Merge remote-tracking branch 'upstream/master' into check-accel

cereal/messaging/tests/test_messaging.py

@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:

common/params_keys.h

@@ -75,7 +75,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
     {"LiveDelay", {PERSISTENT, BYTES}},
-    {"LiveParameters", {PERSISTENT, BYTES}},
+    {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
@@ -116,10 +116,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
     {"UpdaterAvailableBranches", {PERSISTENT, STRING}},
     {"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
-    {"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
     {"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
     {"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
-    {"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
     {"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
     {"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},

common/params_pyx.pyx

@@ -1,5 +1,6 @@
 # distutils: language = c++
 # cython: language_level = 3
+import builtins
 import datetime
 import json
 from libcpp cimport bool
@@ -7,6 +8,8 @@ from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.optional cimport optional
 
+from openpilot.common.swaglog import cloudlog
+
 cdef extern from "common/params.h":
   cpdef enum ParamKeyFlag:
     PERSISTENT
@@ -42,6 +45,25 @@ cdef extern from "common/params.h":
     void clearAll(ParamKeyFlag)
     vector[string] allKeys()
 
+PYTHON_2_CPP = {
+  (str, STRING): lambda v: v,
+  (builtins.bool, BOOL): lambda v: "1" if v else "0",
+  (int, INT): str,
+  (float, FLOAT): str,
+  (datetime.datetime, TIME): lambda v: v.isoformat(),
+  (dict, JSON): json.dumps,
+  (list, JSON): json.dumps,
+  (bytes, BYTES): lambda v: v,
+}
+CPP_2_PYTHON = {
+  STRING: lambda v: v.decode("utf-8"),
+  BOOL: lambda v: v == b"1",
+  INT: int,
+  FLOAT: float,
+  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
+  JSON: json.loads,
+  BYTES: lambda v: v,
+}
 
 def ensure_bytes(v):
   return v.encode() if isinstance(v, str) else v
@@ -74,45 +96,38 @@ cdef class Params:
       raise UnknownKeyName(key)
     return key
 
-  def cast(self, t, value, default):
+  def python2cpp(self, proposed_type, expected_type, value, key):
+    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
+    if cast:
+      return cast(value)
+    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
+
+  def cpp2python(self, t, value, default, key):
     if value is None:
       return None
     try:
-      if t == STRING:
-        return value.decode("utf-8")
-      elif t == BOOL:
-        return value == b"1"
-      elif t == INT:
-        return int(value)
-      elif t == FLOAT:
-        return float(value)
-      elif t == TIME:
-        return datetime.datetime.fromisoformat(value.decode("utf-8"))
-      elif t == JSON:
-        return json.loads(value)
-      elif t == BYTES:
-        return value
-      else:
-        raise TypeError()
-    except (TypeError, ValueError):
-      return self.cast(t, default, None)
+      return CPP_2_PYTHON[t](value)
+    except (KeyError, TypeError, ValueError):
+      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
+      return self.cpp2python(t, default, None, key)
 
   def get(self, key, bool block=False, bool return_default=False):
     cdef string k = self.check_key(key)
     cdef ParamKeyType t = self.p.getKeyType(k)
+    cdef optional[string] default = self.p.getKeyDefaultValue(k)
     cdef string val
     with nogil:
       val = self.p.get(k, block)
 
-    default_val = self.get_default_value(k) if return_default else None
+    default_val = (default.value() if default.has_value() else None) if return_default else None
     if val == b"":
       if block:
         # If we got no value while running in blocked mode
         # it means we got an interrupt while waiting
         raise KeyboardInterrupt
       else:
-        return self.cast(t, default_val, None)
-    return self.cast(t, val, default_val)
+        return self.cpp2python(t, default_val, None, key)
+    return self.cpp2python(t, val, default_val, key)
 
   def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
@@ -121,6 +136,11 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def _put_cast(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -129,7 +149,7 @@ cdef class Params:
     in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
+    cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
       self.p.put(k, dat_bytes)
 
@@ -140,7 +160,7 @@ cdef class Params:
 
   def put_nonblocking(self, key, dat):
     cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
+    cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
       self.p.putNonBlocking(k, dat_bytes)
 
