Merge remote-tracking branch 'upstream/master' into toyota-fuzzy-v2

Jenkinsfile

@@ -81,10 +81,14 @@ def pcStage(String stageName, Closure body) {
 
     checkout scm
 
-    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    def dockerArgs = '--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
     docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
       timeout(time: 20, unit: 'MINUTES') {
         try {
+          // TODO: remove these after all jenkins jobs are running as batman (merged with master)
+          sh "sudo chown -R batman:batman /tmp/scons_cache"
+          sh "sudo chown -R batman:batman /tmp/comma_download_cache"
+
           sh "git config --global --add safe.directory '*'"
           sh "git submodule update --init --recursive"
           sh "git lfs pull"

codecov.yml

@@ -6,3 +6,5 @@ coverage:
         informational: true
     patch: off
 
+ignore:
+  - "**/test_*.py"

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -62,7 +62,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # Asserts no ECUs known to be shared across platforms exist in the database.
     # Tucson having Santa Cruz camera and EPS for example
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         if car_model == CAR.SANTA_CRUZ_1ST_GEN:
           raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
 
@@ -79,7 +79,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     """
     expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
           # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
           if ecu[0] in (Ecu.fwdCamera,):
@@ -103,7 +103,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
             continue
@@ -118,7 +118,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # - expected parsing of ECU FW dates
 
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue

selfdrive/car/tests/test_fw_fingerprint.py

@@ -97,7 +97,7 @@ class TestFwFingerprint(unittest.TestCase):
 
   def test_fw_version_lists(self):
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, ecu_fw in ecus.items():
           with self.subTest(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
@@ -119,13 +119,13 @@ class TestFwFingerprint(unittest.TestCase):
     for brand, config in FW_QUERY_CONFIGS.items():
       for car_model, ecus in VERSIONS[brand].items():
         bad_ecus = set(ecus).intersection(config.extra_ecus)
-        with self.subTest(car_model=car_model):
+        with self.subTest(car_model=car_model.value):
           self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
 
   def test_blacklisted_ecus(self):
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():

selfdrive/car/toyota/tests/test_toyota.py

@@ -28,7 +28,7 @@ class TestToyotaInterfaces(unittest.TestCase):
     # Asserts standard ECUs exist for each platform
     common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         present_ecus = {ecu[0] for ecu in ecus}
         missing_ecus = common_ecus - present_ecus
         self.assertEqual(len(missing_ecus), 0)
@@ -57,7 +57,7 @@ class TestToyotaFingerprint(unittest.TestCase):
   def test_platform_code_ecus_available(self):
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
           if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
             continue
@@ -72,7 +72,7 @@ class TestToyotaFingerprint(unittest.TestCase):
     # - expected parsing of ECU sub-versions
 
     for car_model, ecus in FW_VERSIONS.items():
-      with self.subTest(car_model=car_model):
+      with self.subTest(car_model=car_model.value):
         for ecu, fws in ecus.items():
           if ecu[0] not in PLATFORM_CODE_ECUS:
             continue

selfdrive/sentry.py

@@ -42,11 +42,11 @@ def set_tag(key: str, value: str) -> None:
   sentry_sdk.set_tag(key, value)
 
 
-def init(project: SentryProject) -> None:
+def init(project: SentryProject) -> bool:
   # forks like to mess with this, so double check
   comma_remote = is_comma_remote() and "commaai" in get_origin(default="")
   if not comma_remote or not is_registered_device() or PC:
-    return
+    return False
 
   env = "release" if is_tested_branch() else "master"
   dongle_id = Params().get("DongleId", encoding='utf-8')
@@ -73,3 +73,5 @@ def init(project: SentryProject) -> None:
 
   if project == SentryProject.SELFDRIVE:
     sentry_sdk.Hub.current.start_session()
+
+  return True

selfdrive/tombstoned.py

@@ -46,13 +46,10 @@ def get_apport_stacktrace(fn):
 
 
 def get_tombstones():
-  """Returns list of (filename, ctime) for all tombstones in /data/tombstones
-  and apport crashlogs in /var/crash"""
+  """Returns list of (filename, ctime) for all crashlogs"""
   files = []
-  for folder in [TOMBSTONE_DIR, APPORT_DIR]:
-    if os.path.exists(folder):
-      with os.scandir(folder) as d:
-
+  if os.path.exists(APPORT_DIR):
+    with os.scandir(APPORT_DIR) as d:
       # Loop over first 1000 directory entries
       for _, f in zip(range(1000), d, strict=False):
         if f.name.startswith("tombstone"):
@@ -143,7 +140,7 @@ def report_tombstone_apport(fn):
 
 
 def main() -> NoReturn:
-  sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
+  should_report = sentry.init(sentry.SentryProject.SELFDRIVE_NATIVE)
 
