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2024-04-27 13:01:58 -05:00
parent 38ae44ed4e
commit fe5f722eda
29 changed files with 8901 additions and 28 deletions
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---
Checks: '
bugprone-*,
-bugprone-integer-division,
-bugprone-narrowing-conversions,
performance-*,
clang-analyzer-*,
misc-*,
-misc-unused-parameters,
modernize-*,
-modernize-avoid-c-arrays,
-modernize-deprecated-headers,
-modernize-use-auto,
-modernize-use-using,
-modernize-use-nullptr,
-modernize-use-trailing-return-type,
'
CheckOptions:
...

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.Xauthority
.env
.host/

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FROM ghcr.io/commaai/openpilot-base:latest
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
RUN pip install ipython jupyter jupyterlab
RUN cd /tmp && \
ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
dpkg -i virtualgl.deb
USER batman
RUN cd $HOME && \
curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

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#!/usr/bin/env bash
TARGET_USER=batman
source .devcontainer/.host/.env
# override display flag for mac hosts
if [[ $HOST_OS == darwin ]]; then
echo "Setting up DISPLAY override for macOS..."
cat <<EOF >> /home/$TARGET_USER/.bashrc
source .devcontainer/.host/.env
if [ -n "\$HOST_DISPLAY" ]; then
DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
export DISPLAY=host.docker.internal:\$DISPLAY_NUM
fi
EOF
fi
# setup virtualgl for mac hosts
if [[ $HOST_OS == darwin ]]; then
echo "Setting up virtualgl for macOS..."
cat <<EOF >> /home/$TARGET_USER/.bashrc
if [ -n "\$HOST_DISPLAY" ]; then
export VGL_PORT=10000
export VGL_CLIENT=host.docker.internal
export VGL_COMPRESS=rgb
export VGL_DISPLAY=:99
export VGL_FPS=60
# prevent vglrun from running exec
alias exec=:; source vglrun :; unalias exec
fi
EOF
fi
# These lines are temporary, to remain backwards compatible with old devcontainers
# that were running as root and therefore had their caches written as root
sudo chown -R $TARGET_USER: /tmp/scons_cache
sudo chown -R $TARGET_USER: /tmp/comma_download_cache
sudo chown -R $TARGET_USER: /home/batman/.comma

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#!/usr/bin/env bash
source .devcontainer/.host/.env
# setup safe directories for submodules
SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
for DIR in $SUBMODULE_DIRS; do
git config --global --add safe.directory "$PWD/$DIR"
done
# virtual display for virtualgl
if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
echo "Starting virtual display at :99 ..."
tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
fi

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{
"name": "openpilot devcontainer",
"build": {
"dockerfile": "Dockerfile"
},
"postCreateCommand": ".devcontainer/container_post_create.sh",
"postStartCommand": ".devcontainer/container_post_start.sh",
"initializeCommand": [".devcontainer/host_setup"],
"privileged": true,
"containerEnv": {
"DISPLAY": "${localEnv:DISPLAY}",
"PYTHONPATH": "${containerWorkspaceFolder}",
"TERM": "xterm-256color",
"force_color_prompt": "1"
},
"runArgs": [
"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
"--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
"--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
"--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
"--shm-size=1G",
"--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
"--publish=0.0.0.0:8070-8079:8070-8079" // body ZMQ services
],
"features": {
"ghcr.io/devcontainers/features/common-utils:2": {
"installZsh": false,
"installOhMyZsh": false,
"upgradePackages": false,
"username": "batman"
},
"ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
"ghcr.io/devcontainers/features/azure-cli:1": {}
},
"containerUser": "batman",
"remoteUser": "batman",
"customizations": {
"vscode": {
"extensions": [
"ms-python.python",
"ms-vscode.cpptools",
"ms-toolsai.jupyter",
"guyskk.language-cython",
"lharri73.dbc"
]
}
},
"mounts": [
"type=volume,source=scons_cache,target=/tmp/scons_cache"
]
}