@@ -165,5 +185,7 @@ cdef class Params:
     return self.p.allKeys()
 
   def get_default_value(self, key):
-    cdef optional[string] default = self.p.getKeyDefaultValue(self.check_key(key))
-    return default.value() if default.has_value() else None
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    cdef optional[string] default = self.p.getKeyDefaultValue(k)
+    return self.cpp2python(t, default.value(), None, key) if default.has_value() else None

common/tests/test_params.py

@@ -1,6 +1,5 @@
 import pytest
 import datetime
-import json
 import os
 import threading
 import time
@@ -22,7 +21,7 @@ class TestParams:
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", "test")
+    self.params.put("CarParams", b"test")
     self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
 
@@ -45,10 +44,10 @@ class TestParams:
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", "test")
+      self.params.put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
-    assert self.params.get("CarParams", True) == b"test"
+    assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
     with pytest.raises(UnknownKeyName):
@@ -78,17 +77,17 @@ class TestParams:
     self.params.put_bool("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", "1")
+    self.params.put("IsMetric", True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", "0")
+    self.params.put("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", "test")
+      Params().put_nonblocking("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -124,19 +123,19 @@ class TestParams:
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", json.dumps({"a": 0}))
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
     assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
 
     # int
-    self.params.put("BootCount", str(1441))
+    self.params.put("BootCount", 1441)
     assert self.params.get("BootCount") == 1441
 
     # bool
-    self.params.put("AdbEnabled", "1")
+    self.params.put("AdbEnabled", True)
     assert self.params.get("AdbEnabled")
     assert isinstance(self.params.get("AdbEnabled"), bool)
 
     # time
     now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", str(now))
+    self.params.put("InstallDate", now)
     assert self.params.get("InstallDate") == now

common/util.cc

@@ -12,6 +12,7 @@
 #include <iomanip>
 #include <random>
 #include <sstream>
+#include <limits>
 
 #ifdef __linux__
 #include <sys/prctl.h>
@@ -78,8 +79,9 @@ std::string read_file(const std::string& fn) {
   std::ifstream f(fn, std::ios::binary | std::ios::in);
   if (f.is_open()) {
     f.seekg(0, std::ios::end);
-    int size = f.tellg();
-    if (f.good() && size > 0) {
+    std::streamsize size = f.tellg();
+    // seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
+    if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
       std::string result(size, '\0');
       f.seekg(0, std::ios::beg);
       f.read(result.data(), size);

opendbc_repo

@@ -1 +1 @@
-Subproject commit 723b8e432a489886eb7ff7e593c08bcf88529023
+Subproject commit 21b6bcc6f0bdb19266ee1479551b7a2b2662d2db

pyproject.toml

@@ -85,8 +85,8 @@ testing = [
   "pytest",
   "pytest-cpp",
   "pytest-subtests",
-  # https://github.com/pytest-dev/pytest-xdist/issues/1215
-  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@909e97b49d12401c10608f9d777bfc9dab8a4413",
+  # https://github.com/pytest-dev/pytest-xdist/pull/1229
+  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
   "pytest-timeout",
   "pytest-randomly",
   "pytest-asyncio",

selfdrive/car/tests/test_models.py

@@ -356,7 +356,7 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
         self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
 
-      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
+      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving and not self.CP.notCar:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
       # check vehicle speed if angle control car or available
@@ -413,7 +413,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
+      checks['standstill'] += (CS.standstill == self.safety.get_vehicle_moving()) and not self.CP.notCar
 
       # check vehicle speed if angle control car or available
       if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0:

selfdrive/locationd/models/car_kf.py

@@ -93,8 +93,9 @@ class CarKalman(KalmanFilter):
     dim_state = CarKalman.initial_x.shape[0]
     name = CarKalman.name
 
-    # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
-    # Model used is in 6.15 with formula from 6.198
+    # Linearized single-track lateral dynamics, equations 7.211-7.213
+    # Massimo Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
+    # Springer Cham, 2023. doi: https://doi.org/10.1007/978-3-031-06461-6
 
     # globals
     global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]

selfdrive/locationd/paramsd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import json
 import numpy as np
 import capnp
 
