From 205c900742a18ca4662f4535a1a4008624c05995 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 5 Jun 2023 22:17:41 -0700 Subject: [PATCH 01/10] Driving Personality setting (also changes follow distance) (#24742) * Skeleton * Adjustable follow parameter * fix rebase * long planner * typo * Add ui toggle * Fix icon * Improve text * Better toggle position * Im a UX engineer now * add param reader * CHange jerk to have same crash test performance * Try reading param * Unused comment * translate ui text * std stoi * Parametrized buttons * Empty strings are ints * Move to generic * Update translations * Fix translation diffs * Release notes * update refs * tweaks * Misc fixes * No param is standard --- RELEASES.md | 5 ++ common/params.cc | 1 + .../lib/longitudinal_mpc_lib/long_mpc.py | 49 ++++++++---- .../controls/lib/longitudinal_planner.py | 21 +++++- selfdrive/manager/manager.py | 2 + selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/qt/offroad/settings.cc | 12 +++ selfdrive/ui/qt/widgets/controls.h | 74 +++++++++++++++++++ selfdrive/ui/translations/main_de.ts | 20 +++++ selfdrive/ui/translations/main_ja.ts | 20 +++++ selfdrive/ui/translations/main_ko.ts | 20 +++++ selfdrive/ui/translations/main_pt-BR.ts | 20 +++++ selfdrive/ui/translations/main_zh-CHS.ts | 20 +++++ selfdrive/ui/translations/main_zh-CHT.ts | 20 +++++ 14 files changed, 270 insertions(+), 16 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 547add8a80..482e959d9b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,11 @@ Version 0.9.3 (2023-06-XX) ======================== * New driving model +* New driving personality setting + * Three settings: aggressive, standard, and relaxed + * Standard is recommended and the default + * In aggressive mode lead follow distance is shorter and quicker gas/brake response + * In relaxed mode lead follow distance is longer Version 0.9.2 (2023-05-22) ======================== diff --git a/common/params.cc b/common/params.cc index 530ffe3051..843c57c564 100644 --- a/common/params.cc +++ b/common/params.cc @@ -104,6 +104,7 @@ std::unordered_map keys = { {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, + {"LongitudinalPersonality", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT}, {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 660002691a..23fb1b7790 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import numpy as np - +from cereal import log from common.realtime import sec_since_boot from common.numpy_fast import clip from system.swaglog import cloudlog @@ -54,18 +54,38 @@ FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) MIN_ACCEL = -3.5 MAX_ACCEL = 2.0 -T_FOLLOW = 1.45 COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 +def get_jerk_factor(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.0 + elif personality==log.LongitudinalPersonality.standard: + return 1.0 + elif personality==log.LongitudinalPersonality.aggressive: + return 0.5 + else: + raise NotImplementedError("Longitudinal personality not supported") + + +def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.75 + elif personality==log.LongitudinalPersonality.standard: + return 1.45 + elif personality==log.LongitudinalPersonality.aggressive: + return 1.25 + else: + raise NotImplementedError("Longitudinal personality not supported") + def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) -def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): +def get_safe_obstacle_distance(v_ego, t_follow): return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE -def desired_follow_distance(v_ego, v_lead): - return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) +def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()): + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) def gen_long_model(): @@ -161,7 +181,8 @@ def gen_long_ocp(): x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR]) + # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -249,10 +270,11 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True): + def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): + jerk_factor = get_jerk_factor(personality) if self.mode == 'acc': a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': a_change_cost = 40.0 if prev_accel_constraint else 0 @@ -307,7 +329,8 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j): + def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): + t_follow = get_T_FOLLOW(personality) v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status @@ -334,7 +357,7 @@ class LongitudinalMpc: v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW()) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] @@ -368,7 +391,7 @@ class LongitudinalMpc: self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) - self.params[:,4] = T_FOLLOW + self.params[:,4] = t_follow self.run() if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and @@ -380,9 +403,9 @@ class LongitudinalMpc: # Check if it got within lead comfort range # TODO This should be done cleaner if self.mode == 'blended': - if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0): + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0): self.source = 'lead0' - if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \ + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \ (lead_1_obstacle[0] - lead_0_obstacle[0]): self.source = 'lead1' diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 3089499687..8ad10818fa 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -2,6 +2,8 @@ import math import numpy as np from common.numpy_fast import clip, interp +from common.params import Params +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV @@ -57,6 +59,17 @@ class LongitudinalPlanner: self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 + self.params = Params() + self.param_read_counter = 0 + self.read_param() + self.personality = log.LongitudinalPersonality.standard + + def read_param(self): + param_value = self.params.get('LongitudinalPersonality') + if param_value is not None: + self.personality = int(param_value) + else: + self.personality = log.LongitudinalPersonality.standard @staticmethod def parse_model(model_msg, model_error): @@ -75,6 +88,9 @@ class LongitudinalPlanner: return x, v, a, j def update(self, sm): + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' v_ego = sm['carState'].vEgo @@ -114,11 +130,11 @@ class LongitudinalPlanner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - self.mpc.set_weights(prev_accel_constraint) + self.mpc.set_weights(prev_accel_constraint, personality=self.personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) @@ -154,5 +170,6 @@ class LongitudinalPlanner: longitudinalPlan.fcw = self.fcw longitudinalPlan.solverExecutionTime = self.mpc.solve_time + longitudinalPlan.personality = self.personality pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index c6b135935f..e9a1b2cb5b 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -7,6 +7,7 @@ import sys import traceback from typing import List, Tuple, Union +from cereal import log import cereal.messaging as messaging import selfdrive.sentry as sentry from common.basedir import BASEDIR @@ -44,6 +45,7 @@ def manager_init() -> None: ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), + ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c794a0434a..2332054b69 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dfe1e4a5fd7a464c91c0d2e70592b4b1470fda8d \ No newline at end of file +3e684aef4483b8d311d71bab3bb543d7bad26563 diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 0c8132343c..c68e94b323 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -89,6 +89,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { #endif }; + + std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; + std::vector longi_button_widths{300, 250, 225}; + ButtonParamControl* long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), + tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake."), + "../assets/offroad/icon_speed_limit.png", + longi_button_texts, longi_button_widths); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -97,6 +104,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { addItem(toggle); toggles[param.toStdString()] = toggle; + + // insert longitudinal personality after NDOG toggle + if (param == "DisengageOnAccelerator") { + addItem(long_personality_setting); + } } // Toggles with confirmation dialogs diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 770b9b92dd..a1b50c1bd4 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -196,6 +196,80 @@ private: bool confirm = false; bool store_confirm = false; }; + +class ButtonParamControl : public AbstractControl { + Q_OBJECT +public: + ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + std::vector button_texts, std::vector button_widths) : AbstractControl(title, desc, icon) { + select_style = (R"( + padding: 0; + border-radius: 50px; + font-size: 45px; + font-weight: 500; + color: #E4E4E4; + background-color: #33Ab4C; + )"); + unselect_style = (R"( + padding: 0; + border-radius: 50px; + font-size: 45px; + font-weight: 350; + color: #E4E4E4; + background-color: #393939; + )"); + key = param.toStdString(); + for (int i = 0; i < button_texts.size(); i++) { + QPushButton *button = new QPushButton(); + button->setText(button_texts[i]); + hlayout->addWidget(button); + button->setFixedSize(button_widths[i], 100); + button->setStyleSheet(unselect_style); + buttons.push_back(button); + QObject::connect(button, &QPushButton::clicked, [=]() { + params.put(key, (QString::number(i)).toStdString()); + refresh(); + }); + } + refresh(); + } + + void read_param() { + auto value = params.get(key); + if (!value.empty()) { + param_value = std::stoi(value); + } + }; + void set_param(int new_value) { + QString values = QString::number(new_value); + params.put(key, values.toStdString()); + refresh(); + }; + + void refresh() { + read_param(); + for (int i = 0; i < buttons.size(); i++) { + buttons[i]->setStyleSheet(unselect_style); + if (param_value == i) { + buttons[i]->setStyleSheet(select_style); + } + } + }; + void showEvent(QShowEvent *event) override { + refresh(); + }; + +private: + std::string key; + std::vector buttons; + QString unselect_style; + QString select_style; + Params params; + int param_value = 0; +}; + + + class ListWidget : public QWidget { Q_OBJECT diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 7fda980e92..24b3d6f299 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1056,6 +1056,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + + Updater diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 10da629cf9..b6b039eedd 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1050,6 +1050,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ad9a4e05d9..26e20a6b15 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1051,6 +1051,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 5aa4245fda..794b0c025e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1055,6 +1055,26 @@ Isso pode levar até um minuto. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index e7382075fb..65ff1a4632 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1048,6 +1048,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index d112d86b08..de40c0f9f8 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1050,6 +1050,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + + Updater From 06e1f468aa85e7678ebdedb73ea01e15307b9834 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 5 Jun 2023 21:55:47 -0700 Subject: [PATCH 02/10] bump pylint --- poetry.lock | 16 ++++++++-------- pyproject.toml | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/poetry.lock b/poetry.lock index e0e843ff0d..e2ef2fc29e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -190,7 +190,7 @@ tests = ["pytest"] name = "astroid" version = "2.15.5" description = "An abstract syntax tree for Python with inference support." -category = "main" +category = "dev" optional = false python-versions = ">=3.7.2" @@ -837,7 +837,7 @@ tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytes name = "dill" version = "0.3.5.1" description = "serialize all of python" -category = "main" +category = "dev" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*" @@ -1631,7 +1631,7 @@ six = "*" name = "isort" version = "5.10.1" description = "A Python utility / library to sort Python imports." -category = "main" +category = "dev" optional = false python-versions = ">=3.6.1,<4.0" @@ -1982,7 +1982,7 @@ tabulate = "*" name = "lazy-object-proxy" version = "1.7.1" description = "A fast and thorough lazy object proxy." -category = "main" +category = "dev" optional = false python-versions = ">=3.6" @@ -3255,7 +3255,7 @@ python-versions = "*" name = "pylint" version = "2.17.4" description = "python code static checker" -category = "main" +category = "dev" optional = false python-versions = ">=3.7.2" @@ -4403,7 +4403,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*" name = "tomli" version = "2.0.1" description = "A lil' TOML parser" -category = "main" +category = "dev" optional = false python-versions = ">=3.7" @@ -4709,7 +4709,7 @@ python-versions = ">=3.7" name = "wrapt" version = "1.14.1" description = "Module for decorators, wrappers and monkey patching." -category = "main" +category = "dev" optional = false python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7" @@ -4804,7 +4804,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "454ab16c681fa1754b26156f767ca0701eac357b66c146d71d61b39cbed42f5a" +content-hash = "8c0419671beb3e8c8f0add750929f5be32be6fa3f077d44614cbd598b4cadc00" [metadata.files] adal = [ diff --git a/pyproject.toml b/pyproject.toml index fa03248b9b..52dd7f2a02 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -37,7 +37,6 @@ psutil = "^5.9.1" pycapnp = "==1.1.0" pycryptodome = "^3.15.0" PyJWT = "^2.5.0" -pylint = "^2.15.4" pyopencl = "^2022.2.4" pyserial = "^3.5" python-dateutil = "^2.8.2" @@ -92,6 +91,7 @@ pprofile = "^2.1.0" pre-commit = "^2.19.0" pycurl = "^7.45.1" pygame = "^2.1.2" +pylint = "^2.17.4" pyprof2calltree = "^1.4.5" pytest = "^7.1.2" pytest-xdist = "^2.5.0" From f97b2bb9d76cd50bf13cd4481735c5fb03c14aab Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 6 Jun 2023 15:11:21 +0900 Subject: [PATCH 03/10] kor translation update (#28420) --- selfdrive/ui/translations/main_ko.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 26e20a6b15..cf2ab3ad6a 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -857,23 +857,23 @@ This may take up to a minute. failed to check for update - + 업데이트 확인 실패 up to date, last checked %1 - + 최신 상태, 마지막으로 확인 %1 DOWNLOAD - + 다운로드 update available - + 업데이트 가능 never - + 업데이트 안함 From 7f41047178b5390581b9f18435939ba43a43a423 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 6 Jun 2023 16:18:17 +0800 Subject: [PATCH 04/10] ui: refactor ButtonParamControl (#28425) * refactor ButtonParamControl * add pressed style * connect to buttonToggled * typo --- selfdrive/ui/qt/offroad/settings.cc | 3 +- selfdrive/ui/qt/widgets/controls.h | 99 +++++++++++------------------ 2 files changed, 38 insertions(+), 64 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index c68e94b323..ac500a60f2 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -91,11 +91,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; - std::vector longi_button_widths{300, 250, 