
+ track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate)
- for i in range(5):
- frame = self.loop.run_until_complete(track.recv())
- self.assertEqual(frame.rate, rate)
- self.assertEqual(frame.samples, sample_count)
- self.assertEqual(frame.pts, i * sample_count)
-
-
-if __name__ == "__main__":
- unittest.main()
+ for i in range(5):
+ frame = self.loop.run_until_complete(track.recv())
+ assert frame.rate == rate
+ assert frame.samples == sample_count
+ assert frame.pts == i * sample_count
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
index e5742dba07..b0bc7b1966 100755
--- a/system/webrtc/tests/test_webrtcd.py
+++ b/system/webrtc/tests/test_webrtcd.py
@@ -1,8 +1,7 @@
#!/usr/bin/env python
+import pytest
import asyncio
import json
-import unittest
-from unittest.mock import MagicMock, AsyncMock
# for aiortc and its dependencies
import warnings
warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -20,19 +19,20 @@ from parameterized import parameterized_class
(["testJoystick"], []),
([], []),
])
-class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
+@pytest.mark.asyncio
+class TestWebrtcdProc:
async def assertCompletesWithTimeout(self, awaitable, timeout=1):
try:
async with asyncio.timeout(timeout):
await awaitable
except TimeoutError:
- self.fail("Timeout while waiting for awaitable to complete")
+ pytest.fail("Timeout while waiting for awaitable to complete")
- async def test_webrtcd(self):
- mock_request = MagicMock()
+ async def test_webrtcd(self, mocker):
+ mock_request = mocker.MagicMock()
async def connect(offer):
body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
- mock_request.json.side_effect = AsyncMock(return_value=body)
+ mock_request.json.side_effect = mocker.AsyncMock(return_value=body)
response = await get_stream(mock_request)
response_json = json.loads(response.text)
return aiortc.RTCSessionDescription(**response_json)
@@ -48,9 +48,9 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
await self.assertCompletesWithTimeout(stream.start())
await self.assertCompletesWithTimeout(stream.wait_for_connection())
- self.assertTrue(stream.has_incoming_video_track("road"))
- self.assertTrue(stream.has_incoming_audio_track())
- self.assertEqual(stream.has_messaging_channel(), len(self.in_services) > 0 or len(self.out_services) > 0)
+ assert stream.has_incoming_video_track("road")
+ assert stream.has_incoming_audio_track()
+ assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0)
video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
await self.assertCompletesWithTimeout(video_track.recv())
@@ -59,10 +59,6 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
await self.assertCompletesWithTimeout(stream.stop())
# cleanup, very implementation specific, test may break if it changes
- self.assertTrue(mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test")
+ assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
_, session = mock_request.app["streams"].__setitem__.call_args.args
await self.assertCompletesWithTimeout(session.post_run_cleanup())
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 51c86aacc6..76c3cd8470 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -97,8 +97,8 @@ class CerealProxyRunner:
except InvalidStateError:
self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
break
- except Exception as ex:
- self.logger.error("Cereal outgoing proxy failure: %s", ex)
+ except Exception:
+ self.logger.exception("Cereal outgoing proxy failure")
await asyncio.sleep(0.01)
@@ -175,8 +175,8 @@ class StreamSession:
assert self.incoming_bridge is not None
try:
self.incoming_bridge.send(message)
- except Exception as ex:
- self.logger.error("Cereal incoming proxy failure: %s", ex)
+ except Exception:
+ self.logger.exception("Cereal incoming proxy failure")
async def run(self):
try:
@@ -200,8 +200,8 @@ class StreamSession:
await self.post_run_cleanup()
self.logger.info("Stream session (%s) ended", self.identifier)
- except Exception as ex:
- self.logger.error("Stream session failure: %s", ex)
+ except Exception:
+ self.logger.exception("Stream session failure")
async def post_run_cleanup(self):
await self.stream.stop()
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 3d63ee49bd..cfd423b368 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -64,6 +64,7 @@ public:
AbstractStream(QObject *parent);
virtual ~AbstractStream() {}
virtual void start() = 0;
+ virtual void stop() {}
virtual bool liveStreaming() const { return true; }
virtual void seekTo(double ts) {}
virtual QString routeName() const = 0;
@@ -128,11 +129,15 @@ private:
};
class AbstractOpenStreamWidget : public QWidget {
+ Q_OBJECT
public:
AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
virtual bool open() = 0;
virtual QString title() = 0;
+signals:
+ void enableOpenButton(bool);
+
protected:
AbstractStream **stream = nullptr;
};
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 4e1f6d77d9..d9d96e23b0 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -42,6 +42,10 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
}
+LiveStream::~LiveStream() {
+ stop();
+}
+
void LiveStream::startUpdateTimer() {
update_timer.stop();
update_timer.start(1000.0 / settings.fps, this);
@@ -55,11 +59,14 @@ void LiveStream::start() {
begin_date_time = QDateTime::currentDateTime();
}
-LiveStream::~LiveStream() {
+void LiveStream::stop() {
+ if (!stream_thread) return;
+
update_timer.stop();
stream_thread->requestInterruption();
stream_thread->quit();
stream_thread->wait();
+ stream_thread = nullptr;
}
// called in streamThread
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 7a0f8cd834..9ca7e8d745 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -14,6 +14,7 @@ public:
LiveStream(QObject *parent);
virtual ~LiveStream();
void start() override;
+ void stop() override;
inline QDateTime beginDateTime() const { return begin_date_time; }
inline double routeStartTime() const override { return begin_event_ts / 1e9; }
void setSpeed(float speed) override { speed_ = speed; }
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 308391a10c..030783a899 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -6,12 +6,17 @@
#include
#include
#include
+#include
-PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {}
+PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
+ if (!connect()) {
+ throw std::runtime_error("Failed to connect to panda");
+ }
+}
bool PandaStream::connect() {
try {
- qDebug() << "Connecting to panda with serial" << config.serial;
+ qDebug() << "Connecting to panda " << config.serial;
panda.reset(new Panda(config.serial.toStdString()));
config.bus_config.resize(3);
qDebug() << "Connected";
@@ -80,6 +85,13 @@ AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
form_layout = new QFormLayout(this);
+ if (can && dynamic_cast(can) != nullptr) {
+ form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
+ form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
+ QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
+ return;
+ }
+
QHBoxLayout *serial_layout = new QHBoxLayout();
serial_layout->addWidget(serial_edit = new QComboBox());
@@ -116,6 +128,7 @@ void OpenPandaWidget::buildConfigForm() {
Panda panda(serial.toStdString());
has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
} catch (const std::exception& e) {
+ qDebug() << "failed to open panda" << serial;