@@ -207,12 +206,11 @@ def migrate_cached_vehicle_params_if_needed(params: Params):
     return
 
   try:
-    last_parameters_dict = json.loads(last_parameters_data_old)
     last_parameters_msg = messaging.new_message('liveParameters')
     last_parameters_msg.liveParameters.valid = True
-    last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
-    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
-    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
+    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
+    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
+    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
     params.put("LiveParametersV2", last_parameters_msg.to_bytes())
   except Exception as e:
     cloudlog.error(f"Failed to perform parameter migration: {e}")

selfdrive/locationd/test/test_paramsd.py

@@ -1,6 +1,5 @@
 import random
 import numpy as np
-import json
 
 from cereal import messaging
 from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
@@ -47,7 +46,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
+    params.put("LiveParameters", msg.liveParameters.to_dict())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
     params.remove("LiveParametersV2")
 
@@ -60,7 +59,7 @@ class TestParamsd:
 
   def test_read_saved_params_corrupted_old_format(self):
     params = Params()
-    params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
+    params.put("LiveParameters", {})
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ef059460a95076f9a8600abb8c9d56c8c3b7384505b158064e2e875458b965bb
-size 15701037
+oid sha256:02cf21ce7e9784c6009cc32a6f1ea22482911897b6d944419477973284052716
+size 15583374

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:afee02876ed51f21883e731990a252fd57afda6a78700c41fbf22d8cb288b4b5
-size 46147818
+oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
+size 46265993

selfdrive/modeld/parse_model_outputs.py

@@ -93,6 +93,9 @@ class Parser:
     self.parse_binary_crossentropy('lane_lines_prob', outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
+    self.parse_binary_crossentropy('lead_prob', outs)
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
@@ -103,9 +106,6 @@ class Parser:
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_binary_crossentropy('lead_prob', outs)
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:

selfdrive/selfdrived/alertmanager.py

@@ -17,7 +17,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> N
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
-    Params().put(alert, json.dumps(a))
+    Params().put(alert, a)
   else:
     Params().remove(alert)
 

selfdrive/selfdrived/selfdrived.py

@@ -417,7 +417,7 @@ class SelfdriveD:
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        self.params.put_nonblocking('LongitudinalPersonality', self.personality)
         self.events.add(EventName.personalityChanged)
 
   def data_sample(self):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-bb4d3d316bc20ca57e2753ac77f055517c31bfc7
+9e86884c9c94299f2dcbb1d7f6b30b081a74f2cc

selfdrive/ui/layouts/settings/firehose.py

@@ -1,5 +1,4 @@
 import pyray as rl
-import json
 import time
 import threading
 
@@ -169,7 +168,7 @@ class FirehoseLayout(Widget):
       if response.status_code == 200:
         data = response.json()
         self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, json.dumps(data))
+        self.params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 

selfdrive/ui/layouts/settings/toggles.py

@@ -92,4 +92,4 @@ class TogglesLayout(Widget):
     self._scroller.render(rect)
 
   def _set_longitudinal_personality(self, button_index: int):
-    self._params.put("LongitudinalPersonality", str(button_index))
+    self._params.put("LongitudinalPersonality", button_index)

selfdrive/ui/lib/prime_state.py

@@ -63,7 +63,7 @@ class PrimeState:
     with self._lock:
       if prime_type != self.prime_type:
         self.prime_type = prime_type
-        self._params.put("PrimeType", str(int(prime_type)))
+        self._params.put("PrimeType", int(prime_type))
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:

selfdrive/ui/tests/test_ui/run.py

@@ -299,9 +299,9 @@ def create_screenshots():
       params = Params()
       params.put("DongleId", "123456789012345")
       if name == 'prime':
-        params.put('PrimeType', '1')
+        params.put('PrimeType', 1)
       elif name == 'pair_device':
-        params.put('ApiCache_Device', '{"is_paired":0, "prime_type":-1}')
+        params.put('ApiCache_Device', {"is_paired":0, "prime_type":-1})
 
       t.test_ui(name, setup)
 

system/athena/athenad.py

@@ -161,7 +161,7 @@ class UploadQueueCache:
     try:
       queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", items)
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -748,7 +748,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastAthenaPingTime", str(last_ping))
+        Params().put("LastAthenaPingTime", last_ping)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:

