diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 08fcda1585..7d397a147d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -26,6 +26,7 @@ env: RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover + PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 jobs: build_release: @@ -248,22 +249,9 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $UNIT_TEST common && \ - $UNIT_TEST selfdrive/boardd && \ - $UNIT_TEST selfdrive/controls && \ - $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST system/loggerd && \ - $UNIT_TEST selfdrive/car && \ - $UNIT_TEST selfdrive/locationd && \ - $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \ - $UNIT_TEST system/tests && \ - $UNIT_TEST system/ubloxd && \ + $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ - $UNIT_TEST selfdrive/athena && \ - $UNIT_TEST selfdrive/thermald && \ - $UNIT_TEST system/hardware/tici && \ - $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ @@ -274,8 +262,7 @@ jobs: ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ - ./selfdrive/test/process_replay/test_fuzzy.py && \ - coverage xml" + ./selfdrive/test/process_replay/test_fuzzy.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 @@ -374,7 +361,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2cda93701f..e335fb432e 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -35,7 +35,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.286 + rev: v0.0.287 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/cereal b/cereal index 82bca3a971..4291784b4d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d +Subproject commit 4291784b4d372782c95279e9fe7741e38633ca5e diff --git a/docs/CARS.md b/docs/CARS.md index 1ecb7d5a48..e032227c46 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq 6 (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/panda b/panda index ef1a9338a1..3ab4f43de0 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ef1a9338a17f63ad1c666364c695e2b36a47350e +Subproject commit 3ab4f43de06d7abcc4d594ee2a4efc0466e42c94 diff --git a/poetry.lock b/poetry.lock index a5f0841ba1..95dd089bce 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3152,13 +3152,13 @@ files = [ [[package]] name = "pre-commit" -version = "3.3.3" +version = "3.4.0" description = "A framework for managing and maintaining multi-language pre-commit hooks." optional = false python-versions = ">=3.8" files = [ - {file = "pre_commit-3.3.3-py2.py3-none-any.whl", hash = "sha256:10badb65d6a38caff29703362271d7dca483d01da88f9d7e05d0b97171c136cb"}, - {file = "pre_commit-3.3.3.tar.gz", hash = "sha256:a2256f489cd913d575c145132ae196fe335da32d91a8294b7afe6622335dd023"}, + {file = "pre_commit-3.4.0-py2.py3-none-any.whl", hash = "sha256:96d529a951f8b677f730a7212442027e8ba53f9b04d217c4c67dc56c393ad945"}, + {file = "pre_commit-3.4.0.tar.gz", hash = "sha256:6bbd5129a64cad4c0dfaeeb12cd8f7ea7e15b77028d985341478c8af3c759522"}, ] [package.dependencies] @@ -3745,13 +3745,13 @@ cp2110 = ["hidapi"] [[package]] name = "pytest" -version = "7.4.0" +version = "7.4.1" description = "pytest: simple powerful testing with Python" optional = false python-versions = ">=3.7" files = [ - {file = "pytest-7.4.0-py3-none-any.whl", hash = "sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32"}, - {file = "pytest-7.4.0.tar.gz", hash = "sha256:b4bf8c45bd59934ed84001ad51e11b4ee40d40a1229d2c79f9c592b0a3f6bd8a"}, + {file = "pytest-7.4.1-py3-none-any.whl", hash = "sha256:460c9a59b14e27c602eb5ece2e47bec99dc5fc5f6513cf924a7d03a578991b1f"}, + {file = "pytest-7.4.1.tar.gz", hash = "sha256:2f2301e797521b23e4d2585a0a3d7b5e50fdddaaf7e7d6773ea26ddb17c213ab"}, ] [package.dependencies] @@ -3876,13 +3876,13 @@ numpy = ["numpy (>=1.6.0)"] [[package]] name = "pytz" -version = "2023.3" +version = "2023.3.post1" description = "World timezone definitions, modern and historical" optional = false python-versions = "*" files = [ - {file = "pytz-2023.3-py2.py3-none-any.whl", hash = "sha256:a151b3abb88eda1d4e34a9814df37de2a80e301e68ba0fd856fb9b46bfbbbffb"}, - {file = "pytz-2023.3.tar.gz", hash = "sha256:1d8ce29db189191fb55338ee6d0387d82ab59f3d00eac103412d64e0ebd0c588"}, + {file = "pytz-2023.3.post1-py2.py3-none-any.whl", hash = "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7"}, + {file = "pytz-2023.3.post1.tar.gz", hash = "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b"}, ] [[package]] diff --git a/pyproject.toml b/pyproject.toml index f0d0324d53..19b52ff235 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index f32df74217..e088bcf356 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -48,6 +48,7 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) + dispatcher["listUploadQueue"]() # ensure queue is empty at start # *** test helpers *** diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 8968d1dc29..e6aaa2a952 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -265,6 +265,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0a636beb23..8cae1c6fe1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1930,6 +1930,7 @@ FW_VERSIONS = { CAR.KIA_SORENTO_HEV_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', @@ -1975,7 +1976,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, CAR.KIA_OPTIMA_H} diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 73ad6aebcc..2037b24a8d 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -310,6 +310,7 @@ FW_VERSIONS = { b'\xa2 !`\000', b'\xf1\x00\xb2\x06\x04', b'\xa2 `\x00', + b'\xa2 !3\x00', ], (Ecu.eps, 0x746, None): [ b'\x9a\xc0\000\000', @@ -323,6 +324,7 @@ FW_VERSIONS = { b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xca!ap\a', @@ -337,6 +339,7 @@ FW_VERSIONS = { b'\xf3"fp\x07', b'\xe6"f0\x07', b'\xe6"fp\x07', + b'\xe6!