Merge remote-tracking branch 'commaai/openpilot/master' into ui-home

.github/workflows/repo-maintenance.yaml

@@ -46,17 +46,13 @@ jobs:
  python3 -m ensurepip --upgrade
  pip3 install uv
  uv lock --upgrade
- - name: pre-commit autoupdate
- run: |
- git config --global --add safe.directory '*'
- pre-commit autoupdate
  - name: Create Pull Request
  uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
  with:
  author: Vehicle Researcher <[email protected]>
  token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
- commit-message: Update Python packages and pre-commit hooks
- title: '[bot] Update Python packages and pre-commit hooks'
+ commit-message: Update Python packages
+ title: '[bot] Update Python packages'
  branch: auto-package-updates
  base: master
  delete-branch: true

.github/workflows/selfdrive_tests.yaml

@@ -25,7 +25,7 @@ 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 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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
+ RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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
 
  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -45,7 +45,6 @@ jobs:
  - name: Build devel
  timeout-minutes: 1
  run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
- - uses: ./.github/workflows/setup-pre-commit
  - uses: ./.github/workflows/setup-with-retry
  - name: Check submodules
  if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -62,14 +61,13 @@ jobs:
  cd $STRIPPED_DIR
  ${{ env.RUN }} "release/check-dirty.sh && \
  MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
- - name: pre-commit
- timeout-minutes: 3
+ - name: static analysis
+ timeout-minutes: 1
  run: |
  cd $GITHUB_WORKSPACE
- cp .pre-commit-config.yaml $STRIPPED_DIR
  cp pyproject.toml $STRIPPED_DIR
  cd $STRIPPED_DIR
- ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+ ${{ env.RUN }} "scripts/lint.sh"
 
  build:
  strategy:
@@ -146,13 +144,12 @@ jobs:
  - uses: actions/checkout@v4
  with:
  submodules: true
- - uses: ./.github/workflows/setup-pre-commit
  - uses: ./.github/workflows/setup-with-retry
  - name: Build openpilot
  run: ${{ env.RUN }} "scons -j$(nproc)"
- - name: pre-commit
- timeout-minutes: 4
- run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+ - name: static analysis
+ timeout-minutes: 1
+ run: ${{ env.RUN }} "scripts/lint.sh"
 
  unit_tests:
  name: unit tests
@@ -340,6 +337,7 @@ jobs:
  # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
  name: Create UI Report
  runs-on: ubuntu-latest
+ if: github.event_name == 'pull_request'
  steps:
  - uses: actions/checkout@v4
  with:

.github/workflows/stale.yaml

@@ -5,8 +5,8 @@ on:
  workflow_dispatch:
 
 env:
- DAYS_BEFORE_PR_CLOSE: 3
- DAYS_BEFORE_PR_STALE: 14
+ DAYS_BEFORE_PR_CLOSE: 2
+ DAYS_BEFORE_PR_STALE: 9
 
 jobs:
  stale:

.gitmodules

@@ -2,7 +2,7 @@
  path = panda
  url = ../../commaai/panda.git
 [submodule "opendbc"]
- path = opendbc
+ path = opendbc_repo
  url = ../../commaai/opendbc.git
 [submodule "msgq"]
  path = msgq_repo

common/params.cc

@@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
  int result = -1;
  int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
  if (fd >= 0) {
- result = fsync(fd);
- close(fd);
+ result = HANDLE_EINTR(fsync(fd));
+ HANDLE_EINTR(close(fd));
  }
  return result;
 }

common/transformations/camera.py

@@ -47,9 +47,9 @@ def all_cams(self):
  yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {

docs/WORKFLOW.md

@@ -29,7 +29,7 @@ pytest
 cd system/loggerd && pytest .
 
 # run the linter
-pre-commit run --all
+op lint
 ```
 
 ## Testing

opendbc

@@ -0,0 +1 @@
+opendbc_repo/opendbc

pyproject.toml

@@ -76,7 +76,6 @@ testing = [
  "hypothesis ==6.47.*",
  "import-linter",
  "mypy",
- "pre-commit",
  "pytest",
  "pytest-cov",
  "pytest-cpp",
@@ -87,7 +86,8 @@ testing = [
  "pytest-asyncio",
  "pytest-mock",
  "pytest-repeat",
- "ruff"
+ "ruff",
+ "codespell",
 ]
 
 dev = [
@@ -164,6 +164,13 @@ testpaths = [
  "cereal/messaging/tests",
 ]
 
+[tool.codespell]
+count = true
+quiet-level = 3
+# if you've got a short variable name that's getting flagged, add it here
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
+builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+
 [tool.mypy]
 python_version = "3.11"
 plugins = [