Merge remote-tracking branch 'origin/master' into stubs

.github/workflows/tests.yml

@@ -7,10 +7,7 @@ env:
   RUN: docker run -e PYTHONWARNINGS=error --shm-size 1G --name cereal cereal /bin/sh -c
   RUN_NAMED: docker run -e PYTHONWARNINGS=error --shm-size 1G --rm cereal /bin/sh -c
   CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm cerealci /bin/bash -c
-  BUILD: |
-      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true
-      docker pull $DOCKER_REGISTRY/cereal:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/cereal:latest -t cereal -f Dockerfile .
+  BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from $DOCKER_REGISTRY/cereal:latest -t cereal -f Dockerfile .
   PYTHONWARNINGS: error
 
 jobs:

.pre-commit-config.yaml

@@ -7,11 +7,11 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.7.1
+    rev: v1.9.0
     hooks:
     -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.7
+    rev: v0.3.3
     hooks:
     -   id: ruff
 -   repo: local

SConscript

@@ -22,7 +22,7 @@ if GetOption('extras'):
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
-env.Library('cereal', cereal_objects)
+cereal = env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
 # Build messaging
@@ -39,14 +39,13 @@ messaging_objects = env.SharedObject([
   'messaging/socketmaster.cc',
 ])
 
-messaging_lib = env.Library('messaging', messaging_objects)
+messaging = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging, 'zmq', common])
 Depends('messaging/bridge.cc', services_h)
 
-envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
-
+messaging_python = envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging, "zmq", common])
 
 # Build Vision IPC
 vipc_sources = [
@@ -62,11 +61,11 @@ else:
   vipc_sources += ['visionipc/visionbuf_cl.cc']
 
 vipc_objects = env.SharedObject(vipc_sources)
-vipc = env.Library('visionipc', vipc_objects)
+visionipc = env.Library('visionipc', vipc_objects)
 
 
 vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
+vipc_libs = envCython["LIBS"] + [visionipc, messaging, common, "zmq"]
 if arch == "Darwin":
   vipc_frameworks.append('OpenCL')
 else:
@@ -75,7 +74,10 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
                   LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
 
 if GetOption('extras'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging, common])
 
   env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
               LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+
+Export('cereal', 'messaging', 'messaging_python', 'visionipc')

__init__.py

@@ -1,4 +1,3 @@
-# pylint: skip-file
 import os
 import capnp
 from typing import TYPE_CHECKING

car.capnp

@@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -142,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
   }
 }
 
@@ -323,14 +323,12 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @10 :Actuators;
-
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -380,6 +378,7 @@ struct CarControl {
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -418,6 +417,13 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
 # ****** car param ******
 
 struct CarParams {
@@ -596,12 +602,15 @@ struct CarParams {
     body @27;
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
+    chryslerCusw @30;
+    psa @31;
   }
 
   enum SteerControlType {
     torque @0;
     angle @1;
-    curvature @2;
+
+    curvatureDEPRECATED @2;
   }
 
   enum TransmissionType {