Merge branch 'master-priv' into mads-button-event-modern

.git-crypt/.gitattributes

@@ -0,0 +1,4 @@
+# Do not edit this file.  To specify the files to encrypt, create your own
+# .gitattributes file in the directory where your files are.
+* !filter !diff
+*.gpg binary

.gitlab-ci.yml

@@ -79,6 +79,12 @@ build:
     - "echo VERSION: ${VERSION}"
     - "echo CI_COMMIT_REF_NAME: ${CI_COMMIT_REF_NAME}"
     - git config --global --add safe.directory ${CI_PROJECT_DIR}
+    - |
+      echo "Decoding and importing GPG key..."
+      gpg -v --import <(echo "$GPG_PRIVATE_KEY_BASE64" | base64 -d)
+    - |
+      echo "Unlocking git-crypt..."
+      git-crypt unlock
   script:
     - export PYTHONPATH="$BUILD_DIR"
     - "echo Building Panda..."
@@ -129,6 +135,8 @@ build:
       --exclude='**/selfdrive/ui/**/*.h'
       --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/'
       --exclude='**/.git/'
+      --exclude='**/SConstruct'
+      --exclude='**/SConscript'
       --delete-excluded
       --chown=comma:comma
       ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -144,7 +152,7 @@ build:
       when: manual
     - if: $NEW_BRANCH
       when: always
-      
+
 check no source code sent:
   image: alpine
   stage: sanity

SConstruct

@@ -7,6 +7,8 @@ import numpy as np
 
 import SCons.Errors
 
+from openpilot.common.basedir import BASEDIR
+
 SCons.Warnings.warningAsException(True)
 
 # pending upstream fix - https://github.com/SCons/scons/issues/4461
@@ -16,6 +18,45 @@ TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
 Export('UBUNTU_FOCAL')
+_DEBUG = False
+
+def is_internal_developer(debug=False):
+  def collect_required_gpg_key_ids(keys_dir):
+    try:
+      key_ids = [f.split('.')[0] for f in os.listdir(keys_dir) if f.endswith(".gpg")]
+      if debug:
+        print(f"SP: Required GPG key IDs: {key_ids}")
+      return key_ids
+    except OSError as e:
+      if debug:
+        print(f"SP: Failed to read GPG key IDs from {keys_dir}. Error: {e}")
+      return []
+
+  def is_key_available(required_gpg_key_ids):
+    for key_id in required_gpg_key_ids:
+      try:
+        result = subprocess.check_output(['gpg', '--list-keys', key_id], stderr=subprocess.STDOUT)
+        if key_id in result.decode():
+          if debug:
+            print(f"SP: GPG key {key_id} is available.")
+          return True
+      except subprocess.CalledProcessError as e:
+        if debug:
+          print(f"SP: Failed to list GPG key {key_id}. Error:", e.output.decode().strip())
+    return False
+
+  keys_dir = os.path.join(BASEDIR, ".git-crypt/keys/default/0")
+  required_gpg_key_ids = collect_required_gpg_key_ids(keys_dir)
+
+  sunnypilot = is_key_available(required_gpg_key_ids)
+
+  if sunnypilot:
+    print("SP: Confirmed sunnypilot internal developer.")
+    print("SP: Loading sunnypilot elements ...")
+  elif debug:
+    print("SP: None of the required GPG keys are available.")
+
+  return sunnypilot
 
 Decider('MD5-timestamp')
 
@@ -72,6 +113,12 @@ AddOption('--minimal',
           default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--sunnypilot',
+          action='store_true',
+          dest='sunnypilot',
+          default=is_internal_developer(_DEBUG) or True, # check if the current user is a sunnypilot developer. TODO: Remove the 'or True' part once the GPG keys are available.
+          help='build sunnypilot elements and other sunnypilot-specific items that are meant for internal development')
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64

selfdrive/controls/lib/sunnypilot/speed_limit_controller.py

@@ -295,7 +295,7 @@ class SpeedLimitController:
 
   def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()):
     _car_state = sm['carState']
-    self._op_enabled = sm['controlsState'].enabled and _car_state.cruiseState.enabled and \
+    self._op_enabled = enabled and sm['controlsState'].enabled and _car_state.cruiseState.enabled and \
                        not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \
                        not (events.contains(ET.OVERRIDE_LONGITUDINAL) and self._disengage_on_accelerator)
     self._v_ego = v_ego

selfdrive/modeld/custom_model_metadata.py

@@ -42,14 +42,14 @@ class CustomModelMetadata:
 
     self.params: Params = params
     self.generation: ModelGeneration = self.read_model_generation_param()
-    self.capabilities: int = self.get_model_capabilities()
+    self.capabilities: ModelCapabilities = self.get_model_capabilities()
     self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \
                        self.capabilities != ModelCapabilities.Default
 
   def read_model_generation_param(self) -> ModelGeneration:
     return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
 