225}; ButtonParamControl* long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake."), "../assets/offroad/icon_speed_limit.png", - longi_button_texts, longi_button_widths); + longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index a1b50c1bd4..43054b892f 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -60,7 +61,7 @@ public: public slots: void showDescription() { description->setVisible(true); - }; + } signals: void showDescriptionEvent(); @@ -106,7 +107,7 @@ signals: void clicked(); public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); }; + void setEnabled(bool enabled) { btn.setEnabled(enabled); } private: QPushButton btn; @@ -163,7 +164,7 @@ public: void setConfirmation(bool _confirm, bool _store_confirm) { confirm = _confirm; store_confirm = _store_confirm; - }; + } void setActiveIcon(const QString &icon) { active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); @@ -175,11 +176,11 @@ public: toggle.togglePosition(); setIcon(state); } - }; + } void showEvent(QShowEvent *event) override { refresh(); - }; + } private: void setIcon(bool state) { @@ -188,7 +189,7 @@ private: } else if (!icon_pixmap.isNull()) { icon_label->setPixmap(icon_pixmap); } - }; + } std::string key; Params params; @@ -196,81 +197,55 @@ private: bool confirm = false; bool store_confirm = false; }; - + class ButtonParamControl : public AbstractControl { Q_OBJECT public: ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - std::vector button_texts, std::vector button_widths) : AbstractControl(title, desc, icon) { - select_style = (R"( - padding: 0; + const std::vector &button_texts) : AbstractControl(title, desc, icon) { + const QString style = R"( + QPushButton { border-radius: 50px; - font-size: 45px; + font-size: 40px; font-weight: 500; - color: #E4E4E4; - background-color: #33Ab4C; - )"); - unselect_style = (R"( - padding: 0; - border-radius: 50px; - font-size: 45px; - font-weight: 350; + height:100px; + padding: 0 25 0 25; color: #E4E4E4; background-color: #393939; - )"); + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:checked { + background-color: #33Ab4C; + } + )"; key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + + QButtonGroup *button_group = new QButtonGroup(this); + button_group->setExclusive(true); for (int i = 0; i < button_texts.size(); i++) { - QPushButton *button = new QPushButton(); - button->setText(button_texts[i]); + QPushButton *button = new QPushButton(button_texts[i], this); + button->setCheckable(true); + button->setChecked(i == value); + button->setStyleSheet(style); hlayout->addWidget(button); - button->setFixedSize(button_widths[i], 100); - button->setStyleSheet(unselect_style); - buttons.push_back(button); - QObject::connect(button, &QPushButton::clicked, [=]() { - params.put(key, (QString::number(i)).toStdString()); - refresh(); - }); + button_group->addButton(button, i); } - refresh(); - } - - void read_param() { - auto value = params.get(key); - if (!value.empty()) { - param_value = std::stoi(value); - } - }; - void set_param(int new_value) { - QString values = QString::number(new_value); - params.put(key, values.toStdString()); - refresh(); - }; - void refresh() { - read_param(); - for (int i = 0; i < buttons.size(); i++) { - buttons[i]->setStyleSheet(unselect_style); - if (param_value == i) { - buttons[i]->setStyleSheet(select_style); + QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) { + if (checked) { + params.put(key, std::to_string(id)); } - } - }; - void showEvent(QShowEvent *event) override { - refresh(); - }; + }); + } private: std::string key; - std::vector buttons; - QString unselect_style; - QString select_style; Params params; - int param_value = 0; }; - - - class ListWidget : public QWidget { Q_OBJECT public: @@ -310,7 +285,7 @@ class LayoutWidget : public QWidget { public: LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { setLayout(l); - }; + } }; class ClickableWidget : public QWidget { From 64377a88f94527f56ba8e9cd7c01c97100681455 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 6 Jun 2023 19:31:13 +0200 Subject: [PATCH 05/10] process_replay: helpers (#28367) * process_replay helper * Refactor * refactor check_enabled uses * fix __init__ * noqa in __init__ imports * Move compare_logs outside of process_replay * Move save_logs to tools.lib.helpers * Remove save_log from compare_logs * fix lint issues --- selfdrive/debug/run_process_on_route.py | 2 +- selfdrive/test/process_replay/__init__.py | 1 + selfdrive/test/process_replay/compare_logs.py | 11 -------- selfdrive/test/process_replay/model_replay.py | 3 ++- .../test/process_replay/process_replay.py | 25 +++++++++++++++++-- selfdrive/test/process_replay/regen.py | 4 +-- .../test/process_replay/test_processes.py | 7 +++--- tools/lib/helpers.py | 12 +++++++++ tools/plotjuggler/juggle.py | 2 +- 9 files changed, 46 insertions(+), 21 deletions(-) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 63b0733bba..0ea76d260f 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -2,10 +2,10 @@ import argparse -from selfdrive.test.process_replay.compare_logs import save_log from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process from tools.lib.logreader import MultiLogIterator from tools.lib.route import Route +from tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py index e69de29bb2..6667deaa2d 100644 --- a/selfdrive/test/process_replay/__init__.py +++ b/selfdrive/test/process_replay/__init__.py @@ -0,0 +1 @@ +from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index 48752d2222..52898d8810 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import bz2 import sys import math import capnp @@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon -def save_log(dest, log_msgs, compress=True): - dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) - - if compress: - dat = bz2.compress(dat) - - with open(dest, "wb") as f: - f.write(dat) - - def remove_ignored_fields(msg, ignore): msg = msg.as_builder() for key in ignore: diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 9c1ec4e931..55d95a6a6a 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -14,11 +14,12 @@ from common.transformations.camera import tici_f_frame_size, tici_d_frame_size from system.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.test.process_replay.compare_logs import compare_logs, save_log +from selfdrive.test.process_replay.compare_logs import compare_logs from selfdrive.test.process_replay.test_processes import format_diff from system.version import get_commit from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index d6d5b25bde..7ee1d05962 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -333,7 +333,28 @@ def get_process_config(name): raise Exception(f"Cannot find process config with name: {name}") from ex -def replay_process(cfg, lr, fingerprint=None): +def replay_process_with_name(name, lr, *args, **kwargs): + cfg = get_process_config(name) + return replay_process(cfg, lr, *args, **kwargs) + + +def replay_process(cfg, lr, fingerprint=None, return_all_logs=False): + all_msgs = list(lr) + process_logs = _replay_single_process(cfg, all_msgs, fingerprint) + + if return_all_logs: + keys = set(cfg.subs) + modified_logs = [m for m in all_msgs if m.which() not in keys] + modified_logs.extend(process_logs) + modified_logs.sort(key=lambda m: m.logMonoTime) + log_msgs = modified_logs + else: + log_msgs = process_logs + + return log_msgs + + +def _replay_single_process(cfg, lr, fingerprint): with OpenpilotPrefix(): controlsState = None initialized = False @@ -484,7 +505,7 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None, params.put_bool("ExperimentalLongitudinalEnabled", True) -def check_enabled(msgs): +def check_openpilot_enabled(msgs): cur_enabled_count = 0 max_enabled_count = 0 for msg in msgs: diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 63eb37d29d..cc697bb9bf 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -19,7 +19,7 @@ from panda.python import Panda from selfdrive.car.toyota.values import EPS_SCALE from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled +from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_openpilot_enabled from selfdrive.test.update_ci_routes import upload_route from tools.lib.route import Route from tools.lib.framereader import FrameReader @@ -343,7 +343,7 @@ def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=Fal segment = params.get("CurrentRoute", encoding='utf-8') + "--0" seg_path = os.path.join(outdir, segment) # check to make sure openpilot is engaged in the route - if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))): + if not check_openpilot_enabled(LogReader(os.path.join(seg_path, "rlog"))): raise Exception(f"Route did not engage for long enough: {segment}") return seg_path diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index deed1ec48f..02922c530d 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict from selfdrive.car.car_helpers import interface_names from selfdrive.test.openpilotci import get_url, upload_file -from selfdrive.test.process_replay.compare_logs import compare_logs, save_log -from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process +from selfdrive.test.process_replay.compare_logs import compare_logs +from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY @@ -104,7 +105,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": - if not check_enabled(log_msgs): + if not check_openpilot_enabled(log_msgs): return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index efe704b9ec..067b64b6ac 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -1,3 +1,4 @@ +import bz2 import datetime TIME_FMT = "%Y-%m-%d--%H-%M-%S" @@ -13,8 +14,19 @@ class RE: EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) OP_SEGMENT_DIR = r'^(?P{})$'.format(SEGMENT_NAME) + def timestamp_to_datetime(t: str) -> datetime.datetime: """ Convert an openpilot route timestamp to a python datetime """ return datetime.datetime.strptime(t, TIME_FMT) + + +def save_log(dest, log_msgs, compress=True): + dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) + + if compress: + dat = bz2.compress(dat) + + with open(dest, "wb") as f: + f.write(dat) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 1e592da3b1..e147cf9ce8 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -11,10 +11,10 @@ import requests import argparse from common.basedir import BASEDIR -from selfdrive.test.process_replay.compare_logs import