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Merge remote-tracking branch 'upstream/master' into new-nav-settings-button

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pull/29068/head
Shane Smiskol 2 years ago
parent c5f9e53ffd 1776c16f9a
commit db7fb1f314
31 changed files with 295 additions and 143 deletions
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  1. 5
      .github/workflows/selfdrive_tests.yaml
  2. 1
      .pre-commit-config.yaml
  3. 33
      Jenkinsfile
  4. 8
      RELEASES.md
  5. 2
      body
  6. 22
      common/gpio.py
  7. 1
      common/params.cc
  8. 2
      docs/CARS.md
  9. 24
      poetry.lock
  10. 3
      pyproject.toml
  11. 27
      selfdrive/athena/athenad.py
  12. 18
      selfdrive/athena/tests/test_athenad_ping.py
  13. 8
      selfdrive/car/disable_ecu.py
  14. 7
      selfdrive/car/toyota/values.py
  15. 7
      selfdrive/controls/lib/lateral_mpc_lib/SConscript
  16. 7
      selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
  17. 3
      selfdrive/modeld/dmonitoringmodeld.cc
  18. 8
      selfdrive/modeld/navmodeld.cc
  19. 2
      selfdrive/test/process_replay/model_replay.py
  20. 12
      selfdrive/thermald/thermald.py
  21. 2
      selfdrive/ui/qt/maps/map.h
  22. 1
      selfdrive/ui/qt/maps/map_settings.cc
  23. 1
      selfdrive/ui/qt/maps/map_settings.h
  24. 8
      selfdrive/ui/qt/offroad/settings.cc
  25. 42
      system/hardware/tici/hardware.py
  26. 31
      system/hardware/tici/tests/test_hardware.py
  27. 36
      system/loggerd/loggerd.cc
  28. 51
      system/sensord/rawgps/rawgpsd.py
  29. 53
      system/sensord/rawgps/test_rawgps.py
  30. 4
      system/sensord/tests/test_sensord.py
  31. 9
      tools/cabana/SConscript

5
.github/workflows/selfdrive_tests.yaml
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@ -136,6 +136,11 @@ jobs:
run: | run: |
source tools/openpilot_env.sh source tools/openpilot_env.sh
poetry run scons -j$(nproc) poetry run scons -j$(nproc)
- name: Run tests
run: |
source tools/openpilot_env.sh
export PYTHONPATH=$PWD
poetry run tools/plotjuggler/test_plotjuggler.py
- name: Pre Cache - Cleanup scons cache - name: Pre Cache - Cleanup scons cache
if: github.ref == 'refs/heads/master' if: github.ref == 'refs/heads/master'
run: | run: |

1
.pre-commit-config.yaml
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@ -32,6 +32,7 @@ repos:
entry: mypy entry: mypy
language: system language: system
types: [python] types: [python]
args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/PyCQA/flake8 - repo: https://github.com/PyCQA/flake8
rev: 6.0.0 rev: 6.0.0

33
Jenkinsfile vendored
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@ -18,6 +18,12 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
source ~/.bash_profile source ~/.bash_profile
if [ -f /TICI ]; then if [ -f /TICI ]; then
source /etc/profile source /etc/profile
if ! systemctl is-active --quiet systemd-resolved; then
echo "restarting resolved"
sudo systemctl start systemd-resolved
sleep 3
fi
fi fi
if [ -f /data/openpilot/launch_env.sh ]; then if [ -f /data/openpilot/launch_env.sh ]; then
source /data/openpilot/launch_env.sh source /data/openpilot/launch_env.sh
@ -128,6 +134,28 @@ pipeline {
} }
*/ */
stage('scons build test') {
agent {
dockerfile {
filename 'Dockerfile.openpilot_base'
args '--user=root'
}
}
steps {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --depth=1 --recursive"
sh "scons --clean && scons --no-cache -j42"
sh "scons --clean && scons --no-cache --random -j42"
}
post {
always {
sh "rm -rf ${WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
stage('tizi-tests') { stage('tizi-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps { steps {
@ -138,8 +166,9 @@ pipeline {
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
["test camerad", "python system/camerad/test/test_camerad.py"], ["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"], ["test exposure", "python system/camerad/test/test_exposure.py"],
["test amp", "python system/hardware/tici/tests/test_amplifier.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
]) ])
} }
} }

8
RELEASES.md
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@ -1,14 +1,14 @@
Version 0.9.4 (2023-XX-XX) Version 0.9.4 (2023-XX-XX)
======================== ========================
* Navigate on openpilot * Navigate on openpilot
* When navigation has a destination openpilot will input the map information into the model, generally improving behavior * When navigation has a destination, openpilot will input the map information into the model, generally improving behavior
* When navigating on openpilot, openpilot will keep left or right appropriately at forks/exits and take turns * When navigating on openpilot, openpilot will keep left or right appropriately at forks/exits and take turns
* When navigating on openpilot, lane change behavior is unchanged and still activated by the driver * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
* When navigate on openpilot is active, the path on the map is green
* UI updates * UI updates
* Navigation settings moved to home screen and map * Navigation settings moved to home screen and map
* UI alerts rework
* Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
* Alerts are shown inside the border. Black/grey means info, orange means warning, and red means critical alert * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
* Bookmarked segments are preserved on the device's storage * Bookmarked segments are preserved on the device's storage
* Ford Focus 2018 support * Ford Focus 2018 support
* Kia Carnival 2023 support thanks to sunnyhaibin! * Kia Carnival 2023 support thanks to sunnyhaibin!