has_panda = false;
}
}
@@ -170,13 +183,11 @@ void OpenPandaWidget::buildConfigForm() {
}
bool OpenPandaWidget::open() {
- if (!config.serial.isEmpty()) {
- auto panda_stream = std::make_unique(qApp, config);
- if (panda_stream->connect()) {
- *stream = panda_stream.release();
- return true;
- }
+ try {
+ *stream = new PandaStream(qApp, config);
+ return true;
+ } catch (std::exception &e) {
+ QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
+ return false;
}
- QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda"));
- return false;
}
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index ce0adfc9f8..c50407be1a 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -21,13 +21,14 @@ class PandaStream : public LiveStream {
Q_OBJECT
public:
PandaStream(QObject *parent, PandaStreamConfig config_ = {});
- bool connect();
+ ~PandaStream() { stop(); }
static AbstractOpenStreamWidget *widget(AbstractStream **stream);
inline QString routeName() const override {
- return QString("Live Streaming From Panda %1").arg(config.serial);
+ return QString("Panda: %1").arg(config.serial);
}
protected:
+ bool connect();
void streamThread() override;
std::unique_ptr panda;
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index e0fb826acb..952f1aaa5c 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -17,6 +17,7 @@ class SocketCanStream : public LiveStream {
Q_OBJECT
public:
SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
+ ~SocketCanStream() { stop(); }
static AbstractOpenStreamWidget *widget(AbstractStream **stream);
static bool available();
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index d12f1a5df7..209b577c9a 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -1,6 +1,5 @@
#include "tools/cabana/streamselector.h"
-#include
#include
#include
#include
@@ -31,7 +30,7 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
layout->addWidget(line);
- auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
+ btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
layout->addWidget(btn_box);
addStreamWidget(ReplayStream::widget(stream));
@@ -60,4 +59,6 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
tab->addTab(w, w->title());
+ auto open_btn = btn_box->button(QDialogButtonBox::Open);
+ QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
}
diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h
index 19b438d55a..a702fc76ad 100644
--- a/tools/cabana/streamselector.h
+++ b/tools/cabana/streamselector.h
@@ -1,5 +1,6 @@
#pragma once
+#include
#include
#include
#include
@@ -17,4 +18,5 @@ public:
private:
QLineEdit *dbc_file;
QTabWidget *tab;
+ QDialogButtonBox *btn_box;
};
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 5f8294fd3c..cf0be1a80a 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
import argparse
import sys
-import unittest
+import unittest # noqa: TID251
from openpilot.selfdrive.car.tests.routes import CarTestRoute
from openpilot.selfdrive.car.tests.test_models import TestCarModel
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 75d19141b6..1f8ef24eaf 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -12,24 +12,16 @@ if [[ ! $(id -u) -eq 0 ]]; then
SUDO="sudo"
fi
-# Install packages present in all supported versions of Ubuntu
+# Install common packages
function install_ubuntu_common_requirements() {
$SUDO apt-get update
$SUDO apt-get install -y --no-install-recommends \
- autoconf \
- build-essential \
ca-certificates \
- casync \
clang \
- cmake \
- make \
cppcheck \
- libtool \
+ build-essential \
gcc-arm-none-eabi \
- bzip2 \
liblzma-dev \
- libarchive-dev \
- libbz2-dev \
capnproto \
libcapnp-dev \
curl \
@@ -42,43 +34,53 @@ function install_ubuntu_common_requirements() {
libavdevice-dev \
libavutil-dev \
libavfilter-dev \
+ libbz2-dev \
libeigen3-dev \
libffi-dev \
libglew-dev \
libgles2-mesa-dev \
libglfw3-dev \
libglib2.0-0 \
+ libqt5charts5-dev \
libncurses5-dev \
- libncursesw5-dev \
- libomp-dev \
- libopencv-dev \
- libpng16-16 \
- libportaudio2 \
libssl-dev \
- libsqlite3-dev \
libusb-1.0-0-dev \
libzmq3-dev \
+ libsqlite3-dev \
libsystemd-dev \
locales \
opencl-headers \
ocl-icd-libopencl1 \
ocl-icd-opencl-dev \
- clinfo \
portaudio19-dev \
- qml-module-qtquick2 \
qtmultimedia5-dev \
qtlocation5-dev \
qtpositioning5-dev \
qttools5-dev-tools \
- libqt5sql5-sqlite \
libqt5svg5-dev \
- libqt5charts5-dev \
libqt5serialbus5-dev \
libqt5x11extras5-dev \
- libqt5opengl5-dev \
+ libqt5opengl5-dev
+}
+
+# Install extra packages
+function install_extra_packages() {
+ echo "Installing extra packages..."
+ $SUDO apt-get install -y --no-install-recommends \
+ casync \
+ cmake \
+ make \
+ clinfo \
+ libqt5sql5-sqlite \
libreadline-dev \
libdw1 \
- valgrind
+ autoconf \
+ libtool \
+ bzip2 \
+ libarchive-dev \
+ libncursesw5-dev \
+ libportaudio2 \
+ locales
}
# Install Ubuntu 24.04 LTS packages
@@ -127,7 +129,19 @@ if [ -f "/etc/os-release" ]; then
install_ubuntu_lts_latest_requirements
fi
esac
+
+ # Install extra packages
+ if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then
+ read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r
+ echo ""
+ if [[ $REPLY =~ ^[Yy]$ ]]; then
+ INSTALL_EXTRA_PACKAGES="yes"
+ fi
+ fi
+ if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then
+ install_extra_packages
+ fi
else
- echo "No /etc/os-release in the system"
+ echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
exit 1
fi
diff --git a/tools/lib/api.py b/tools/lib/api.py
index 6ff9242f29..92a75d2a3b 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -2,7 +2,7 @@ import os
import requests
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-class CommaApi():
+class CommaApi:
def __init__(self, token=None):
self.session = requests.Session()
self.session.headers['User-agent'] = 'OpenpilotTools'
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index e9b8b4b2ce..3bfdc75feb 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -10,10 +10,11 @@ DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
def internal_source_available():
try:
hostname = urlparse(DATA_ENDPOINT).hostname
- if hostname:
- socket.gethostbyname(hostname)
- return True
- except socket.gaierror:
+ port = urlparse(DATA_ENDPOINT).port or 80
+ with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
+ s.connect((hostname, port))
+ return True
+ except (socket.gaierror, ConnectionRefusedError):
pass
return False
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 5d3dfeba42..32f55df5d1 100755
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -1,13 +1,11 @@
#!/usr/bin/env python3
-from functools import partial
import http.server
import os
import shutil
import socket
-import unittest
+import pytest
-from parameterized import parameterized
-from openpilot.selfdrive.test.helpers import with_http_server
+from openpilot.selfdrive.test.helpers import http_server_context
from openpilot.system.hardware.hw import Paths
from openpilot.tools.lib.url_file import URLFile
@@ -31,22 +29,23 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
self.end_headers()
-with_caching_server = partial(with_http_server, handler=CachingTestRequestHandler)
+@pytest.fixture
+def host():
+ with http_server_context(handler=CachingTestRequestHandler) as (host, port):
+ yield f"http://{host}:{port}"
+class TestFileDownload:
-class TestFileDownload(unittest.TestCase):
-
- @with_caching_server
