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

# Conflicts:
#	panda

.devcontainer/devcontainer.json

@@ -19,5 +19,16 @@
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
     "--shm-size=1G"
-  ]
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-vscode.cpptools",
+        "ms-toolsai.jupyter",
+        "guyskk.language-cython",
+        "lharri73.dbc"
+      ]
+    }
+  }
 }

common/gpio.h

@@ -5,7 +5,7 @@
   #define GPIO_HUB_RST_N        30
   #define GPIO_UBLOX_RST_N      32
   #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_UBLOX_PWR_EN     34
+  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
   #define GPIO_STM_RST_N        124
   #define GPIO_STM_BOOT0        134
   #define GPIO_BMX_ACCEL_INT    21
@@ -17,7 +17,7 @@
   #define GPIO_HUB_RST_N        0
   #define GPIO_UBLOX_RST_N      0
   #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_UBLOX_PWR_EN     0
+  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
   #define GPIO_STM_RST_N        0
   #define GPIO_STM_BOOT0        0
   #define GPIO_BMX_ACCEL_INT    0

common/i2c.cc

@@ -31,10 +31,14 @@ I2CBus::I2CBus(uint8_t bus_id) {
 }
 
 I2CBus::~I2CBus() {
-  if (i2c_fd >= 0) { close(i2c_fd); }
+  if (i2c_fd >= 0) {
+    close(i2c_fd);
+  }
 }
 
 int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
+  std::lock_guard lk(m);
+
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
@@ -48,6 +52,8 @@ fail:
 }
 
 int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
+  std::lock_guard lk(m);
+
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));

common/i2c.h

@@ -1,12 +1,14 @@
 #pragma once
 
 #include <cstdint>
+#include <mutex>
 
 #include <sys/types.h>
 
 class I2CBus {
   private:
     int i2c_fd;
+    std::mutex m;
 
   public:
     I2CBus(uint8_t bus_id);

docs/docker/Dockerfile

@@ -16,7 +16,7 @@ COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
-RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika
+RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika
 COPY ./rednose ${OPENPILOT_PATH}/rednose
 COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo
 COPY ./tools ${OPENPILOT_PATH}/tools

pyproject.toml

@@ -1,8 +1,11 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
+markers = [
+  "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
+]
 
 [tool.mypy]
 python_version = "3.11"

selfdrive/car/chrysler/carcontroller.py

@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits
-from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
+from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 
 
@@ -31,17 +31,18 @@ class CarController:
       # ACC cancellation
       if CC.cruiseControl.cancel:
         self.last_button_frame = self.frame
-        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
 
       # ACC resume from standstill
       elif CC.cruiseControl.resume:
         self.last_button_frame = self.frame
-        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
-        can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
+        can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
+                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
         self.hud_count += 1
 
     # steering
@@ -72,7 +73,7 @@ class CarController:
         apply_steer = 0
       self.apply_steer_last = apply_steer
 
-      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
+      can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
 
     self.frame += 1
 

selfdrive/car/ford/carcontroller.py

@@ -2,8 +2,7 @@ from cereal import car
 from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
-from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
-                                       create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
+from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -27,7 +26,7 @@ class CarController:
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
-    self.CAN = CanBus(CP)
+    self.CAN = fordcan.CanBus(CP)
     self.frame = 0
 
     self.apply_curvature_last = 0
@@ -47,15 +46,15 @@ class CarController:
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
-      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
-      can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
     elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
-      can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
     # if stock lane centering isn't off, send a button press to toggle it off
     # the stock system checks for steering pressed, and eventually disengages cruise control
     elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
 
     ### lateral control ###
     # send steer msg at 20Hz
@@ -73,13 +72,13 @@ class CarController:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
-        can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
-        can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
+        can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 
     # send lka msg at 33Hz
     if (self.frame % CarControllerParams.LKA_STEP) == 0:
-      can_sends.append(create_lka_msg(self.packer, self.CAN))
+      can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
 
