Merge branch 'upstream/openpilot/master' into sync-20240216

# Conflicts:
#	cereal
#	opendbc
#	panda
#	selfdrive/car/hyundai/interface.py
#	selfdrive/controls/controlsd.py
#	selfdrive/monitoring/dmonitoringd.py

system/camerad/cameras/camera_qcom2.cc

@@ -606,6 +606,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   LOGD("start csiphy: %d", ret);
   ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
   LOGD("start isp: %d", ret);
+  assert(ret == 0);
 
   // TODO: this is unneeded, should we be doing the start i2c in a different way?
   //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);

system/hardware/tici/agnos.json

@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz",
-    "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
-    "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe.img.xz",
+    "hash": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
+    "hash_raw": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
     "size": 15636480,
     "sparse": false,
     "full_check": true,
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
-    "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89",
-    "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz",
+    "hash": "10ac02f18c5f1cde5a888a3411d3701b929c3488753467e77aad6085db058eb9",
+    "hash_raw": "3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
-      "size": 4077270244
+      "hash": "a7db41b93b587f8f9c3f83a3313f186445c4bdf07283cd6a5421dfbc0286c9db",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz",
+      "size": 4548131508
     }
   }
 ]

system/hardware/tici/hardware.h

@@ -72,6 +72,7 @@ public:
     std::map<std::string, std::string> ret = {
       {"/BUILD", util::read_file("/BUILD")},
       {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
+      {"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")},
     };
 
     std::string bs = util::check_output("abctl --boot_slot");

system/hardware/tici/hardware.py

@@ -457,24 +457,37 @@ class Tici(HardwareBase):
   def configure_modem(self):
     sim_id = self.get_sim_info().get('sim_id', '')
 
-    # configure modem as data-centric
-    cmds = [
-      'AT+QNVW=5280,0,"0102000000000000"',
-      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-    ]
     modem = self.get_modem()
+    try:
+      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    except Exception:
+      manufacturer = None
+
+    cmds = []
+    if manufacturer == 'Cavli Inc.':
+      cmds += [
+        # use sim slot
+        'AT^SIMSWAP=1',
+
+        # configure ECM mode
+        'AT$QCPCFG=usbNet,1'
+      ]
+    else:
+      cmds += [
+        # configure modem as data-centric
+        'AT+QNVW=5280,0,"0102000000000000"',
+        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+      ]
+
+      # clear out old blue prime initial APN
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
     for cmd in cmds:
       try:
         modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       except Exception:
         pass
 
-    # blue prime
-    blue_prime = sim_id.startswith('8901410')
-    initial_apn = "Broadband" if blue_prime else ""
-    os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"')
-
     # eSIM prime
     if sim_id.startswith('8985235'):
       dest = "/etc/NetworkManager/system-connections/esim.nmconnection"

system/hardware/tici/tests/test_hardware.py

@@ -12,11 +12,6 @@ HARDWARE = Tici()
 @pytest.mark.tici
 class TestHardware(unittest.TestCase):
 
-  @classmethod
-  def setUpClass(cls):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
-
   def test_power_save_time(self):
     ts = []
     for _ in range(5):
@@ -30,4 +25,4 @@ class TestHardware(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main()

system/hardware/tici/tests/test_power_draw.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+from collections import defaultdict, deque
+import sys
 import pytest
 import unittest
 import time
@@ -11,29 +13,32 @@ import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.mock import mock_messages
 from openpilot.selfdrive.car.car_helpers import write_car_param
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.manager.manager import manager_cleanup
 
-SAMPLE_TIME = 8   # seconds to sample power
+SAMPLE_TIME = 8       # seconds to sample power
+MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
 
 @dataclass
 class Proc:
-  name: str
+  procs: List[str]
   power: float
   msgs: List[str]
   rtol: float = 0.05
   atol: float = 0.12
-  warmup: float = 6.
+
+  @property
+  def name(self):
+    return '+'.join(self.procs)
+
 
 PROCS = [
-  Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc('modeld', 1.12, atol=0.2, msgs=['modelV2']),
-  Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
-  Proc('encoderd', 0.23, msgs=[]),
-  Proc('mapsd', 0.05, msgs=['mapRenderState']),
-  Proc('navmodeld', 0.05, msgs=['navModel']),
+  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
+  Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']),
+  Proc(['encoderd'], 0.23, msgs=[]),
+  Proc(['mapsd', 'navmodeld'], 0.05, msgs=['mapRenderState', 'navModel']),
 ]
 
 
@@ -41,8 +46,6 @@ PROCS = [
 class TestPowerDraw(unittest.TestCase):
 
   def setUp(self):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
     write_car_param()
 