system/athena/tests/test_athenad.py

@@ -66,9 +66,9 @@ class TestAthenadMethods:
   def setup_method(self):
     self.default_params = {
       "DongleId": "0000000000000000",
-      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
-      "GithubUsername": b"commaci",
-      "AthenadUploadQueue": '[]',
+      "GithubSshKeys": "ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
+      "GithubUsername": "commaci",
+      "AthenadUploadQueue": [],
     }
 
     self.params = Params()
@@ -400,11 +400,11 @@ class TestAthenadMethods:
 
   def test_get_ssh_authorized_keys(self):
     keys = dispatcher["getSshAuthorizedKeys"]()
-    assert keys == self.default_params["GithubSshKeys"].decode('utf-8')
+    assert keys == self.default_params["GithubSshKeys"]
 
   def test_get_github_username(self):
     keys = dispatcher["getGithubUsername"]()
-    assert keys == self.default_params["GithubUsername"].decode('utf-8')
+    assert keys == self.default_params["GithubUsername"]
 
   def test_get_version(self):
     resp = dispatcher["getVersion"]()

system/hardware/hardwared.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import fcntl
 import os
-import json
 import queue
 import struct
 import threading
@@ -440,7 +439,7 @@ def hardware_thread(end_event, hw_queue) -> None:
       # save last one before going onroad
       if rising_edge_started:
         try:
-          params.put("LastOffroadStatusPacket", json.dumps(dat))
+          params.put("LastOffroadStatusPacket", dat)
         except Exception:
           cloudlog.exception("failed to save offroad status")
 

system/hardware/power_monitoring.py

@@ -56,7 +56,7 @@ class PowerMonitoring:
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh)))
+        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
         self.last_save_time = now
 
       # First measurement, set integration time

system/loggerd/tests/loggerd_tests_common.py

@@ -76,7 +76,7 @@ class UploaderTestCase:
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
-    self.params.put("IsOffroad", "1")
+    self.params.put("IsOffroad", True)
     self.params.put("DongleId", "0000000000000000")
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,

system/loggerd/tests/test_loggerd.py

@@ -182,7 +182,7 @@ class TestLoggerd:
 
   @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    Params().put("RecordFront", "1")
+    Params().put("RecordFront", True)
 
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
 

system/manager/test/test_manager.py

@@ -47,7 +47,7 @@ class TestManager:
     for k in params.all_keys():
       default_value = params.get_default_value(k)
       if default_value:
-        assert params.get(k) == params.cast(params.get_type(k), default_value, None)
+        assert params.get(k) == default_value
     assert params.get("OpenpilotEnabledToggle")
 
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")

system/updated/updated.py

@@ -61,7 +61,7 @@ class WaitTimeHelper:
 
 def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-  params.put(param, t.isoformat().encode('utf8'))
+  params.put(param, t)
 
 def run(cmd: list[str], cwd: str = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
@@ -264,7 +264,7 @@ class Updater:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
   def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
-    self.params.put("UpdateFailedCount", str(failed_count))
+    self.params.put("UpdateFailedCount", failed_count)
     self.params.put("UpdaterTargetBranch", self.target_branch)
 
     self.params.put_bool("UpdaterFetchAvailable", self.update_available)
@@ -421,8 +421,8 @@ def main() -> None:
       cloudlog.event("update installed")
 
     if not params.get("InstallDate"):
-      t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat()
-      params.put("InstallDate", t.encode('utf8'))
+      t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
+      params.put("InstallDate", t)
 
     updater = Updater()
     update_failed_count = 0 # TODO: Load from param?