def test_pipeline_defaults(self, host):
# TODO: parameterize the defaults so we don't rely on hard-coded values in xx
- self.assertEqual(URLFile.pool_manager().pools._maxsize, 10) # PoolManager num_pools param
+ assert URLFile.pool_manager().pools._maxsize == 10# PoolManager num_pools param
pool_manager_defaults = {
"maxsize": 100,
"socket_options": [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),],
}
for k, v in pool_manager_defaults.items():
- self.assertEqual(URLFile.pool_manager().connection_pool_kw.get(k), v)
+ assert URLFile.pool_manager().connection_pool_kw.get(k) == v
retry_defaults = {
"total": 5,
@@ -54,7 +53,7 @@ class TestFileDownload(unittest.TestCase):
"status_forcelist": [409, 429, 503, 504],
}
for k, v in retry_defaults.items():
- self.assertEqual(getattr(URLFile.pool_manager().connection_pool_kw["retries"], k), v)
+ assert getattr(URLFile.pool_manager().connection_pool_kw["retries"], k) == v
# ensure caching off by default and cache dir doesn't get created
os.environ.pop("FILEREADER_CACHE", None)
@@ -62,7 +61,7 @@ class TestFileDownload(unittest.TestCase):
shutil.rmtree(Paths.download_cache_root())
URLFile(f"{host}/test.txt").get_length()
URLFile(f"{host}/test.txt").read()
- self.assertEqual(os.path.exists(Paths.download_cache_root()), False)
+ assert not os.path.exists(Paths.download_cache_root())
def compare_loads(self, url, start=0, length=None):
"""Compares range between cached and non cached version"""
@@ -72,21 +71,21 @@ class TestFileDownload(unittest.TestCase):
file_cached.seek(start)
file_downloaded.seek(start)
- self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
- self.assertLessEqual(length + start if length is not None else 0, file_downloaded.get_length())
+ assert file_cached.get_length() == file_downloaded.get_length()
+ assert length + start if length is not None else 0 <= file_downloaded.get_length()
response_cached = file_cached.read(ll=length)
response_downloaded = file_downloaded.read(ll=length)
- self.assertEqual(response_cached, response_downloaded)
+ assert response_cached == response_downloaded
# Now test with cache in place
file_cached = URLFile(url, cache=True)
file_cached.seek(start)
response_cached = file_cached.read(ll=length)
- self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
- self.assertEqual(response_cached, response_downloaded)
+ assert file_cached.get_length() == file_downloaded.get_length()
+ assert response_cached == response_downloaded
def test_small_file(self):
# Make sure we don't force cache
@@ -117,22 +116,16 @@ class TestFileDownload(unittest.TestCase):
self.compare_loads(large_file_url, length - 100, 100)
self.compare_loads(large_file_url)
- @parameterized.expand([(True, ), (False, )])
- @with_caching_server
- def test_recover_from_missing_file(self, cache_enabled, host):
+ @pytest.mark.parametrize("cache_enabled", [True, False])
+ def test_recover_from_missing_file(self, host, cache_enabled):
os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
file_url = f"{host}/test.png"
CachingTestRequestHandler.FILE_EXISTS = False
length = URLFile(file_url).get_length()
- self.assertEqual(length, -1)
+ assert length == -1
CachingTestRequestHandler.FILE_EXISTS = True
length = URLFile(file_url).get_length()
- self.assertEqual(length, 4)
-
-
-
-if __name__ == "__main__":
- unittest.main()
+ assert length == 4
diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py
index 91bab94343..b9a4def75f 100644
--- a/tools/lib/tests/test_comma_car_segments.py
+++ b/tools/lib/tests/test_comma_car_segments.py
@@ -1,5 +1,4 @@
import pytest
-import unittest
import requests
from openpilot.selfdrive.car.fingerprints import MIGRATION
from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
@@ -8,7 +7,7 @@ from openpilot.tools.lib.route import SegmentRange
@pytest.mark.skip(reason="huggingface is flaky, run this test manually to check for issues")
-class TestCommaCarSegments(unittest.TestCase):
+class TestCommaCarSegments:
def test_database(self):
database = get_comma_car_segments_database()
@@ -28,12 +27,8 @@ class TestCommaCarSegments(unittest.TestCase):
url = get_url(sr.route_name, sr.slice)
resp = requests.get(url)
- self.assertEqual(resp.status_code, 200)
+ assert resp.status_code == 200
lr = LogReader(url)
CP = lr.first("carParams")
- self.assertEqual(MIGRATION.get(CP.carFingerprint, CP.carFingerprint), fp)
-
-
-if __name__ == "__main__":
- unittest.main()
+ assert MIGRATION.get(CP.carFingerprint, CP.carFingerprint) == fp
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index fc72202b26..58d22a07ef 100755
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -5,12 +5,10 @@ import io
import shutil
import tempfile
import os
-import unittest
import pytest
import requests
from parameterized import parameterized
-from unittest import mock
from cereal import log as capnp_log
from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
@@ -28,24 +26,22 @@ def noop(segment: LogIterable):
@contextlib.contextmanager
-def setup_source_scenario(is_internal=False):
- with (
- mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock,
- mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock,
- mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock,
- ):
- if is_internal:
- internal_source_mock.return_value = [QLOG_FILE]
- else:
- internal_source_mock.side_effect = InternalUnavailableException
+def setup_source_scenario(mocker, is_internal=False):
+ internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source")
+ openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source")
+ comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source")
+ if is_internal:
+ internal_source_mock.return_value = [QLOG_FILE]
+ else:
+ internal_source_mock.side_effect = InternalUnavailableException
- openpilotci_source_mock.return_value = [None]
- comma_api_source_mock.return_value = [QLOG_FILE]
+ openpilotci_source_mock.return_value = [None]
+ comma_api_source_mock.return_value = [QLOG_FILE]
- yield
+ yield
-class TestLogReader(unittest.TestCase):
+class TestLogReader:
@parameterized.expand([
(f"{TEST_ROUTE}", ALL_SEGS),
(f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
@@ -74,7 +70,7 @@ class TestLogReader(unittest.TestCase):
def test_indirect_parsing(self, identifier, expected):
parsed, _, _ = parse_indirect(identifier)
sr = SegmentRange(parsed)
- self.assertListEqual(list(sr.seg_idxs), expected, identifier)
+ assert list(sr.seg_idxs) == expected, identifier
@parameterized.expand([
(f"{TEST_ROUTE}", f"{TEST_ROUTE}"),
@@ -86,11 +82,11 @@ class TestLogReader(unittest.TestCase):
])
def test_canonical_name(self, identifier, expected):
sr = SegmentRange(identifier)
- self.assertEqual(str(sr), expected)
+ assert str(sr) == expected
- @parameterized.expand([(True,), (False,)])
- @mock.patch("openpilot.tools.lib.logreader.file_exists")
- def test_direct_parsing(self, cache_enabled, file_exists_mock):
+ @pytest.mark.parametrize("cache_enabled", [True, False])
+ def test_direct_parsing(self, mocker, cache_enabled):
+ file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
@@ -100,13 +96,13 @@ class TestLogReader(unittest.TestCase):
for f in [QLOG_FILE, qlog.name]:
l = len(list(LogReader(f)))
- self.assertGreater(l, 100)
+ assert l > 100
- with self.assertRaises(URLFileException) if not cache_enabled else self.assertRaises(AssertionError):
