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Merge remote-tracking branch 'upstream/master' into fuzzy-panda-carstate

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pull/30443/head
Shane Smiskol 1 year ago
parent 6d0238f67f d9a8846d58
commit e8353802d9
19 changed files with 107 additions and 63 deletions
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  1. 2
      .github/workflows/badges.yaml
  2. 2
      .github/workflows/docs.yaml
  3. 8
      .github/workflows/selfdrive_tests.yaml
  4. 4
      .github/workflows/tools_tests.yaml
  5. 4
      Dockerfile.openpilot_base
  6. 38
      Jenkinsfile
  7. 2
      docs/CARS.md
  8. 1
      pyproject.toml
  9. 11
      selfdrive/athena/tests/test_athenad.py
  10. 3
      selfdrive/car/hyundai/values.py
  11. 31
      selfdrive/navd/tests/test_map_renderer.py
  12. 4
      selfdrive/test/setup_device_ci.sh
  13. 15
      selfdrive/test/setup_xvfb.sh
  14. 18
      selfdrive/test/test_onroad.py
  15. 2
      system/loggerd/uploader.py
  16. 6
      tools/sim/bridge/metadrive/metadrive_bridge.py
  17. 9
      tools/sim/bridge/metadrive/metadrive_process.py
  18. 6
      tools/sim/bridge/metadrive/metadrive_world.py
  19. 4
      tools/sim/lib/simulated_car.py

2
.github/workflows/badges.yaml
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@ -7,7 +7,7 @@ on:
env:
BASE_IMAGE: openpilot-base
DOCKER_REGISTRY: ghcr.io/commaai
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
jobs:
badges:

2
.github/workflows/docs.yaml
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@ -15,7 +15,7 @@ env:
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
jobs:
docs:

8
.github/workflows/selfdrive_tests.yaml
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@ -20,11 +20,11 @@ env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
BUILD_CL: selfdrive/test/docker_build.sh cl
RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
@ -175,7 +175,9 @@ jobs:
- name: Run unit tests
timeout-minutes: 15
run: |
${{ env.RUN }} "$PYTEST --timeout 30 -m 'not slow' && \
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
$PYTEST --timeout 30 -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py && \

4
.github/workflows/tools_tests.yaml
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@ -17,11 +17,11 @@ env:
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
BUILD_CL: selfdrive/test/docker_build.sh cl
RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
jobs:

4
Dockerfile.openpilot_base
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@ -40,7 +40,9 @@ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
RUN cd /tmp && \
tools/install_python_dependencies.sh && \
rm -rf /tmp/* && \
rm -rf /home/$USER/.cache
rm -rf /home/$USER/.cache && \
find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
USER root
RUN sudo git config --global --add safe.directory /tmp/openpilot

38
Jenkinsfile vendored
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@ -67,13 +67,14 @@ END"""
}
}
def deviceStage(String stageName, String deviceType, List env, def steps) {
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
stage(stageName) {
if (currentBuild.result != null) {
return
}
def extra = env.collect { "export ${it}" }.join('\n');
def extra = extra_env.collect { "export ${it}" }.join('\n');
def branch = env.BRANCH_NAME ?: 'master';
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
@ -82,6 +83,10 @@ def deviceStage(String stageName, String deviceType, List env, def steps) {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
}
steps.each { item ->
if (branch != "master" && item.size() == 3 && !hasDirectoryChanged(item[2])) {
println "Skipped '${item[0]}', no relevant changes were detected."
return;
}
device(device_ip, item[0], item[1])
}
}
@ -104,7 +109,7 @@ def pcStage(String stageName, Closure body) {
def openpilot_base = retryWithDelay (3, 15) {
return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
}
openpilot_base.inside(dockerArgs) {
timeout(time: 20, unit: 'MINUTES') {
try {
@ -134,6 +139,21 @@ def setupCredentials() {
}
}
def hasDirectoryChanged(List<String> paths) {
for (change in currentBuild.changeSets) {
for (item in change.items) {
for (affectedPath in item.affectedPaths) {
for (path in paths) {
if (affectedPath.startsWith(path)) {
return true
}
}
}
}
}
return false
}
node {
env.CI = "1"
env.PYTHONWARNINGS = "error"
@ -171,8 +191,9 @@ node {
parallel (
// tici tests
'onroad tests': {
deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
@ -182,12 +203,11 @@ node {
'HW + Unit Tests': {
deviceStage("tici", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
["test nav", "pytest selfdrive/navd/tests/"],
])
},
'loopback': {
@ -228,10 +248,10 @@ node {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", ["system/qcomgpsd/"]],
])
},

2
docs/CARS.md
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@ -97,7 +97,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<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-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|

1
pyproject.toml
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@ -17,6 +17,7 @@ testpaths = [
"selfdrive/controls",
"selfdrive/locationd",
"selfdrive/monitoring",
"selfdrive/navd/tests",
"selfdrive/thermald",
"selfdrive/test/longitudinal_maneuvers",
"system/hardware/tici",

