Merge branch 'master' into PA-testing

.devcontainer/Dockerfile

@@ -8,6 +8,8 @@ RUN cd /tmp && \
     curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
+RUN usermod -aG video batman
+
 USER batman
 
 RUN cd $HOME && \

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.7"
+  export AGNOS_VERSION="10"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

release/files_common

@@ -45,7 +45,9 @@ release/*
 
 tools/__init__.py
 tools/lib/*
-tools/bodyteleop/*
+tools/bodyteleop/.gitignore
+tools/bodyteleop/web.py
+tools/bodyteleop/static/*
 tools/joystick/*
 tools/replay/*.cc
 tools/replay/*.h

selfdrive/controls/controlsd.py

@@ -386,7 +386,7 @@ def update_events(self, CS):
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
+      if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1500):
         self.events.add(EventName.noGps)
       if self.sm['liveLocationKalman'].gpsOK:
         self.distance_traveled = 0

selfdrive/controls/lib/events.py

@@ -251,13 +251,6 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
-def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  return Alert(
-    "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
-
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
@@ -559,9 +552,6 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   },
 
   # Unused
-  EventName.gpsMalfunction: {
-    ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
-  },
 
   EventName.locationdTemporaryError: {
     ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
@@ -696,7 +686,11 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   },
 
   EventName.noGps: {
-    ET.PERMANENT: no_gps_alert,
+    ET.PERMANENT: Alert(
+      "Poor GPS reception",
+      "Ensure device has a clear view of the sky",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
   EventName.soundsUnavailable: {

selfdrive/test/test_onroad.py

@@ -27,8 +27,15 @@
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 
-# Baseline CPU usage by process
+"""
+CPU usage budget
+* each process is entitled to at least 8%
+* total CPU usage of openpilot (sum(PROCS.values())
+  should not exceed MAX_TOTAL_CPU
+"""
+MAX_TOTAL_CPU = 250.  # total for all 8 cores
 PROCS = {
+  # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 46.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
@@ -274,14 +281,22 @@ def test_cpu_usage(self):
       result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
       if len(err) > 0:
         cpu_ok = False
+    result += "------------------------------------------------\n"
 
     # Ensure there's no missing procs
     all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
     for p in all_procs:
       with self.subTest(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
 
-    result += "------------------------------------------------\n"
+    # total CPU check
+    procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()])
+    with self.subTest(name="total CPU"):
+      assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded"
+    result +=  "------------------------------------------------\n"
+    result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n"
+    result +=  "------------------------------------------------\n"
+
     print(result)
 
     self.assertTrue(cpu_ok)

system/camerad/cameras/camera_common.cc

@@ -29,7 +29,7 @@ class ImgProc {
              "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
              ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, buf_width, uv_offset,
-             ci->image_sensor, ci->hdr_offset, s->camera_num == 1);
+             static_cast<unsigned short>(ci->image_sensor), ci->hdr_offset, s->camera_num == 1);
     const char *cl_file = "cameras/process_raw.cl";
     cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));

system/hardware/tici/agnos.json

@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe.img.xz",
-    "hash": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
-    "hash_raw": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-543fdc8aadf700f33a6e90740b8a227036bbd190626861d45ba1eb0d9ac422d1.img.xz",
+    "hash": "543fdc8aadf700f33a6e90740b8a227036bbd190626861d45ba1eb0d9ac422d1",
+    "hash_raw": "543fdc8aadf700f33a6e90740b8a227036bbd190626861d45ba1eb0d9ac422d1",
     "size": 15636480,
     "sparse": false,
     "full_check": true,
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2.img.xz",
-    "hash": "4858385ba6284bcaa179ab77ac4263486e4d8670df921e4ac400464dc1dde59c",
-    "hash_raw": "0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-bd2967074298a2686f81e2094db3867d7cb2605750d63b1a7309a923f6985b2a.img.xz",
+    "hash": "dc2f960631f02446d912885786922c27be4eb1ec6c202cacce6699d5a74021ba",
+    "hash_raw": "bd2967074298a2686f81e2094db3867d7cb2605750d63b1a7309a923f6985b2a",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "42658a6fff660d9b6abb9cb9fbb3481071259c9a9598718af6b1edff2b556009",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2.img.xz",
-      "size": 4548292756
+      "hash": "283e5e754593c6e1bb5e9d63b54624cda5475b88bc1b130fe6ab13acdbd966e2",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-bd2967074298a2686f81e2094db3867d7cb2605750d63b1a7309a923f6985b2a.img.xz",
+      "size": 4548070712
     }
   }
 ]