     # wait a bit for power save to disable
@@ -51,41 +54,83 @@ class TestPowerDraw(unittest.TestCase):
   def tearDown(self):
     manager_cleanup()
 
+  def get_expected_messages(self, proc):
+    return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
+
+  def valid_msg_count(self, proc, msg_counts):
+    msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+    msgs_expected = self.get_expected_messages(proc)
+    return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
+
+  def valid_power_draw(self, proc, used):
+    return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
+
+  def tabulate_msg_counts(self, msgs_and_power):
+    msg_counts = defaultdict(lambda: 0)
+    for _, counts in msgs_and_power:
+      for msg, count in counts.items():
+        msg_counts[msg] += count
+    return msg_counts
+
+  def get_power_with_warmup_for_target(self, proc, prev):
+    socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
+    for sock in socks.values():
+      messaging.drain_sock_raw(sock)
+
+    msgs_and_power = deque([], maxlen=SAMPLE_TIME)
+
+    start_time = time.monotonic()
+
+    while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
+      power = get_power(1)
+      iteration_msg_counts = {}
+      for msg,sock in socks.items():
+        iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
+      msgs_and_power.append((power, iteration_msg_counts))
+
+      if len(msgs_and_power) < SAMPLE_TIME:
+        continue
+
+      msg_counts = self.tabulate_msg_counts(msgs_and_power)
+      now = np.mean([m[0] for m in msgs_and_power])
+
+      if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev):
+        break
+
+    return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
+
   @mock_messages(['liveLocationKalman'])
   def test_camera_procs(self):
     baseline = get_power()
 
     prev = baseline
     used = {}
+    warmup_time = {}
     msg_counts = {}
-    for proc in PROCS:
-      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
-      managed_processes[proc.name].start()
-      time.sleep(proc.warmup)
-      for sock in socks.values():
-        messaging.drain_sock_raw(sock)
 
-      now = get_power(SAMPLE_TIME)
+    for proc in PROCS:
+      for p in proc.procs:
+        managed_processes[p].start()
+      now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev)
+      msg_counts.update(local_msg_counts)
+
       used[proc.name] = now - prev
       prev = now
-      for msg,sock in socks.items():
-        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
 
     manager_cleanup()
 
-    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]]
     for proc in PROCS:
       cur = used[proc.name]
       expected = proc.power
       msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
-      msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
-      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
+      tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)])
       with self.subTest(proc=proc.name):
-        np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
-        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
+        self.assertTrue(self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs")
+        self.assertTrue(self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W")
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main(sys.argv)

system/loggerd/encoder/encoder.cc

@@ -2,6 +2,10 @@
 
 VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
     : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
+
+  out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
+  out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
+
   pm.reset(new PubMaster({encoder_info.publish_name}));
 }
 
@@ -25,6 +29,8 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   edata.setFlags(flags);
   edata.setLen(dat.size());
   edat.setData(dat);
+  edat.setWidth(out_width);
+  edat.setHeight(out_height);
   if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
 
   uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);

system/loggerd/encoder/encoder.h

@@ -22,10 +22,11 @@ public:
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
 
-  static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
+  void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
 protected:
   int in_width, in_height;
+  int out_width, out_height;
   const EncoderInfo encoder_info;
 
 private:

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -29,16 +29,16 @@ FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int
   frame = av_frame_alloc();
   assert(frame);
   frame->format = AV_PIX_FMT_YUV420P;
-  frame->width = encoder_info.frame_width;
-  frame->height = encoder_info.frame_height;
-  frame->linesize[0] = encoder_info.frame_width;
-  frame->linesize[1] = encoder_info.frame_width/2;
-  frame->linesize[2] = encoder_info.frame_width/2;
+  frame->width = out_width;
+  frame->height = out_height;
+  frame->linesize[0] = out_width;
+  frame->linesize[1] = out_width/2;
+  frame->linesize[2] = out_width/2;
 
   convert_buf.resize(in_width * in_height * 3 / 2);
 
-  if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) {
-    downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2);
+  if (in_width != out_width || in_height != out_height) {
+    downscale_buf.resize(out_width * out_height * 3 / 2);
   }
 }
 

system/loggerd/encoder/v4l_encoder.cc

@@ -164,8 +164,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
     .fmt = {
       .pix_mp = {
         // downscales are free with v4l
-        .width = (unsigned int)encoder_info.frame_width,
-        .height = (unsigned int)encoder_info.frame_height,
+        .width = (unsigned int)(out_width),
+        .height = (unsigned int)(out_height),
         .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,

system/loggerd/logger.cc

@@ -40,7 +40,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   init.setOsVersion(util::read_file("/VERSION"));
 
