Merge remote-tracking branch 'upstream/master' into disp-personality

.vscode/settings.json

@@ -12,5 +12,15 @@
     "**/.git": true,
     "**/.venv": true,
     "**/__pycache__": true
-  }
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "tools/**",
+  ]
 }

pyproject.toml

@@ -177,6 +177,8 @@ lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
   "panda",
   "opendbc",
   "rednose_repo",

selfdrive/car/__init__.py

@@ -318,3 +318,8 @@ class Platforms(str, ReprEnum):
 
     for flag, platforms in platforms_with_flag.items():
       print(f"{flag:32s}: {', '.join(p.name for p in platforms)}")
+
+
+class PlatformFlags(IntFlag):
+  def __init__(self, value: int):
+    assert value < 2**32, "undefined behaviour with >32 bit flags"

selfdrive/car/card.py

@@ -70,7 +70,7 @@ class CarD:
     if prev_cp is not None:
       self.params.put("CarParamsPrevRoute", prev_cp)
 
-    # Write CarParams for radard
+    # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)

selfdrive/car/chrysler/values.py

@@ -1,16 +1,15 @@
-from enum import IntFlag
 from dataclasses import dataclass, field
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 
 
-class ChryslerFlags(IntFlag):
+class ChryslerFlags(PlatformFlags):
   # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
 

selfdrive/car/ford/values.py

@@ -1,9 +1,9 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 import panda.python.uds as uds
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformFlags, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
@@ -39,7 +39,7 @@ class CarControllerParams:
     pass
 
 
-class FordFlags(IntFlag):
+class FordFlags(PlatformFlags):
   # Static flags
   CANFD = 1
 

selfdrive/car/honda/values.py

@@ -1,10 +1,10 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -45,7 +45,7 @@ class CarControllerParams:
     self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 
-class HondaFlags(IntFlag):
+class HondaFlags(PlatformFlags):
   # Detected flags
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1

selfdrive/car/hyundai/values.py

@@ -1,11 +1,11 @@
 import re
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
@@ -51,7 +51,7 @@ class CarControllerParams:
       self.STEER_MAX = 384
 
 
-class HyundaiFlags(IntFlag):
+class HyundaiFlags(PlatformFlags):
   # Dynamic Flags
   CANFD_HDA2 = 1
   CANFD_ALT_BUTTONS = 2

selfdrive/car/mazda/values.py

@@ -1,9 +1,8 @@
 from dataclasses import dataclass, field
-from enum import IntFlag
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, PlatformFlags, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -37,7 +36,7 @@ class MazdaCarSpecs(CarSpecs):
   tireStiffnessFactor: float = 0.7  # not optimized yet
 
 
-class MazdaFlags(IntFlag):
+class MazdaFlags(PlatformFlags):
   # Static flags
   # Gen 1 hardware: same CAN messages and same camera
   GEN1 = 1

selfdrive/car/nissan/interface.py

@@ -30,11 +30,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
-    buttonEvents = []
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = car.CarState.ButtonEvent.Type.accelCruise
-    buttonEvents.append(be)
-
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:

selfdrive/car/subaru/values.py

@@ -1,9 +1,9 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, PlatformFlags, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -52,7 +52,7 @@ class CarControllerParams:
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
 
-class SubaruFlags(IntFlag):
+class SubaruFlags(PlatformFlags):
   # Detected flags
   SEND_INFOTAINMENT = 1
   DISABLE_EYESIGHT = 2

selfdrive/car/tests/routes.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
@@ -29,7 +30,7 @@ non_tested_cars = [
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: str | None
+  car_model: Platform | None
   segment: int | None = None
 
 

selfdrive/car/tests/test_models.py

@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.values import PLATFORMS, Platform
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -64,7 +65,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: str | None = None
+  platform: Platform | None = None
   test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
@@ -93,8 +94,8 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.car_model is None and not cls.ci:
+        if cls.platform is None and not cls.ci:
-          cls.car_model = msg.carParams.carFingerprint
+          cls.platform = PLATFORMS.get(msg.carParams.carFingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -155,15 +156,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
-    if 'FILTER' in os.environ:
-      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
-        raise unittest.SkipTest
-
     if cls.test_route is None:
-      if cls.car_model in non_tested_cars:
+      if cls.platform in non_tested_cars:
-        print(f"Skipping tests for {cls.car_model}: missing route")
+        print(f"Skipping tests for {cls.platform}: missing route")
         raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.car_model}")
+      raise Exception(f"missing test route for {cls.platform}")
 
     car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
@@ -172,10 +169,10 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP.carFingerprint == cls.car_model
+    assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -478,7 +475,7 @@ class TestCarModelBase(unittest.TestCase):
                     "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
 
 
-@parameterized_class(('car_model', 'test_route'), get_test_cases())
+@parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass

selfdrive/car/toyota/values.py

@@ -1,11 +1,11 @@
 import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, PlatformFlags, Platforms
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -41,7 +41,7 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
 
 
-class ToyotaFlags(IntFlag):
+class ToyotaFlags(PlatformFlags):
   # Detected flags
   HYBRID = 1
   SMART_DSU = 2

selfdrive/car/volkswagen/values.py

@@ -1,12 +1,12 @@
 from collections import namedtuple
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum
 
 from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car import PlatformFlags, dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                            Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@@ -109,7 +109,7 @@ class CANBUS:
   cam = 2
 
