Merge remote-tracking branch 'upstream/master' into hkg-btn-msgs

.github/workflows/selfdrive_tests.yaml

@@ -301,6 +301,7 @@ jobs:
       timeout-minutes: 30
       run: |
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
                         coverage xml"
     - name: Print diff
       id: print-diff

common/params.cc

@@ -158,6 +158,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavPastDestinations", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},

docs/CARS.md

@@ -268,7 +268,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
-<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />

docs/docker/Dockerfile

@@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED 1
 
-ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV OPENPILOT_PATH /tmp/openpilot
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 ENV POETRY_VIRUALENVS_CREATE false
 
@@ -15,8 +15,8 @@ COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./laika ${OPENPILOT_PATH}/laika
 COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
+RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika
 COPY ./rednose ${OPENPILOT_PATH}/rednose
 COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo
 COPY ./tools ${OPENPILOT_PATH}/tools
@@ -29,7 +29,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 COPY ./*.md ${OPENPILOT_PATH}/
 
-RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc)
+RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
 
 RUN apt update && apt install doxygen -y
 COPY ./docs ${OPENPILOT_PATH}/docs
@@ -38,5 +38,5 @@ WORKDIR ${OPENPILOT_PATH}/docs
 RUN make html
 
 FROM nginx:1.21
-COPY --from=0 /home/batman/openpilot/build/docs/html /usr/share/nginx/html
+COPY --from=0 /tmp/openpilot/build/docs/html /usr/share/nginx/html
 COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf

poetry.lock

@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -2383,14 +2383,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
+numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
-    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
 
 [[package]]
 name = "packaging"
@@ -2438,10 +2431,7 @@ files = [
 ]
 
 [package.dependencies]
-numpy = [
+numpy = {version = ">=1.23.2", markers = "python_version >= \"3.11\""}
-    {version = ">=1.21.0", markers = "python_version >= \"3.10\""},
-    {version = ">=1.23.2", markers = "python_version >= \"3.11\""},
-]
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
 tzdata = ">=2022.1"
@@ -3243,6 +3233,33 @@ files = [
 attrs = ">=19.2.0"
 pytest = ">=7.0"
 
+[[package]]
+name = "pytest-timeout"
+version = "2.1.0"
+description = "pytest plugin to abort hanging tests"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pytest-timeout-2.1.0.tar.gz", hash = "sha256:c07ca07404c612f8abbe22294b23c368e2e5104b521c1790195561f37e1ac3d9"},
+    {file = "pytest_timeout-2.1.0-py3-none-any.whl", hash = "sha256:f6f50101443ce70ad325ceb4473c4255e9d74e3c7cd0ef827309dfa4c0d975c6"},
+]
+
+[package.dependencies]
+pytest = ">=5.0.0"
+
+[[package]]
+name = "pytest-timeouts"
+version = "1.2.1"
+description = "Linux-only Pytest plugin to control durations of various test case execution phases"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "pytest-timeouts-1.2.1.tar.gz", hash = "sha256:390351afc7ecb422ea0ec38081e0acd91cad416b383944a9a3358087de50c2fb"},
+]
+
+[package.dependencies]
+pytest = ">=3.1"
+
 [[package]]
 name = "pytest-xdist"
 version = "3.3.1"
@@ -4322,4 +4339,4 @@ multidict = ">=4.0"
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "7e2bfde2719e7d7bb4b1627b0657e9ab4a9f4e1637d8b8ae6d5c80c7861e2052"
+content-hash = "799e03aa1f3098c94a383f17b56275cd4140179bc457ff837b793fbcf7eb4b1e"

pyproject.toml

@@ -1,8 +1,8 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/"
+addopts = "--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
+#timeout = "30"  # you get this long by default
 