uv.lock

@@ -622,10 +622,10 @@ name = "gymnasium"
 version = "1.2.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle" },
-    { name = "farama-notifications" },
-    { name = "numpy" },
-    { name = "typing-extensions" },
+    { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/fd/17/c2a0e15c2cd5a8e788389b280996db927b923410de676ec5c7b2695e9261/gymnasium-1.2.0.tar.gz", hash = "sha256:344e87561012558f603880baf264ebc97f8a5c997a957b0c9f910281145534b0", size = 821142, upload-time = "2025-06-27T08:21:20.262Z" }
 wheels = [
@@ -880,22 +880,22 @@ name = "metadrive-simulator"
 version = "0.4.2.4"
 source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }
 dependencies = [
-    { name = "filelock" },
-    { name = "gymnasium" },
-    { name = "lxml" },
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
-    { name = "pillow" },
-    { name = "progressbar" },
-    { name = "psutil" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
+    { name = "filelock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "gymnasium", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "progressbar", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "psutil", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "pygments", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "requests", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "shapely", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 wheels = [
     { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" },
@@ -1316,7 +1316,7 @@ requires-dist = [
     { name = "pytest-repeat", marker = "extra == 'testing'" },
     { name = "pytest-subtests", marker = "extra == 'testing'" },
     { name = "pytest-timeout", marker = "extra == 'testing'" },
-    { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=909e97b49d12401c10608f9d777bfc9dab8a4413" },
+    { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da" },
     { name = "pytools", marker = "platform_machine != 'aarch64' and extra == 'dev'", specifier = "<2024.1.11" },
     { name = "pywinctl", marker = "extra == 'dev'" },
     { name = "pyzmq" },
@@ -1374,8 +1374,8 @@ name = "panda3d-gltf"
 version = "0.13"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573, upload-time = "2021-05-21T05:46:32.738Z" }
 wheels = [
@@ -1387,8 +1387,8 @@ name = "panda3d-simplepbr"
 version = "0.13.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
+    { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/0d/be/c4d1ded04c22b357277cf6e6a44c1ab4abb285a700bd1991460460e05b99/panda3d_simplepbr-0.13.1.tar.gz", hash = "sha256:c83766d7c8f47499f365a07fe1dff078fc8b3054c2689bdc8dceabddfe7f1a35", size = 6216055, upload-time = "2025-03-30T16:57:41.087Z" }
 wheels = [
@@ -4125,9 +4125,9 @@ name = "pyopencl"
 version = "2025.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
-    { name = "platformdirs" },
-    { name = "pytools" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "pytools", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/88/0ac460d3e2def08b2ad6345db6a13613815f616bbbd60c6f4bdf774f4c41/pyopencl-2025.1.tar.gz", hash = "sha256:0116736d7f7920f87b8db4b66a03f27b1d930d2e37ddd14518407cc22dd24779", size = 422510, upload-time = "2025-01-22T00:16:58.421Z" }
 wheels = [
@@ -4303,8 +4303,8 @@ wheels = [
 
 [[package]]
 name = "pytest-xdist"
-version = "3.7.1.dev3+g909e97b"
-source = { git = "https://github.com/sshane/pytest-xdist?rev=909e97b49d12401c10608f9d777bfc9dab8a4413#909e97b49d12401c10608f9d777bfc9dab8a4413" }
+version = "3.7.1.dev24+g2b4372b"
+source = { git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da#2b4372bd62699fb412c4fe2f95bf9f01bd2018da" }
 dependencies = [
     { name = "execnet" },
     { name = "pytest" },
@@ -4345,9 +4345,9 @@ name = "pytools"
 version = "2024.1.10"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs" },
-    { name = "siphash24" },
-    { name = "typing-extensions" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "siphash24", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ee/0f/56e109c0307f831b5d598ad73976aaaa84b4d0e98da29a642e797eaa940c/pytools-2024.1.10.tar.gz", hash = "sha256:9af6f4b045212c49be32bb31fe19606c478ee4b09631886d05a32459f4ce0a12", size = 81741, upload-time = "2024-07-17T18:47:38.287Z" }
 wheels = [
@@ -4670,7 +4670,7 @@ name = "shapely"
 version = "2.1.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/ca/3c/2da625233f4e605155926566c0e7ea8dda361877f48e8b1655e53456f252/shapely-2.1.1.tar.gz", hash = "sha256:500621967f2ffe9642454808009044c21e5b35db89ce69f8a2042c2ffd0e2772", size = 315422, upload-time = "2025-05-19T11:04:41.265Z" }
 wheels = [
@@ -4899,7 +4899,7 @@ name = "yapf"
 version = "0.43.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "platformdirs" },
+    { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907, upload-time = "2024-11-14T00:11:41.584Z" }
 wheels = [