2
body

@ -1 +1 @@
Subproject commit 5f5b8a9dff671cbf9369eb10e18b41ca619566ba Subproject commit 05021c559e78fd7c539abceeedcc47f981b05455

22
common/gpio.py
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@ -1,4 +1,4 @@
import glob from functools import lru_cache
from typing import Optional, List from typing import Optional, List
def gpio_init(pin: int, output: bool) -> None: def gpio_init(pin: int, output: bool) -> None:
@ -25,12 +25,20 @@ def gpio_read(pin: int) -> Optional[bool]:
return val return val
def get_irq_for_action(action: str) -> List[int]: @lru_cache(maxsize=None)
ret = [] def get_irq_action(irq: int) -> List[str]:
for fn in glob.glob('/sys/kernel/irq/*/actions'): try:
with open(fn) as f: with open(f"/sys/kernel/irq/{irq}/actions") as f:
actions = f.read().strip().split(',') actions = f.read().strip().split(',')
if action in actions: return actions
irq = int(fn.split('/')[-2]) except FileNotFoundError:
return []
def get_irqs_for_action(action: str) -> List[str]:
ret = []
with open("/proc/interrupts") as f:
for l in f.readlines():
irq = l.split(':')[0].strip()
if irq.isdigit() and action in get_irq_action(irq):
ret.append(irq) ret.append(irq)
return ret return ret

1
common/params.cc
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@ -107,6 +107,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DisablePowerDown", PERSISTENT}, {"DisablePowerDown", PERSISTENT},
{"DisableUpdates", PERSISTENT}, {"DisableUpdates", PERSISTENT},
{"DisengageOnAccelerator", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT},
{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
{"DongleId", PERSISTENT}, {"DongleId", PERSISTENT},
{"DoReboot", CLEAR_ON_MANAGER_START}, {"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START},

2
docs/CARS.md
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@ -153,7 +153,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>|| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>|| |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>|| |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>|| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>|| |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>|| |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

24
poetry.lock generated
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@ -2668,14 +2668,6 @@ python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*
[package.dependencies] [package.dependencies]
setuptools = "*" setuptools = "*"
[[package]]
name = "nose"
version = "1.3.7"
description = "nose extends unittest to make testing easier"
category = "main"
optional = false
python-versions = "*"
[[package]] [[package]]
name = "notebook" name = "notebook"
version = "6.5.4" version = "6.5.4"
@ -5148,7 +5140,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
[metadata] [metadata]
lock-version = "1.1" lock-version = "1.1"
python-versions = "~3.11" python-versions = "~3.11"
content-hash = "571bb6cff08ad22a78f005a7635909a399a495596ca387d59dfc4d8028f7484c" content-hash = "4d0cc4b21d5c400e874754367d7dcf9ada3b39c94cbafa27984d695daae5ee84"
[metadata.files] [metadata.files]
adal = [ adal = [
@ -6180,6 +6172,14 @@ fastcluster = [
{file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"}, {file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"},
{file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"}, {file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"},
{file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"}, {file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"},
{file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ce70c743490f6778b463524d1767a9ecccd31c8bd2dbb5739bb2174168c15d39"},
{file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac1b84d4b28456a379a71451d13995eb3242143452ce9c861f8913360de842a3"},
{file = "fastcluster-1.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55b49f6033c45a28f93540847b495ed0f718b5c3f4fef446cf77e3726662e1d5"},
{file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1c776a4ec7594f47cd2e1e2da73a30134f1d402d7c93a81e3cb7c3d8e191173"},
{file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aca61d16435bb7aea3901939d7d7d7e36aff9bb538123e649166a3014b280054"},
{file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04ea4a68e0675072ca761bad33322a0e998cb43693fd41165bc420d7db40429a"},
{file = "fastcluster-1.2.6-cp311-cp311-win32.whl", hash = "sha256:773043d5db2790e1ff2a4e1eae0b6a60afb2a93ad2c74897a56c80bc800db04f"},
{file = "fastcluster-1.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:841d128daa6597d13781793eb482b0b566bbd58d2a9d1e2cf1b58838773beb14"},
{file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"}, {file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"},
{file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"}, {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"},
{file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"}, {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"},
@ -7629,11 +7629,6 @@ nodeenv = [
{file = "nodeenv-1.8.0-py2.py3-none-any.whl", hash = "sha256:df865724bb3c3adc86b3876fa209771517b0cfe596beff01a92700e0e8be4cec"}, {file = "nodeenv-1.8.0-py2.py3-none-any.whl", hash = "sha256:df865724bb3c3adc86b3876fa209771517b0cfe596beff01a92700e0e8be4cec"},
{file = "nodeenv-1.8.0.tar.gz", hash = "sha256:d51e0c37e64fbf47d017feac3145cdbb58836d7eee8c6f6d3b6880c5456227d2"}, {file = "nodeenv-1.8.0.tar.gz", hash = "sha256:d51e0c37e64fbf47d017feac3145cdbb58836d7eee8c6f6d3b6880c5456227d2"},
] ]
nose = [
{file = "nose-1.3.7-py2-none-any.whl", hash = "sha256:dadcddc0aefbf99eea214e0f1232b94f2fa9bd98fa8353711dacb112bfcbbb2a"},
{file = "nose-1.3.7-py3-none-any.whl", hash = "sha256:9ff7c6cc443f8c51994b34a667bbcf45afd6d945be7477b52e97516fd17c53ac"},
{file = "nose-1.3.7.tar.gz", hash = "sha256:f1bffef9cbc82628f6e7d7b40d7e255aefaa1adb6a1b1d26c69a8b79e6208a98"},
]
notebook = [ notebook = [
{file = "notebook-6.5.4-py3-none-any.whl", hash = "sha256:dd17e78aefe64c768737b32bf171c1c766666a21cc79a44d37a1700771cab56f"}, {file = "notebook-6.5.4-py3-none-any.whl", hash = "sha256:dd17e78aefe64c768737b32bf171c1c766666a21cc79a44d37a1700771cab56f"},
{file = "notebook-6.5.4.tar.gz", hash = "sha256:517209568bd47261e2def27a140e97d49070602eea0d226a696f42a7f16c9a4e"}, {file = "notebook-6.5.4.tar.gz", hash = "sha256:517209568bd47261e2def27a140e97d49070602eea0d226a696f42a7f16c9a4e"},
@ -7977,6 +7972,7 @@ pillow-avif-plugin = [
{file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a9b8e8943a8b9f860d2b03e0b9c9839bc59db22c5a0a55d66a534a3d4cea00b"}, {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a9b8e8943a8b9f860d2b03e0b9c9839bc59db22c5a0a55d66a534a3d4cea00b"},
{file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:98dbb6b21ab5b7e0d80134721e756c956d4de2c6cb5c48bb32f78f97339425cb"}, {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:98dbb6b21ab5b7e0d80134721e756c956d4de2c6cb5c48bb32f78f97339425cb"},
{file = "pillow_avif_plugin-1.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c4d0b80ff0819de1ba6d401796bc900be252468621b6e734560eee2ea154dbb4"}, {file = "pillow_avif_plugin-1.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c4d0b80ff0819de1ba6d401796bc900be252468621b6e734560eee2ea154dbb4"},
{file = "pillow_avif_plugin-1.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:c4ff1d331df8ca0f0c5c90d3f05b3a05325c40c9f330e0ad58eb70f7ede20157"},
{file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:0a02a436494e380fc99d5ff48be2ef15d42ce655614b9ebd80e106615eb3a594"}, {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:0a02a436494e380fc99d5ff48be2ef15d42ce655614b9ebd80e106615eb3a594"},
{file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_11_0_arm64.whl", hash = "sha256:fe8250efd581e362a135d63bbca62b0c78ef1e474582da4013c3a995bc1f40c2"}, {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_11_0_arm64.whl", hash = "sha256:fe8250efd581e362a135d63bbca62b0c78ef1e474582da4013c3a995bc1f40c2"},
{file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:39e93224a3d0132a64e7d978e48b74f020c65fcb3a141641084d2a4357ed6ceb"}, {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:39e93224a3d0132a64e7d978e48b74f020c65fcb3a141641084d2a4357ed6ceb"},