 [tool.mypy]
 python_version = "3.11"
@@ -124,6 +124,8 @@ pytest = "*"
 pytest-cov = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
+pytest-timeout = "*"
+pytest-timeouts = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"

release/files_common

@@ -318,6 +318,8 @@ selfdrive/ui/tests/test_translations.py
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
+selfdrive/ui/qt/network/*.cc
+selfdrive/ui/qt/network/*.h
 selfdrive/ui/qt/offroad/*.cc
 selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml

selfdrive/car/docs_definitions.py

@@ -85,6 +85,7 @@ class CarHarness(EnumBase):
   bosch_a = BaseCarHarness("Honda Bosch A connector")
   bosch_b = BaseCarHarness("Honda Bosch B connector")
   toyota_a = BaseCarHarness("Toyota A connector")
+  toyota_b = BaseCarHarness("Toyota B connector")
   subaru_a = BaseCarHarness("Subaru A connector")
   subaru_b = BaseCarHarness("Subaru B connector")
   subaru_c = BaseCarHarness("Subaru C connector")
@@ -110,6 +111,7 @@ class CarHarness(EnumBase):
   hyundai_o = BaseCarHarness("Hyundai O connector")
   hyundai_p = BaseCarHarness("Hyundai P connector")
   hyundai_q = BaseCarHarness("Hyundai Q connector")
+  hyundai_r = BaseCarHarness("Hyundai R connector")
   custom = BaseCarHarness("Developer connector")
   obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
   gm = BaseCarHarness("GM connector")
@@ -174,7 +176,7 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo
 
 class CommonFootnote(Enum):
   EXP_LONG_AVAIL = CarFootnote(
-    "Experimental openpilot longitudinal control is available behind a toggle; " +
+    "openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
     "the toggle is only available in non-release branches such as `devel` or `master-ci`.",
     Column.LONGITUDINAL, docs_only=True)
   EXP_LONG_DSU = CarFootnote(

selfdrive/ui/SConscript

@@ -24,7 +24,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/
                "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/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
 
 qt_env['CPPDEFINES'] = []
 if maps:

selfdrive/ui/qt/maps/map_settings.cc

@@ -9,6 +9,17 @@
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
+static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
+
+static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) {
+  return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"];
+}
+
+static qint64 convertTimestampToEpoch(const QString &timestamp) {
+  QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate);
+  return dt.isValid() ? dt.toSecsSinceEpoch() : 0;
+}
+
 MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
   setContentsMargins(0, 0, 0, 0);
   setAttribute(Qt::WA_NoMousePropagation);
@@ -61,11 +72,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
   frame->addSpacing(32);
 
   current_widget = new DestinationWidget(this);
-  QObject::connect(current_widget, &DestinationWidget::actionClicked, [=]() {
+  QObject::connect(current_widget, &DestinationWidget::actionClicked,
-    if (current_destination.empty()) return;
+                   []() { NavManager::instance()->setCurrentDestination({}); });
-    params.remove("NavDestination");
-    updateCurrentRoute();
-  });
   frame->addWidget(current_widget);
   frame->addSpacing(32);
 
@@ -84,40 +92,16 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
   frame->addWidget(destinations_scroller);
 
   setStyleSheet("MapSettings { background-color: #333333; }");
-
+  QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
-  QObject::connect(NavigationRequest::instance(), &NavigationRequest::locationsUpdated, this, &MapSettings::updateLocations);
-  QObject::connect(NavigationRequest::instance(), &NavigationRequest::nextDestinationUpdated, this, &MapSettings::updateCurrentRoute);
-
-  current_locations = NavigationRequest::instance()->currentLocations();
 }
 
 void MapSettings::showEvent(QShowEvent *event) {
-  updateCurrentRoute();
-}
-
-void MapSettings::updateCurrentRoute() {
-  auto dest = QString::fromStdString(params.get("NavDestination"));
-  if (dest.size()) {
-    QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8());
-    if (doc.isNull()) {
-      qWarning() << "JSON Parse failed on NavDestination" << dest;
-      return;
-    }
-    current_destination = doc.object();
-    current_widget->set(current_destination, true);
-  } else {
-    current_destination = {};
-    current_widget->unset("", true);
-  }
-  if (isVisible()) refresh();
-}
-
-void MapSettings::updateLocations(const QJsonArray &locations) {
-  current_locations = locations;
   refresh();
 }
 
 void MapSettings::refresh() {
+  if (!isVisible()) return;
+
   setUpdatesEnabled(false);
 
   auto get_w = [this](int i) {
@@ -129,11 +113,17 @@ void MapSettings::refresh() {
     return w;
   };
 