+ with pytest.raises(URLFileException) if not cache_enabled else pytest.raises(AssertionError):
l = len(list(LogReader(QLOG_FILE.replace("/3/", "/200/"))))
# file_exists should not be called for direct files
- self.assertEqual(file_exists_mock.call_count, 0)
+ assert file_exists_mock.call_count == 0
@parameterized.expand([
(f"{TEST_ROUTE}///",),
@@ -121,110 +117,110 @@ class TestLogReader(unittest.TestCase):
(f"{TEST_ROUTE}--3a",),
])
def test_bad_ranges(self, segment_range):
- with self.assertRaises(AssertionError):
+ with pytest.raises(AssertionError):
_ = SegmentRange(segment_range).seg_idxs
- @parameterized.expand([
+ @pytest.mark.parametrize("segment_range, api_call", [
(f"{TEST_ROUTE}/0", False),
(f"{TEST_ROUTE}/:2", False),
(f"{TEST_ROUTE}/0:", True),
(f"{TEST_ROUTE}/-1", True),
(f"{TEST_ROUTE}", True),
])
- def test_slicing_api_call(self, segment_range, api_call):
- with mock.patch("openpilot.tools.lib.route.get_max_seg_number_cached") as max_seg_mock:
- max_seg_mock.return_value = NUM_SEGS
- _ = SegmentRange(segment_range).seg_idxs
- self.assertEqual(api_call, max_seg_mock.called)
+ def test_slicing_api_call(self, mocker, segment_range, api_call):
+ max_seg_mock = mocker.patch("openpilot.tools.lib.route.get_max_seg_number_cached")
+ max_seg_mock.return_value = NUM_SEGS
+ _ = SegmentRange(segment_range).seg_idxs
+ assert api_call == max_seg_mock.called
@pytest.mark.slow
def test_modes(self):
qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG)))
rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG)))
- self.assertLess(qlog_len * 6, rlog_len)
+ assert qlog_len * 6 < rlog_len
@pytest.mark.slow
def test_modes_from_name(self):
qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r")))
- self.assertLess(qlog_len * 6, rlog_len)
+ assert qlog_len * 6 < rlog_len
@pytest.mark.slow
def test_list(self):
qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"])))
- self.assertEqual(qlog_len * 2, qlog_len_2)
+ assert qlog_len * 2 == qlog_len_2
@pytest.mark.slow
- @mock.patch("openpilot.tools.lib.logreader._LogFileReader")
- def test_multiple_iterations(self, init_mock):
+ def test_multiple_iterations(self, mocker):
+ init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader")
lr = LogReader(f"{TEST_ROUTE}/0/q")
qlog_len1 = len(list(lr))
qlog_len2 = len(list(lr))
# ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice
- self.assertEqual(init_mock.call_count, 1)
+ assert init_mock.call_count == 1
- self.assertEqual(qlog_len1, qlog_len2)
+ assert qlog_len1 == qlog_len2
@pytest.mark.slow
def test_helpers(self):
lr = LogReader(f"{TEST_ROUTE}/0/q")
- self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN")
- self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr)))
+ assert lr.first("carParams").carFingerprint == "SUBARU OUTBACK 6TH GEN"
+ assert 0 < len(list(lr.filter("carParams"))) < len(list(lr))
@parameterized.expand([(True,), (False,)])
@pytest.mark.slow
def test_run_across_segments(self, cache_enabled):
os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
lr = LogReader(f"{TEST_ROUTE}/0:4")
- self.assertEqual(len(lr.run_across_segments(4, noop)), len(list(lr)))
+ assert len(lr.run_across_segments(4, noop)) == len(list(lr))
@pytest.mark.slow
- def test_auto_mode(self):
+ def test_auto_mode(self, subtests, mocker):
lr = LogReader(f"{TEST_ROUTE}/0/q")
qlog_len = len(list(lr))
- with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock:
- log_paths_mock.return_value = [None] * NUM_SEGS
- # Should fall back to qlogs since rlogs are not available
+ log_paths_mock = mocker.patch("openpilot.tools.lib.route.Route.log_paths")
+ log_paths_mock.return_value = [None] * NUM_SEGS
+ # Should fall back to qlogs since rlogs are not available
- with self.subTest("interactive_yes"):
- with mock.patch("sys.stdin", new=io.StringIO("y\n")):
- lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
- log_len = len(list(lr))
- self.assertEqual(qlog_len, log_len)
+ with subtests.test("interactive_yes"):
+ mocker.patch("sys.stdin", new=io.StringIO("y\n"))
+ lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+ log_len = len(list(lr))
+ assert qlog_len == log_len
- with self.subTest("interactive_no"):
- with mock.patch("sys.stdin", new=io.StringIO("n\n")):
- with self.assertRaises(AssertionError):
- lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+ with subtests.test("interactive_no"):
+ mocker.patch("sys.stdin", new=io.StringIO("n\n"))
+ with pytest.raises(AssertionError):
+ lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
- with self.subTest("non_interactive"):
- lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source)
- log_len = len(list(lr))
- self.assertEqual(qlog_len, log_len)
+ with subtests.test("non_interactive"):
+ lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source)
+ log_len = len(list(lr))
+ assert qlog_len == log_len
- @parameterized.expand([(True,), (False,)])
+ @pytest.mark.parametrize("is_internal", [True, False])
@pytest.mark.slow
- def test_auto_source_scenarios(self, is_internal):
+ def test_auto_source_scenarios(self, mocker, is_internal):
lr = LogReader(QLOG_FILE)
qlog_len = len(list(lr))
- with setup_source_scenario(is_internal=is_internal):
+ with setup_source_scenario(mocker, is_internal=is_internal):
lr = LogReader(f"{TEST_ROUTE}/0/q")
log_len = len(list(lr))
- self.assertEqual(qlog_len, log_len)
+ assert qlog_len == log_len
@pytest.mark.slow
def test_sort_by_time(self):
msgs = list(LogReader(f"{TEST_ROUTE}/0/q"))
- self.assertNotEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime))
+ assert msgs != sorted(msgs, key=lambda m: m.logMonoTime)
msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True))
- self.assertEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime))
+ assert msgs == sorted(msgs, key=lambda m: m.logMonoTime)
def test_only_union_types(self):
with tempfile.NamedTemporaryFile() as qlog:
@@ -234,7 +230,7 @@ class TestLogReader(unittest.TestCase):
f.write(b"".join(capnp_log.Event.new_message().to_bytes() for _ in range(num_msgs)))
msgs = list(LogReader(qlog.name))
- self.assertEqual(len(msgs), num_msgs)
+ assert len(msgs) == num_msgs
[m.which() for m in msgs]
# append non-union Event message
@@ -246,15 +242,11 @@ class TestLogReader(unittest.TestCase):
# ensure new message is added, but is not a union type
msgs = list(LogReader(qlog.name))
- self.assertEqual(len(msgs), num_msgs + 1)
- with self.assertRaises(capnp.KjException):
+ assert len(msgs) == num_msgs + 1
+ with pytest.raises(capnp.KjException):
[m.which() for m in msgs]
# should not be added when only_union_types=True
msgs = list(LogReader(qlog.name, only_union_types=True))
- self.assertEqual(len(msgs), num_msgs)
+ assert len(msgs) == num_msgs
[m.which() for m in msgs]
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py
index 1f24ae5c8e..f92554872f 100755
--- a/tools/lib/tests/test_readers.py
+++ b/tools/lib/tests/test_readers.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-import unittest
+import pytest
import requests
import tempfile
@@ -9,16 +9,16 @@ from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.logreader import LogReader
-class TestReaders(unittest.TestCase):
- @unittest.skip("skip for bandwidth reasons")
+class TestReaders:
+ @pytest.mark.skip("skip for bandwidth reasons")
def test_logreader(self):
def _check_data(lr):
hist = defaultdict(int)
for l in lr:
hist[l.which()] += 1
- self.assertEqual(hist['carControl'], 6000)
- self.assertEqual(hist['logMessage'], 6857)
+ assert hist['carControl'] == 6000
+ assert hist['logMessage'] == 6857
with tempfile.NamedTemporaryFile(suffix=".bz2") as fp:
r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10)
@@ -31,15 +31,15 @@ class TestReaders(unittest.TestCase):
lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true")
_check_data(lr_url)
- @unittest.skip("skip for bandwidth reasons")
+ @pytest.mark.skip("skip for bandwidth reasons")
def test_framereader(self):
def _check_data(f):
- self.assertEqual(f.frame_count, 1200)
- self.assertEqual(f.w, 1164)
- self.assertEqual(f.h, 874)
+ assert f.frame_count == 1200
+ assert f.w == 1164
+ assert f.h == 874
frame_first_30 = f.get(0, 30)
- self.assertEqual(len(frame_first_30), 30)
+ assert len(frame_first_30) == 30
print(frame_first_30[15])
@@ -62,6 +62,3 @@ class TestReaders(unittest.TestCase):
fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true")
_check_data(fr_url)
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py
index 7977f17be2..8f75fa19c0 100755
--- a/tools/lib/tests/test_route_library.py
+++ b/tools/lib/tests/test_route_library.py
@@ -1,10 +1,9 @@
#!/usr/bin/env python
-import unittest
from collections import namedtuple
from openpilot.tools.lib.route import SegmentName
-class TestRouteLibrary(unittest.TestCase):
+class TestRouteLibrary:
def test_segment_name_formats(self):
Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir'])
@@ -21,12 +20,9 @@ class TestRouteLibrary(unittest.TestCase):
s = SegmentName(route_or_segment_name, allow_route_name=True)
- self.assertEqual(str(s.route_name), case.expected_route)
- self.assertEqual(s.segment_num, case.expected_segment_num)
- self.assertEqual(s.data_dir, case.expected_data_dir)
+ assert str(s.route_name) == case.expected_route
+ assert s.segment_num == case.expected_segment_num
+ assert s.data_dir == case.expected_data_dir
for case in cases:
_validate(case)
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 9ec2097ea4..d26ec3cfe2 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -63,7 +63,6 @@ brew "pyenv"
brew "pyenv-virtualenv"
brew "qt@5"
brew "zeromq"
-brew "gcc@13"
cask "gcc-arm-embedded"
brew "portaudio"
EOS
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index dcf2bbbac7..dc301efcb7 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -58,7 +58,7 @@ If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py -
For a quick demo, go through the installation step and run this command:
-`./juggle.py --demo --qlog --layout=layouts/demo.xml`
+`./juggle.py --demo --layout=layouts/demo.xml`
## Layouts
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index 17287fb803..b9a55297e5 100755
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -4,7 +4,6 @@ import glob
import signal
import subprocess
import time
-import unittest
from openpilot.common.basedir import BASEDIR
from openpilot.common.timeout import Timeout
@@ -12,7 +11,7 @@ from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
-class TestPlotJuggler(unittest.TestCase):
+class TestPlotJuggler:
def test_demo(self):
install()
@@ -27,14 +26,14 @@ class TestPlotJuggler(unittest.TestCase):
output += p.stderr.readline().decode("utf-8")
# ensure plotjuggler didn't crash after exiting the plugin
- time.sleep(15)
- self.assertEqual(p.poll(), None)
+ time.sleep(2)
+ assert p.poll() is None
os.killpg(os.getpgid(p.pid), signal.SIGTERM)
- self.assertNotIn("Raw file read failed", output)
+ assert "Raw file read failed" not in output
# TODO: also test that layouts successfully load
- def test_layouts(self):
+ def test_layouts(self, subtests):
bad_strings = (
# if a previously loaded file is defined,
# PJ will throw a warning when loading the layout
@@ -43,12 +42,8 @@ class TestPlotJuggler(unittest.TestCase):
)
for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")):
name = os.path.basename(fn)
- with self.subTest(layout=name):
+ with subtests.test(layout=name):
with open(fn) as f:
layout = f.read()
violations = [s for s in bad_strings if s in layout]
assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}"
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
new file mode 100755
index 0000000000..8a002f68ba
--- /dev/null
+++ b/tools/rerun/run.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import sys
+import argparse
+import multiprocessing
+import rerun as rr
+import rerun.blueprint as rrb
+from functools import partial
+
+from openpilot.tools.lib.logreader import LogReader
+from cereal.services import SERVICE_LIST
+
+
+NUM_CPUS = multiprocessing.cpu_count()
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+
+def log_msg(msg, parent_key=''):
+ stack = [(msg, parent_key)]
+ while stack:
+ current_msg, current_parent_key = stack.pop()
+ if isinstance(current_msg, list):
+ for index, item in enumerate(current_msg):
+ new_key = f"{current_parent_key}/{index}"
+ if isinstance(item, (int, float)):
+ rr.log(str(new_key), rr.Scalar(item))
+ elif isinstance(item, dict):
+ stack.append((item, new_key))
+ elif isinstance(current_msg, dict):
+ for key, value in current_msg.items():
+ new_key = f"{current_parent_key}/{key}"
+ if isinstance(value, (int, float)):
+ rr.log(str(new_key), rr.Scalar(value))
+ elif isinstance(value, dict):
+ stack.append((value, new_key))
+ elif isinstance(value, list):
+ for index, item in enumerate(value):
+ if isinstance(item, (int, float)):
+ rr.log(f"{new_key}/{index}", rr.Scalar(item))
+ else:
+ pass # Not a plottable value
+
+def createBlueprint():
+ timeSeriesViews = []
+ for topic in sorted(SERVICE_LIST.keys()):
+ timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
+ rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+ blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
+ rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
+ return blueprint
+
+def log_thumbnail(thumbnailMsg):
+ bytesImgData = thumbnailMsg.get('thumbnail')
+ rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
+
+def process(blueprint, lr):
+ ret = []
+ rr.init("rerun_test", spawn=True, default_blueprint=blueprint)
+ for msg in lr:
+ ret.append(msg)
+ rr.set_time_nanos("TIMELINE", msg.logMonoTime)
+ if msg.which() != "thumbnail":
+ log_msg(msg.to_dict()[msg.which()], msg.which())
+ else:
+ log_thumbnail(msg.to_dict()[msg.which()])
+ return ret
+
+if __name__ == '__main__':
+ parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+ parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+ parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+
+ if len(sys.argv) == 1:
+ parser.print_help()
+ sys.exit()
+
+ args = parser.parse_args()
+
+ route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+ blueprint = createBlueprint()
+ print("Getting route log paths")
+ lr = LogReader(route_or_segment_name)
+ lr.run_across_segments(NUM_CPUS, partial(process, blueprint))
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 46d09c7b9d..64407143f7 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -2,6 +2,8 @@ import signal
import threading
import functools
+from collections import namedtuple
+from enum import Enum
from multiprocessing import Process, Queue, Value
from abc import ABC, abstractmethod
@@ -14,6 +16,16 @@ from openpilot.tools.sim.lib.common import SimulatorState, World
from openpilot.tools.sim.lib.simulated_car import SimulatedCar