3
pyproject.toml
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@ -26,13 +26,11 @@ hexdump = "^3.3"
Jinja2 = "^3.1.2" Jinja2 = "^3.1.2"
json-rpc = "^1.13.0" json-rpc = "^1.13.0"
libusb1 = "^3.0.0" libusb1 = "^3.0.0"
nose = "^1.3.7"
numpy = "==1.23.0" # locked pending deprecation fixes in xx numpy = "==1.23.0" # locked pending deprecation fixes in xx
onnx = "^1.14.0" onnx = "^1.14.0"
onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" } onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
pillow = "^9.2.0" pillow = "^9.2.0"
poetry = "==1.2.2" poetry = "==1.2.2"
protobuf = "==3.20.3"
psutil = "^5.9.1" psutil = "^5.9.1"
pycapnp = "^1.3.0" pycapnp = "^1.3.0"
pycryptodome = "^3.15.0" pycryptodome = "^3.15.0"
@ -46,7 +44,6 @@ requests = "^2.28.1"
scons = "^4.5.2" scons = "^4.5.2"
sentry-sdk = "^1.6.0" sentry-sdk = "^1.6.0"
setproctitle = "^1.2.3" setproctitle = "^1.2.3"
six = "^1.16.0"
smbus2 = "^0.4.2" smbus2 = "^0.4.2"
sounddevice = "^0.4.5" sounddevice = "^0.4.5"
spidev = { version = "^3.6", platform = "linux" } spidev = { version = "^3.6", platform = "linux" }

27
selfdrive/athena/athenad.py
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@ -42,6 +42,10 @@ from selfdrive.statsd import STATS_DIR
from system.swaglog import SWAGLOG_DIR, cloudlog from system.swaglog import SWAGLOG_DIR, cloudlog
from system.version import get_commit, get_origin, get_short_branch, get_version from system.version import get_commit, get_origin, get_short_branch, get_version
# missing in pysocket
TCP_USER_TIMEOUT = 18
ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
LOCAL_PORT_WHITELIST = {8022} LOCAL_PORT_WHITELIST = {8022}
@ -141,6 +145,7 @@ def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> No
end_event = threading.Event() end_event = threading.Event()
threads = [ threads = [
threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'), threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'), threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
@ -154,8 +159,7 @@ def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> No
for thread in threads: for thread in threads:
thread.start() thread.start()
try: try:
while not end_event.is_set(): while not end_event.wait(0.1):
time.sleep(0.1)
if exit_event is not None and exit_event.is_set(): if exit_event is not None and exit_event.is_set():
end_event.set() end_event.set()
except (KeyboardInterrupt, SystemExit): except (KeyboardInterrupt, SystemExit):
@ -756,6 +760,25 @@ def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
end_event.set() end_event.set()
def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
params = Params()
onroad_prev = None
sock = ws.sock
while True:
onroad = params.get_bool("IsOnroad")
if onroad != onroad_prev:
onroad_prev = onroad
sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
if end_event.wait(5):
break
def backoff(retries: int) -> int: def backoff(retries: int) -> int:
return random.randrange(0, min(128, int(2 ** retries))) return random.randrange(0, min(128, int(2 ** retries)))