11
selfdrive/athena/tests/test_athenad.py
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@ -13,7 +13,6 @@ from datetime import datetime, timedelta
from parameterized import parameterized
from typing import Optional
from pympler.tracker import SummaryTracker
from unittest import mock
from websocket import ABNF
from websocket._exceptions import WebSocketConnectionClosedException
@ -144,11 +143,6 @@ class TestAthenadMethods(unittest.TestCase):
# random bytes to ensure rather large object post-compression
fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
# warm up object tracker
tracker = SummaryTracker()
for _ in range(5):
tracker.diff()
upload_fn = fn + ('.bz2' if compress else '')
item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
with self.assertRaises(requests.exceptions.ConnectionError):
@ -158,11 +152,6 @@ class TestAthenadMethods(unittest.TestCase):
resp = athenad._do_upload(item)
self.assertEqual(resp.status_code, 201)
# assert memory cleaned up
for _type, num_objects, total_size in tracker.diff():
with self.subTest(_type=_type):
self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file')
@with_http_server
def test_uploadFileToUrl(self, host):
fn = self._create_file('qlog.bz2')

3
selfdrive/car/hyundai/values.py
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@ -191,8 +191,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
# TODO: this is the 2024 US MY, not yet released
CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])),

31
selfdrive/navd/tests/test_map_renderer.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python3
import time
import numpy as np
import os
import pytest
@ -10,7 +11,7 @@ import cereal.messaging as messaging
from typing import Any
from cereal.visionipc import VisionIpcClient, VisionStreamType
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.test.helpers import with_processes
LLK_DECIMATION = 10
CACHE_PATH = "/data/mbgl-cache-navd.db"
@ -18,7 +19,8 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
LOCATION1 = (32.7174, -117.16277)
LOCATION2 = (32.7558, -117.2037)
DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
RENDER_FRAMES = 15
DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
@ -60,7 +62,8 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
class MapBoxInternetDisabledServer(threading.Thread):
def run(self):
self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
self.port = self.server.server_port
self.server.serve_forever()
def stop(self):
@ -74,13 +77,15 @@ class MapBoxInternetDisabledServer(threading.Thread):
class TestMapRenderer(unittest.TestCase):
server = MapBoxInternetDisabledServer()
server: MapBoxInternetDisabledServer
@classmethod
def setUpClass(cls):
assert "MAPBOX_TOKEN" in os.environ
cls.original_token = os.environ["MAPBOX_TOKEN"]
cls.server = MapBoxInternetDisabledServer()
cls.server.start()
time.sleep(0.5) # wait for server to startup
@classmethod
def tearDownClass(cls) -> None:
@ -88,7 +93,7 @@ class TestMapRenderer(unittest.TestCase):
def setUp(self):
self.server.enable_internet()
os.environ['MAPS_HOST'] = 'http://localhost:5000'
os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
self.sm = messaging.SubMaster(['mapRenderState'])
self.pm = messaging.PubMaster(['liveLocationKalman'])
@ -97,15 +102,11 @@ class TestMapRenderer(unittest.TestCase):
if os.path.exists(CACHE_PATH):
os.remove(CACHE_PATH)
def tearDown(self):
managed_processes['mapsd'].stop()
def _setup_test(self):
# start + sync up
managed_processes['mapsd'].start()
assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
time.sleep(0.5)
assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
assert self.vipc.connect(False)
self.vipc.recv()
@ -164,17 +165,22 @@ class TestMapRenderer(unittest.TestCase):
assert self.vipc.timestamp_sof == llk.logMonoTime
assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
assert frames_since_test_start >= RENDER_FRAMES
return render_times
@with_processes(["mapsd"])
def test_with_internet(self):
self._setup_test()
self._run_test(True)
@with_processes(["mapsd"])
def test_with_no_internet(self):
self.server.disable_internet()
self._setup_test()
self._run_test(False)
@with_processes(["mapsd"])
def test_recover_from_no_internet(self):
self._setup_test()
self._run_test(True)
@ -187,8 +193,7 @@ class TestMapRenderer(unittest.TestCase):
self.server.enable_internet()
self._run_test(True, LOCATION2_REPEATED)
self._run_test(True, LOCATION2_REPEATED)
@with_processes(["mapsd"])
@pytest.mark.tici
def test_render_time_distribution(self):
self._setup_test()

4
selfdrive/test/setup_device_ci.sh
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@ -79,9 +79,7 @@ safe_checkout() {
echo "git checkout done, t=$SECONDS"
du -hs $SOURCE_DIR $SOURCE_DIR/.git
if [ -z "SKIP_COPY" ]; then
rsync -a --delete $SOURCE_DIR $TEST_DIR
fi
rsync -a --delete $SOURCE_DIR $TEST_DIR
}
unsafe_checkout() {

15
selfdrive/test/setup_xvfb.sh
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@ -0,0 +1,15 @@
#!/bin/bash
# Sets up a virtual display for running map renderer and simulator without an X11 display
DISP_ID=99
export DISPLAY=:$DISP_ID
sudo Xvfb $DISPLAY -screen 0 2160x1080x24 &
# check for x11 socket for the specified display ID
while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
do
echo "Waiting for Xvfb..."
sleep 1
done

