merge master

.github/workflows/selfdrive_tests.yaml

@@ -134,24 +134,6 @@ jobs:
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
-  valgrind:
-    name: valgrind
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run valgrind
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
-    - name: Print logs
-      if: always()
-      run: cat selfdrive/test/valgrind_logs.txt
-
   unit_tests:
     name: unit tests
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -200,7 +182,7 @@ jobs:
       uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
@@ -225,64 +207,18 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  regen:
-    name: regen
-    runs-on: 'ubuntu-latest'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run regen
-      timeout-minutes: 30
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                           chmod -R 777 /tmp/comma_download_cache"
-
-  test_modeld:
-    name: model tests
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                           ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                           coverage combine && \
-                           coverage xml"
-    - name: Run unit tests
+                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                        coverage combine && coverage xml"
+    - name: Run regen
       timeout-minutes: 4
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                           $PYTEST selfdrive/modeld"
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4
       with:
@@ -298,7 +234,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3, 4]
+        job: [0, 1]
     steps:
     - uses: actions/checkout@v4
       with:
@@ -313,12 +249,12 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 10
+      timeout-minutes: 20
       run: |
         ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 5
+        NUM_JOBS: 2
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v4

common/tests/test_file_helpers.py

@@ -1,24 +1,19 @@
 import os
-import unittest
 from uuid import uuid4
 
 from openpilot.common.file_helpers import atomic_write_in_dir
 
 
-class TestFileHelpers(unittest.TestCase):
+class TestFileHelpers:
   def run_atomic_write_func(self, atomic_write_func):
     path = f"/tmp/tmp{uuid4()}"
     with atomic_write_func(path) as f:
       f.write("test")
       assert not os.path.exists(path)
 
     with open(path) as f:
-      self.assertEqual(f.read(), "test")
+      assert f.read() == "test"
     os.remove(path)
 
   def test_atomic_write_in_dir(self):
     self.run_atomic_write_func(atomic_write_in_dir)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_numpy_fast.py

@@ -1,10 +1,9 @@
 import numpy as np
-import unittest
 
 from openpilot.common.numpy_fast import interp
 
 
-class InterpTest(unittest.TestCase):
+class TestInterp:
   def test_correctness_controls(self):
     _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
     _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
@@ -20,7 +19,3 @@ def test_correctness_controls(self):
       expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       np.testing.assert_equal(actual, expected)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_params.py

@@ -1,13 +1,13 @@
+import pytest
 import os
 import threading
 import time
 import uuid
-import unittest
 
 from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
 
-class TestParams(unittest.TestCase):
-  def setUp(self):
+class TestParams:
+  def setup_method(self):
     self.params = Params()
 
   def test_params_put_and_get(self):
@@ -49,16 +49,16 @@ def _delayed_writer():
     assert self.params.get("CarParams", True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.get("swag")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.get_bool("swag")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.put("swag", "abc")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.put_bool("swag", True)
 
   def test_remove_not_there(self):
@@ -68,19 +68,19 @@ def test_remove_not_there(self):
 
   def test_get_bool(self):
     self.params.remove("IsMetric")
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
     self.params.put_bool("IsMetric", True)
-    self.assertTrue(self.params.get_bool("IsMetric"))
+    assert self.params.get_bool("IsMetric")
 
     self.params.put_bool("IsMetric", False)
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
     self.params.put("IsMetric", "1")
-    self.assertTrue(self.params.get_bool("IsMetric"))
+    assert self.params.get_bool("IsMetric")
 
     self.params.put("IsMetric", "0")
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
@@ -107,7 +107,3 @@ def test_params_all_keys(self):
     assert len(keys) > 20
     assert len(keys) == len(set(keys))
     assert b"CarParams" in keys
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_simple_kalman.py

@@ -1,10 +1,8 @@
-import unittest
-
 from openpilot.common.simple_kalman import KF1D
 
 
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
+class TestSimpleKalman:
+  def setup_method(self):
     dt = 0.01
     x0_0 = 0.0
     x1_0 = 0.0
@@ -24,12 +22,8 @@ def setUp(self):
 
   def test_getter_setter(self):
     self.kf.set_x([[1.0], [1.0]])
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+    assert self.kf.x == [[1.0], [1.0]]
 
   def update_returns_state(self):
     x = self.kf.update(100)
-    self.assertEqual(x, self.kf.x)
-
-
-if __name__ == "__main__":
-  unittest.main()
+    assert x == self.kf.x

common/transformations/tests/test_coordinates.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import numpy as np
-import unittest
 
 import openpilot.common.transformations.coordinates as coord
 
@@ -44,7 +43,7 @@
                               [  78.56272609,   18.53100158,  -43.25290759]])
 
 
-class TestNED(unittest.TestCase):
+class TestNED:
   def test_small_distances(self):
     start_geodetic = np.array([33.8042184, -117.888593, 0.0])
     local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
@@ -54,13 +53,13 @@ def test_small_distances(self):
 
     west_geodetic = start_geodetic + [0, -0.0005, 0]
     west_ned = local_coord.geodetic2ned(west_geodetic)
-    self.assertLess(np.abs(west_ned[0]), 1e-3)
-    self.assertLess(west_ned[1], 0)
+    assert np.abs(west_ned[0]) < 1e-3
+    assert west_ned[1] < 0
 
     southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0]
     southwest_ned = local_coord.geodetic2ned(southwest_geodetic)
-    self.assertLess(southwest_ned[0], 0)
-    self.assertLess(southwest_ned[1], 0)
+    assert southwest_ned[0] < 0
+    assert southwest_ned[1] < 0
 
   def test_ecef_geodetic(self):
     # testing single
@@ -105,5 +104,3 @@ def test_ned_batch(self):
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
-if __name__ == "__main__":
-  unittest.main()

common/transformations/tests/test_orientation.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import numpy as np
-import unittest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -32,7 +31,7 @@
                     [ 2.50450101,  0.36304151,  0.33136365]])
 
 
-class TestOrientation(unittest.TestCase):
+class TestOrientation:
   def test_quat_euler(self):
     for i, eul in enumerate(eulers):
       np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,7 +61,3 @@ def test_euler_ned(self):
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-
-if __name__ == "__main__":
-  unittest.main()

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 286 Supported Cars
+# 287 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -120,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|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 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=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|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 L 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=Tucson Diesel 2019">Buy Here</a></sub></details>||
 |Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|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 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=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|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 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=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E 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=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA 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=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|