18
selfdrive/athena/tests/test_athenad_ping.py
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@ -37,6 +37,9 @@ class TestAthenadPing(unittest.TestCase):
def _received_ping(self) -> bool: def _received_ping(self) -> bool:
return self._get_ping_time() is not None return self._get_ping_time() is not None
def _set_onroad(self, onroad: bool) -> None:
self.params.put_bool("IsOnroad", onroad)
@classmethod @classmethod
def setUpClass(cls) -> None: def setUpClass(cls) -> None:
cls.params = Params() cls.params = Params()
@ -63,8 +66,7 @@ class TestAthenadPing(unittest.TestCase):
self.exit_event.set() self.exit_event.set()
self.athenad.join() self.athenad.join()
@unittest.skipIf(not TICI, "only run on desk") def assertTimeout(self, reconnect_time: float) -> None:
def test_timeout(self) -> None:
self.athenad.start() self.athenad.start()
time.sleep(1) time.sleep(1)
@ -84,7 +86,7 @@ class TestAthenadPing(unittest.TestCase):
wifi_radio(False) wifi_radio(False)
print("waiting for reconnect attempt") print("waiting for reconnect attempt")
start_time = time.monotonic() start_time = time.monotonic()
with Timeout(180, "no reconnect attempt"): with Timeout(reconnect_time, "no reconnect attempt"):
while not athenad.create_connection.called: while not athenad.create_connection.called:
time.sleep(0.1) time.sleep(0.1)
print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s") print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
@ -97,6 +99,16 @@ class TestAthenadPing(unittest.TestCase):
time.sleep(0.1) time.sleep(0.1)
print("ping received") print("ping received")
@unittest.skipIf(not TICI, "only run on desk")
def test_offroad(self) -> None:
self._set_onroad(False)
self.assertTimeout(100) # expect approx 90s
@unittest.skipIf(not TICI, "only run on desk")
def test_onroad(self) -> None:
self._set_onroad(True)
self.assertTimeout(30) # expect 20-30s
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

8
selfdrive/car/disable_ecu.py
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@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
COM_CONT_RESPONSE = b'' COM_CONT_RESPONSE = b''
def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False): def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
"""Silence an ECU by disabling sending and receiving messages using UDS 0x28. """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
The ECU will stay silent as long as openpilot keeps sending Tester Present. The ECU will stay silent as long as openpilot keeps sending Tester Present.
This is used to disable the radar in some cars. Openpilot will emulate the radar. This is used to disable the radar in some cars. Openpilot will emulate the radar.
WARNING: THIS DISABLES AEB!""" WARNING: THIS DISABLES AEB!"""
cloudlog.warning(f"ecu disable {hex(addr)} ...") cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
for i in range(retry): for i in range(retry):
try: try:
query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
for _, _ in query.get_data(timeout).items(): for _, _ in query.get_data(timeout).items():
cloudlog.warning("communication control disable tx/rx ...") cloudlog.warning("communication control disable tx/rx ...")
query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug) query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
query.get_data(0) query.get_data(0)
cloudlog.warning("ecu disabled") cloudlog.warning("ecu disabled")

7
selfdrive/car/toyota/values.py
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@ -197,7 +197,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
], ],
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"), CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
} }
# (addr, cars, bus, 1/freq*100, vl) # (addr, cars, bus, 1/freq*100, vl)
@ -2129,15 +2129,16 @@ FW_VERSIONS = {
b'F152648811\x00\x00\x00\x00\x00\x00', b'F152648811\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.eps, 0x7a1, None): [ (Ecu.eps, 0x7a1, None): [
b'8965B48271\x00\x00\x00\x00\x00\x00',
b'8965B48261\x00\x00\x00\x00\x00\x00', b'8965B48261\x00\x00\x00\x00\x00\x00',
b'8965B48271\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.fwdRadar, 0x750, 0xf): [ (Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301400\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00',
], ],
(Ecu.fwdCamera, 0x750, 0x6d): [ (Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
], ],
}, },
CAR.PRIUS_TSS2: { CAR.PRIUS_TSS2: {

7
selfdrive/controls/lib/lateral_mpc_lib/SConscript
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@ -57,9 +57,10 @@ source_list = ['lat_mpc.py',
lenv = env.Clone() lenv = env.Clone()
lenv.Clean(generated_files, Dir(gen)) lenv.Clean(generated_files, Dir(gen))
lenv.Command(generated_files, generated_lat = lenv.Command(generated_files,
source_list, source_list,
f"cd {Dir('.').abspath} && python3 lat_mpc.py") f"cd {Dir('.').abspath} && python3 lat_mpc.py")
lenv.Depends(generated_lat, "#common")
lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")

7
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
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@ -64,9 +64,10 @@ source_list = ['long_mpc.py',
lenv = env.Clone() lenv = env.Clone()
lenv.Clean(generated_files, Dir(gen)) lenv.Clean(generated_files, Dir(gen))
lenv.Command(generated_files, generated_long = lenv.Command(generated_files,
source_list, source_list,
f"cd {Dir('.').abspath} && python3 long_mpc.py") f"cd {Dir('.').abspath} && python3 long_mpc.py")
lenv.Depends(generated_long, "#cereal")
lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")

3
selfdrive/modeld/dmonitoringmodeld.cc
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@ -5,6 +5,7 @@
#include <cstdlib> #include <cstdlib>
#include "cereal/visionipc/visionipc_client.h" #include "cereal/visionipc/visionipc_client.h"
#include "common/params.h"
#include "common/swaglog.h" #include "common/swaglog.h"
#include "common/util.h" #include "common/util.h"
#include "selfdrive/modeld/models/dmonitoring.h" #include "selfdrive/modeld/models/dmonitoring.h"
@ -49,6 +50,8 @@ int main(int argc, char **argv) {
DMonitoringModelState model; DMonitoringModelState model;
dmonitoring_init(&model); dmonitoring_init(&model);
Params().putBool("DmModelInitialized", true);
LOGW("connecting to driver stream"); LOGW("connecting to driver stream");
VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true); VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
while (!do_exit && !vipc_client.connect(false)) { while (!do_exit && !vipc_client.connect(false)) {