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#!/usr/bin/env bash
# pull base image
if [[ -z $USE_LOCAL_IMAGE ]]; then
echo "Updating openpilot_base image if needed..."
docker pull ghcr.io/commaai/openpilot-base:latest
fi
# setup .host dir
mkdir -p .devcontainer/.host
# setup links to Xauthority
XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
rm -f $XAUTHORITY_LINK
if [[ -z $XAUTHORITY ]]; then
echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
if ! [[ -f $HOME/.Xauthority ]]; then
echo "~/.XAuthority file does not exist. GUI tools may not work properly."
touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
else
ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
fi
else
ln -sf $XAUTHORITY $XAUTHORITY_LINK
fi
# setup host env file
HOST_INFO_FILE=".devcontainer/.host/.env"
SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
# run virtualgl if macos
if [[ $SYSTEM == "darwin" ]]; then
echo
if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
echo "Starting VirtualGL client at port 10000..."
VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
mkdir -p "$(dirname $VGL_LOG_FILE)"
/opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
else
echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
echo
echo " brew install --cask virtualgl"
echo
fi
fi

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:: pull base image
IF NOT DEFINED USE_LOCAL_IMAGE ^
echo "Updating openpilot_base image if needed..." && ^
docker pull ghcr.io/commaai/openpilot-base:latest
:: setup .host dir
mkdir .devcontainer\.host
:: setup host env file
echo "" > .devcontainer\.host\.env

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**/.git
.DS_Store
*.dylib
*.DSYM
*.d
*.pyc
*.pyo
.*.swp
.*.swo
.*.un~
*.tmp
*.o
*.o-*
*.os
*.os-*
*.so
*.a
venv/
.venv/
notebooks
phone
massivemap
neos
installer
chffr/app2
chffr/backend/env
selfdrive/nav
selfdrive/baseui
selfdrive/test/simulator2
**/cache_data
xx/plus
xx/community
xx/projects
!xx/projects/eon_testing_master
!xx/projects/map3d
xx/ops
xx/junk

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root = true
[*]
end_of_line = lf
insert_final_newline = true
trim_trailing_whitespace = true
[{*.py, *.pyx, *.pxd}]
charset = utf-8
indent_style = space
indent_size = 2

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@@ -10,7 +10,6 @@ venv/
.overlay_init .overlay_init
.overlay_consistent .overlay_consistent
.sconsign.dblite .sconsign.dblite
.vscode*
model2.png model2.png
a.out a.out
.hypothesis .hypothesis

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exclude: '^(tinygrad_repo)'
repos:
- repo: meta
hooks:
- id: check-hooks-apply
- id: check-useless-excludes
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.5.0
hooks:
- id: check-ast
exclude: '^(third_party)/'
- id: check-json
exclude: '.devcontainer/devcontainer.json|.vscode/' # these support JSON with comments
- id: check-toml
- id: check-xml
- id: check-yaml
- id: check-merge-conflict
- id: check-symlinks
- id: check-executables-have-shebangs
- id: check-shebang-scripts-are-executable
- id: check-added-large-files
exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
args:
- --maxkb=120
- --enforce-all
- repo: https://github.com/codespell-project/codespell
rev: v2.2.6
hooks:
- id: codespell
exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
args:
# if you've got a short variable name that's getting flagged, add it here
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.3.2
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
- repo: local
hooks:
- id: mypy
name: mypy
entry: mypy
language: system
types: [python]
args:
- --local-partial-types
- --explicit-package-bases
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
- repo: local
hooks:
- id: cppcheck
name: cppcheck
entry: cppcheck
language: system
types: [c++]
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
args:
- --error-exitcode=1
- --language=c++
- --quiet
- --force
- -j8
- repo: https://github.com/cpplint/cpplint
rev: 1.6.1
hooks:
- id: cpplint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
args:
- --quiet
- --counting=total
- --linelength=240
# https://google.github.io/styleguide/cppguide.html
# relevant rules are whitelisted, see all options with: cpplint --filter=
- --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
- repo: https://github.com/MarcoGorelli/cython-lint
rev: v0.16.0
hooks:
- id: cython-lint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
args:
- --max-line-length=240
- --ignore=E111, E302, E305
- repo: local
hooks:
- id: test_translations
name: test translations
entry: selfdrive/ui/tests/test_translations.py
language: script
pass_filenames: false
files: 'selfdrive/ui/translations/*'
- repo: https://github.com/python-poetry/poetry
rev: '1.8.0'
hooks:
- id: poetry-check
name: validate poetry lock
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.28.0
hooks:
- id: check-github-workflows