     ### longitudinal control ###
     # send acc msg at 50Hz
@@ -91,16 +90,16 @@ class CarController:
         gas = CarControllerParams.INACTIVE_GAS
 
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
     # send lkas ui msg at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
     # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
+      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
                                          fcw_alert, CS.out.cruiseState.standstill, hud_control,
                                          CS.acc_tja_status_stock_values))
 

selfdrive/car/hyundai/carstate.py

@@ -320,7 +320,6 @@ class CarState(CarStateBase):
   def get_can_parser_canfd(self, CP):
     messages = [
       (self.gear_msg_canfd, 100),
-      (self.cruise_btns_msg_canfd, 50),
       (self.accelerator_msg_canfd, 100),
       ("WHEEL_SPEEDS", 100),
       ("STEERING_SENSORS", 100),
@@ -331,6 +330,11 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+      messages += [
+        ("CRUISE_BUTTONS", 50)
+      ]
+
     if CP.enableBsm:
       messages += [
         ("BLINDSPOTS_REAR_CORNERS", 20),

selfdrive/car/subaru/carstate.py

@@ -150,7 +150,6 @@ class CarState(CarStateBase):
       ("CruiseControl", 50),
       ("Wheel_Speeds", 50),
       ("Dash_State2", 1),
-      ("Dashlights", 10),
     ]
 
     return messages

selfdrive/car/subaru/subarucan.py

@@ -261,7 +261,7 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
     "Signal1",
     "Car_Follow",
     "Signal2",
-    "Brake_On",
+    "Cruise_Brake_Active",
     "Distance_Swap",
     "Standstill",
     "Signal3",

selfdrive/car/toyota/carcontroller.py

@@ -2,9 +2,7 @@ from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                           create_gas_interceptor_command, make_can_msg
-from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
-                                           create_accel_command, create_acc_cancel_command, \
-                                           create_fcw_command, create_lta_steer_command
+from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
                                         UNSUPPORTED_DSU_CAR
@@ -85,13 +83,13 @@ class CarController:
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
-    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
+    can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req))
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
       full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
                                abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
       setme_x64 = 100 if lta_active and full_torque_condition else 0
-      can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
+      can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
 
     # *** gas and brake ***
     if self.CP.enableGasInterceptor and CC.longActive:
@@ -135,12 +133,12 @@ class CarController:
 
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
-        can_sends.append(create_acc_cancel_command(self.packer))
+        can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
@@ -163,12 +161,12 @@ class CarController:
         send_ui = True
 
       if self.frame % 20 == 0 or send_ui:
-        can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
-                                           hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                           hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
+        can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
+                                                     hud_control.rightLaneVisible, hud_control.leftLaneDepart,
+                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
 
       if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
-        can_sends.append(create_fcw_command(self.packer, fcw_alert))
+        can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
     for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:

selfdrive/car/volkswagen/values.py

@@ -1315,6 +1315,7 @@ FW_VERSIONS = {
   },
   CAR.SKODA_SUPERB_MK3: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027BT\xf1\x899042',
       b'\xf1\x8704L906026ET\xf1\x891343',
       b'\xf1\x8704L906026FP\xf1\x891196',
       b'\xf1\x8704L906026KB\xf1\x894071',
@@ -1327,6 +1328,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300049Q \xf1\x890906',
       b'\xf1\x870D9300011T \xf1\x894801',
       b'\xf1\x870D9300012  \xf1\x894940',
       b'\xf1\x870D9300013A \xf1\x894905',
@@ -1350,6 +1352,7 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',

selfdrive/modeld/modeld.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import sys
 import time
 import numpy as np
@@ -7,7 +8,7 @@ from typing import Dict, Optional
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.system.hardware import PC
+from openpilot.system.hardware import PC, TICI
 from openpilot.system.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -16,8 +17,9 @@ from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLCont
 from openpilot.selfdrive.modeld.models.driving_pyx import (
   PublishState, create_model_msg, create_pose_msg, update_calibration,
   FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
-  OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ, USE_THNEED)
+  OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
 