+  const auto current_dest = NavManager::instance()->currentDestination();
+  if (!current_dest.isEmpty()) {
+    current_widget->set(current_dest, true);
+  } else {
+    current_widget->unset("", true);
+  }
   home_widget->unset(NAV_FAVORITE_LABEL_HOME);
   work_widget->unset(NAV_FAVORITE_LABEL_WORK);
 
   int n = 0;
-  for (auto location : current_locations) {
+  for (auto location : NavManager::instance()->currentLocations()) {
     DestinationWidget *w = nullptr;
     auto dest = location.toObject();
     if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) {
@@ -143,7 +133,7 @@ void MapSettings::refresh() {
     }
     w = w ? w : get_w(n++);
     w->set(dest, false);
-    w->setVisible(dest != current_destination);
+    w->setVisible(!locationEqual(dest, current_dest));
   }
   for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
 
@@ -151,9 +141,7 @@ void MapSettings::refresh() {
 }
 
 void MapSettings::navigateTo(const QJsonObject &place) {
-  QJsonDocument doc(place);
+  NavManager::instance()->setCurrentDestination(place);
-  params.put("NavDestination", doc.toJson().toStdString());
-  updateCurrentRoute();
   emit closeSettings();
 }
 
@@ -279,24 +267,26 @@ void DestinationWidget::unset(const QString &label, bool current) {
   setVisible(true);
 }
 
-// singleton NavigationRequest
+// singleton NavManager
 
-NavigationRequest *NavigationRequest::instance() {
+NavManager *NavManager::instance() {
-  static NavigationRequest *request = new NavigationRequest(qApp);
+  static NavManager *request = new NavManager(qApp);
   return request;
 }
 
-NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) {
+NavManager::NavManager(QObject *parent) : QObject(parent) {
+  locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array();
+  current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
   if (auto dongle_id = getDongleId()) {
     {
       // Fetch favorite and recent locations
       QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
       RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavigationRequest::parseLocationsResponse);
+      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse);
     }
     {
       auto param_watcher = new ParamWatcher(this);
-      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavigationRequest::nextDestinationUpdated);
+      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated);
 
       // Destination set while offline
       QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
@@ -316,14 +306,14 @@ NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) {
 
         // athena can set destination at any time
         param_watcher->addParam("NavDestination");
+        current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
+        emit updated();
       });
     }
   }
 }
 
-static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
+void NavManager::parseLocationsResponse(const QString &response, bool success) {
-
-void NavigationRequest::parseLocationsResponse(const QString &response, bool success) {
   if (!success || response == prev_response) return;
 
   prev_response = response;
@@ -333,13 +323,63 @@ void NavigationRequest::parseLocationsResponse(const QString &response, bool suc
     return;
   }
 
-  // Sort: alphabetical FAVORITES, and then most recent (as returned by API).
+  // set last activity time.
+  auto remote_locations = doc.array();
+  for (QJsonValueRef loc : remote_locations) {
+    auto obj = loc.toObject();
+    auto serverTime = convertTimestampToEpoch(obj["modified"].toString());
+    obj.insert("time", qMax(serverTime, getLastActivity(obj)));
+    loc = obj;
+  }
+
+  locations = remote_locations;
+  sortLocations();
+  emit updated();
+}
+
+void NavManager::sortLocations() {
+  // Sort: alphabetical FAVORITES, and then most recent.
   // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
-  locations = doc.array();
   std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
-    bool has_favorite = a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE;
+    if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) {
-    return has_favorite && (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
+      return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
               std::tuple(b["save_type"].toString(), b["place_name"].toString()));
+    } else {
+      return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong();
+    }
+  });
+
+  write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() {
+    Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString());
   });
-  emit locationsUpdated(locations);
+}
+
+qint64 NavManager::getLastActivity(const QJsonObject &loc) const {
+  qint64 last_activity = 0;
+  auto it = std::find_if(locations.begin(), locations.end(),
+                         [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
+  if (it != locations.end()) {
+    auto tm = it->toObject().value("time");
+    if (!tm.isUndefined() && !tm.isNull()) {
+      last_activity = tm.toVariant().toLongLong();
+    }
+  }
+  return last_activity;
+}
+
+void NavManager::setCurrentDestination(const QJsonObject &loc) {
+  current_dest = loc;
+  if (!current_dest.isEmpty()) {
+    current_dest["time"] = QDateTime::currentSecsSinceEpoch();
+    auto it = std::find_if(locations.begin(), locations.end(),
+                           [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
+    if (it != locations.end()) {
+      *it = current_dest;
+      sortLocations();
+    }
+    params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString());
+  } else {
+    params.remove("NavDestination");
+  }
+  emit updated();
 }

selfdrive/ui/qt/maps/map_settings.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <future>
 #include <vector>
 
