jyoung

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Author	SHA1	Message	Date
Shane Smiskol	6a15c42143	selfdrive/car: ban cereal and capnp (#33208 ) * ban cereal and msgq * common too * do toyota/values.py * do all fingerprints * example without builder * this still works, but no type checking anymore * stash * wtf, how does this work * okay actually not bad * safe * epic! * stash data_structures.py * some clean up * hell yeah * clean up old file * add to delete * delete This reverts commit 90239b7797ace31ee647a2fdbd67e0c3faa98dcf. * switch more CarParams stuff over remove unused * fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :( * fix this too * fix this too * remove more cereal and add some good hyundai tests * bunch more typing * override default with 20hz radar * temp capnp converter helper * more lateralTuning * small union replicator is better than what i was trying, and fixes mypy dynamic typing issues * can keep all this the same now! * type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!) * revert more * get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :( would have been `CarParams.NetworkLocation()` * Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(" This reverts commit bb28b228becba932052d2fc5a4389784027435b1. * remove cereal from car_helpers (TODO: caching) * remove a bunch of temp lines * use dataclass_transform! * remove some car.CarParams from the interfaces * remove rest of car.CarParams from the interfaces * same which() API * sort * from cereal/cache from fingerprinting! * more typing * dataclass to capnp helper for CarParams, cached it since it's kinda slow * (partial) fix process replay fingerprintig for new API * latcontrollers take capnp * forgot this * fix test_models * fix unit tests * not here * VehicleModel and controller still takes capnp CP since they get it from Params() * fix modeld test * more fix * need to namespace to structs, since CarState is both class and struct * this was never in the base class?! * clean that up again * fix import error fix import error * cmts and more structs * remove some more cereal from toyota + convert CarState to capnp * bruh this was wrong * replace more cereal * EventName is one of the last things... * replace a bunch more cereal.car * missing imports * more * can fix this typing now * proper toyota+others CS typing! * mypy can detect return type of CS.update() now * fix redeclaration of cruise_buttons type * mypy is only complaining about events now * temp fix * add carControl struct * replace CarControl i hope there's no circular imports in hyundai's CC * fine now * lol this was wrong too * fix crash * include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( ) but attrs does, maybe will switch in the future * clean up * try out attr.s for its converter (doesn't work recursively yet, but interesting!) * Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)" This reverts commit ff2434f7bbd45a4d4bfb21f7d6712d1f1c3bcde9. * test processes doesn't fail anymore (on toyota)! * fix honda crash * stash * Revert "stash" This reverts commit c1762af4e776790e4ad1322ad4ce0610157346e0. * remove a bunch more cereal! * LET'S GOOO * fix these tests * and these * and that * stash, something is wrong with hyundai enable * Revert "stash, something is wrong with hyundai enable" This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03. * forgot these * remove cereal from fw_versions * Revert "remove cereal from fw_versions" This reverts commit 232b37cd409b55d04b1afc90d4a80c49e710eb56. * remove rest of the cereal exceptions! * fix that * add typing to radard since I didn't realize RI.update() switched from cereal to structs * and here too! * add TODO for slots * needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( ) * remove the struct converter * save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy btw pickle.loads(pickle.dumps()) is faster by ~1% CPU * deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone saves ~1% CPU * add non-copying asdict function * should save ~3% CPU (still 4% above baseline) * fix that, no dict support * ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s) * give a better name * fix * dont support none, capitalize * sheesh, this called type() on every field * remove CS.events, clean up * bump card % * this was a bug on master! * add a which enum * default to pid * revert * update refs * not needed, but consistent * just Ecu * don't need to do this in this pr * clean up * no cast * consistent typing * rm * fix * can do this if we're desperate for the last few % * Revert "can do this if we're desperate for the last few %" This reverts commit 18e11ac7883a0a56583750b1cc5a2b13011e7299. * type this * don't need to convert carControl * i guess don't support set either * fix CP type hint * simplify that	1 year ago
Shane Smiskol	71f5c441fe	card: process that abstracts car interface and CAN (#32380 ) * format card * standalone process * no class member CS, there's no point also can be confusing; what else could be using this? * rename CoS * Update selfdrive/controls/controlsd.py * never works first time :D * canRcvTimeout is bool * hack * add cpu * see what testing closet comes up with * first * some clean up * support passable CI, fix test models * fix startup alert * process replay changes * test_fuzzy * gate carOutput valid on carControl valid * we should publish after we update carOutput * controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date * check all checks for carControl in case controlsd dies * log more timestamps * more generic latency logger; needs some clean up latency_logger.py was difficult to understand and modify * card polls on can and carControl to get latest carControl possible * temp try to send earlier * add log * remove latencylogger * no mpld3! * old loop * detect first event * normal send * revert "card polls on can and carControl to get latest carControl possible" how it was is best * sheesh! update should be first * first timestamp * temp comment ( timestamp is slow :( ) * more final ordering, and make polling on/off test repeatable * Received can * new plot timestamps * clean up * no poll * add controllers (draft) * Revert "add controllers (draft)" This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3. * fix that * conventions * just use CS * consider controlsd state machine in card: not fully done * hmm it's just becoming controlsd * rm debugging * Revert "hmm it's just becoming controlsd" This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7. * Revert "just use CS" This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9. * add vCruise * migrate car state * Revert "migrate car state" This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b. * Revert "add vCruise" This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633. * simple state machine in card (doesn't work as is) * Revert "simple state machine in card (doesn't work as is)" This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24. * poll carState without conflate * bump * remove state transition * fix * update refs * ignore cumLagMs and don't ignore valid * fix controls mismatch; controlsd used to set alt exp * controlsd_config_callback not needed for card * revert ref temp * update refs * no poll * not builder! * test fix * need to migrate initialized * CC will be a reader * more as_reader! * fix None * init after publish like before - no real difference * controlsd clean up * remove redundant check and check passive for init * stash * flip * migrate missing carOutput for controlsd * Update ref_commit * bump cereal * comment * no class params * no class * Revert "no class" This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d. * add todo * regen and update refs * fix * update refs * and fix that * should be controlsstate * remove controlsState migration CoS.initialized isn't needed yet * fix * flip! * bump * fix that * update refs * fix * if canValid goes false, controlsd would still send * bump * rm diff * need to be very careful with initializing * update refs	1 year ago
Adeeb Shihadeh	afc96972c8	car: CarController and CarState are always present (#31925 ) * always set * add mock * little more * fix * fix	2 years ago