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3.11.4

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{
"files.exclude": {
"selfdrive/": true,
"tools/": true
},
"search.exclude": {
"selfdrive/": true,
"tools/": true
}
}

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FROM ghcr.io/commaai/openpilot-base:latest
ENV PYTHONUNBUFFERED 1
ENV OPENPILOT_PATH /home/batman/openpilot
ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
RUN mkdir -p ${OPENPILOT_PATH}
WORKDIR ${OPENPILOT_PATH}
COPY SConstruct ${OPENPILOT_PATH}
COPY ./openpilot ${OPENPILOT_PATH}/openpilot
COPY ./third_party ${OPENPILOT_PATH}/third_party
COPY ./site_scons ${OPENPILOT_PATH}/site_scons
COPY ./rednose ${OPENPILOT_PATH}/rednose
COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
COPY ./tools ${OPENPILOT_PATH}/tools
COPY ./release ${OPENPILOT_PATH}/release
COPY ./common ${OPENPILOT_PATH}/common
COPY ./opendbc ${OPENPILOT_PATH}/opendbc
COPY ./cereal ${OPENPILOT_PATH}/cereal
COPY ./panda ${OPENPILOT_PATH}/panda
COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
COPY ./system ${OPENPILOT_PATH}/system
COPY ./body ${OPENPILOT_PATH}/body
RUN scons --cache-readonly -j$(nproc)

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FROM ubuntu:20.04
ENV PYTHONUNBUFFERED 1
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && \
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
rm -rf /var/lib/apt/lists/*
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
RUN cd /tmp && \
tools/install_ubuntu_dependencies.sh && \
rm -rf /var/lib/apt/lists/* && \
rm -rf /tmp/* && \
# remove unused architectures from gcc for panda
cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
rm -rf arm/ && \
rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
# Add OpenCL
RUN apt-get update && apt-get install -y --no-install-recommends \
apt-utils \
alien \
unzip \
tar \
curl \
xz-utils \
dbus \
gcc-arm-none-eabi \
tmux \
vim \
lsb-core \
libx11-6 \
&& rm -rf /var/lib/apt/lists/*
ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
RUN mkdir -p /tmp/opencl-driver-intel
RUN cd /tmp/opencl-driver-intel && \
echo INTEL_DRIVER is $INTEL_DRIVER && \
curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
tar -xzf $INTEL_DRIVER && \
for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
dpkg -i *.deb && \
rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
mkdir -p /etc/OpenCL/vendors && \
echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
cd / && \
rm -rf /tmp/opencl-driver-intel
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
ENV QTWEBENGINE_DISABLE_SANDBOX 1
RUN dbus-uuidgen > /etc/machine-id
ARG USER=batman
ARG USER_UID=1000
RUN useradd -m -s /bin/bash -u $USER_UID $USER
RUN usermod -aG sudo $USER
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER $USER
ENV POETRY_VIRTUALENVS_CREATE=false
ENV PYENV_VERSION=3.11.4
ENV PYENV_ROOT="/home/$USER/pyenv"
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
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 && \
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

