Merge branch 'model3' into model3

lukasloetkolben · May 7, 2024 · c07a87f · c07a87f
2 parents d21f479 + 5a73133
commit c07a87f
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Showing 186 changed files with 3,803 additions and 3,351 deletions.
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -17,6 +17,7 @@
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
     "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
     "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
     "--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

diff --git a/.github/ISSUE_TEMPLATE/pc_bug_report.yml b/.github/ISSUE_TEMPLATE/pc_bug_report.yml
@@ -24,7 +24,7 @@ body:
     id: os-version
     attributes:
       label: OS Version
-      placeholder: Ubuntu 20.04
+      placeholder: Ubuntu 24.04
     validations:
       required: true
 

diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
@@ -26,15 +26,15 @@ runs:
 
     - name: setup github cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v3'
+      uses: 'actions/cache@v4'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
         restore-keys: ${{ inputs.restore-keys }}
 
     - name: setup github cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v3'
+      uses: 'actions/cache/restore@v4'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
@@ -46,4 +46,4 @@ runs:
       run: |
         mkdir -p ${{ inputs.path }}
         sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
@@ -24,7 +24,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
+    - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:

diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
@@ -12,7 +12,7 @@ env:
 jobs:
   badges:
     name: create badges
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     permissions:
       contents: write

diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
@@ -14,7 +14,7 @@ runs:
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
-      uses: actions/cache/save@v3
+      uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache

diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
@@ -20,7 +20,7 @@ env:
 jobs:
   docs:
     name: build docs
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 45
     steps:
     - uses: actions/checkout@v4

diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
@@ -11,7 +11,7 @@ env:
 jobs:
   build_prebuilt:
     name: build prebuilt
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     env:
       PUSH_IMAGE: true
@@ -22,7 +22,7 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30

diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
@@ -12,7 +12,7 @@ jobs:
       ImageOS: ubuntu20
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     permissions:
       checks: read
@@ -24,7 +24,7 @@ jobs:
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
@@ -8,7 +8,7 @@ on:
 jobs:
   bump_submodules:
     name: bump_submodules
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     if: github.repository == 'commaai/openpilot'
@@ -22,8 +22,9 @@ jobs:
         git -c submodule."tinygrad".update=none submodule update --remote
         git add .
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
+        author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: bump submodules
         title: '[bot] Bump submodules'
@@ -34,7 +35,7 @@ jobs:
         labels: bot
   package_updates:
     name: package_updates
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     if: github.repository == 'commaai/openpilot'
@@ -49,8 +50,9 @@ jobs:
         git config --global --add safe.directory '*'
         pre-commit autoupdate
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
+        author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages and pre-commit hooks
         title: '[bot] Update Python packages and pre-commit hooks'

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
@@ -26,7 +26,7 @@ env:
 jobs:
   build_release:
     name: build release
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -71,7 +71,7 @@ jobs:
            ((github.repository == 'commaai/openpilot') &&
               ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -87,7 +87,7 @@ jobs:
     strategy:
       matrix:
         arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
@@ -104,7 +104,7 @@ jobs:
 
   docker_push_multiarch:
     name: docker push multiarch tag
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: [docker_push]
     steps:
@@ -123,7 +123,7 @@ jobs:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -136,7 +136,7 @@ jobs:
 
   valgrind:
     name: valgrind
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
       with:
@@ -156,7 +156,7 @@ jobs:
     name: unit tests
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -177,7 +177,7 @@ jobs:
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -187,7 +187,7 @@ jobs:
     name: process replay
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -197,7 +197,7 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
         key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
@@ -215,7 +215,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: always()
       continue-on-error: true
       with:
@@ -226,23 +226,23 @@ jobs:
       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@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
         CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
   regen:
     name: regen
-    runs-on: 'ubuntu-20.04'
+    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@v3
+      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') }}
@@ -259,7 +259,7 @@ jobs:
 
   test_modeld:
     name: model tests
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
       with:
@@ -284,7 +284,7 @@ jobs:
         ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            $PYTEST selfdrive/modeld"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -294,7 +294,7 @@ jobs:
     name: cars
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     strategy:
       fail-fast: false
       matrix:
@@ -321,15 +321,15 @@ jobs:
         NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}-${{ matrix.job }}
       env:
         CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
 
   car_docs_diff:
     name: PR comments
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
@@ -357,22 +357,22 @@ jobs:
           echo "::set-output name=diff::$output"
       - name: Find comment
         if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
         id: fc
         with:
           issue-number: ${{ github.event.pull_request.number }}
           body-includes: This PR makes changes to
       - name: Update comment
         if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
         with:
           comment-id: ${{ steps.fc.outputs.comment-id }}
           issue-number: ${{ github.event.pull_request.number }}
           body: "${{ steps.save_diff.outputs.diff }}"
           edit-mode: replace
       - name: Delete comment
         if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           script: |
             github.rest.issues.deleteComment({
@@ -383,7 +383,7 @@ jobs:
 
   create_ui_report:
     name: Create UI Report
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
         with:
@@ -398,7 +398,7 @@ jobs:
                             export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: report
-          path: selfdrive/ui/tests/test_ui/report
+          path: selfdrive/ui/tests/test_ui/report
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
@@ -12,7 +12,7 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v9
         with:
           exempt-milestones: true