Author

SHA1

Message

Date

Shane Smiskol

6a15c42143

selfdrive/car: ban cereal and capnp (#33208 )

* ban cereal and msgq

* common too

* do toyota/values.py

* do all fingerprints

* example without builder

* this still works, but no type checking anymore

* stash

* wtf, how does this work

* okay actually not bad

* safe

* epic!

* stash data_structures.py

* some clean up

* hell yeah

* clean up old file

* add to delete

* delete

This reverts commit 90239b7797ace31ee647a2fdbd67e0c3faa98dcf.

* switch more CarParams stuff over

remove unused

* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(

* fix this too

* fix this too

* remove more cereal and add some good hyundai tests

* bunch more typing

* override default with 20hz radar

* temp capnp converter helper

* more lateralTuning

* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues

* can keep all this the same now!

* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)

* revert more

* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(

would have been `CarParams.NetworkLocation()`

* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("

This reverts commit bb28b228becba932052d2fc5a4389784027435b1.

* remove cereal from car_helpers (TODO: caching)

* remove a bunch of temp lines

* use dataclass_transform!

* remove some car.CarParams from the interfaces

* remove rest of car.CarParams from the interfaces

* same which() API

* sort

* from cereal/cache from fingerprinting!

* more typing

* dataclass to capnp helper for CarParams, cached it since it's kinda slow

* (partial) fix process replay fingerprintig for new API

* latcontrollers take capnp

* forgot this

* fix test_models

* fix unit tests

* not here

* VehicleModel and controller still takes capnp CP since they get it from Params()

* fix modeld test

* more fix

* need to namespace to structs, since CarState is both class and struct

* this was never in the base class?!

* clean that up again

* fix import error

fix import error

* cmts and more structs

* remove some more cereal from toyota + convert CarState to capnp

* bruh this was wrong

* replace more cereal

* EventName is one of the last things...

* replace a bunch more cereal.car

* missing imports

* more

* can fix this typing now

* proper toyota+others CS typing!

* mypy can detect return type of CS.update() now

* fix redeclaration of cruise_buttons type

* mypy is only complaining about events now

* temp fix

* add carControl struct

* replace CarControl

i hope there's no circular imports in hyundai's CC

* fine now

* lol this was wrong too

* fix crash

* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )

but attrs does, maybe will switch in the future

* clean up

* try out attr.s for its converter (doesn't work recursively yet, but interesting!)

* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"

This reverts commit ff2434f7bbd45a4d4bfb21f7d6712d1f1c3bcde9.

* test processes doesn't fail anymore (on toyota)!

