Merge branch 'master-new' into dec-redo

2026-09-30 21:23:43 +08:00 · 2025-01-18 20:41:04 +01:00
parent 0089096d12 f5764c2edf
commit b13356d267
99 changed files with 247 additions and 81 deletions
@@ -0,0 +1,43 @@
+exclude-labels:
+  - 'no-changelog'
+categories:
+  - title: '🚀 Features'
+    labels:
+      - 'feature'
+      - 'enhancement'
+  - title: '🐛 Bug Fixes'
+    collapse-after: 5
+    labels:
+      - 'fix'
+      - 'bugfix'
+      - 'bug'
+  - title: '🧰 Maintenance'
+    collapse-after: 5
+    label: 'chore'
+change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
+change-title-escapes: '\<*_&'
+replacers:
+  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
+    replace: 'sunnypilot'
+  - search: '/\b[Ss][Pp]\b/g'
+    replace: 'SP'
+version-resolver:
+  major:
+    labels:
+      - 'major'
+  minor:
+    labels:
+      - 'minor'
+  patch:
+    labels:
+      - 'patch'
+  default: patch
+name-template: 'v$RESOLVED_VERSION 🚀'
+tag-template: 'v$RESOLVED_VERSION'
+version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
+tag-prefix: "v0." # The day OP becomes v1, we need to bump this
+prerelease-identifier: "staging"
+template: |
+  ## Changes
+
+  $CHANGES
@@ -0,0 +1,29 @@
+name: Release Drafter
+
+on:
+  push:
+    branches:
+      - master-new
+      - master
+    tags:
+      - 'v*'
+  pull_request_target:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  update_release_draft:
+    permissions:
+      contents: write
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: release-drafter/release-drafter@v6
+        with:
+          config-name: release-drafter.yml
+          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -23,7 +23,7 @@ from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState

 from openpilot.sunnypilot.mads.mads import MadsParams
-from openpilot.sunnypilot.selfdrive.car.interfaces import setup_car_interface_sp, initialize_car_interface_sp
+from openpilot.sunnypilot.selfdrive.car import interfaces

 REPLAY = "REPLAY" in os.environ

@@ -102,7 +102,7 @@ class Car:
          cached_params = _cached_params

      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      setup_car_interface_sp(self.CI.CP, self.params)
+      interfaces.setup_car_interface_sp(self.CI.CP, self.params)
      self.RI = get_radar_interface(self.CI.CP)
      self.CP = self.CI.CP

@@ -167,6 +167,9 @@ class Car:
    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)

+    # log fingerprint in sentry
+    interfaces.log_fingerprint(self.CP)
+
  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
    """carState update loop, driven by can"""

@@ -240,7 +243,7 @@ class Car:
      # Initialize CarInterface, once controls are ready
      # TODO: this can make us miss at least a few cycles when doing an ECU knockout
      self.CI.init(self.CP, *self.can_callbacks)
-      initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
+      interfaces.initialize_car_interface_sp(self.CP, self.params, *self.can_callbacks)
      # signal pandad to switch to car safety mode
      self.params.put_bool_nonblocking("ControlsReady", True)

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@@ -1 +1 @@
-afde2771f8a70171349c733f4a9500d33988edff
+4b12690274eb951346624fbf58075c82ad5e73d1
@@ -267,6 +267,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
    }
  });
  addItem(translateBtn);
+#endif

  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
    for (auto btn : findChildren<ButtonControl *>()) {
@@ -276,6 +277,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
    }
  });

+#ifndef SUNNYPILOT
  // power buttons
  QHBoxLayout *power_layout = new QHBoxLayout();
  power_layout->setSpacing(30);
@@ -65,6 +65,12 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {

  addItem(device_grid_layout);

+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<PushButtonSP*>()) {
+      btn->setEnabled(offroad);
+    }
+  });
+
  // offroad mode and power buttons

  QHBoxLayout *power_layout = new QHBoxLayout();
@@ -12,6 +12,15 @@ from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP

+import openpilot.system.sentry as sentry
+
+
+def log_fingerprint(CP: structs.CarParams) -> None:
+  if CP.carFingerprint == "MOCK":
+    sentry.capture_fingerprint_mock()
+  else:
+    sentry.capture_fingerprint(CP.carFingerprint, CP.carName)
+

 def setup_car_interface_sp(CP: structs.CarParams, params):
  if CP.carName == 'hyundai':
@@ -1,26 +1,35 @@
 """Install exception handler for process crash."""
+import os
+import traceback
+from datetime import datetime
 import sentry_sdk
 from enum import Enum
 from sentry_sdk.integrations.threading import ThreadingIntegration

 from openpilot.common.params import Params
-from openpilot.system.athena.registration import is_registered_device
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version

