Merge branch 'commaai:master' into PA-testing

common/swaglog.cc

@@ -41,6 +41,15 @@ class SwaglogState {
     if (char* dongle_id = getenv("DONGLE_ID")) {
       ctx_j["dongle_id"] = dongle_id;
     }
+    if (char* git_origin = getenv("GIT_ORIGIN")) {
+      ctx_j["origin"] = git_origin;
+    }
+    if (char* git_branch = getenv("GIT_BRANCH")) {
+      ctx_j["branch"] = git_branch;
+    }
+    if (char* git_commit = getenv("GIT_COMMIT")) {
+      ctx_j["commit"] = git_commit;
+    }
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }

selfdrive/athena/manage_athenad.py

@@ -6,15 +6,22 @@
 from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version, is_dirty
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
 
 def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
-  cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty())
+  cloudlog.bind_global(dongle_id=dongle_id,
+                       version=get_version(),
+                       origin=get_normalized_origin(),
+                       branch=get_short_branch(),
+                       commit=get_commit(),
+                       dirty=is_dirty(),
+                       device=HARDWARE.get_device_type())
 
   try:
     while 1:

selfdrive/car/car_helpers.py

@@ -187,15 +187,15 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
-                 fingerprints=finger, fw_query_time=fw_query_time, error=True)
+                 fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
-    cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
+    cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]

selfdrive/car/tests/test_car_interfaces.py

@@ -14,6 +14,10 @@
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
@@ -108,6 +112,17 @@ def test_car_interfaces(self, car_name, data):
       car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
+    # Test controller initialization
+    # TODO: wait until card refactor is merged to run controller a few times,
+    #  hypothesis also slows down significantly with just one more message draw
+    LongControl(car_params)
+    if car_params.steerControlType == car.CarParams.SteerControlType.angle:
+      LatControlAngle(car_params, car_interface)
+    elif car_params.lateralTuning.which() == 'pid':
+      LatControlPID(car_params, car_interface)
+    elif car_params.lateralTuning.which() == 'torque':
+      LatControlTorque(car_params, car_interface)
+
     # Test radar interface
     RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
     radar_interface = RadarInterface(car_params)

selfdrive/manager/manager.py

@@ -81,6 +81,9 @@ def manager_init() -> None:
     serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
+  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
+  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
+  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
 
   if not is_dirty():
     os.environ['CLEAN'] = '1'