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def retryWithDelay(int maxRetries, int delay, Closure body) {
for (int i = 0; i < maxRetries; i++) {
try {
return body()
} catch (Exception e) {
sleep(delay)
}
}
throw Exception("Failed after ${maxRetries} retries")
}
def device(String ip, String step_label, String cmd) {
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
def ssh_cmd = """
ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
set -e
shopt -s huponexit # kill all child processes when the shell exits
export CI=1
export PYTHONWARNINGS=error
export LOGPRINT=debug
export TEST_DIR=${env.TEST_DIR}
export SOURCE_DIR=${env.SOURCE_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
export GIT_COMMIT=${env.GIT_COMMIT}
export AZURE_TOKEN='${env.AZURE_TOKEN}'
export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
# only use 1 thread for tici tests since most require HIL
export PYTEST_ADDOPTS="-n 0"
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
source ~/.bash_profile
if [ -f /TICI ]; then
source /etc/profile
rm -rf /tmp/tmp*
rm -rf ~/.commacache
rm -rf /dev/shm/*
if ! systemctl is-active --quiet systemd-resolved; then
echo "restarting resolved"
sudo systemctl start systemd-resolved
sleep 3
fi
# restart aux USB
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
echo "restarting aux usb"
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
sleep 0.5
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
fi
fi
if [ -f /data/openpilot/launch_env.sh ]; then
source /data/openpilot/launch_env.sh
fi
ln -snf ${env.TEST_DIR} /data/pythonpath
cd ${env.TEST_DIR} || true
${cmd}
exit 0
END"""
sh script: ssh_cmd, label: step_label
}
}
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
stage(stageName) {
if (currentBuild.result != null) {
return
}
def extra = extra_env.collect { "export ${it}" }.join('\n');
def branch = env.BRANCH_NAME ?: 'master';
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
timeout(time: 20, unit: 'MINUTES') {
retry (3) {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
}
steps.each { item ->
device(device_ip, item[0], item[1])
}
}
}
}
}
}
def pcStage(String stageName, Closure body) {
node {
stage(stageName) {
if (currentBuild.result != null) {
return
}
checkout scm
def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
def openpilot_base = retryWithDelay (3, 15) {
return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
}
lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
openpilot_base.inside(dockerArgs) {
timeout(time: 20, unit: 'MINUTES') {
try {
retryWithDelay (3, 15) {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --recursive"
sh "git lfs pull"
}
body()
} finally {
sh "rm -rf ${env.WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
}
}
}
}
def setupCredentials() {
withCredentials([
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
]) {
env.AZURE_TOKEN = "${AZURE_TOKEN}"
env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
}
}
node {
env.CI = "1"
env.PYTHONWARNINGS = "error"
env.TEST_DIR = "/data/openpilot"
env.SOURCE_DIR = "/data/openpilot_source/"
setupCredentials()
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
'testing-closet*', 'hotfix-*']
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
if (env.BRANCH_NAME != 'master') {
properties([
disableConcurrentBuilds(abortPrevious: true)
])
}
try {
if (env.BRANCH_NAME == 'devel-staging') {
deviceStage("build release3-staging", "tici-needs-can", [], [
["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
])
}
if (env.BRANCH_NAME == 'master-ci') {
deviceStage("build nightly", "tici-needs-can", [], [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
}
if (!env.BRANCH_NAME.matches(excludeRegex)) {
parallel (
// tici tests
'onroad tests': {
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"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "pytest -s 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/ubloxd/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
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 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"],
])
},
)
}
} catch (Exception e) {
currentBuild.result = 'FAILED'
throw e
}
}