 #include <QFrame>
@@ -22,42 +23,41 @@ const QString NAV_FAVORITE_LABEL_WORK = "work";
 
 class DestinationWidget;
 
-class NavigationRequest : public QObject {
+class NavManager : public QObject {
   Q_OBJECT
 
 public:
-  static NavigationRequest *instance();
+  static NavManager *instance();
   QJsonArray currentLocations() const { return locations; }
+  QJsonObject currentDestination() const { return current_dest; }
+  void setCurrentDestination(const QJsonObject &loc);
+  qint64 getLastActivity(const QJsonObject &loc) const;
 
 signals:
-  void locationsUpdated(const QJsonArray &locations);
+  void updated();
-  void nextDestinationUpdated();
 
 private:
-  NavigationRequest(QObject *parent);
+  NavManager(QObject *parent);
   void parseLocationsResponse(const QString &response, bool success);
+  void sortLocations();
 
   Params params;
   QString prev_response;
   QJsonArray locations;
+  QJsonObject current_dest;
+  std::future<void> write_param_future;
 };
 
 class MapSettings : public QFrame {
   Q_OBJECT
 public:
   explicit MapSettings(bool closeable = false, QWidget *parent = nullptr);
-
   void navigateTo(const QJsonObject &place);
-  void updateLocations(const QJsonArray &locations);
-  void updateCurrentRoute();
 
 private:
   void showEvent(QShowEvent *event) override;
   void refresh();
 
-  Params params;
-  QJsonArray current_locations;
-  QJsonObject current_destination;
   QVBoxLayout *destinations_layout;
   DestinationWidget *current_widget;
   DestinationWidget *home_widget;

selfdrive/ui/qt/network/networking.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/network/networking.h"
 
 #include <algorithm>
 

selfdrive/ui/qt/network/networking.h

@@ -2,7 +2,7 @@
 
 #include <vector>
 
-#include "selfdrive/ui/qt/offroad/wifiManager.h"
+#include "selfdrive/ui/qt/network/wifi_manager.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"

selfdrive/ui/qt/network/wifi_manager.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/ui/qt/offroad/wifiManager.h"
+#include "selfdrive/ui/qt/network/wifi_manager.h"
 
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/widgets/prime.h"

selfdrive/ui/qt/network/wifi_manager.h

@@ -4,7 +4,7 @@
 #include <QtDBus>
 #include <QTimer>
 
-#include "selfdrive/ui/qt/offroad/networkmanager.h"
+#include "selfdrive/ui/qt/network/networkmanager.h"
 
 enum class SecurityType {
   OPEN,

selfdrive/ui/qt/offroad/driverview.cc

@@ -35,7 +35,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
   closeView();
 }
 
-DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
+DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) {
   face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }
 
@@ -51,7 +51,6 @@ void DriverViewScene::hideEvent(QHideEvent* event) {
 
 void DriverViewScene::frameUpdated() {
   frame_updated = true;
-  sm.update(0);
   update();
 }
 
@@ -67,6 +66,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     return;
   }
 
+  const auto &sm = *(uiState()->sm);
   cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
   cereal::DriverStateV2::DriverData::Reader driver_data;
 

selfdrive/ui/qt/offroad/driverview.h

@@ -20,7 +20,6 @@ protected:
 
 private:
   Params params;
-  SubMaster sm;
   QPixmap face_img;
   bool is_rhd = false;
   bool frame_updated = false;

selfdrive/ui/qt/offroad/settings.cc

@@ -8,7 +8,7 @@
 
 #include <QDebug>
 
-#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/network/networking.h"
 