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
 if USE_THNEED:
   from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
 else:

selfdrive/modeld/models/driving.h

@@ -9,12 +9,6 @@
 #include "common/util.h"
 #include "selfdrive/modeld/models/nav.h"
 
-#ifdef USE_THNEED
-  constexpr bool CPP_USE_THNEED = true;
-#else
-  constexpr bool CPP_USE_THNEED = false;
-#endif
-
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;

selfdrive/modeld/models/driving.pxd

@@ -21,7 +21,6 @@ cdef extern from "selfdrive/modeld/models/driving.h":
   cdef int OUTPUT_SIZE
   cdef int NET_OUTPUT_SIZE
   cdef int MODEL_FREQ
-  cdef bool CPP_USE_THNEED
   cdef struct PublishState: pass
 
   mat3 update_calibration(float *, bool, bool)

selfdrive/modeld/models/driving_pyx.pyx

@@ -11,7 +11,7 @@ from .commonmodel cimport mat3
 from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \
                       TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \
                       NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \
-                      OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ, CPP_USE_THNEED
+                      OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ
 from .driving cimport MessageBuilder, PublishState as cppPublishState
 from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration
 
@@ -25,7 +25,6 @@ NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN
 OUTPUT_SIZE = CPP_OUTPUT_SIZE
 NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE
 MODEL_FREQ = CPP_MODEL_FREQ
-USE_THNEED = CPP_USE_THNEED
 
 cdef class PublishState:
   cdef cppPublishState state

selfdrive/test/helpers.py

@@ -1,5 +1,8 @@
 import os
 import time
+import tempfile
+
+from unittest import mock
 from functools import wraps
 
 import cereal.messaging as messaging
@@ -67,3 +70,19 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
     return wrap
   return wrapper
+
+
+def temporary_mock_dir(mock_path):
+  def wrapper(func):
+    @wraps(func)
+    def wrap(*args, **kwargs):
+      with tempfile.TemporaryDirectory() as temp_dir:
+        cache_dir_patch = mock.patch(mock_path, temp_dir)
+        cache_dir_patch.start()
+        func(*args, **kwargs, temp_dir=temp_dir)
+        cache_dir_patch.stop()
+    return wrap
+  return wrapper
+
+temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
+temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR")

system/hardware/tici/pins.py

@@ -6,7 +6,7 @@ class GPIO:
   HUB_RST_N = 30
   UBLOX_RST_N = 32
   UBLOX_SAFEBOOT_N = 33
-  UBLOX_PWR_EN = 34
+  GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN
   STM_RST_N = 124
   STM_BOOT0 = 134
 

system/hardware/tici/power_draw_test.py

@@ -53,7 +53,7 @@ if __name__ == "__main__":
   t.set_screen_brightness(0)
   gpio_init(GPIO.STM_RST_N, True)
   gpio_init(GPIO.HUB_RST_N, True)
-  gpio_init(GPIO.UBLOX_PWR_EN, True)
+  gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_init(GPIO.LTE_RST_N, True)
   gpio_init(GPIO.LTE_PWRKEY, True)
   gpio_init(GPIO.CAM0_AVDD_EN, True)
@@ -65,7 +65,7 @@ if __name__ == "__main__":
   os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'")  # cam 1v2 off
   gpio_set(GPIO.CAM0_AVDD_EN, False)    # cam 2v8 off
   gpio_set(GPIO.LTE_RST_N, True)        # quectel off
-  gpio_set(GPIO.UBLOX_PWR_EN, False)    # gps off
+  gpio_set(GPIO.GNSS_PWR_EN, False)    # gps off
   gpio_set(GPIO.STM_RST_N, True)        # panda off
   gpio_set(GPIO.HUB_RST_N, False)       # hub off
   # cameras in reset
@@ -92,7 +92,7 @@ if __name__ == "__main__":
   gpio_set(GPIO.STM_RST_N, False)
   time.sleep(5)
   print("panda:    ", read_power_avg())
-  gpio_set(GPIO.UBLOX_PWR_EN, True)
+  gpio_set(GPIO.GNSS_PWR_EN, True)
   time.sleep(5)
   print("gps:      ", read_power_avg())
   gpio_set(GPIO.LTE_RST_N, False)