   # Clear apport folder on start, otherwise duplicate crashes won't register
   clear_apport_folder()
@@ -153,6 +150,14 @@ def main() -> NoReturn:
     now_tombstones = set(get_tombstones())
 
     for fn, _ in (now_tombstones - initial_tombstones):
+      # clear logs if we're not interested in them
+      if not should_report:
+        try:
+          os.remove(fn)
+        except Exception:
+          pass
+        continue
+
       try:
         cloudlog.info(f"reporting new tombstone {fn}")
         if fn.endswith(".crash"):

tools/cabana/messageswidget.cc

@@ -169,6 +169,8 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation,
 }
 
 QVariant MessageListModel::data(const QModelIndex &index, int role) const {
+  if (!index.isValid() || index.row() >= msgs.size()) return {};
+
   const auto &id = msgs[index.row()];
   auto &can_data = can->lastMessage(id);
 

tools/lib/vidindex.py

@@ -1,11 +1,17 @@
 #!/usr/bin/env python3
 import argparse
+import os
 import struct
 from enum import IntEnum
 from typing import Tuple
 
 from openpilot.tools.lib.filereader import FileReader
 
+DEBUG = int(os.getenv("DEBUG", "0"))
+
+# compare to ffmpeg parsing
+# ffmpeg -i <input.hevc> -c copy -bsf:v trace_headers -f null - 2>&1 | grep -B4 -A32 '] 0 '
+
 # H.265 specification
 # https://www.itu.int/rec/dologin_pub.asp?lang=e&id=T-REC-H.265-201802-S!!PDF-E&type=items
 
@@ -143,15 +149,9 @@ def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> Tuple[int, int]:
   raise VideoFileInvalid("invalid exponential-golomb code")
 
 def require_nal_unit_start(dat: bytes, nal_unit_start: int) -> None:
-  if nal_unit_start >= len(dat):
-    raise ValueError("start index must be less than data length")
-
   if nal_unit_start < 1:
     raise ValueError("start index must be greater than zero")
 
-  if dat[nal_unit_start-1] != 0x00:
-    raise VideoFileInvalid("start code must be preceded by 0x00")
-
   if dat[nal_unit_start:nal_unit_start + NAL_UNIT_START_CODE_SIZE] != NAL_UNIT_START_CODE:
     raise VideoFileInvalid("data must begin with start code")
 
@@ -163,6 +163,8 @@ def get_hevc_nal_unit_length(dat: bytes, nal_unit_start: int) -> int:
 
   # length of NAL unit is byte count up to next NAL unit start index
   nal_unit_len = (pos if pos != -1 else len(dat)) - nal_unit_start
+  if DEBUG:
+    print("  nal_unit_len:", nal_unit_len)
   return nal_unit_len
 
 def get_hevc_nal_unit_type(dat: bytes, nal_unit_start: int) -> HevcNalUnitType:
@@ -177,7 +179,10 @@ def get_hevc_nal_unit_type(dat: bytes, nal_unit_start: int) -> HevcNalUnitType:
   nal_unit_header = dat[header_start:header_start + NAL_UNIT_HEADER_SIZE]
   if len(nal_unit_header) != 2:
     raise VideoFileInvalid("data to short to contain nal unit header")
-  return HevcNalUnitType((nal_unit_header[0] >> 1) & 0x3F)
+  nal_unit_type = HevcNalUnitType((nal_unit_header[0] >> 1) & 0x3F)
+  if DEBUG:
+    print("  nal_unit_type:", nal_unit_type.name, f"({nal_unit_type.value})")
+  return nal_unit_type
 
 def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalUnitType) -> Tuple[int, bool]:
   # 7.3.2.9 Slice segment layer RBSP syntax
@@ -248,6 +253,8 @@ def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalU
   #     2      | I (I slice)
   # unsigned integer 0-th order Exp-Golomb-coded syntax element with the left bit first
   slice_type, _ = get_ue(dat, rbsp_start, skip_bits)
+  if DEBUG:
+    print("  slice_type:", slice_type, f"(first slice: {is_first_slice})")
   if slice_type > 2:
     raise VideoFileInvalid("slice_type must be 0, 1, or 2")
   return slice_type, is_first_slice
@@ -259,11 +266,14 @@ def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> Tuple[list, in
   if len(dat) < NAL_UNIT_START_CODE_SIZE + 1:
     raise VideoFileInvalid("data is too short")
 
+  if dat[0] != 0x00:
+    raise VideoFileInvalid("first byte must be 0x00")
+
   prefix_dat = b""
   frame_types = list()
 
+  i = 1 # skip past first byte 0x00
   try:
-    i = 1 # skip past first byte 0x00 (verified by get_hevc_nal_info)
     while i < len(dat):
       require_nal_unit_start(dat, i)
       nal_unit_len = get_hevc_nal_unit_length(dat, i)
@@ -275,9 +285,10 @@ def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> Tuple[list, in
         if is_first_slice:
           frame_types.append((slice_type, i))
       i += nal_unit_len
-  except Exception:
+  except Exception as e:
     if not allow_corrupt:
       raise
+    print(f"ERROR: NAL unit skipped @ {i}\n", str(e))
 
   return frame_types, len(dat), prefix_dat
 

tools/sim/launch_openpilot.sh

@@ -12,6 +12,8 @@ if [[ "$CI" ]]; then
   export BLOCK="${BLOCK},ui"
 fi
 
+python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../