 
-class VolkswagenFlags(IntFlag):
+class VolkswagenFlags(PlatformFlags):
   # Detected flags
   STOCK_HCA_PRESENT = 1
 

selfdrive/test/helpers.py

@@ -88,23 +88,28 @@ def read_segment_list(segment_list_path):
   return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
 
 
+@contextlib.contextmanager
+def http_server_context(handler, setup=None):
+  host = '127.0.0.1'
+  server = http.server.HTTPServer((host, 0), handler)
+  port = server.server_port
+  t = threading.Thread(target=server.serve_forever)
+  t.start()
+
+  if setup is not None:
+    setup(host, port)
+
+  try:
+    yield (host, port)
+  finally:
+    server.shutdown()
+    server.server_close()
+    t.join()
+
+
 def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
   @wraps(func)
   def inner(*args, **kwargs):
-    host = '127.0.0.1'
+    with http_server_context(handler, setup) as (host, port):
-    server = http.server.HTTPServer((host, 0), handler)
+      return func(*args, f"http://{host}:{port}", **kwargs)
-    port = server.server_port
-    t = threading.Thread(target=server.serve_forever)
-    t.start()
-
-    if setup is not None:
-      setup(host, port)
-
-    try:
-      return func(*args, f'http://{host}:{port}', **kwargs)
-    finally:
-      server.shutdown()
-      server.server_close()
-      t.join()
-
   return inner

selfdrive/updated/tests/test_updated.py

@@ -21,7 +21,7 @@ def run(args, **kwargs):
   return subprocess.run(args, **kwargs, check=True)
 
 
-def update_release(directory, name, version, release_notes):
+def update_release(directory, name, version, agnos_version, release_notes):
   with open(directory / "RELEASES.md", "w") as f:
     f.write(release_notes)
 
@@ -30,6 +30,9 @@ def update_release(directory, name, version, release_notes):
   with open(directory / "common" / "version.h", "w") as f:
     f.write(f'#define COMMA_VERSION "{version}"')
 
+  with open(directory / "launch_env.sh", "w") as f:
+    f.write(f'export AGNOS_VERSION="{agnos_version}"')
+
   run(["git", "add", "."], cwd=directory)
   run(["git", "commit", "-m", f"openpilot release {version}"], cwd=directory)
 
@@ -60,8 +63,8 @@ class TestUpdateD(unittest.TestCase):
     os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
 
     self.MOCK_RELEASES = {
-      "release3": ("0.1.2", "0.1.2 release notes"),
+      "release3": ("0.1.2", "1.2", "0.1.2 release notes"),
-      "master": ("0.1.3", "0.1.3 release notes"),
+      "master": ("0.1.3", "1.2", "0.1.3 release notes"),
     }
 
   def set_target_branch(self, branch):
@@ -97,7 +100,7 @@ class TestUpdateD(unittest.TestCase):
     self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available)
     self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available)
 
-  def _test_update_params(self, branch, version, release_notes):
+  def _test_update_params(self, branch, version, agnos_version, release_notes):
     self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}"))
     self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"<p>{release_notes}</p>\n")
 
@@ -116,6 +119,22 @@ class TestUpdateD(unittest.TestCase):
 
       time.sleep(1)
 
+  def test_no_update(self):
+    # Start on release3, ensure we don't fetch any updates
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with processes_context(["updated"]) as [updated]:
+      self._test_params("release3", False, False)
+      time.sleep(1)
+      self._test_params("release3", False, False)
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, False)
+
   def test_new_release(self):
     # Start on release3, simulate a release3 commit, ensure we fetch that update properly
     self.setup_remote_release("release3")
@@ -126,7 +145,7 @@ class TestUpdateD(unittest.TestCase):
       time.sleep(1)
       self._test_params("release3", False, False)
 
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "0.1.3 release notes")
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
       self.update_remote_release("release3")
 
       self.send_check_for_updates_signal(updated)
@@ -167,6 +186,37 @@ class TestUpdateD(unittest.TestCase):
       self._test_params("master", False, True)
       self._test_update_params("master", *self.MOCK_RELEASES["master"])
 
+  def test_agnos_update(self):
+    # Start on release3, push an update with an agnos change
+    self.setup_remote_release("release3")
+    self.setup_basedir_release("release3")
+
+    with mock.patch("openpilot.system.hardware.AGNOS", "True"), \
+         mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \
+         mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \
+         mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \
+          processes_context(["updated"]) as [updated]:
+
+      self._test_params("release3", False, False)
+      time.sleep(1)
+      self._test_params("release3", False, False)
+
+      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
+      self.update_remote_release("release3")
+
+      self.send_check_for_updates_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", True, False)
+
+      self.send_download_signal(updated)
+
+      self.wait_for_idle()
+
+      self._test_params("release3", False, True)
+      self._test_update_params("release3", *self.MOCK_RELEASES["release3"])
+
 
 if __name__ == "__main__":
   unittest.main()

tools/car_porting/test_car_model.py

@@ -5,6 +5,7 @@ import unittest
 
 from openpilot.selfdrive.car.tests.routes import CarTestRoute
 from openpilot.selfdrive.car.tests.test_models import TestCarModel
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.tools.lib.route import SegmentName
 
 
@@ -31,7 +32,10 @@ if __name__ == "__main__":
 
   route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
   segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
-  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
+
+  platform = PLATFORMS.get(args.car)
+
+  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, platform, segment=segment_num)
   test_suite = create_test_models_suite([test_route], ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)