from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
+QueueMessage = namedtuple("QueueMessage", ["type", "info"], defaults=[None])
+
+class QueueMessageType(Enum):
+ START_STATUS = 0
+ CONTROL_COMMAND = 1
+ TERMINATION_INFO = 2
+ CLOSE_STATUS = 3
+
+def control_cmd_gen(cmd: str):
+ return QueueMessage(QueueMessageType.CONTROL_COMMAND, cmd)
def rk_loop(function, hz, exit_event: threading.Event):
rk = Ratekeeper(hz, None)
@@ -48,6 +60,8 @@ class SimulatorBridge(ABC):
self.past_startup_engaged = False
self.startup_button_prev = True
+ self.test_run = False
+
def _on_shutdown(self, signal, frame):
self.shutdown()
@@ -80,11 +94,11 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
""")
@abstractmethod
- def spawn_world(self) -> World:
+ def spawn_world(self, q: Queue) -> World:
pass
def _run(self, q: Queue):
- self.world = self.spawn_world()
+ self.world = self.spawn_world(q)
self.simulated_car = SimulatedCar()
self.simulated_sensors = SimulatedSensors(self.dual_camera)
@@ -114,33 +128,34 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
# Read manual controls
if not q.empty():
message = q.get()
- m = message.split('_')
- if m[0] == "steer":
- steer_manual = float(m[1])
- elif m[0] == "throttle":
- throttle_manual = float(m[1])
- elif m[0] == "brake":
- brake_manual = float(m[1])
- elif m[0] == "cruise":
- if m[1] == "down":
- self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
- elif m[1] == "up":
- self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
- elif m[1] == "cancel":
- self.simulator_state.cruise_button = CruiseButtons.CANCEL
- elif m[1] == "main":
- self.simulator_state.cruise_button = CruiseButtons.MAIN
- elif m[0] == "blinker":
- if m[1] == "left":
- self.simulator_state.left_blinker = True
- elif m[1] == "right":
- self.simulator_state.right_blinker = True
- elif m[0] == "ignition":
- self.simulator_state.ignition = not self.simulator_state.ignition
- elif m[0] == "reset":
- self.world.reset()
- elif m[0] == "quit":
- break
+ if message.type == QueueMessageType.CONTROL_COMMAND:
+ m = message.info.split('_')
+ if m[0] == "steer":
+ steer_manual = float(m[1])
+ elif m[0] == "throttle":
+ throttle_manual = float(m[1])
+ elif m[0] == "brake":
+ brake_manual = float(m[1])
+ elif m[0] == "cruise":
+ if m[1] == "down":
+ self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
+ elif m[1] == "up":
+ self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
+ elif m[1] == "cancel":
+ self.simulator_state.cruise_button = CruiseButtons.CANCEL
+ elif m[1] == "main":
+ self.simulator_state.cruise_button = CruiseButtons.MAIN
+ elif m[0] == "blinker":
+ if m[1] == "left":
+ self.simulator_state.left_blinker = True
+ elif m[1] == "right":
+ self.simulator_state.right_blinker = True
+ elif m[0] == "ignition":
+ self.simulator_state.ignition = not self.simulator_state.ignition
+ elif m[0] == "reset":
+ self.world.reset()
+ elif m[0] == "quit":
+ break
self.simulator_state.user_brake = brake_manual
self.simulator_state.user_gas = throttle_manual
@@ -180,7 +195,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
self.world.tick()
self.world.read_cameras()
- if self.rk.frame % 25 == 0:
+ # don't print during test, so no print/IO Block between OP and metadrive processes
+ if not self.test_run and self.rk.frame % 25 == 0:
self.print_status()
self.started.value = True
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index 5c91238c55..74dc1210b9 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -1,3 +1,4 @@
+import math
from multiprocessing import Queue
from metadrive.component.sensors.base_camera import _cuda_enable
@@ -27,20 +28,21 @@ def curve_block(length, angle=45, direction=0):
}
def create_map(track_size=60):
+ curve_len = track_size * 2
return dict(
type=MapGenerateMethod.PG_MAP_FILE,
lane_num=2,
- lane_width=3.5,
+ lane_width=4.5,
config=[
None,
straight_block(track_size),
- curve_block(track_size*2, 90),
+ curve_block(curve_len, 90),
straight_block(track_size),
- curve_block(track_size*2, 90),
+ curve_block(curve_len, 90),
straight_block(track_size),
- curve_block(track_size*2, 90),
+ curve_block(curve_len, 90),
straight_block(track_size),
- curve_block(track_size*2, 90),
+ curve_block(curve_len, 90),
]
)
@@ -48,12 +50,14 @@ def create_map(track_size=60):
class MetaDriveBridge(SimulatorBridge):
TICKS_PER_FRAME = 5
- def __init__(self, dual_camera, high_quality):
- self.should_render = False
-
+ def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
super().__init__(dual_camera, high_quality)
- def spawn_world(self):
+ self.should_render = False
+ self.test_run = test_run
+ self.test_duration = test_duration if self.test_run else math.inf
+
+ def spawn_world(self, queue: Queue):
sensors = {
"rgb_road": (RGBCameraRoad, W, H, )
}
@@ -83,4 +87,4 @@ class MetaDriveBridge(SimulatorBridge):
preload_models=False
)
- return MetaDriveWorld(Queue(), config, self.dual_camera)
+ return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 79eefcd545..38c13a1434 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -1,4 +1,5 @@
import math
+import time
import numpy as np
from collections import namedtuple
@@ -49,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True):
def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
- exit_event):
+ exit_event, op_engaged, test_duration, test_run):
arrive_dest_done = config.pop("arrive_dest_done", True)
apply_metadrive_patches(arrive_dest_done)
@@ -60,9 +61,15 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
env = MetaDriveEnv(config)
+ def get_current_lane_info(vehicle):
+ _, lane_info, on_lane = vehicle.navigation._get_current_lane(vehicle)
+ lane_idx = lane_info[2] if lane_info is not None else None
+ return lane_idx, on_lane
+
def reset():
env.reset()
env.vehicle.config["max_speed_km_h"] = 1000
+ lane_idx_prev, _ = get_current_lane_info(env.vehicle)
simulation_state = metadrive_simulation_state(
running=True,
@@ -71,14 +78,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
)
simulation_state_send.send(simulation_state)
- reset()
+ return lane_idx_prev
+
+ lane_idx_prev = reset()
+ start_time = None
def get_cam_as_rgb(cam):
cam = env.engine.sensors[cam]
cam.get_cam().reparentTo(env.vehicle.origin)
cam.get_cam().setPos(C3_POSITION)
cam.get_cam().setHpr(C3_HPR)
- img = cam.perceive(clip=False)
+ img = cam.perceive(to_float=False)
if type(img) != np.ndarray:
img = img.get() # convert cupy array to numpy
return img
@@ -95,7 +105,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
bearing=float(math.degrees(env.vehicle.heading_theta)),
steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING
)
-
vehicle_state_send.send(vehicle_state)
if controls_recv.poll(0):
@@ -108,13 +117,28 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
vc = [steer_metadrive, gas]
if should_reset:
- reset()
+ lane_idx_prev = reset()
+ start_time = None
+
+ is_engaged = op_engaged.is_set()
+ if is_engaged and start_time is None:
+ start_time = time.monotonic()
if rk.frame % 5 == 0:
- obs, _, terminated, _, info = env.step(vc)
+ _, _, terminated, _, _ = env.step(vc)
+ timeout = True if start_time is not None and time.monotonic() - start_time >= test_duration else False
+ lane_idx_curr, on_lane = get_current_lane_info(env.vehicle)
+ out_of_lane = lane_idx_curr != lane_idx_prev or not on_lane
+ lane_idx_prev = lane_idx_curr
+