save_log from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from tools.lib.route import Route, SegmentName +from tools.lib.helpers import save_log from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) From d6cfbd0097a3f4ebc4cd49858c8f14aff84a01dc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 6 Jun 2023 11:07:31 -0700 Subject: [PATCH 06/10] Driving personality setting: add description (#28422) * Driving personality setting: add description * Missing word --- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/translations/main_de.ts | 2 +- selfdrive/ui/translations/main_ja.ts | 2 +- selfdrive/ui/translations/main_ko.ts | 2 +- selfdrive/ui/translations/main_pt-BR.ts | 2 +- selfdrive/ui/translations/main_zh-CHS.ts | 2 +- selfdrive/ui/translations/main_zh-CHT.ts | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index ac500a60f2..64bf44d2ce 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -92,7 +92,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; ButtonParamControl* long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), - tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake."), + tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."), "../assets/offroad/icon_speed_limit.png", longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 24b3d6f299..447f66f016 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1073,7 +1073,7 @@ This may take up to a minute. - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b6b039eedd..6dc183d7f7 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1067,7 +1067,7 @@ This may take up to a minute. - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index cf2ab3ad6a..b751e9cf57 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1068,7 +1068,7 @@ This may take up to a minute. - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 794b0c025e..f2012bbe3a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1072,7 +1072,7 @@ Isso pode levar até um minuto. - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 65ff1a4632..1d7cdd9f60 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1065,7 +1065,7 @@ This may take up to a minute. - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index de40c0f9f8..954991c705 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1067,7 +1067,7 @@ This may take up to a minute. - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. From 5b3ddabf51ac1b9c0062757f8bd3e6ec53bdf586 Mon Sep 17 00:00:00 2001 From: Saber422 <81108166+Saber422@users.noreply.github.com> Date: Wed, 7 Jun 2023 02:56:55 +0800 Subject: [PATCH 07/10] VW MQB: Add FW for 2020 Skoda Kodiaq (#28428) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit VW MQB: Add FW for 2020 Skoda Kodiaq route name：cd4c3e2031f01e61|2023-06-04--19-53-13--0 --- selfdrive/car/volkswagen/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 1fc21fe5c0..88fd31bc03 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1154,6 +1154,7 @@ FW_VERSIONS = { CAR.SKODA_KODIAQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', + b'\xf1\x8704E906027NB\xf1\x896517', b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', From ae0768909bbcf51325a0a8ed0e623a0177c13c18 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Tue, 6 Jun 2023 11:57:37 -0700 Subject: [PATCH 08/10] Lowered expected power draw for mapsd --- system/hardware/tici/tests/test_power_draw.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 4683bba1f9..1487db0842 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -26,7 +26,7 @@ PROCS = [ Proc('modeld', 0.93, atol=0.2), Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), - Proc('mapsd', 0.1), + Proc('mapsd', 0.05), Proc('navmodeld', 0.05), ] From 80623956ae835b655c7b9ae8e5cdacb33873384a Mon Sep 17 00:00:00 2001 From: John Paull Date: Tue, 6 Jun 2023 16:07:48 -0400 Subject: [PATCH 09/10] Hyundai: add missing FW for Santa Fe Hybrid 2022 (#28410) * values.py added additional Firmware * add fwdCamera too --------- Co-authored-by: Cameron Clough --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b6e97a38a8..ba0fefca00 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -847,12 +847,14 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727' b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], (Ecu.transmission, 0x7e1, None): [ From 48b507c0b4508171c1439e05344e6cb0f8672d12 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 7 Jun 2023 04:10:12 +0800 Subject: [PATCH 10/10] handle conversion exception for LongitudinalPersonality (#28426) * handle type conversion exception * catch multiple exception --- selfdrive/controls/lib/longitudinal_planner.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 8ad10818fa..a9c3cc7804 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -65,10 +65,9 @@ class LongitudinalPlanner: self.personality = log.LongitudinalPersonality.standard def read_param(self): - param_value = self.params.get('LongitudinalPersonality') - if param_value is not None: - self.personality = int(param_value) - else: + try: + self.personality = int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): self.personality = log.LongitudinalPersonality.standard @staticmethod