8
selfdrive/modeld/navmodeld.cc
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@ -5,6 +5,7 @@
#include <cstdlib> #include <cstdlib>
#include "cereal/visionipc/visionipc_client.h" #include "cereal/visionipc/visionipc_client.h"
#include "common/params.h"
#include "common/swaglog.h" #include "common/swaglog.h"
#include "common/util.h" #include "common/util.h"
#include "selfdrive/modeld/models/nav.h" #include "selfdrive/modeld/models/nav.h"
@ -41,6 +42,13 @@ void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
int main(int argc, char **argv) { int main(int argc, char **argv) {
setpriority(PRIO_PROCESS, 0, -15); setpriority(PRIO_PROCESS, 0, -15);
// there exists a race condition when two processes try to create a
// SNPE model runner at the same time, wait for dmonitoringmodeld to finish
LOGW("waiting for dmonitoringmodeld to initialize");
if (!Params().getBool("DmModelInitialized", true)) {
return 0;
}
// init the models // init the models
NavModelState model; NavModelState model;
navmodel_init(&model); navmodel_init(&model);

2
selfdrive/test/process_replay/model_replay.py
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@ -6,6 +6,7 @@ from collections import defaultdict
from typing import Any from typing import Any
import cereal.messaging as messaging import cereal.messaging as messaging
from common.params import Params
from common.spinner import Spinner from common.spinner import Spinner
from system.hardware import PC from system.hardware import PC
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
@ -62,6 +63,7 @@ def nav_model_replay(lr):
try: try:
assert "MAPBOX_TOKEN" in os.environ assert "MAPBOX_TOKEN" in os.environ
os.environ['MAP_RENDER_TEST_MODE'] = '1' os.environ['MAP_RENDER_TEST_MODE'] = '1'
Params().put_bool('DmModelInitialized', True)
managed_processes['mapsd'].start() managed_processes['mapsd'].start()
managed_processes['navmodeld'].start() managed_processes['navmodeld'].start()

12
selfdrive/thermald/thermald.py
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@ -103,6 +103,8 @@ def hw_state_thread(end_event, hw_queue):
modem_version = None modem_version = None
modem_nv = None modem_nv = None
modem_configured = False modem_configured = False
modem_restarted = False
modem_missing_count = 0
while not end_event.is_set(): while not end_event.is_set():
# these are expensive calls. update every 10s # these are expensive calls. update every 10s
@ -120,6 +122,16 @@ def hw_state_thread(end_event, hw_queue):
if (modem_version is not None) and (modem_nv is not None): if (modem_version is not None) and (modem_nv is not None):
cloudlog.event("modem version", version=modem_version, nv=modem_nv) cloudlog.event("modem version", version=modem_version, nv=modem_nv)
else:
if not modem_restarted:
# TODO: we may be able to remove this with a MM update
# ModemManager's probing on startup can fail
# rarely, restart the service to probe again.
modem_missing_count += 1
if modem_missing_count > 3:
modem_restarted = True
cloudlog.event("restarting ModemManager")
os.system("sudo systemctl restart --no-block ModemManager")
tx, rx = HARDWARE.get_modem_data_usage() tx, rx = HARDWARE.get_modem_data_usage()

2
selfdrive/ui/qt/maps/map.h
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@ -49,8 +49,6 @@ private:
void pinchTriggered(QPinchGesture *gesture); void pinchTriggered(QPinchGesture *gesture);
void setError(const QString &err_str); void setError(const QString &err_str);
bool m_sourceAdded = false;
bool loaded_once = false; bool loaded_once = false;
bool allow_open = true; bool allow_open = true;

1
selfdrive/ui/qt/maps/map_settings.cc
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@ -8,7 +8,6 @@
#include "selfdrive/ui/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/widgets/scrollview.h"
MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
close_icon = loadPixmap("../assets/icons/close.svg", {100, 100});
setContentsMargins(0, 0, 0, 0); setContentsMargins(0, 0, 0, 0);
auto *frame = new QVBoxLayout(this); auto *frame = new QVBoxLayout(this);

1
selfdrive/ui/qt/maps/map_settings.h
Unescape View File

@ -62,7 +62,6 @@ private:
DestinationWidget *home_widget; DestinationWidget *home_widget;
DestinationWidget *work_widget; DestinationWidget *work_widget;
std::vector<DestinationWidget *> widgets; std::vector<DestinationWidget *> widgets;
QPixmap close_icon;
signals: signals:
void closeSettings(); void closeSettings();