+ if terminated or ((out_of_lane or timeout) and test_run):
+ if terminated:
+ done_result = env.done_function("default_agent")
+ elif out_of_lane:
+ done_result = (True, {"out_of_lane" : True})
+ elif timeout:
+ done_result = (True, {"timeout" : True})
- if terminated:
- done_result = env.done_function("default_agent")
simulation_state = metadrive_simulation_state(
running=False,
done=done_result[0],
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 3570205069..5bb4555dc1 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -5,6 +5,8 @@ import numpy as np
import time
from multiprocessing import Pipe, Array
+
+from openpilot.tools.sim.bridge.common import QueueMessage, QueueMessageType
from openpilot.tools.sim.bridge.metadrive.metadrive_process import (metadrive_process, metadrive_simulation_state,
metadrive_vehicle_state)
from openpilot.tools.sim.lib.common import SimulatorState, World
@@ -12,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H
class MetaDriveWorld(World):
- def __init__(self, status_q, config, dual_camera = False):
+ def __init__(self, status_q, config, test_duration, test_run, dual_camera=False):
super().__init__(dual_camera)
self.status_q = status_q
self.camera_array = Array(ctypes.c_uint8, W*H*3)
@@ -27,22 +29,29 @@ class MetaDriveWorld(World):
self.vehicle_state_send, self.vehicle_state_recv = Pipe()
self.exit_event = multiprocessing.Event()
+ self.op_engaged = multiprocessing.Event()
+
+ self.test_run = test_run
+
+ self.first_engage = None
+ self.last_check_timestamp = 0
+ self.distance_moved = 0
self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
functools.partial(metadrive_process, dual_camera, config,
self.camera_array, self.wide_camera_array, self.image_lock,
self.controls_recv, self.simulation_state_send,
- self.vehicle_state_send, self.exit_event))
+ self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run))
self.metadrive_process.start()
- self.status_q.put({"status": "starting"})
+ self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
print("----------------------------------------------------------")
print("---- Spawning Metadrive world, this might take awhile ----")
print("----------------------------------------------------------")
- self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched
- self.status_q.put({"status": "started"})
+ self.vehicle_last_pos = self.vehicle_state_recv.recv().position # wait for a state message to ensure metadrive is launched
+ self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "started"))
self.steer_ratio = 15
self.vc = [0.0,0.0]
@@ -68,22 +77,46 @@ class MetaDriveWorld(World):
while self.simulation_state_recv.poll(0):
md_state: metadrive_simulation_state = self.simulation_state_recv.recv()
if md_state.done:
- self.status_q.put({
- "status": "terminating",
- "reason": "done",
- "done_info": md_state.done_info
- })
+ self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, md_state.done_info))
self.exit_event.set()
def read_sensors(self, state: SimulatorState):
while self.vehicle_state_recv.poll(0):
md_vehicle: metadrive_vehicle_state = self.vehicle_state_recv.recv()
+ curr_pos = md_vehicle.position
+
state.velocity = md_vehicle.velocity
state.bearing = md_vehicle.bearing
state.steering_angle = md_vehicle.steering_angle
- state.gps.from_xy(md_vehicle.position)
+ state.gps.from_xy(curr_pos)
state.valid = True
+ is_engaged = state.is_engaged
+ if is_engaged and self.first_engage is None:
+ self.first_engage = time.monotonic()
+ self.op_engaged.set()
+
+ # check moving 5 seconds after engaged, doesn't move right away
+ after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run
+
+ x_dist = abs(curr_pos[0] - self.vehicle_last_pos[0])
+ y_dist = abs(curr_pos[1] - self.vehicle_last_pos[1])
+ dist_threshold = 1
+ if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
+ self.distance_moved += x_dist + y_dist
+
+ time_check_threshold = 30
+ current_time = time.monotonic()
+ since_last_check = current_time - self.last_check_timestamp
+ if since_last_check >= time_check_threshold:
+ if after_engaged_check and self.distance_moved == 0:
+ self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, {"vehicle_not_moving" : True}))
+ self.exit_event.set()
+
+ self.last_check_timestamp = current_time
+ self.distance_moved = 0
+ self.vehicle_last_pos = curr_pos
+
def read_cameras(self):
pass
@@ -94,9 +127,6 @@ class MetaDriveWorld(World):
self.should_reset = True
def close(self, reason: str):
- self.status_q.put({
- "status": "terminating",
- "reason": reason,
- })
+ self.status_q.put(QueueMessage(QueueMessageType.CLOSE_STATUS, reason))
self.exit_event.set()
self.metadrive_process.join()
diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh
deleted file mode 100755
index 451277d590..0000000000
--- a/tools/sim/build_container.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-cd $DIR/../../
-
-docker pull ghcr.io/commaai/openpilot-base:latest
-docker build \
- --cache-from ghcr.io/commaai/openpilot-sim:latest \
- -t ghcr.io/commaai/openpilot-sim:latest \
- -f tools/sim/Dockerfile.sim .
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 86d9607bb0..1b4ac4ef84 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -18,4 +18,4 @@ SCRIPT_DIR=$(dirname "$0")
OPENPILOT_DIR=$SCRIPT_DIR/../../
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py
+cd $OPENPILOT_DIR/system/manager && exec ./manager.py
diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py
index ea255d9ce4..0a17f0ee85 100644
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@@ -2,10 +2,13 @@ import sys
import termios
import time
+from multiprocessing import Queue
from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
ISTRIP, IXON, PARENB, VMIN, VTIME)
from typing import NoReturn
+from openpilot.tools.sim.bridge.common import QueueMessage, control_cmd_gen
+
# Indexes for termios list.
IFLAG = 0
OFLAG = 1
@@ -52,35 +55,35 @@ def getch() -> str:
def print_keyboard_help():
print(f"Keyboard Commands:\n{KEYBOARD_HELP}")
-def keyboard_poll_thread(q: 'Queue[str]'):
+def keyboard_poll_thread(q: 'Queue[QueueMessage]'):
print_keyboard_help()
while True:
c = getch()
if c == '1':
- q.put("cruise_up")
+ q.put(control_cmd_gen("cruise_up"))
elif c == '2':
- q.put("cruise_down")
+ q.put(control_cmd_gen("cruise_down"))
elif c == '3':
- q.put("cruise_cancel")
+ q.put(control_cmd_gen("cruise_cancel"))
elif c == 'w':
- q.put("throttle_%f" % 1.0)
+ q.put(control_cmd_gen(f"throttle_{1.0}"))
elif c == 'a':
- q.put("steer_%f" % -0.15)
+ q.put(control_cmd_gen(f"steer_{-0.15}"))
elif c == 's':
- q.put("brake_%f" % 1.0)
+ q.put(control_cmd_gen(f"brake_{1.0}"))
elif c == 'd':
- q.put("steer_%f" % 0.15)
+ q.put(control_cmd_gen(f"steer_{0.15}"))
elif c == 'z':
- q.put("blinker_left")
+ q.put(control_cmd_gen("blinker_left"))
elif c == 'x':
- q.put("blinker_right")
+ q.put(control_cmd_gen("blinker_right"))
elif c == 'i':
- q.put("ignition")
+ q.put(control_cmd_gen("ignition"))
elif c == 'r':
- q.put("reset")
+ q.put(control_cmd_gen("reset"))
elif c == 'q':
- q.put("quit")
+ q.put(control_cmd_gen("quit"))
break
else:
print_keyboard_help()
@@ -92,7 +95,7 @@ def test(q: 'Queue[str]') -> NoReturn:
if __name__ == '__main__':
from multiprocessing import Process, Queue
- q: Queue[str] = Queue()
+ q: 'Queue[QueueMessage]' = Queue()
p = Process(target=test, args=(q,))
p.daemon = True
p.start()
diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py
index 8a72296538..972f7023bb 100755
--- a/tools/sim/lib/manual_ctrl.py
+++ b/tools/sim/lib/manual_ctrl.py
@@ -6,6 +6,8 @@ import struct
from fcntl import ioctl
from typing import NoReturn
+from openpilot.tools.sim.bridge.common import control_cmd_gen
+
# Iterate over the joystick devices.
print('Available devices:')
for fn in os.listdir('/dev/input'):
@@ -153,33 +155,33 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
fvalue = value / 32767.0
axis_states[axis] = fvalue
normalized = (1 - fvalue) * 50
- q.put(f"throttle_{normalized:f}")
+ q.put(control_cmd_gen(f"throttle_{normalized:f}"))
elif axis == "rz": # brake
fvalue = value / 32767.0
axis_states[axis] = fvalue
normalized = (1 - fvalue) * 50
- q.put(f"brake_{normalized:f}")
+ q.put(control_cmd_gen(f"brake_{normalized:f}"))
elif axis == "x": # steer angle
fvalue = value / 32767.0
axis_states[axis] = fvalue
normalized = fvalue
- q.put(f"steer_{normalized:f}")
+ q.put(control_cmd_gen(f"steer_{normalized:f}"))
elif mtype & 0x01: # buttons
if value == 1: # press down
if number in [0, 19]: # X
- q.put("cruise_down")
+ q.put(control_cmd_gen("cruise_down"))
elif number in [3, 18]: # triangle
- q.put("cruise_up")
+ q.put(control_cmd_gen("cruise_up"))
elif number in [1, 6]: # square
- q.put("cruise_cancel")
+ q.put(control_cmd_gen("cruise_cancel"))
elif number in [10, 21]: # R3
- q.put("reverse_switch")
+ q.put(control_cmd_gen("reverse_switch"))
if __name__ == '__main__':
from multiprocessing import Process, Queue
diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py
deleted file mode 100755
index 683ce55162..0000000000
--- a/tools/sim/scenarios/metadrive/stay_in_lane.py
+++ /dev/null
@@ -1,92 +0,0 @@
-#!/usr/bin/env python
-
-from multiprocessing import Queue
-
-from metadrive.component.sensors.base_camera import _cuda_enable
-from metadrive.component.map.pg_map import MapGenerateMethod
-
-from openpilot.tools.sim.bridge.common import SimulatorBridge
-from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide
-from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
-from openpilot.tools.sim.lib.camerad import W, H
-
-
-def create_map():
- return dict(
- type=MapGenerateMethod.PG_MAP_FILE,
- lane_num=2,
- lane_width=3.5,
- config=[
- {
- "id": "S",
- "pre_block_socket_index": 0,
- "length": 60,
- },
- {
- "id": "C",
- "pre_block_socket_index": 0,
- "length": 60,
- "radius": 600,
- "angle": 45,
- "dir": 0,
- },
- ]
- )
-
-
-class MetaDriveBridge(SimulatorBridge):
- TICKS_PER_FRAME = 5
-
- def __init__(self, world_status_q, dual_camera, high_quality):
- self.world_status_q = world_status_q
- self.should_render = False
-
- super().__init__(dual_camera, high_quality)
-
- def spawn_world(self):
- sensors = {
- "rgb_road": (RGBCameraRoad, W, H, )
- }
-
- if self.dual_camera:
- sensors["rgb_wide"] = (RGBCameraWide, W, H)
-
- config = dict(
- use_render=self.should_render,
- vehicle_config=dict(
- enable_reverse=False,
- image_source="rgb_road",
- ),
- sensors=sensors,
- image_on_cuda=_cuda_enable,
- image_observation=True,
- interface_panel=[],
- out_of_route_done=True,
- on_continuous_line_done=True,
- crash_vehicle_done=True,
- crash_object_done=True,
- arrive_dest_done=True,
- traffic_density=0.0,
- map_config=create_map(),
- map_region_size=2048,
- decision_repeat=1,
- physics_world_step_size=self.TICKS_PER_FRAME/100,
- preload_models=False
- )
-
- return MetaDriveWorld(world_status_q, config, self.dual_camera)
-
-
-if __name__ == "__main__":
- command_queue: Queue = Queue()
- world_status_q: Queue = Queue()
- simulator_bridge = MetaDriveBridge(world_status_q, True, False)
- simulator_process = simulator_bridge.run(command_queue)
-
- while True:
- world_status = world_status_q.get()
- print(f"World Status: {str(world_status)}")
- if world_status["status"] == "terminating":
- break
-
- simulator_process.join()
diff --git a/tools/sim/tests/conftest.py b/tools/sim/tests/conftest.py
new file mode 100644
index 0000000000..ddf6635276
--- /dev/null
+++ b/tools/sim/tests/conftest.py
@@ -0,0 +1,8 @@
+import pytest
+
+def pytest_addoption(parser):
+ parser.addoption("--test_duration", action="store", default=60, type=int, help="Seconds to run metadrive drive")
+
+@pytest.fixture
+def test_duration(request):
+ return request.config.getoption("--test_duration")
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 6cb8e1465e..f06110184b 100755
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -1,15 +1,22 @@
#!/usr/bin/env python3
import pytest
-import unittest
+import warnings
+
+# Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API
+warnings.filterwarnings("ignore", category=DeprecationWarning)
from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
@pytest.mark.slow
+@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
class TestMetaDriveBridge(TestSimBridgeBase):
+ @pytest.fixture(autouse=True)
+ def setup_create_bridge(self, test_duration):
+ # run bridge test for at least 60s, since not-moving check runs every 30s
+ if test_duration < 60:
+ test_duration = 60
+ self.test_duration = test_duration
+
def create_bridge(self):
- return MetaDriveBridge(False, False)
-
-
-if __name__ == "__main__":
- unittest.main()
+ return MetaDriveBridge(False, False, self.test_duration, True)
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index d9653d5cfd..aaa90f153f 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -1,25 +1,26 @@
import os
import subprocess
import time
-import unittest
+import pytest
from multiprocessing import Queue
from cereal import messaging
from openpilot.common.basedir import BASEDIR
+from openpilot.tools.sim.bridge.common import QueueMessageType
SIM_DIR = os.path.join(BASEDIR, "tools/sim")
-class TestSimBridgeBase(unittest.TestCase):
+class TestSimBridgeBase:
@classmethod
- def setUpClass(cls):
+ def setup_class(cls):
if cls is TestSimBridgeBase:
- raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead")
+ raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead")
- def setUp(self):
+ def setup_method(self):
self.processes = []
- def test_engage(self):
+ def test_driving(self):
# Startup manager and bridge.py. Check processes are running, then engage and verify.
p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
self.processes.append(p_manager)
@@ -36,7 +37,7 @@ class TestSimBridgeBase(unittest.TestCase):
start_waiting = time.monotonic()
while not bridge.started.value and time.monotonic() < start_waiting + max_time_per_step:
time.sleep(0.1)
- self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")
+ assert p_bridge.exitcode is None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}"
start_time = time.monotonic()
no_car_events_issues_once = False
@@ -52,8 +53,8 @@ class TestSimBridgeBase(unittest.TestCase):
no_car_events_issues_once = True
break
- self.assertTrue(no_car_events_issues_once,
- f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
+ assert no_car_events_issues_once, \
+ f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'"
start_time = time.monotonic()
min_counts_control_active = 100
@@ -68,9 +69,21 @@ class TestSimBridgeBase(unittest.TestCase):
if control_active == min_counts_control_active:
break
- self.assertEqual(min_counts_control_active, control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}")
+ assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}"
- def tearDown(self):
+ failure_states = []
+ while bridge.started.value:
+ continue
+
+ while not q.empty():
+ state = q.get()
+ if state.type == QueueMessageType.TERMINATION_INFO:
+ done_info = state.info
+ failure_states = [done_state for done_state in done_info if done_state != "timeout" and done_info[done_state]]
+ break
+ assert len(failure_states) == 0, f"Simulator fails to finish a loop. Failure states: {failure_states}"
+
+ def teardown_method(self):
print("Test shutting down. CommIssues are acceptable")
for p in reversed(self.processes):
p.terminate()
@@ -80,7 +93,3 @@ class TestSimBridgeBase(unittest.TestCase):
p.wait(15)
else:
p.join(15)
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/tools/webcam/Dockerfile b/tools/webcam/Dockerfile
deleted file mode 100644
index 78a25e836d..0000000000
--- a/tools/webcam/Dockerfile
+++ /dev/null
@@ -1,41 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED 1
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
-
-# Install opencv
-ENV OPENCV_VERSION '4.2.0'
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
- libvtk6-dev \
- libdc1394-22-dev \
- libavcodec-dev \
- libavformat-dev \
- libswscale-dev \
- libtheora-dev \
- libvorbis-dev \
- libxvidcore-dev \
- libx264-dev \
- yasm \
- libopencore-amrnb-dev \
- libopencore-amrwb-dev \
- libv4l-dev \
- libxine2-dev \
- libtbb-dev \
- && rm -rf /var/lib/apt/lists/* && \
-
- mkdir /tmp/opencv_build && \
- cd /tmp/opencv_build && \
-
- curl -L -O https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.tar.gz && \
- tar -xvf ${OPENCV_VERSION}.tar.gz && \
- mv opencv-${OPENCV_VERSION} OpenCV && \
- cd OpenCV && mkdir build && cd build && \
- cmake -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON \
- -DWITH_XINE=ON -DENABLE_PRECOMPILED_HEADERS=OFF -DBUILD_TESTS=OFF \
- -DBUILD_PERF_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_opencv_apps=OFF .. && \
- make -j8 && \
- make install && \
- ldconfig && \
-
- cd / && rm -rf /tmp/*
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 709e8514c7..7334d87b38 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -14,10 +14,7 @@ cd ~
git clone https://github.com/commaai/openpilot.git
```
- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
-- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
-- Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
-- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)
## Build openpilot for webcam
```
@@ -32,7 +29,7 @@ USE_WEBCAM=1 scons -j$(nproc)
## GO
```
-cd ~/openpilot/selfdrive/manager
+cd ~/openpilot/system/manager
NOSENSOR=1 USE_WEBCAM=1 ./manager.py
```
- Start the car, then the UI should show the road webcam's view