52
README.md
View File

@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
------ ------
FrogPilot was last updated on: FrogPilot was last updated on:
**March 29th, 2024** **May 1st, 2024**
Features Features
------ ------
@@ -31,17 +31,17 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
------ ------
⚡ **Advanced Customizations:** ⚡ **Advanced Customizations:**
- Adjust the max set speed in increments of 5 or more on short presses - "Alert Volume Controller" to set the volume level for each of of openpilot's sounds
- "Alert Volume Controller" to customize the volume level for all of openpilot's sound files
- Customize the following distance and jerk values for each personality profile - Customize the following distance and jerk values for each personality profile
- Increase the stopping distance behind stopped cars - Fine tune your car's "Steer Ratio" to perfect your lateral control
- Select between various openpilot driving models - Increase the distance when stopped behind lead vehicles
- Set a custom "Steer Ratio" to fine tune your lateral control - Increase the max set speed by a custom interval (i.e. 2, 3, 4, 5, 6, etc. instead of just 1)
- Select between past, present, and future openpilot driving models
------ ------
🎨 **Custom Themes:** 🎨 **Custom Themes:**
- 🐸 Frog theme (with a bonus 🐐 sound effect) - 🐸 Frog theme (with a bonus 🐐 sound effect)
- <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="20" height="18"> Russia / Joseph Stalin theme - <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="15" height="12"> Russia / Joseph Stalin theme
- 🔌 Tesla theme - 🔌 Tesla theme
- Holiday themes! Minor holidays last a day, while major holidays (Easter, Halloween, Thanksgiving, Christmas) last a week - Holiday themes! Minor holidays last a day, while major holidays (Easter, Halloween, Thanksgiving, Christmas) last a week
- Random events triggered by specific actions while driving with openpilot - Random events triggered by specific actions while driving with openpilot
@@ -51,10 +51,10 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
🚀 **Conditional Experimental Mode:** 🚀 **Conditional Experimental Mode:**
- Auto-activates "Experimental Mode" under several conditions, including: - Auto-activates "Experimental Mode" under several conditions, including:
- Approaching intersections and turns while using navigation
- Approaching slower vehicles to take advantage of "Experimental Mode"'s smoother braking - Approaching slower vehicles to take advantage of "Experimental Mode"'s smoother braking
- Curve and stop light/stop sign detection - Curve and stop light/stop sign detection
- Driving below a set speed - Driving below a set speed
- Prepare for upcoming intersections and turns while using navigation
- Turn signal activation below 55mph for turn assistance - Turn signal activation below 55mph for turn assistance
------ ------
📊 **Developer UI:** 📊 **Developer UI:**
@@ -67,32 +67,33 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
🛠 **Device Management:** 🛠 **Device Management:**
- Adjustable screen brightness for both onroad and offroad states - Adjustable screen brightness for both onroad and offroad states
- Adjustable screen timeout threshold for both onroad and offroad states - Adjustable screen timeout times for both onroad and offroad states
- Backup and restore previous versions of FrogPilot versions - Backup and restore previous versions of FrogPilot
- Backup and restore previous versions of toggle configurations - Backup and restore previous versions of toggle configurations
- Battery level threshold to automatically shut the device down after you car's battery falls below a set voltage limit when offroad
- Delete stored driving data for increased privacy/space via the "Device" panel - Delete stored driving data for increased privacy/space via the "Device" panel
- Device can operate offline indefinitely - Device can operate offline indefinitely
- Disable logging and/or uploading - Disable logging and/or uploading
- Disable uploads while onroad to help reduce data usage - Disable uploads while onroad to help reduce data usage
- Easy Panda firmware flashing via a "Flash Panda" button in the "Device" menu - Flash the Panda within the "Device" menu
- Set a battery level threshold to automatically shut the device down after you car's battery falls below a specific voltage when offroad - "Standby Mode" that wakes the screen up between engagement states or when important alerts are triggered
- Set a timer to automatically shut the device down after going offroad to help prevent battery drain - Timer to automatically shut down after going offroad
- "Standby Mode" that wakes up the screen between engagement states or when important alerts are triggered
------ ------
🚖 **Lateral Adjustments:** 🚖 **Lateral Adjustments:**
- Activate lateral control by simply pressing the "Cruise Control" button - Activate lateral control by simply pressing the "Cruise Control" button
- Force comma's auto tuning for smoother steering control - Force comma's auto tuning for unsupported vehicles