8
selfdrive/ui/qt/offroad/settings.cc
Unescape View File

@ -234,7 +234,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this); QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
if (!selection.isEmpty()) { if (!selection.isEmpty()) {
// put language setting, exit Qt UI, and trigger fast restart // put language setting, exit Qt UI, and trigger fast restart
Params().put("LanguageSetting", langs[selection].toStdString()); params.put("LanguageSetting", langs[selection].toStdString());
qApp->exit(18); qApp->exit(18);
watchdog_kick(0); watchdog_kick(0);
} }
@ -278,7 +278,7 @@ void DevicePanel::updateCalibDescription() {
QString desc = QString desc =
tr("openpilot requires the device to be mounted within 4° left or right and " tr("openpilot requires the device to be mounted within 4° left or right and "
"within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."); "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
std::string calib_bytes = Params().get("CalibrationParams"); std::string calib_bytes = params.get("CalibrationParams");
if (!calib_bytes.empty()) { if (!calib_bytes.empty()) {
try { try {
AlignedBuffer aligned_buf; AlignedBuffer aligned_buf;
@ -303,7 +303,7 @@ void DevicePanel::reboot() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) { if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
// Check engaged again in case it changed while the dialog was open // Check engaged again in case it changed while the dialog was open
if (!uiState()->engaged()) { if (!uiState()->engaged()) {
Params().putBool("DoReboot", true); params.putBool("DoReboot", true);
} }
} }
} else { } else {
@ -316,7 +316,7 @@ void DevicePanel::poweroff() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) { if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
// Check engaged again in case it changed while the dialog was open // Check engaged again in case it changed while the dialog was open
if (!uiState()->engaged()) { if (!uiState()->engaged()) {
Params().putBool("DoShutdown", true); params.putBool("DoShutdown", true);
} }
} }
} else { } else {

42
system/hardware/tici/hardware.py
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@ -8,7 +8,7 @@ from functools import cached_property, lru_cache
from pathlib import Path from pathlib import Path
from cereal import log from cereal import log
from common.gpio import gpio_set, gpio_init, get_irq_for_action from common.gpio import gpio_set, gpio_init, get_irqs_for_action
from system.hardware.base import HardwareBase, ThermalConfig from system.hardware.base import HardwareBase, ThermalConfig
from system.hardware.tici import iwlist from system.hardware.tici import iwlist
from system.hardware.tici.pins import GPIO from system.hardware.tici.pins import GPIO
@ -61,17 +61,27 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
def sudo_write(val, path): def sudo_write(val, path):
os.system(f"sudo su -c 'echo {val} > {path}'") try:
with open(path, 'w') as f:
f.write(str(val))
except PermissionError:
os.system(f"sudo chmod a+w {path}")
try:
with open(path, 'w') as f:
f.write(str(val))
except PermissionError:
# fallback for debugfs files
os.system(f"sudo su -c 'echo {val} > {path}'")
def affine_irq(val, action): def affine_irq(val, action):
irq = get_irq_for_action(action) irqs = get_irqs_for_action(action)
if len(irq) == 0: if len(irqs) == 0:
print(f"No IRQs found for '{action}'") print(f"No IRQs found for '{action}'")
return return
for i in irq:
sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
for i in irqs:
sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
class Tici(HardwareBase): class Tici(HardwareBase):
@cached_property @cached_property
@ -438,17 +448,17 @@ class Tici(HardwareBase):
# *** IRQ config *** # *** IRQ config ***
# GPU
affine_irq(5, "kgsl-3d0")
# boardd core # boardd core
affine_irq(4, "spi_geni") # SPI affine_irq(4, "spi_geni") # SPI
affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB)
if "tici" in self.get_device_type(): if "tici" in self.get_device_type():
affine_irq(4, "xhci-hcd:usb1") # internal panda USB affine_irq(4, "xhci-hcd:usb1") # internal panda USB (also modem)
# GPU
affine_irq(5, "kgsl-3d0")
# camerad core # camerad core
camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite") camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
for n in camera_irqs: for n in camera_irqs:
affine_irq(5, n) affine_irq(5, n)
@ -472,14 +482,14 @@ class Tici(HardwareBase):
# *** IRQ config *** # *** IRQ config ***
# move these off the default core
affine_irq(1, "msm_drm")
affine_irq(1, "msm_vidc")
affine_irq(1, "i2c_geni")
# mask off big cluster from default affinity # mask off big cluster from default affinity
sudo_write("f", "/proc/irq/default_smp_affinity") sudo_write("f", "/proc/irq/default_smp_affinity")
# move these off the default core
affine_irq(1, "msm_drm") # display
affine_irq(1, "msm_vidc") # encoders
affine_irq(1, "i2c_geni") # sensors
# *** GPU config *** # *** GPU config ***
# https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216 # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")

31
system/hardware/tici/tests/test_hardware.py
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@ -0,0 +1,31 @@
#!/usr/bin/env python3
import time
import unittest
import numpy as np
from system.hardware import TICI
from system.hardware.tici.hardware import Tici
HARDWARE = Tici()
class TestHardware(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def test_power_save_time(self):
ts = []
for _ in range(5):
for on in (True, False):
st = time.monotonic()
HARDWARE.set_power_save(on)
ts.append(time.monotonic() - st)
assert 0.1 < np.mean(ts) < 0.2
assert max(ts) < 0.3
if __name__ == "__main__":
unittest.main()