 #include "common/params.h"
 #include "common/watchdog.h"

selfdrive/ui/qt/setup/setup.cc

@@ -15,7 +15,7 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 

selfdrive/ui/qt/setup/updater.cc

@@ -6,7 +6,7 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/setup/updater.h"
-#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/network/networking.h"
 
 Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent)
   : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) {

selfdrive/ui/qt/widgets/input.cc

@@ -9,7 +9,7 @@
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
 
-QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) {
+DialogBase::DialogBase(QWidget *parent) : QDialog(parent) {
   Q_ASSERT(parent != nullptr);
   parent->installEventFilter(this);
 
@@ -19,7 +19,7 @@ QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) {
       color: white;
       font-family: Inter;
     }
-    QDialogBase {
+    DialogBase {
       background-color: black;
     }
     QPushButton {
@@ -36,19 +36,19 @@ QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) {
   )");
 }
 
-bool QDialogBase::eventFilter(QObject *o, QEvent *e) {
+bool DialogBase::eventFilter(QObject *o, QEvent *e) {
   if (o == parent() && e->type() == QEvent::Hide) {
     reject();
   }
   return QDialog::eventFilter(o, e);
 }
 
-int QDialogBase::exec() {
+int DialogBase::exec() {
   setMainWindow(this);
   return QDialog::exec();
 }
 
-InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : QDialogBase(parent) {
+InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : DialogBase(parent) {
   main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(50, 55, 50, 50);
   main_layout->setSpacing(0);
@@ -188,7 +188,7 @@ void InputDialog::setMinLength(int length) {
 // ConfirmationDialog
 
 ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text,
-                                       const bool rich, QWidget *parent) : QDialogBase(parent) {
+                                       const bool rich, QWidget *parent) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; color: #C9C9C9; }
@@ -245,7 +245,7 @@ bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) {
 
 // MultiOptionDialog
 
-MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) : QDialogBase(parent) {
+MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; }

selfdrive/ui/qt/widgets/input.h

@@ -10,18 +10,18 @@
 #include "selfdrive/ui/qt/widgets/keyboard.h"
 
 
-class QDialogBase : public QDialog {
+class DialogBase : public QDialog {
   Q_OBJECT
 
 protected:
-  QDialogBase(QWidget *parent);
+  DialogBase(QWidget *parent);
   bool eventFilter(QObject *o, QEvent *e) override;
 
 public slots:
   int exec() override;
 };
 
-class InputDialog : public QDialogBase {
+class InputDialog : public DialogBase {
   Q_OBJECT
 
 public:
@@ -50,7 +50,7 @@ signals:
   void emitText(const QString &text);
 };
 
-class ConfirmationDialog : public QDialogBase {
+class ConfirmationDialog : public DialogBase {
   Q_OBJECT
 
 public:
@@ -61,7 +61,7 @@ public:
   static bool rich(const QString &prompt_text, QWidget *parent);
 };
 
-class MultiOptionDialog : public QDialogBase {
+class MultiOptionDialog : public DialogBase {
   Q_OBJECT
 
 public:

selfdrive/ui/qt/widgets/prime.cc

@@ -68,7 +68,7 @@ void PairingQRWidget::paintEvent(QPaintEvent *e) {
 }
 
 
-PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
+PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) {
   QHBoxLayout *hlayout = new QHBoxLayout(this);
   hlayout->setContentsMargins(0, 0, 0, 0);
   hlayout->setSpacing(0);

selfdrive/ui/qt/widgets/prime.h

@@ -28,7 +28,7 @@ private slots:
 
 
 // pairing popup widget
-class PairingPopup : public QDialogBase {
+class PairingPopup : public DialogBase {
   Q_OBJECT
 
 public:

selfdrive/ui/translations/main_fr.ts

@@ -517,7 +517,7 @@
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>Mettre à niveau maintenant</translation>
+        <translation>Mettre à niveau</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
@@ -860,7 +860,7 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
     <name>SoftwarePanel</name>
     <message>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation>Les mises à jour sont téléchargées uniquement lorsque la voiture est éteinte.</translation>
+        <translation>Les MàJ sont téléchargées uniquement si la voiture est éteinte.</translation>
     </message>
     <message>
         <source>Current Version</source>
@@ -1174,7 +1174,7 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Setup Wi-Fi</source>
-        <translation>Configurer le Wi-Fi</translation>
+        <translation>Configurer Wi-Fi</translation>
     </message>
     <message>
         <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>