- Lateral control won't disengage on gas or brake - Lateral control won't disengage on gas or brake
- Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad - Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad
- Pause lateral control when below a set speed - Pause lateral control when below a set speed
- Pause lateral control when pressing the brake
- Pause lateral control when turn signals are active - Pause lateral control when turn signals are active
- Precise turns using turn desires when below the minimum lane change speed - Precise turns by using turn desires when below the minimum lane change speed
- [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for smoother steering control - [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for smoother steering control
------ ------
🚘 **Longitudinal Adjustments:** 🚘 **Longitudinal Adjustments:**
- Aggressive acceleration following a lead vehicle from a stop - Aggressive acceleration when following a lead vehicle from a stop
- "Map Turn Speed Controller" to slow down for curves based on stored map data - "Map Turn Speed Controller" to slow down for curves based on stored map data
- With an additional toggle to fine tune the speed aggressiveness - With an additional toggle to fine tune the speed aggressiveness
- Smoother braking behind slower leads - Smoother braking behind slower leads
@@ -119,10 +120,10 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
- Compass that rotates according to the direction you're driving - Compass that rotates according to the direction you're driving
- FPS counter in the screen's border - FPS counter in the screen's border
- Hide various UI elements on the screen for a cleaner UI - Hide various UI elements on the screen for a cleaner UI
- Pedals on the onroad UI that indicate when the gas/brake pedals are being used - Pedals on the onroad UI indicate when the gas/brake pedals are being used
- Road UI Customizations: - Road UI Customizations:
- Acceleration path to show the model's desired acceleration/deceleration - Acceleration path to show the model's desired acceleration/deceleration
- Blind spot path to indicate when and where a vehicle is in your blind spot - Blind spot path when a vehicle is detected in your blind spot
- Increase/decrease the lane line, path, and road edge widths - Increase/decrease the lane line, path, and road edge widths
- Path edge colors based on specific driving statuses: - Path edge colors based on specific driving statuses:
- 🔵 Blue - Navigation active - 🔵 Blue - Navigation active
@@ -150,12 +151,14 @@ FrogPilot offers a wide range of customizable features that are easily toggled o
- openpilot longitudinal control for GM vehicles without ACC - openpilot longitudinal control for GM vehicles without ACC
- Pedal interceptor support for GM vehicles - Pedal interceptor support for GM vehicles
- "Stop and Go" hack for Toyota's without stop and go functionality - "Stop and Go" hack for Toyota's without stop and go functionality
- ZSS support for the Toyota Prius - ZSS support for the Toyota Prius and Sienna
------ ------
🚦 **Quality of Life Features:** 🚦 **Quality of Life Features:**
- Camera view selection (cosmetic only) - Automatic updates for a completely "set and forget" experience
- Custom alerts such as for a green light, vehicle in blindspot, lead departing, and the current speed limit changing - Camera view selection
- Custom alerts for green lights, vehicles in blindspot, lead departing, and the current speed limit changing
- Display the driver camera when in reverse
- Driving statistics to show how many hours and miles you've driven on the home screen - Driving statistics to show how many hours and miles you've driven on the home screen
- Fleet Manager to easily access your driving data and screen recordings - Fleet Manager to easily access your driving data and screen recordings
- Numerical temperature gauge - Numerical temperature gauge
@@ -198,17 +201,12 @@ Credits
* [DragonPilot](https://github.com/dragonpilot-community) * [DragonPilot](https://github.com/dragonpilot-community)
* [ErichMoraga](https://github.com/ErichMoraga) * [ErichMoraga](https://github.com/ErichMoraga)
* [Garrettpall](https://github.com/garrettpall) * [Garrettpall](https://github.com/garrettpall)
* [Henrycc](https://github.com/henryccy)
* [KRKeegan](https://github.com/krkeegan)
* [Mike8643](https://github.com/mike8643) * [Mike8643](https://github.com/mike8643)
* [Move-Fast](https://github.com/move-fast)
* [Neokii](https://github.com/Neokii) * [Neokii](https://github.com/Neokii)
* [OPGM](https://github.com/opgm) * [OPGM](https://github.com/opgm)
* [OPKR](https://github.com/openpilotkr) * [OPKR](https://github.com/openpilotkr)
* [Pfeiferj](https://github.com/pfeiferj) * [Pfeiferj](https://github.com/pfeiferj)
* [ServerDummy](https://github.com/ServerDummy) * [ServerDummy](https://github.com/ServerDummy)
* [Sunnyhaibin](https://github.com/sunnyhaibin)
* [Thinkpad4by3](https://github.com/Thinkpad4by3)
* [Twilsonco](https://github.com/twilsonco) * [Twilsonco](https://github.com/twilsonco)
Licensing Licensing

