Merge branch 'master' of github.com:leonunix/opendbc

* 'master' of github.com:leonunix/opendbc: (524 commits)
  safety: remove board/ folder (commaai#2814)
  safety: namespace helpers (commaai#2813)
  always build libsafety for mutation tests (commaai#2811)
  build system cleanups (commaai#2810)
  move mull install to setup.sh
  utils == helpers (commaai#2809)
  consolidate libsafety files (commaai#2808)
  safety: cleanup remaining panda bits (commaai#2807)
  docs: Scheduled auto-update CARS.md
  Honda: Acura TLX 2021 support (commaai#2717)
  HKG: Add FW for 2017 Hyundai Ioniq Hybrid (commaai#2784)
  Honda - Update extra cars (commaai#2801)
  Add new fingerprints for Tesla Model X (commaai#2710)
  docs: Scheduled auto-update CARS.md
  Revert "Capnp memoryview (commaai#2793)"
  Capnp memoryview (commaai#2793)
  Honda: 2026 Honda Passport (commaai#2657)
  Honda: Merge Kinematics (commaai#2797)
  HKG: Add FW for 2023 Hyundai Elantra (commaai#2796)
  HKG: Add FW for 2024 Genesis GV70 (commaai#2787)
  ...

# Conflicts:
#	docs/CARS.md
#	opendbc/car/honda/carstate.py
#	opendbc/car/honda/interface.py
#	opendbc/car/honda/values.py
#	opendbc/car/tests/routes.py
#	opendbc/car/torque_data/substitute.toml
#	opendbc/safety/modes/honda.h

Author: zhou jielei

.github/pull_request_template.md

@@ -0,0 +1,9 @@
+<!--
+We need these details to verify your pull request.
+
+Find your device's dongle ID and a route at https://connect.comma.ai.
+Ideally, the route is recorded with the exact branch of your pull request.
+-->
+Validation
+* Dongle ID: 
+* Route: 

.github/workflows/cache/action.yaml

@@ -0,0 +1,13 @@
+name: 'Restore cache'
+runs:
+  using: "composite"
+  steps:
+    - name: Restore cached cppcheck
+      id: cppcache
+      uses: actions/cache@v4
+      with:
+        path: opendbc/safety/tests/misra/cppcheck/
+        key: cppcheck-cache-${{ runner.os }}-${{ hashFiles('opendbc/safety/tests/misra/install.sh') }}
+    - name: Set cache-hit output
+      run: echo "cache-hit=${{ steps.cppcache.outputs.cache-hit }}" >> $GITHUB_OUTPUT
+      shell: bash

.github/workflows/pr_draft.yaml

@@ -0,0 +1,18 @@
+name: Re-draft on review
+on:
+  pull_request_review:
+    types: [submitted]
+
+jobs:
+  redraft:
+    # TODO: doesn't work due to perms issue. https://github.com/commaai/opendbc/actions/runs/16079182504/job/45380739128?pr=2385
+    if: false
+    #if: github.event.review.state == 'changes_requested'
+    permissions:
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - run: gh pr ready --undo "${{ github.event.pull_request.number }}"
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo.yml

@@ -15,10 +15,14 @@ jobs:
       matrix:
         include:
           - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-          - os: macos-latest
+          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: commaai/timeout@v1
     - uses: actions/checkout@v4
+    - uses: ./.github/workflows/cache
+      id: cache
+    - uses: commaai/timeout@v1
+      with:
+        timeout: ${{ github.repository == 'commaai/opendbc' && (steps.cache.outputs.cache-hit == 'true' && '60' || '90') || '999' }}
     - run: ./test.sh
 
   safety_tests:
@@ -27,81 +31,71 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        flags: ['', '--ubsan']
+        flags: ['--ubsan']
     steps:
     - uses: commaai/timeout@v1
+      with:
+        timeout: ${{ github.repository == 'commaai/opendbc' && '60' || '999' }}
     - uses: actions/checkout@v4
+    - uses: ./.github/workflows/cache
     - name: Run safety tests
       run: ./opendbc/safety/tests/test.sh ${{ matrix.flags }}
 