   // log params
-  auto params = Params();
+  auto params = Params(util::getenv("PARAMS_COPY_PATH", ""));
   std::map<std::string, std::string> params_map = params.readAll();
 
   init.setGitCommit(params_map["GitCommit"]);

system/loggerd/loggerd.cc

@@ -116,7 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
           assert(encoder_info.filename != NULL);
           re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
+            edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
           // write the header
           auto header = edata.getHeader();
           re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);

system/loggerd/loggerd.h

@@ -35,8 +35,8 @@ public:
   const char *publish_name;
   const char *filename = NULL;
   bool record = true;
-  int frame_width = 1928;
-  int frame_height = 1208;
+  int frame_width = -1;
+  int frame_height = -1;
   int fps = MAIN_FPS;
   int bitrate = MAIN_BITRATE;
   cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS

system/sensord/sensors_qcom2.cc

@@ -134,7 +134,13 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
   // increase interrupt quality by pinning interrupt and process to core 1
   setpriority(PRIO_PROCESS, 0, -18);
   util::set_core_affinity({1});
-  std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'");
+
+  // TODO: get the IRQ number from gpiochip
+  std::string irq_path = "/proc/irq/336/smp_affinity_list";
+  if (!util::file_exists(irq_path)) {
+    irq_path = "/proc/irq/335/smp_affinity_list";
+  }
+  std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str());
 
   // thread for reading events via interrupts
   threads.emplace_back(&interrupt_loop, std::ref(sensors_init));

system/sensord/tests/test_pigeond.py

@@ -40,7 +40,7 @@ class TestPigeond(unittest.TestCase):
         sm.update(1 * 1000)
         if sm.updated['ubloxRaw']:
           break
-      assert sm.rcv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time"
+      assert sm.recv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time"
 
       et = time.monotonic() - start_time
       assert et < 5, f"pigeond took {et:.1f}s to start"

system/timed.py

@@ -65,10 +65,15 @@ def main() -> NoReturn:
     cloudlog.debug("Restoring timezone from param")
     set_timezone(tz)
 
+  pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster(['liveLocationKalman'])
   while True:
     sm.update(1000)
 
+    msg = messaging.new_message('clocks', valid=True)
+    msg.clocks.wallTimeNanos = time.time_ns()
+    pm.send('clocks', msg)
+
     llk = sm['liveLocationKalman']
     if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
       continue

system/version.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from typing import List, Optional
+from typing import List, Optional, Callable, TypeVar
 from functools import lru_cache
 
 from openpilot.common.basedir import BASEDIR
@@ -13,8 +13,8 @@ TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 training_version: bytes = b"0.2.0"
 terms_version: bytes = b"2"
 
-
-def cache(user_function, /):
+_RT = TypeVar("_RT")
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
   return lru_cache(maxsize=None)(user_function)
 
 
@@ -30,41 +30,37 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s
 
 
 @cache
-def get_commit(branch: str = "HEAD", default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", branch], default=default)
+def get_commit(branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch]) or ""
 
 
 @cache
-def get_short_branch(default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], default=default)
+def get_short_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or ""
 
 
 @cache
-def get_branch(default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], default=default)
+def get_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or ""
 
 
 @cache
-def get_origin(default: Optional[str] = None) -> Optional[str]:
+def get_origin() -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
   except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], default=default)
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or ""
 
 
 @cache
-def get_normalized_origin(default: Optional[str] = None) -> Optional[str]:
-  origin: Optional[str] = get_origin()
-
-  if origin is None:
-    return default
-
-  return origin.replace("git@", "", 1) \
-               .replace(".git", "", 1) \
-               .replace("https://", "", 1) \
-               .replace(":", "/", 1)
+def get_normalized_origin() -> str:
+  return get_origin() \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)
 
 
 @cache
@@ -75,7 +71,7 @@ def get_version() -> str:
 
 @cache
 def get_short_version() -> str:
-  return get_version().split('-')[0]  # type: ignore
+  return get_version().split('-')[0]
 
 @cache
 def is_prebuilt() -> bool:
@@ -86,12 +82,7 @@ def is_prebuilt() -> bool:
 def is_comma_remote() -> bool:
   # note to fork maintainers, this is used for release metrics. please do not
   # touch this to get rid of the orange startup alert. there's better ways to do that
-  origin: Optional[str] = get_origin()
-  if origin is None:
-    return False
-
-  return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai'))
-
+  return get_normalized_origin() == "github.com/commaai/openpilot"
 