system/sensord/pigeond.py

@@ -27,11 +27,11 @@ UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00"
 
 def set_power(enabled: bool) -> None:
   gpio_init(GPIO.UBLOX_SAFEBOOT_N, True)
-  gpio_init(GPIO.UBLOX_PWR_EN, True)
+  gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_init(GPIO.UBLOX_RST_N, True)
 
   gpio_set(GPIO.UBLOX_SAFEBOOT_N, True)
-  gpio_set(GPIO.UBLOX_PWR_EN, enabled)
+  gpio_set(GPIO.GNSS_PWR_EN, enabled)
   gpio_set(GPIO.UBLOX_RST_N, enabled)
 
 def add_ubx_checksum(msg: bytes) -> bytes:

system/sensord/rawgps/rawgpsd.py

@@ -271,7 +271,7 @@ def main() -> NoReturn:
   def cleanup(sig, frame):
     cloudlog.warning("caught sig disabling quectel gps")
 
-    gpio_set(GPIO.UBLOX_PWR_EN, False)
+    gpio_set(GPIO.GNSS_PWR_EN, False)
     teardown_quectel(diag)
     cloudlog.warning("quectel cleanup done")
 
@@ -289,8 +289,8 @@ def main() -> NoReturn:
   want_assistance = not r
   current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow()))
   cloudlog.warning("quectel setup done")
-  gpio_init(GPIO.UBLOX_PWR_EN, True)
-  gpio_set(GPIO.UBLOX_PWR_EN, True)
+  gpio_init(GPIO.GNSS_PWR_EN, True)
+  gpio_set(GPIO.GNSS_PWR_EN, True)
 
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 

system/sensord/tests/test_pigeond.py

@@ -56,7 +56,7 @@ class TestPigeond(unittest.TestCase):
       managed_processes['pigeond'].stop()
 
       assert gpio_read(GPIO.UBLOX_RST_N) == 0
-      assert gpio_read(GPIO.UBLOX_PWR_EN) == 0
+      assert gpio_read(GPIO.GNSS_PWR_EN) == 0
 
 
 if __name__ == "__main__":

system/swaglog.py

@@ -77,6 +77,9 @@ class UnixDomainSocketHandler(logging.Handler):
     self.sock = None
 
   def __del__(self):
+    self.close()
+
+  def close(self):
     if self.sock is not None:
       self.sock.close()
     if self.zctx is not None:
@@ -129,6 +132,8 @@ elif print_level == 'info':
 elif print_level == 'warning':
   outhandler.setLevel(logging.WARNING)
 
+ipchandler = UnixDomainSocketHandler(SwagFormatter(log))
+
 log.addHandler(outhandler)
 # logs are sent through IPC before writing to disk to prevent disk I/O blocking
-log.addHandler(UnixDomainSocketHandler(SwagFormatter(log)))
+log.addHandler(ipchandler)

system/tests/test_logmessaged.py

@@ -1,21 +1,22 @@
 #!/usr/bin/env python3
 import glob
 import os
-import shutil
 import time
 import unittest
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.swaglog import cloudlog, SWAGLOG_DIR
+from openpilot.system.swaglog import cloudlog, ipchandler
+from selfdrive.test.helpers import temporary_swaglog_dir
 
 
 class TestLogmessaged(unittest.TestCase):
+  def _setup(self, temp_dir):
+    # clear the IPC buffer in case some other tests used cloudlog and filled it
+    ipchandler.close()
+    ipchandler.connect()
 
-  def setUp(self):
-    if os.path.exists(SWAGLOG_DIR):
-      shutil.rmtree(SWAGLOG_DIR)
-
+    self.temp_dir = temp_dir
     managed_processes['logmessaged'].start()
     self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
     self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
@@ -31,9 +32,11 @@ class TestLogmessaged(unittest.TestCase):
     managed_processes['logmessaged'].stop(block=True)
 
   def _get_log_files(self):
-    return list(glob.glob(os.path.join(SWAGLOG_DIR, "swaglog.*")))
+    return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*")))
 