system/loggerd/tests/test_uploader.py

@@ -14,7 +14,7 @@ from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPL
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 
-class TestLogHandler(logging.Handler):
+class FakeLogHandler(logging.Handler):
   def __init__(self):
     logging.Handler.__init__(self)
     self.reset()
@@ -33,7 +33,7 @@ class TestLogHandler(logging.Handler):
     except Exception:
       pass
 
-log_handler = TestLogHandler()
+log_handler = FakeLogHandler()
 cloudlog.addHandler(log_handler)
 
 

tools/cabana/messageswidget.cc

@@ -281,7 +281,8 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
       case Column::NAME: {
         const auto msg = dbc()->msg(id);
         match = re.match(msg ? msg->name : UNTITLED).hasMatch();
-        match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); });
+        match = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(),
+                                             [&re](const auto &s) { return re.match(s->name).hasMatch(); }));
         break;
       }
       case Column::SOURCE:
@@ -289,7 +290,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
         break;
       case Column::ADDRESS: {
         match = re.match(QString::number(id.address, 16)).hasMatch();
-        match |= parseRange(txt, id.address, 16);
+        match = match || parseRange(txt, id.address, 16);
         break;
       }
       case Column::FREQ:
@@ -301,8 +302,8 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
         break;
       case Column::DATA: {
         match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive);
-        match |= re.match(QString(data.dat.toHex())).hasMatch();
+        match = match || re.match(QString(data.dat.toHex())).hasMatch();
-        match |= re.match(QString(data.dat.toHex(' '))).hasMatch();
+        match = match || re.match(QString(data.dat.toHex(' '))).hasMatch();
         break;
       }
     }

tools/plotjuggler/test_plotjuggler.py

@@ -18,9 +18,8 @@ class TestPlotJuggler(unittest.TestCase):
     install()
 
     pj = os.path.join(PJ_DIR, "juggle.py")
-    p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog',
+    with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog',
-                         stderr=subprocess.PIPE, shell=True, start_new_session=True)
+                          stderr=subprocess.PIPE, shell=True, start_new_session=True) as p:
-
       # Wait for "Done reading Rlog data" signal from the plugin
       output = "\n"
       with Timeout(180, error_msg=output):

tools/sim/Dockerfile.sim

@@ -9,26 +9,29 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 RUN cd $HOME && \
     curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
 
-ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH}
+ENV OPENPILOT_PATH /tmp/openpilot
-RUN mkdir -p $HOME/openpilot
+ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
-
+
-COPY SConstruct $HOME/openpilot/
+RUN mkdir -p ${OPENPILOT_PATH}
-
+WORKDIR ${OPENPILOT_PATH}
-COPY ./openpilot $HOME/openpilot/openpilot
+
-COPY ./body $HOME/openpilot/body
+COPY SConstruct ${OPENPILOT_PATH}
-COPY ./third_party $HOME/openpilot/third_party
+
-COPY ./site_scons $HOME/openpilot/site_scons
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./rednose $HOME/openpilot/rednose
+COPY ./body ${OPENPILOT_PATH}/body
-COPY ./laika $HOME/openpilot/laika
+COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./common $HOME/openpilot/common
+COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./opendbc $HOME/openpilot/opendbc
+COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./cereal $HOME/openpilot/cereal
+COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
-COPY ./panda $HOME/openpilot/panda
+RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika
-COPY ./selfdrive $HOME/openpilot/selfdrive
+COPY ./common ${OPENPILOT_PATH}/common
-COPY ./system $HOME/openpilot/system
+COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./tools $HOME/openpilot/tools
+COPY ./cereal ${OPENPILOT_PATH}/cereal
-
+COPY ./panda ${OPENPILOT_PATH}/panda
-WORKDIR $HOME/openpilot
+COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc)
+COPY ./system ${OPENPILOT_PATH}/system
+COPY ./tools ${OPENPILOT_PATH}/tools
+
+RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly
 
 RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"