-  def get_model_capabilities(self) -> int:
+  def get_model_capabilities(self) -> ModelCapabilities:
     """Returns the model capabilities for a given generation."""
     if self.generation == ModelGeneration.five:
       return ModelCapabilities.DesiredCurvatureV2

selfdrive/modeld/fill_model_msg.py

@@ -68,7 +68,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameDropPerc = frame_drop_perc
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution
+  if not model_use_lateral_planner:
+    action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -100,7 +102,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  if custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution:
+  if model_use_lateral_planner:
     solution = modelV2.lateralPlannerSolutionDEPRECATED
     solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
     solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]

selfdrive/ui/SConscript

@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -17,27 +17,20 @@ if arch == "Darwin":
 # FIXME: remove this once we're on 5.15 (24.04)
 qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
+sp_widgets_src = []
+sp_qt_src = []
+if GetOption('sunnypilot'):
+  SConscript(['sunnypilot/SConscript'])
+  Import('sp_widgets_src', 'sp_qt_src')
+
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
 widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] + sp_widgets_src
 
-widgets_src += ["qt/offroad/sunnypilot/display_settings.cc", "qt/offroad/sunnypilot/sunnypilot_settings.cc",
-                "qt/offroad/sunnypilot/vehicle_settings.cc", "qt/offroad/sunnypilot/visuals_settings.cc",
-                "qt/offroad/sunnypilot/trips_settings.cc", "qt/offroad/sunnypilot/mads_settings.cc",
-                "qt/offroad/sunnypilot/lane_change_settings.cc", "qt/offroad/sunnypilot/speed_limit_control_settings.cc",
-                "qt/offroad/sunnypilot/monitoring_settings.cc", "qt/offroad/sunnypilot/osm_settings.cc",
-                "qt/offroad/sunnypilot/custom_offsets_settings.cc", "qt/widgets/sunnypilot/drive_stats.cc",
-                "qt/offroad/sunnypilot/software_settings_sp.cc", "qt/offroad/sunnypilot/models_fetcher.cc",
-                "qt/offroad/sunnypilot/speed_limit_warning_settings.cc", "qt/offroad/sunnypilot/speed_limit_policy_settings.cc",
-                "qt/offroad/sunnypilot/sunnylink_settings.cc"]
-
-widgets_src += ["qt/network/sunnylink/sunnylink_client.cc", "qt/network/sunnylink/services/base_device_service.cc",
-                "qt/network/sunnylink/services/role_service.cc", "qt/network/sunnylink/services/user_service.cc"]
-
-qt_env['CPPDEFINES'] = []
+qt_env['CPPDEFINES'] = ["SUNNYPILOT"] if GetOption('sunnypilot') else []
 if maps:
   base_libs += ['QMapLibre']
   widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
@@ -53,8 +46,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc",
-          "qt/onroad_settings.cc", "qt/onroad_settings_panel.cc"]
+          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"] + sp_qt_src
 
 # build translation files
 with open(File("translations/languages.json").abspath) as f:

selfdrive/ui/sunnypilot/SConscript

@@ -0,0 +1,36 @@
+widgets_src = [
+  "qt/offroad/sunnypilot/custom_offsets_settings.cc",
+  "qt/offroad/sunnypilot/display_settings.cc",
+  "qt/offroad/sunnypilot/lane_change_settings.cc",
+  "qt/offroad/sunnypilot/mads_settings.cc",
+  "qt/offroad/sunnypilot/models_fetcher.cc",
+  "qt/offroad/sunnypilot/monitoring_settings.cc",
+  "qt/offroad/sunnypilot/osm_settings.cc",
+  "qt/offroad/sunnypilot/software_settings_sp.cc",
+  "qt/offroad/sunnypilot/speed_limit_control_settings.cc",
+  "qt/offroad/sunnypilot/speed_limit_policy_settings.cc",
+  "qt/offroad/sunnypilot/speed_limit_warning_settings.cc",
+  "qt/offroad/sunnypilot/sunnypilot_settings.cc",
+  "qt/offroad/sunnypilot/sunnylink_settings.cc",
+  "qt/offroad/sunnypilot/trips_settings.cc",
+  "qt/offroad/sunnypilot/vehicle_settings.cc",
+  "qt/offroad/sunnypilot/visuals_settings.cc",
+  "qt/widgets/sunnypilot/drive_stats.cc"
+]
+
+network_src = [
+  "qt/network/sunnylink/services/base_device_service.cc",
+  "qt/network/sunnylink/services/role_service.cc",
+  "qt/network/sunnylink/services/user_service.cc",
+  "qt/network/sunnylink/sunnylink_client.cc"
+]
+
+qt_src = [
+  "qt/onroad_settings.cc",
+  "qt/onroad_settings_panel.cc"
+]
+
+sp_widgets_src = widgets_src + network_src
+sp_qt_src = qt_src
+
+Export('sp_widgets_src', 'sp_qt_src')

tools/replay/util.cc

@@ -323,7 +323,7 @@ void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   req.tv_sec = nanoseconds / 1000000000;
   req.tv_nsec = nanoseconds % 1000000000;
   while (!should_exit) {
-#ifdef __APPLE_
+#ifdef __APPLE__
     int ret = nanosleep(&req, &rem);
     if (ret == 0 || errno != EINTR)
       break;