Merge remote-tracking branch 'upstream/master' into car-remove-import-exceptions

.github/workflows/ci_weekly_report.yaml

@@ -58,14 +58,14 @@ jobs:
               const jobName = job.name.split(" / ")[2];
               const runRegex = /\((.*?)\)/;
               const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
               switch (job.conclusion) {
                 case "success":
                   report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
                   report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "cancelled":
+                case "canceled":
-                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
             return JSON.stringify({"jobs": report});

opendbc_repo

@@ -1 +1 @@
-Subproject commit 1e9f8536151818f08af2ddd478f577f8461af31d
+Subproject commit f4d077b832d46ac149c2b07dc37d777dc21237ea

pyproject.toml

@@ -167,7 +167,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 

selfdrive/car/__init__.py

@@ -12,6 +12,8 @@ from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.helpers import clip, interp
 
+CanMsgType = tuple[int, bytes, int]
+
 # set up logging
 carlog = logging.getLogger('carlog')
 carlog.setLevel(logging.INFO)
@@ -193,7 +195,7 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   return friction
 
 
-def make_can_msg(addr: int, dat: bytes, bus: int) -> tuple[int, bytes, int]:
+def make_can_msg(addr: int, dat: bytes, bus: int) -> CanMsgType:
   return addr, dat, bus
 
 

selfdrive/car/card.py

@@ -13,7 +13,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp, can_capnp_to_list
+from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.can_definitions import CanData, CanSendCallable
 from openpilot.selfdrive.car.fw_versions import ObdCallback

selfdrive/car/interfaces.py

@@ -12,7 +12,8 @@ from functools import cache
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car import CanMsgType, DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, \
+                                    STD_CARGO_KG
 from openpilot.selfdrive.car.can_definitions import CanSendCallable
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
@@ -53,7 +54,6 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -110,7 +110,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -230,7 +230,7 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanMsgType]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -469,7 +469,7 @@ class CarControllerBase(ABC):
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     pass
 
 

selfdrive/car/isotp_parallel_query.py

@@ -3,7 +3,7 @@ from collections import defaultdict
 from functools import partial
 from types import SimpleNamespace
 
-from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car import carlog, CanMsgType
 from openpilot.selfdrive.car.can_definitions import CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
@@ -27,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[CanMsgType]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""

selfdrive/pandad/pandad_api_impl.pyx

@@ -50,7 +50,7 @@ def can_capnp_to_list(strings, msgtype='can'):
   cdef vector[CanData].iterator it = data.begin()
   while it != data.end():
     d = &deref(it)
-    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
+    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
-    result.append([d.nanos, frames])
+    result.append((d.nanos, frames))
     preinc(it)
   return result