* fix honda crash

* stash

* Revert "stash"

This reverts commit c1762af4e776790e4ad1322ad4ce0610157346e0.

* remove a bunch more cereal!

* LET'S GOOO

* fix these tests

* and these

* and that

* stash, something is wrong with hyundai enable

* Revert "stash, something is wrong with hyundai enable"

This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03.

* forgot these

* remove cereal from fw_versions

* Revert "remove cereal from fw_versions"

This reverts commit 232b37cd409b55d04b1afc90d4a80c49e710eb56.

* remove rest of the cereal exceptions!

* fix that

* add typing to radard since I didn't realize RI.update() switched from cereal to structs

* and here too!

* add TODO for slots

* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )

* remove the struct converter

* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy

btw pickle.loads(pickle.dumps()) is faster by ~1% CPU

* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone

saves ~1% CPU

* add non-copying asdict function

* should save ~3% CPU (still 4% above baseline)

* fix that, no dict support

* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)

* give a better name

* fix

* dont support none, capitalize

* sheesh, this called type() on every field

* remove CS.events, clean up

* bump card %

* this was a bug on master!

* add a which enum

* default to pid

* revert

* update refs

* not needed, but consistent

* just Ecu

* don't need to do this in this pr

* clean up

* no cast

* consistent typing

* rm

* fix

* can do this if we're desperate for the last few %

* Revert "can do this if we're desperate for the last few %"

This reverts commit 18e11ac7883a0a56583750b1cc5a2b13011e7299.

* type this

* don't need to convert carControl

* i guess don't support set either

* fix CP type hint

* simplify that

1 year ago

Shane Smiskol

71f5c441fe

card: process that abstracts car interface and CAN (#32380 )

* format card

* standalone process

* no class member CS, there's no point

also can be confusing; what else could be using this?

* rename CoS

* Update selfdrive/controls/controlsd.py

* never works first time :D

* canRcvTimeout is bool

* hack

* add cpu

* see what testing closet comes up with

* first

* some clean up

* support passable CI, fix test models

* fix startup alert

* process replay changes

* test_fuzzy

* gate carOutput valid on carControl valid

* we should publish after we update carOutput

* controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date

* check all checks for carControl in case controlsd dies

* log more timestamps

* more generic latency logger; needs some clean up

latency_logger.py was difficult to understand and modify

* card polls on can and carControl to get latest carControl possible

* temp try to send earlier

* add log

* remove latencylogger

* no mpld3!

* old loop

* detect first event

* normal send

* revert "card polls on can and carControl to get latest carControl possible"

how it was is best

* sheesh! update should be first

* first timestamp

* temp comment ( timestamp is slow :( )

* more final ordering, and make polling on/off test repeatable

* Received can

* new plot timestamps

* clean up

* no poll

* add controllers (draft)

* Revert "add controllers (draft)"

This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3.

* fix that

* conventions

* just use CS

* consider controlsd state machine in card: not fully done

* hmm it's just becoming controlsd

* rm debugging

* Revert "hmm it's just becoming controlsd"

This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7.

* Revert "just use CS"

This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9.

* add vCruise

* migrate car state

* Revert "migrate car state"

This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b.

* Revert "add vCruise"

This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633.

* simple state machine in card (doesn't work as is)

* Revert "simple state machine in card (doesn't work as is)"

This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24.

* poll carState without conflate

* bump

* remove state transition

* fix

* update refs

* ignore cumLagMs and don't ignore valid

* fix controls mismatch; controlsd used to set alt exp

* controlsd_config_callback not needed for card

* revert ref temp

* update refs

* no poll

* not builder!

* test fix

* need to migrate initialized

* CC will be a reader

* more as_reader!

* fix None

* init after publish like before - no real difference

* controlsd clean up

* remove redundant check and check passive for init

* stash

* flip

* migrate missing carOutput for controlsd

* Update ref_commit

* bump cereal

* comment

* no class params

* no class

* Revert "no class"

This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d.

* add todo

* regen and update refs

* fix

* update refs

* and fix that

* should be controlsstate

* remove controlsState migration

CoS.initialized isn't needed yet

* fix

* flip!

* bump

* fix that

* update refs

* fix

* if canValid goes false, controlsd would still send

* bump

* rm diff

* need to be very careful with initializing

* update refs

1 year ago

Adeeb Shihadeh

afc96972c8

car: CarController and CarState are always present (#31925 )

* always set

* add mock

* little more

* fix

* fix

2 years ago

3 Commits (bf68eeb596f873f3e6ab497ea42a079c98835f97)