Merge remote-tracking branch 'origin/master' into 5fps-driving

.github/workflows/repo.yml

@@ -2,7 +2,7 @@ name: repo
 
 on:
   schedule:
-    - cron: "0 15 * * 2"
+    - cron: "0 15 1 * *"
   workflow_dispatch:
 
 jobs:

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
     -   id: check-ast
     -   id: check-yaml
@@ -11,7 +11,7 @@ repos:
     hooks:
     -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.3.3
+    rev: v0.3.5
     hooks:
     -   id: ruff
 -   repo: local

Dockerfile

@@ -35,8 +35,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     zlib1g-dev \
   && rm -rf /var/lib/apt/lists/*
 
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy
 
 WORKDIR /project/

car.capnp

@@ -96,7 +96,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     fanMalfunction @91;
     cameraMalfunction @92;
     cameraFrameRate @110;
-    gpsMalfunction @94;
     processNotRunning @95;
     dashcamMode @96;
     controlsInitializing @98;
@@ -116,6 +115,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     locationdPermanentError @118;
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
+    actuatorsApiUnavailable @120;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -142,6 +142,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
     plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
   }
 }
 
@@ -154,6 +155,8 @@ struct CarState {
   # CAN health
   canValid @26 :Bool;       # invalid counter/checksums
   canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;
+  canRcvTimeout @49 :Bool;
 
   # car speed
   vEgo @1 :Float32;          # best estimate of speed
@@ -219,6 +222,9 @@ struct CarState {
   fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
   charging @43 :Bool;
 
+  # process meta
+  cumLagMs @50 :Float32;
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;

log.capnp

@@ -198,6 +198,13 @@ struct Thumbnail {
   frameId @0 :UInt32;
   timestampEof @1 :UInt64;
   thumbnail @2 :Data;
+  encoding @3 :Encoding;
+
+  enum Encoding {
+    unknown @0;
+    jpeg @1;
+    keyframe @2;
+  }
 }
 
 struct GPSNMEAData {
@@ -713,7 +720,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   engageable @41 :Bool;  # can OP be engaged?
 
   cumLagMs @15 :Float32;
-  canErrorCounter @57 :UInt32;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -858,6 +864,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   steeringAngleDesiredDegDEPRECATED @29 :Float32;
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
+  canErrorCounterDEPRECATED @57 :UInt32;
 }
 
 # All SI units and in device frame

messaging/__init__.py

@@ -93,20 +93,8 @@ def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
 
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  ret: List[capnp.lib.capnp._DynamicStructReader] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:  # Timeout hit
-      break
-
-    dat = log_from_bytes(dat)
-    ret.append(dat)
-
-  return ret
+  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
+  return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
@@ -180,9 +168,8 @@ class SubMaster:
     self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
     self.ignore_alive = [] if ignore_alive is None else ignore_alive
     self.ignore_valid = [] if ignore_valid is None else ignore_valid
-    if bool(int(os.getenv("SIMULATION", "0"))):
-      self.ignore_alive = services
-      self.ignore_average_freq = services
+
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
 
     # if freq and poll aren't specified, assume the max to be conservative
     assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
@@ -253,7 +240,7 @@ class SubMaster:
       self.valid[s] = msg.valid
 
     for s in self.data:
-      if SERVICE_LIST[s].frequency > 1e-5:
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
         # alive if delay is within 10x the expected frequency
         self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
 
@@ -273,7 +260,10 @@ class SubMaster:
         self.freq_ok[s] = avg_freq_ok or recent_freq_ok
       else:
         self.freq_ok[s] = True
-        self.alive[s] = True
+        if self.simulation:
+          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
+        else:
+          self.alive[s] = True
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     if service_list is None:

services.py

@@ -18,7 +18,7 @@ class Service:
     self.decimation = decimation
 
 
-services: dict[str, tuple] = {
+_services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
@@ -98,7 +98,7 @@ services: dict[str, tuple] = {
   "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(new_port(idx), *vals) for
-                idx, (name, vals) in enumerate(services.items())}
+                idx, (name, vals) in enumerate(_services.items())}
 
 
 def build_header():