-  misra_linter:
-    name: MISRA C:2012 Linter
-    runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    timeout-minutes: 20
-    steps:
-      - name: Set up
-        run: sudo apt-get install -y --no-install-recommends gcc-arm-none-eabi libnewlib-arm-none-eabi
-      - uses: actions/checkout@v4
-      - name: Restore cached cppcheck
-        uses: actions/cache@v4
-        with:
-          path: opendbc/safety/tests/misra/cppcheck/
-          key: cppcheck-cache-${{ runner.os }}-${{ github.ref }}
-          restore-keys: |
-            cppcheck-cache-${{ runner.os }}-${{ github.ref }}
-            cppcheck-cache-${{ runner.os }}-
-      - name: Run MISRA C:2012 analysis
-        timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 1 || 2) }}
-        run: cd opendbc/safety/tests/misra && ./test_misra.sh
-      - name: Save cppcheck cache
-        uses: actions/cache@v4
-        with:
-          path: opendbc/safety/tests/misra/cppcheck/
-          key: cppcheck-cache-${{ runner.os }}-${{ github.ref }}
-
-  misra_mutation:
-    name: MISRA C:2012 Mutation
-    runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    timeout-minutes: 20
-    steps:
-      - name: Set up
-        run: sudo apt-get install -y --no-install-recommends gcc-arm-none-eabi libnewlib-arm-none-eabi
-      - uses: actions/checkout@v4
-      - name: Restore cached cppcheck
-        uses: actions/cache@v4
-        with:
-          path: opendbc/safety/tests/misra/cppcheck/
-          key: cppcheck-cache-${{ runner.os }}-${{ github.ref }}
-          restore-keys: |
-            cppcheck-cache-${{ runner.os }}-${{ github.ref }}
-            cppcheck-cache-${{ runner.os }}-
-      - name: MISRA mutation tests
-        timeout-minutes: 1
-        run: |
-          source setup.sh
-          scons -j8
-          cd opendbc/safety/tests/misra
-          ./install.sh  # cppcheck
-          pytest -s -n8 --randomly-seed $RANDOM test_mutation.py
-      - name: Save cppcheck cache
-        uses: actions/cache@v4
-        with:
-          path: opendbc/safety/tests/misra/cppcheck/
-          key: cppcheck-cache-${{ runner.os }}-${{ github.ref }}
-
   mutation:
     name: Safety mutation tests
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    timeout-minutes: 20
+    timeout-minutes: 45
     env:
-      GIT_REF: ${{ github.event_name == 'push' && github.ref == 'refs/heads/${{ github.event.repository.default_branch }}' && github.event.before || 'origin/${{ github.event.repository.default_branch }}' }}
+      GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # need master to get diff
+      - uses: ./.github/workflows/cache
       - name: Run mutation tests
-        timeout-minutes: 5
         run: |
           source setup.sh
           scons -j8
           cd opendbc/safety/tests && ./mutation.sh
+
+  # TODO: this needs to move to opendbc
+  test_models:
+    name: test models
+    runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        job: [0, 1, 2, 3]
+    env:
+      BASE_IMAGE: openpilot-base
+      BUILD: selfdrive/test/docker_build.sh base
+      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 $BASE_IMAGE /bin/bash -c
+      PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        repository: 'commaai/openpilot'
+        ref: 'master'
+        submodules: true
+    - run: rm -rf opendbc_repo/
+    - uses: actions/checkout@v4
+      with:
+        path: opendbc_repo
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Cache test routes
+      id: routes-cache
+      uses: actions/cache@v4
+      with:
+        path: .ci_cache/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc) common/ cereal/ selfdrive/pandad/ msgq_repo/ opendbc_repo"
+    - name: Test car models
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 6 }}
+      run: |
+        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        NUM_JOBS: 4
+        JOB_ID: ${{ matrix.job }}

.github/workflows/test_models_trigger.yaml

@@ -0,0 +1,37 @@
+name: Update cppcheck
+
+on:
+  #push:
+  schedule:
+    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  workflow_dispatch:
+
+jobs:
+  update-cppcheck:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: write
+    steps:
+      - uses: actions/checkout@v4
+      - name: Get latest cppcheck version
+        id: version
+        run: |
+          LATEST=$(curl -fsSL https://api.github.com/repos/danmar/cppcheck/releases/latest | jq -r .tag_name)
+          echo "vers=$LATEST" >> "$GITHUB_OUTPUT"
+      - name: Update VERS in install.sh
+        run: |
+          sed -i "s/^VERS=\".*\"/VERS=\"${{ steps.version.outputs.vers }}\"/" opendbc/safety/tests/misra/install.sh
+          grep VERS opendbc/safety/tests/misra/install.sh
+      - 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: "[bot] Update cppcheck to ${{ steps.version.outputs.vers }}"
+          title: "[bot] Update cppcheck to ${{ steps.version.outputs.vers }}"
+          body: "See all cppcheck releases: https://github.com/danmar/cppcheck/releases"
+          branch: "update-cppcheck"
+          base: "master"
+          delete-branch: true
+          labels: bot

.github/workflows/tests.yml

@@ -1,3 +1,4 @@
+.cache/
 /build/
 .mypy_cache/
 *.pyc
@@ -15,16 +16,20 @@
 *.html
 *.gcda
 *.gcno
-
+*.dump
+*.gcov
 uv.lock
+/dist/
+.vscode/
+__pycache__/
+mull.yml
+*.profraw
 
 opendbc/can/build/
 opendbc/can/obj/
-opendbc/can/packer_pyx.cpp
-opendbc/can/parser_pyx.cpp
-opendbc/can/packer_pyx.html
-opendbc/can/parser_pyx.html
 opendbc/dbc/*_generated.dbc
 
 cppcheck-addon-ctu-file-list
 opendbc/safety/tests/coverage-out
+
+compile_commands.json

.github/workflows/update-cppcheck.yml

@@ -1,2 +1,3 @@
 include opendbc/car/car.capnp
 include opendbc/car/include/c++.capnp
+recursive-include opendbc/safety *.h