+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+
+CRASHES_DIR = Paths.crash_log_root()
+

 class SentryProject(Enum):
  # python project
-  SELFDRIVE = "https://6f3c7076c1e14b2aa10f5dde6dda0cc4@o33823.ingest.sentry.io/77924"
+  SELFDRIVE = "https://186a6736b7927e5ae9b92c869ba81b6b@o1138119.ingest.us.sentry.io/4508660076052480"
  # native project
-  SELFDRIVE_NATIVE = "https://3e4b586ed21a4479ad5d85083b639bc6@o33823.ingest.sentry.io/157615"
+  SELFDRIVE_NATIVE = SELFDRIVE


 def report_tombstone(fn: str, message: str, contents: str) -> None:
  cloudlog.error({'tombstone': message})

  with sentry_sdk.configure_scope() as scope:
+    set_user()
    scope.set_extra("tombstone_fn", fn)
    scope.set_extra("tombstone", contents)
    sentry_sdk.capture_message(message=message)
@@ -31,25 +40,89 @@ def capture_exception(*args, **kwargs) -> None:
  cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))

  try:
+    save_exception(traceback.format_exc())
+
+    set_user()
    sentry_sdk.capture_exception(*args, **kwargs)
    sentry_sdk.flush()  # https://github.com/getsentry/sentry-python/issues/291
  except Exception:
    cloudlog.exception("sentry exception")


+def save_exception(content: str) -> None:
+  try:
+    if not os.path.exists(CRASHES_DIR):
+      os.makedirs(CRASHES_DIR)
+
+    files = [
+      os.path.join(CRASHES_DIR, datetime.now().strftime("%Y-%m-%d--%H-%M-%S.log")),
+      os.path.join(CRASHES_DIR, "error.log")
+    ]
+
+    for fn in files:
+      with open(fn, 'w') as f:
+        if fn == "error.log":
+          lines = content.splitlines()[-3:]
+          f.write("\n".join(lines))
+        else:
+          f.write(content)
+
+    cloudlog.error(f"logged crash to {files}")
+  except Exception:
+    cloudlog.exception("error when attempting to save exception")
+
+
+def capture_fingerprint_mock() -> None:
+  try:
+    set_user()
+    message = "car doesn't match any fingerprints"
+    sentry_sdk.capture_message(message=message, level="error")
+    sentry_sdk.flush()
+  except Exception as e:
+    cloudlog.exception(f"sentry fingerprint MOCK exception: {e}")
+
+
+def capture_fingerprint(candidate: str, car_name: str) -> None:
+  try:
+    set_user()
+    sentry_sdk.set_tag("carFingerprint", candidate)
+    sentry_sdk.set_tag("carName", car_name)
+
+    message = f"Fingerprinted {candidate}"
+    sentry_sdk.capture_message(message=message, level="info")
+    sentry_sdk.flush()
+  except Exception as e:
+    cloudlog.exception(f"sentry fingerprint exception: {e}")
+
+
 def set_tag(key: str, value: str) -> None:
  sentry_sdk.set_tag(key, value)


+def set_user() -> None:
+  dongle_id, git_username, _ = get_properties()
+  sentry_sdk.set_user({"id": dongle_id, "name": git_username})
+
+
+def get_properties() -> tuple[str, str, str]:
+  params = Params()
+  hardware_serial: str = params.get("HardwareSerial", encoding='utf-8') or ""
+  git_username: str = params.get("GithubUsername", encoding='utf-8') or ""
+  dongle_id: str = params.get("DongleId", encoding='utf-8') or f"{UNREGISTERED_DONGLE_ID}-{hardware_serial}"
+  sunnylink_dongle_id: str = params.get("SunnylinkDongleId", encoding='utf-8') or UNREGISTERED_SUNNYLINK_DONGLE_ID
+
+  return dongle_id, git_username, sunnylink_dongle_id
+
+
 def init(project: SentryProject) -> bool:
  build_metadata = get_build_metadata()
  # forks like to mess with this, so double check
-  comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
-  if not comma_remote or not is_registered_device() or PC:
-    return False
+  # comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin
+  # if not comma_remote or not is_registered_device() or PC:
+  #   return False

  env = "release" if build_metadata.tested_channel else "master"
-  dongle_id = Params().get("DongleId", encoding='utf-8')
+  dongle_id, git_username, sunnylink_dongle_id = get_properties()

  integrations = []
  if project == SentryProject.SELFDRIVE:
@@ -63,11 +136,12 @@ def init(project: SentryProject) -> bool:
                  max_value_length=8192,
                  environment=env)

-  sentry_sdk.set_user({"id": dongle_id})
+  sentry_sdk.set_user({"id": dongle_id, "name": git_username})
  sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty)
  sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
  sentry_sdk.set_tag("branch", build_metadata.channel)
  sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit)
  sentry_sdk.set_tag("device", HARDWARE.get_device_type())
+  sentry_sdk.set_tag("sunnylink_dongle_id", sunnylink_dongle_id)

  return True