9
RELEASES.md
View File

@@ -1,3 +1,9 @@
Version 0.9.7 (2024-XX-XX)
========================
* New driving model
* Adjust driving personality with the follow distance button
* Support for hybrid variants of supported Ford models
Version 0.9.6 (2024-02-27) Version 0.9.6 (2024-02-27)
======================== ========================
* New driving model * New driving model
@@ -6,6 +12,9 @@ Version 0.9.6 (2024-02-27)
* Directly outputs curvature for lateral control * Directly outputs curvature for lateral control
* New driver monitoring model * New driver monitoring model
* Trained on larger dataset * Trained on larger dataset
* Model path UI
* Shows where driving model wants to be
* Shows what model is seeing more clearly, but more jittery
* AGNOS 9 * AGNOS 9
* comma body streaming and controls over WebRTC * comma body streaming and controls over WebRTC
* Improved fuzzy fingerprinting for many makes and models * Improved fuzzy fingerprinting for many makes and models

5
SECURITY.md Normal file
View File

@@ -0,0 +1,5 @@
# Security Policy
## Reporting a Vulnerability
Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

63
body/crypto/hash-internal.h Normal file
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@@ -0,0 +1,63 @@
/*
* Copyright 2007 The Android Open Source Project
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Google Inc. nor the names of its contributors may
* be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
* EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_
#define SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_
#include "stdint.h"
#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
struct HASH_CTX; // forward decl
typedef struct HASH_VTAB {
void (* const init)(struct HASH_CTX*);
void (* const update)(struct HASH_CTX*, const void*, int);
const uint8_t* (* const final)(struct HASH_CTX*);
const uint8_t* (* const hash)(const void*, int, uint8_t*);
int size;
} HASH_VTAB;
typedef struct HASH_CTX {
const HASH_VTAB * f;
uint64_t count;
uint8_t buf[64];
uint32_t state[8]; // upto SHA2
} HASH_CTX;
#define HASH_init(ctx) (ctx)->f->init(ctx)
#define HASH_update(ctx, data, len) (ctx)->f->update(ctx, data, len)
#define HASH_final(ctx) (ctx)->f->final(ctx)
#define HASH_hash(data, len, digest) (ctx)->f->hash(data, len, digest)
#define HASH_size(ctx) (ctx)->f->size
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_

58
body/crypto/rsa.h Normal file
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@@ -0,0 +1,58 @@
/* rsa.h
**
** Copyright 2008, The Android Open Source Project
**
** Redistribution and use in source and binary forms, with or without
** modification, are permitted provided that the following conditions are met:
** * Redistributions of source code must retain the above copyright
** notice, this list of conditions and the following disclaimer.
** * Redistributions in binary form must reproduce the above copyright
** notice, this list of conditions and the following disclaimer in the
** documentation and/or other materials provided with the distribution.
** * Neither the name of Google Inc. nor the names of its contributors may
** be used to endorse or promote products derived from this software
** without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR
** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
** MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
** EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
** PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
** OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
** WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
** OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
** ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_
#define SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_
#include "stdint.h"
#ifdef __cplusplus
extern "C" {
#endif
#define RSANUMBYTES 128 /* 1024 bit key length */
#define RSANUMWORDS (RSANUMBYTES / sizeof(uint32_t))
typedef struct RSAPublicKey {
int len; /* Length of n[] in number of uint32_t */
uint32_t n0inv; /* -1 / n[0] mod 2^32 */
uint32_t n[RSANUMWORDS]; /* modulus as little endian array */
uint32_t rr[RSANUMWORDS]; /* R^2 as little endian array */
int exponent; /* 3 or 65537 */
} RSAPublicKey;
int RSA_verify(const RSAPublicKey *key,
const uint8_t* signature,
const int len,
const uint8_t* hash,
const int hash_len);
#ifdef __cplusplus
}
#endif
#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_

51
body/crypto/sha.h Normal file
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@@ -0,0 +1,51 @@
/*
* Copyright 2005 The Android Open Source Project
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Google Inc. nor the names of its contributors may
* be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
* EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_
#define SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_
#include "hash-internal.h"
#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
typedef HASH_CTX SHA_CTX;
void SHA_init(SHA_CTX* ctx);
void SHA_update(SHA_CTX* ctx, const void* data, int len);
const uint8_t* SHA_final(SHA_CTX* ctx);
// Convenience method. Returns digest address.
// NOTE: *digest needs to hold SHA_DIGEST_SIZE bytes.
const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest);
#define SHA_DIGEST_SIZE 20
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_

4
body/crypto/stdint.h Normal file
View File

@@ -0,0 +1,4 @@
#define uint8_t unsigned char
#define uint32_t unsigned int
#define int64_t long long
#define uint64_t unsigned long long

13
codecov.yml Normal file
View File

@@ -0,0 +1,13 @@
comment: false
coverage:
status:
project:
default:
informational: true
patch: off
ignore:
- "**/test_*.py"
- "selfdrive/test/**"
- "system/version.py" # codecov changes depending on if we are in a branch or not
- "tools"