18
selfdrive/test/test_onroad.py
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@ -168,6 +168,15 @@ class TestOnroad(unittest.TestCase):
cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
cls.log_path = cls.segments[1]
cls.log_sizes = {}
for f in cls.log_path.iterdir():
assert f.is_file()
cls.log_sizes[f] = f.stat().st_size / 1e6
if f.name in ("qlog", "rlog"):
with open(f, 'rb') as ff:
cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6
@cached_property
def service_msgs(self):
msgs = defaultdict(list)
@ -198,14 +207,7 @@ class TestOnroad(unittest.TestCase):
self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
def test_log_sizes(self):
for f in self.log_path.iterdir():
assert f.is_file()
sz = f.stat().st_size / 1e6
if f.name in ("qlog", "rlog"):
with open(f, 'rb') as ff:
sz = len(bz2.compress(ff.read())) / 1e6
for f, sz in self.log_sizes.items():
if f.name == "qcamera.ts":
assert 2.15 < sz < 2.35
elif f.name == "qlog":

2
system/loggerd/uploader.py
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@ -25,7 +25,7 @@ NetworkType = log.DeviceState.NetworkType
UPLOAD_ATTR_NAME = 'user.upload'
UPLOAD_ATTR_VALUE = b'1'
UPLOAD_QLOG_QCAM_MAX_SIZE = 100 * 1e6 # MB
UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB
allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
force_wifi = os.getenv("FORCEWIFI") is not None

6
tools/sim/bridge/metadrive/metadrive_bridge.py
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@ -36,7 +36,8 @@ class RGBCameraWide(CopyRamRGBCamera):
cam = self.get_cam()
cam.setPos(C3_POSITION)
lens = self.get_lens()
lens.setFov(160)
lens.setFov(120)
lens.setNear(0.1)
class RGBCameraRoad(CopyRamRGBCamera):
def __init__(self, *args, **kwargs):
@ -45,6 +46,7 @@ class RGBCameraRoad(CopyRamRGBCamera):
cam.setPos(C3_POSITION)
lens = self.get_lens()
lens.setFov(40)
lens.setNear(0.1)
def straight_block(length):
@ -116,4 +118,4 @@ class MetaDriveBridge(SimulatorBridge):
preload_models=False
)
return MetaDriveWorld(config)
return MetaDriveWorld(config, self.dual_camera)

9
tools/sim/bridge/metadrive/metadrive_process.py
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@ -39,10 +39,13 @@ def apply_metadrive_patches():
MetaDriveEnv._is_arrive_destination = arrive_destination_patch
def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event):
def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, controls_recv: Connection, state_send: Connection, exit_event):
apply_metadrive_patches()
road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
if dual_camera:
assert wide_camera_array is not None
wide_road_image = np.frombuffer(wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
env = MetaDriveEnv(config)
@ -92,8 +95,8 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re
if terminated:
reset()
#if dual_camera:
# wide_road_image = get_cam_as_rgb("rgb_wide")
if dual_camera:
wide_road_image[...] = get_cam_as_rgb("rgb_wide")
road_image[...] = get_cam_as_rgb("rgb_road")
rk.keep_time()

6
tools/sim/bridge/metadrive/metadrive_world.py
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@ -15,6 +15,10 @@ class MetaDriveWorld(World):
super().__init__(dual_camera)
self.camera_array = Array(ctypes.c_uint8, W*H*3)
self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
self.wide_camera_array = None
if dual_camera:
self.wide_camera_array = Array(ctypes.c_uint8, W*H*3)
self.wide_road_image = np.frombuffer(self.wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
self.controls_send, self.controls_recv = Pipe()
self.state_send, self.state_recv = Pipe()
@ -23,7 +27,7 @@ class MetaDriveWorld(World):
self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
functools.partial(metadrive_process, dual_camera, config,
self.camera_array, self.controls_recv, self.state_send, self.exit_event))
self.camera_array, self.wide_camera_array, self.controls_recv, self.state_send, self.exit_event))
self.metadrive_process.start()
print("----------------------------------------------------------")

4
tools/sim/lib/simulated_car.py
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@ -5,6 +5,7 @@ from opendbc.can.parser import CANParser
from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
from openpilot.selfdrive.car import crc8_pedal
from openpilot.tools.sim.lib.common import SimulatorState
from panda.python import Panda
class SimulatedCar:
@ -106,7 +107,8 @@ class SimulatedCar:
'pandaType': "blackPanda",
'controlsAllowed': True,
'safetyModel': 'hondaNidec',
'alternativeExperience': self.sm["carParams"].alternativeExperience
'alternativeExperience': self.sm["carParams"].alternativeExperience,
'safetyParam': Panda.FLAG_HONDA_GAS_INTERCEPTOR
}
self.pm.send('pandaStates', dat)

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