-  def test_simple_log(self):
+  @temporary_swaglog_dir
+  def test_simple_log(self, temp_dir):
+    self._setup(temp_dir)
     msgs = [f"abc {i}" for i in range(10)]
     for m in msgs:
       cloudlog.error(m)
@@ -42,7 +45,9 @@ class TestLogmessaged(unittest.TestCase):
     assert len(m) == len(msgs)
     assert len(self._get_log_files()) >= 1
 
-  def test_big_log(self):
+  @temporary_swaglog_dir
+  def test_big_log(self, temp_dir):
+    self._setup(temp_dir)
     n = 10
     msg = "a"*3*1024*1024
     for _ in range(n):

tools/install_python_dependencies.sh

@@ -13,20 +13,30 @@ fi
 if ! command -v "pyenv" > /dev/null 2>&1; then
   echo "pyenv install ..."
   curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH"
+fi
 
+if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
+  echo "pyenvrc setup ..."
   cat <<EOF > "${HOME}/.pyenvrc"
 if [ -z "\$PYENV_ROOT" ]; then
-  export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH
+  $PYENV_PATH_SETUP
   export PYENV_ROOT="\$HOME/.pyenv"
-  eval "\$(pyenv init --path)"
   eval "\$(pyenv init -)"
   eval "\$(pyenv virtualenv-init -)"
 fi
 EOF
-  echo -e "\nsource ~/.pyenvrc" >> $RC_FILE
 
-  # activate pyenv now
-  source $RC_FILE
+  SOURCE_PYENVRC="source ~/.pyenvrc"
+  if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then
+    printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE
+  fi
+
+  eval "$SOURCE_PYENVRC"
+  # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS
+  if [ $(uname) == "Darwin" ]; then
+    unset -f pyenv
+  fi
 fi
 
 export MAKEFLAGS="-j$(nproc)"

tools/lib/tests/test_caching.py

@@ -1,18 +1,14 @@
 #!/usr/bin/env python3
 import os
-import shutil
 import unittest
-
-os.environ["COMMA_CACHE"] = "/tmp/__test_cache__"
-from openpilot.tools.lib.url_file import URLFile, CACHE_DIR
+from openpilot.tools.lib.url_file import URLFile
+from openpilot.selfdrive.test.helpers import temporary_cache_dir
 
 
 class TestFileDownload(unittest.TestCase):
 
   def compare_loads(self, url, start=0, length=None):
     """Compares range between cached and non cached version"""
-    shutil.rmtree(CACHE_DIR)
-
     file_cached = URLFile(url, cache=True)
     file_downloaded = URLFile(url, cache=False)
 
@@ -35,7 +31,8 @@ class TestFileDownload(unittest.TestCase):
     self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
     self.assertEqual(response_cached, response_downloaded)
 
-  def test_small_file(self):
+  @temporary_cache_dir
+  def test_small_file(self, temp_dir):
     # Make sure we don't force cache
     os.environ["FILEREADER_CACHE"] = "0"
     small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md"
@@ -55,7 +52,8 @@ class TestFileDownload(unittest.TestCase):
     for i in range(length // 100):
       self.compare_loads(small_file_url, 100 * i, 100)
 
-  def test_large_file(self):
+  @temporary_cache_dir
+  def test_large_file(self, temp_dir):
     large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
     #  Load the end 100 bytes of both files
     file_large = URLFile(large_file_url)

tools/mac_setup.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 

tools/sim/Dockerfile.sim

@@ -23,7 +23,7 @@ COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./rednose ${OPENPILOT_PATH}/rednose
 COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
-RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika
+RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika
 COPY ./common ${OPENPILOT_PATH}/common
 COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal

tools/ubuntu_setup.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e