100
conftest.py Normal file
View File

@@ -0,0 +1,100 @@
import contextlib
import gc
import os
import pytest
import random
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.selfdrive.manager import manager
from openpilot.system.hardware import TICI, HARDWARE
def pytest_sessionstart(session):
# TODO: fix tests and enable test order randomization
if session.config.pluginmanager.hasplugin('randomly'):
session.config.option.randomly_reorganize = False
@pytest.hookimpl(hookwrapper=True, trylast=True)
def pytest_runtest_call(item):
# ensure we run as a hook after capturemanager's
if item.get_closest_marker("nocapture") is not None:
capmanager = item.config.pluginmanager.getplugin("capturemanager")
with capmanager.global_and_fixture_disabled():
yield
else:
yield
@contextlib.contextmanager
def clean_env():
starting_env = dict(os.environ)
yield
os.environ.clear()
os.environ.update(starting_env)
@pytest.fixture(scope="function", autouse=True)
def openpilot_function_fixture(request):
random.seed(0)
with clean_env():
# setup a clean environment for each test
with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
prefix = os.environ["OPENPILOT_PREFIX"]
yield
# ensure the test doesn't change the prefix
assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
# cleanup any started processes
manager.manager_cleanup()
# some processes disable gc for performance, re-enable here
if not gc.isenabled():
gc.enable()
gc.collect()
# If you use setUpClass, the environment variables won't be cleared properly,
# so we need to hook both the function and class pytest fixtures
@pytest.fixture(scope="class", autouse=True)
def openpilot_class_fixture():
with clean_env():
yield
@pytest.fixture(scope="function")
def tici_setup_fixture(openpilot_function_fixture):
"""Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False)
os.system("pkill -9 -f athena")
@pytest.hookimpl(tryfirst=True)
def pytest_collection_modifyitems(config, items):
skipper = pytest.mark.skip(reason="Skipping tici test on PC")
for item in items:
if "tici" in item.keywords:
if not TICI:
item.add_marker(skipper)
else:
item.fixturenames.append('tici_setup_fixture')
if "xdist_group_class_property" in item.keywords:
class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
class_property_value = getattr(item.cls, class_property_name)
item.add_marker(pytest.mark.xdist_group(class_property_value))
@pytest.hookimpl(trylast=True)
def pytest_configure(config):
config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
config.addinivalue_line("markers", config_line)
config_line = "nocapture: don't capture test output"
config.addinivalue_line("markers", config_line)
config_line = "shared_download_cache: share download cache between tests"
config.addinivalue_line("markers", config_line)

7834
poetry.lock generated Normal file
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File diff suppressed because one or more lines are too long

10
pyproject.toml
View File

@@ -21,6 +21,7 @@ testpaths = [
"selfdrive/thermald", "selfdrive/thermald",
"selfdrive/test/longitudinal_maneuvers", "selfdrive/test/longitudinal_maneuvers",
"selfdrive/test/process_replay/test_fuzzy.py", "selfdrive/test/process_replay/test_fuzzy.py",
"selfdrive/updated",
"system/camerad", "system/camerad",
"system/hardware/tici", "system/hardware/tici",
"system/loggerd", "system/loggerd",
@@ -63,6 +64,9 @@ warn_unused_ignores=true
# restrict dynamic typing # restrict dynamic typing
warn_return_any=true warn_return_any=true
# allow implicit optionals for default args
implicit_optional = true
[tool.poetry] [tool.poetry]
name = "openpilot" name = "openpilot"
@@ -167,11 +171,14 @@ build-backend = "poetry.core.masonry.api"
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
[tool.ruff] [tool.ruff]
indent-width = 2
lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
line-length = 160 line-length = 160
target-version="py311" target-version="py311"
exclude = [ exclude = [
"body",
"cereal",
"panda", "panda",
"opendbc", "opendbc",
"rednose_repo", "rednose_repo",
@@ -187,6 +194,9 @@ lint.flake8-implicit-str-concat.allow-multiline=false
"system".msg = "Use openpilot.system" "system".msg = "Use openpilot.system"
"third_party".msg = "Use openpilot.third_party" "third_party".msg = "Use openpilot.third_party"
"tools".msg = "Use openpilot.tools" "tools".msg = "Use openpilot.tools"
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
[tool.coverage.run] [tool.coverage.run]
concurrency = ["multiprocessing", "thread"] concurrency = ["multiprocessing", "thread"]
[tool.ruff.format]
quote-style = "preserve"

1
tinygrad Normal file
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@@ -0,0 +1 @@
tinygrad_repo/tinygrad