36
system/loggerd/loggerd.cc
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@ -173,6 +173,9 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
} }
void handle_user_flag(LoggerdState *s) { void handle_user_flag(LoggerdState *s) {
static int prev_segment = -1;
if (s->rotate_segment == prev_segment) return;
LOGW("preserving %s", s->segment_path); LOGW("preserving %s", s->segment_path);
#ifdef __APPLE__ #ifdef __APPLE__
@ -183,16 +186,17 @@ void handle_user_flag(LoggerdState *s) {
if (ret) { if (ret) {
LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno)); LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno));
} }
prev_segment = s->rotate_segment.load();
} }
void loggerd_thread() { void loggerd_thread() {
// setup messaging // setup messaging
typedef struct QlogState { typedef struct ServiceState {
std::string name; std::string name;
int counter, freq; int counter, freq;
bool encoder; bool encoder, user_flag;
} QlogState; } ServiceState;
std::unordered_map<SubSocket*, QlogState> qlog_states; std::unordered_map<SubSocket*, ServiceState> service_state;
std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders; std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
std::unique_ptr<Context> ctx(Context::create()); std::unique_ptr<Context> ctx(Context::create());
@ -207,11 +211,12 @@ void loggerd_thread() {
SubSocket * sock = SubSocket::create(ctx.get(), it.name); SubSocket * sock = SubSocket::create(ctx.get(), it.name);
assert(sock != NULL); assert(sock != NULL);
poller->registerSocket(sock); poller->registerSocket(sock);
qlog_states[sock] = { service_state[sock] = {
.name = it.name, .name = it.name,
.counter = 0, .counter = 0,
.freq = it.decimation, .freq = it.decimation,
.encoder = encoder, .encoder = encoder,
.user_flag = (strcmp(it.name, "userFlag") == 0),
}; };
} }
@ -236,20 +241,19 @@ void loggerd_thread() {
for (auto sock : poller->poll(1000)) { for (auto sock : poller->poll(1000)) {
if (do_exit) break; if (do_exit) break;
ServiceState &service = service_state[sock];
if (service.user_flag) {
handle_user_flag(&s);
}
// drain socket // drain socket
int count = 0; int count = 0;
QlogState &qs = qlog_states[sock];
Message *msg = nullptr; Message *msg = nullptr;
while (!do_exit && (msg = sock->receive(true))) { while (!do_exit && (msg = sock->receive(true))) {
const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0); const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
if (service.encoder) {
if (qs.name == "userFlag") {
handle_user_flag(&s);
}
if (qs.encoder) {
s.last_camera_seen_tms = millis_since_boot(); s.last_camera_seen_tms = millis_since_boot();
bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock], encoder_infos_dict[qs.name]); bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
} else { } else {
logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
bytes_count += msg->getSize(); bytes_count += msg->getSize();
@ -265,7 +269,7 @@ void loggerd_thread() {
count++; count++;
if (count >= 200) { if (count >= 200) {
LOGD("large volume of '%s' messages", qs.name.c_str()); LOGD("large volume of '%s' messages", service.name.c_str());
break; break;
} }
} }
@ -282,7 +286,7 @@ void loggerd_thread() {
} }
// messaging cleanup // messaging cleanup
for (auto &[sock, qs] : qlog_states) delete sock; for (auto &[sock, service] : service_state) delete sock;
} }
int main(int argc, char** argv) { int main(int argc, char** argv) {

51
system/sensord/rawgps/rawgpsd.py
Unescape View File

@ -149,20 +149,26 @@ def downloader_loop(event):
time.sleep(10) time.sleep(10)
def inject_assistance(): def inject_assistance():
try: for _ in range(5):
cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" try:
subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
cloudlog.info("successfully loaded assistance data") subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
except subprocess.CalledProcessError as e: cloudlog.info("successfully loaded assistance data")
cloudlog.event( return
"rawgps.assistance_loading_failed", except subprocess.CalledProcessError as e:
error=True, cloudlog.event(
cmd=e.cmd, "rawgps.assistance_loading_failed",
output=e.output, error=True,
returncode=e.returncode cmd=e.cmd,
) output=e.output,
returncode=e.returncode
def setup_quectel(diag: ModemDiag): )
time.sleep(0.2)
cloudlog.error("failed to load assistance after retry")
def setup_quectel(diag: ModemDiag) -> bool:
ret = False
# enable OEMDRE in the NV # enable OEMDRE in the NV
# TODO: it has to reboot for this to take effect # TODO: it has to reboot for this to take effect
DIAG_NV_READ_F = 38 DIAG_NV_READ_F = 38
@ -186,7 +192,9 @@ def setup_quectel(diag: ModemDiag):
at_cmd("AT+QGPSXTRA=1") at_cmd("AT+QGPSXTRA=1")
at_cmd("AT+QGPSSUPLURL=\"NULL\"") at_cmd("AT+QGPSSUPLURL=\"NULL\"")
if os.path.exists(ASSIST_DATA_FILE): if os.path.exists(ASSIST_DATA_FILE):
ret = True
inject_assistance() inject_assistance()
os.remove(ASSIST_DATA_FILE)
#at_cmd("AT+QGPSXTRADATA?") #at_cmd("AT+QGPSXTRADATA?")
time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@ -213,6 +221,8 @@ def setup_quectel(diag: ModemDiag):
0,0 0,0
)) ))
return ret
def teardown_quectel(diag): def teardown_quectel(diag):
at_cmd("AT+QGPSCFG=\"outport\",\"none\"") at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
if gps_enabled(): if gps_enabled():
@ -260,8 +270,8 @@ def main() -> NoReturn:
# connect to modem # connect to modem
diag = ModemDiag() diag = ModemDiag()
setup_quectel(diag) r = setup_quectel(diag)
want_assistance = True want_assistance = not r
current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow()))
cloudlog.warning("quectel setup done") cloudlog.warning("quectel setup done")
gpio_init(GPIO.UBLOX_PWR_EN, True) gpio_init(GPIO.UBLOX_PWR_EN, True)
@ -270,12 +280,9 @@ def main() -> NoReturn:
pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
while 1: while 1:
if os.path.exists(ASSIST_DATA_FILE): if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
if want_assistance: setup_quectel(diag)
setup_quectel(diag) want_assistance = False
want_assistance = False
else:
os.remove(ASSIST_DATA_FILE)
opcode, payload = diag.recv() opcode, payload = diag.recv()
if opcode != DIAG_LOG_F: if opcode != DIAG_LOG_F:

53
system/sensord/rawgps/test_rawgps.py
Unescape View File

@ -19,12 +19,12 @@ GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
class TestRawgpsd(unittest.TestCase): class TestRawgpsd(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
os.system("sudo systemctl restart systemd-resolved")
os.system("sudo systemctl restart ModemManager lte")
wait_for_modem()
if not TICI: if not TICI:
raise unittest.SkipTest raise unittest.SkipTest
cls.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
os.system("sudo systemctl start systemd-resolved")
os.system("sudo systemctl restart ModemManager lte")
wait_for_modem()
@classmethod @classmethod
def tearDownClass(cls): def tearDownClass(cls):
@ -34,40 +34,44 @@ class TestRawgpsd(unittest.TestCase):
def setUp(self): def setUp(self):
at_cmd("AT+QGPSDEL=0") at_cmd("AT+QGPSDEL=0")
self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
def tearDown(self): def tearDown(self):
managed_processes['rawgpsd'].stop() managed_processes['rawgpsd'].stop()
os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart systemd-resolved")
def _wait_for_output(self, t=10): def _wait_for_output(self, t):
time.sleep(t) dt = 0.1
self.sm.update() for _ in range(t*int(1/dt)):
self.sm.update(0)
if self.sm.updated['qcomGnss']:
break
time.sleep(dt)
return self.sm.updated['qcomGnss']
def test_no_crash_double_command(self): def test_no_crash_double_command(self):
at_cmd("AT+QGPSDEL=0") at_cmd("AT+QGPSDEL=0")
at_cmd("AT+QGPSDEL=0") at_cmd("AT+QGPSDEL=0")
def test_wait_for_modem(self): def test_wait_for_modem(self):
os.system("sudo systemctl stop ModemManager lte") os.system("sudo systemctl stop ModemManager")
managed_processes['rawgpsd'].start() managed_processes['rawgpsd'].start()
self._wait_for_output(10) assert not self._wait_for_output(5)
assert not self.sm.updated['qcomGnss']
os.system("sudo systemctl restart ModemManager lte") os.system("sudo systemctl restart ModemManager")
self._wait_for_output(30) assert self._wait_for_output(30)
assert self.sm.updated['qcomGnss']
def test_startup_time(self): def test_startup_time(self):
for i in range(2): for internet in (True, False):
if i == 1: if not internet:
os.system("sudo systemctl stop systemd-resolved") os.system("sudo systemctl stop systemd-resolved")
managed_processes['rawgpsd'].start() with self.subTest(internet=internet):
self._wait_for_output(10) managed_processes['rawgpsd'].start()
assert self.sm.updated['qcomGnss'] assert self._wait_for_output(7)
managed_processes['rawgpsd'].stop() managed_processes['rawgpsd'].stop()
def test_turns_off_gnss(self): def test_turns_off_gnss(self):
for s in (0.1, 0.5, 1, 5): for s in (0.1, 1, 5):
managed_processes['rawgpsd'].start() managed_processes['rawgpsd'].start()
time.sleep(s) time.sleep(s)
managed_processes['rawgpsd'].stop() managed_processes['rawgpsd'].stop()
@ -95,8 +99,7 @@ class TestRawgpsd(unittest.TestCase):
def test_assistance_loading(self): def test_assistance_loading(self):
managed_processes['rawgpsd'].start() managed_processes['rawgpsd'].start()
self._wait_for_output(10) assert self._wait_for_output(10)
assert self.sm.updated['qcomGnss']
managed_processes['rawgpsd'].stop() managed_processes['rawgpsd'].stop()
self.check_assistance(True) self.check_assistance(True)
@ -104,8 +107,7 @@ class TestRawgpsd(unittest.TestCase):
os.system("sudo systemctl stop systemd-resolved") os.system("sudo systemctl stop systemd-resolved")
managed_processes['rawgpsd'].start() managed_processes['rawgpsd'].start()
self._wait_for_output(10) assert self._wait_for_output(10)
assert self.sm.updated['qcomGnss']
managed_processes['rawgpsd'].stop() managed_processes['rawgpsd'].stop()
self.check_assistance(False) self.check_assistance(False)
@ -115,8 +117,9 @@ class TestRawgpsd(unittest.TestCase):
managed_processes['rawgpsd'].start() managed_processes['rawgpsd'].start()
self._wait_for_output(17) self._wait_for_output(17)
assert self.sm.updated['qcomGnss'] assert self.sm.updated['qcomGnss']
os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart systemd-resolved")
self._wait_for_output(15) time.sleep(15)
managed_processes['rawgpsd'].stop() managed_processes['rawgpsd'].stop()
self.check_assistance(True) self.check_assistance(True)

4
system/sensord/tests/test_sensord.py
Unescape View File

@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import log from cereal import log
from common.gpio import get_irq_for_action from common.gpio import get_irqs_for_action
from system.hardware import TICI from system.hardware import TICI
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
@ -113,7 +113,7 @@ class TestSensord(unittest.TestCase):
cls.events = read_sensor_events(cls.sample_secs) cls.events = read_sensor_events(cls.sample_secs)
# determine sensord's irq # determine sensord's irq
cls.sensord_irq = get_irq_for_action("sensord")[0] cls.sensord_irq = get_irqs_for_action("sensord")[0]
finally: finally:
# teardown won't run if this doesn't succeed # teardown won't run if this doesn't succeed
managed_processes["sensord"].stop() managed_processes["sensord"].stop()

9
tools/cabana/SConscript
Unescape View File

@ -29,7 +29,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
prev_moc_path = cabana_env['QT_MOCHPREFIX'] prev_moc_path = cabana_env['QT_MOCHPREFIX']
cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
@ -38,6 +38,7 @@ cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs
if GetOption('test'): if GetOption('test'):
cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
def generate_dbc_json(target, source, env): generate_dbc = cabana_env.Command('generate_dbc_json',
env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json') [],
cabana_env.Command('generate_dbc_json', [], generate_dbc_json) "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json")
cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])

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