 @cache
 def is_tested_branch() -> bool:
@@ -105,7 +96,7 @@ def is_release_branch() -> bool:
 def is_dirty() -> bool:
   origin = get_origin()
   branch = get_branch()
-  if (origin is None) or (branch is None):
+  if not origin or not branch:
     return True
 
   dirty = False

system/webrtc/device/video.py

@@ -5,7 +5,6 @@ import av
 from teleoprtc.tracks import TiciVideoStreamTrack
 
 from cereal import messaging
-from openpilot.tools.lib.framereader import FrameReader
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
 
@@ -43,27 +42,3 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
   def codec_preference(self) -> Optional[str]:
     return "H264"
-
-
-class FrameReaderVideoStreamTrack(TiciVideoStreamTrack):
-  def __init__(self, input_file: str, dt: float = DT_MDL, camera_type: str = "driver"):
-    super().__init__(camera_type, dt)
-
-    frame_reader = FrameReader(input_file)
-    self._frames = [frame_reader.get(i, pix_fmt="rgb24") for i in range(frame_reader.frame_count)]
-    self._frame_count = len(self.frames)
-    self._frame_index = 0
-    self._pts = 0
-
-  async def recv(self):
-    self.log_debug("track sending frame %s", self._pts)
-    img = self._frames[self._frame_index]
-
-    new_frame = av.VideoFrame.from_ndarray(img, format="rgb24")
-    new_frame.pts = self._pts
-    new_frame.time_base = self._time_base
-
-    self._frame_index = (self._frame_index + 1) % self._frame_count
-    self._pts = await self.next_pts(self._pts)
-
-    return new_frame

system/webrtc/tests/test_webrtcd.py

@@ -24,7 +24,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def test_webrtcd(self):
     mock_request = MagicMock()
     async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []}
+      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']}
       mock_request.json.side_effect = AsyncMock(return_value=body)
       response = await get_stream(mock_request)
       response_json = json.loads(response.text)

system/webrtc/webrtcd.py

@@ -6,34 +6,27 @@ import json
 import uuid
 import logging
 from dataclasses import dataclass, field
-from typing import Any, List, Optional, Union
+from typing import Any, List, Optional, Union, TYPE_CHECKING
 
 # aiortc and its dependencies have lots of internal warnings :(
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 
-import aiortc
-from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
-from aiortc.contrib.media import MediaBlackhole
-from aiortc.exceptions import InvalidStateError
-from aiohttp import web
 import capnp
-from teleoprtc import WebRTCAnswerBuilder
-from teleoprtc.info import parse_info_from_offer
+from aiohttp import web
+if TYPE_CHECKING:
+  from aiortc.rtcdatachannel import RTCDataChannel
 
-from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
 from openpilot.system.webrtc.schema import generate_field
-
 from cereal import messaging, log
 
 
 class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
     self.sm = sm
-    self.channels: List[aiortc.RTCDataChannel] = []
+    self.channels: List['RTCDataChannel'] = []
 
-  def add_channel(self, channel: aiortc.RTCDataChannel):
+  def add_channel(self, channel: 'RTCDataChannel'):
     self.channels.append(channel)
 
   def to_json(self, msg_content: Any):
@@ -96,6 +89,8 @@ class CerealProxyRunner:
     self.task = None
 
   async def run(self):
+    from aiortc.exceptions import InvalidStateError
+
     while True:
       try:
         self.proxy.update()
@@ -109,6 +104,13 @@ class CerealProxyRunner:
 
 class StreamSession:
   def __init__(self, sdp: str, cameras: List[str], incoming_services: List[str], outgoing_services: List[str], debug_mode: bool = False):
+    from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
+    from aiortc.contrib.media import MediaBlackhole
+    from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+    from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
+    from teleoprtc import WebRTCAnswerBuilder
+    from teleoprtc.info import parse_info_from_offer
+
     config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
@@ -192,7 +194,7 @@ class StreamRequestBody:
   bridge_services_out: List[str] = field(default_factory=list)
 
 
-async def get_stream(request: web.Request):
+async def get_stream(request: 'web.Request'):
   stream_dict, debug_mode = request.app['streams'], request.app['debug']
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
@@ -206,7 +208,7 @@ async def get_stream(request: web.Request):
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
 
-async def get_schema(request: web.Request):
+async def get_schema(request: 'web.Request'):
   services = request.query["services"].split(",")
   services = [s for s in services if s]
   assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
@@ -214,7 +216,7 @@ async def get_schema(request: web.Request):
   return web.json_response(schema_dict)
 
 
-async def on_shutdown(app: web.Application):
+async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
     session.stop()
   del app['streams']