Merge remote-tracking branch 'upstream/master' into no-capnp-cars-simple

selfdrive/car/car_helpers.py

@@ -81,7 +81,8 @@ def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, di
 
 
 # **** for use live only ****
-def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int, cached_params: CarParams | None):
+def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
+                cached_params: CarParams | None) -> tuple[str | None, dict, str, list, int, bool]:
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)

selfdrive/car/card.py

@@ -115,7 +115,6 @@ class Car:
       cached_params_raw = self.params.get("CarParamsCache")
       if cached_params_raw is not None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-          # TODO: even more generic?
           cached_params = CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)

selfdrive/test/process_replay/process_replay.py

@@ -359,19 +359,18 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     can_callbacks = can_comm_callbacks(can, sendcan)
-    # TODO: clean this up a bit
+
     cached_params = None
     if has_cached_cp:
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-        # TODO: even more generic?
         cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
   params.put("CarParams", convert_to_capnp(CP).to_bytes())
-  # return CP  # TODO: this isn't used?
 
 
 def controlsd_rcv_callback(msg, cfg, frame):

tools/op.sh

@@ -118,7 +118,7 @@ function op_check_os() {
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] macOS detected.\n"
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     loge "ERROR_UNKNOWN_OS" "$OSTYPE"
@@ -308,14 +308,14 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}venv${NC}     Activate the python virtual environment"
   echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
   echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
-  echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
-  echo -e "  ${BOLD}replay${NC}   Run replay"
-  echo -e "  ${BOLD}cabana${NC}   Run cabana"
+  echo -e "  ${BOLD}juggle${NC}   Run PlotJuggler"
+  echo -e "  ${BOLD}replay${NC}   Run Replay"
+  echo -e "  ${BOLD}cabana${NC}   Run Cabana"
   echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"