`@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -348,6 +351,7 @@ FW_VERSIONS = { b'\xe9\xf6F0\x00', b'\xe9\xf5B0\x00', b'\xe9\xf6B0\x00', + b'\xe9\xf5"\x00\x00', ], }, CAR.CROSSTREK_HYBRID: { diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index aaf5b48915..be46f9a807 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -129,6 +129,7 @@ routes = [ CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), + CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ), # openpilot longitudinal enabled CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 8809994981..7d5bd85e99 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -175,7 +175,7 @@ class TestFwFingerprint(unittest.TestCase): class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.1 + TOL: float = 0.12 @staticmethod def _run_thread(thread: threading.Thread) -> float: diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 6c6ac33431..99047c37f3 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -80,7 +80,7 @@ class TestLocationdProc(unittest.TestCase): for msg in sorted(msgs, key=lambda x: x.logMonoTime): self.pm.send(msg.which(), msg) if msg.which() == "cameraOdometry": - self.pm.wait_for_readers_to_update(msg.which(), 0.1) + self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005) time.sleep(1) # wait for async params write lastGPS = json.loads(self.params.get('LastGPSPosition')) diff --git a/selfdrive/test/pytest-ci.ini b/selfdrive/test/pytest-ci.ini new file mode 100644 index 0000000000..b96dacc54b --- /dev/null +++ b/selfdrive/test/pytest-ci.ini @@ -0,0 +1,18 @@ +[pytest] +testpaths = + common + selfdrive/athena + selfdrive/boardd + selfdrive/car + selfdrive/controls + selfdrive/locationd + selfdrive/monitoring + selfdrive/thermald + selfdrive/test/longitudinal_maneuvers + system/hardware/tici + system/loggerd + system/tests + system/ubloxd + tools/lib/tests +markers = + parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 38824aa8db..fea81ab910 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -41,6 +41,8 @@ const char frame_fragment_shader[] = "out vec4 colorOut;\n" "void main() {\n" " colorOut = texture(uTexture, vTexCoord);\n" + // gamma to improve worst case visibility when dark + " colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n" "}\n"; #else const char frame_fragment_shader[] = diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index d3c6486023..a5884f113f 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -15,12 +15,13 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { QSoundEffect *s = new QSoundEffect(this); QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); }); s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); + s->setVolume(volume); sounds[alert] = {s, loops}; } diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 81a5f1a86b..4fcb2e1bce 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -9,18 +9,21 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/ui.h" -const std::tuple sound_list[] = { + +const float MAX_VOLUME = 1.0; + +const std::tuple sound_list[] = { // AudibleAlert, file name, loop count - {AudibleAlert::ENGAGE, "engage.wav", 0}, - {AudibleAlert::DISENGAGE, "disengage.wav", 0}, - {AudibleAlert::REFUSE, "refuse.wav", 0}, + {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME}, + {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME}, + {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT, "prompt.wav", 0}, - {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite}, - {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite}, + {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME}, + {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite}, + {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME}, }; class Sound : public QObject { diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc index 43599f3828..d9cb5c0a7f 100644 --- a/selfdrive/ui/tests/test_sound.cc +++ b/selfdrive/ui/tests/test_sound.cc @@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) { const int DT_CTRL = 10; // ms for (int i = 0; i < loop_cnt; ++i) { - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { printf("testing %s\n", qPrintable(fn)); for (int j = 0; j < 1000 / DT_CTRL; ++j) { MessageBuilder msg; diff --git a/system/logmessaged.py b/system/logmessaged.py index cab8cdd80d..4799348990 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -5,6 +5,7 @@ from typing import NoReturn import cereal.messaging as messaging from openpilot.common.logging_extra import SwagLogFileFormatter from openpilot.system.swaglog import get_file_handler +from system.swaglog import SWAGLOG_IPC def main() -> NoReturn: @@ -14,7 +15,7 @@ def main() -> NoReturn: ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) - sock.bind("ipc:///tmp/logmessage") + sock.bind(f"ipc://{SWAGLOG_IPC}") # and we publish them log_message_sock = messaging.pub_sock('logMessage') diff --git a/system/sensord/rawgps/nmeaport.py b/system/sensord/rawgps/nmeaport.py new file mode 100644 index 0000000000..01b9b179b9 --- /dev/null +++ b/system/sensord/rawgps/nmeaport.py @@ -0,0 +1,169 @@ +import os +import sys +from dataclasses import dataclass, fields +from subprocess import check_output, CalledProcessError +from time import sleep +from typing import NoReturn + +DEBUG = int(os.environ.get("DEBUG", "0")) + +@dataclass +class GnssClockNmeaPort: + # flags bit mask: + # 0x01 = leap_seconds valid + # 0x02 = time_uncertainty_ns valid + # 0x04 = full_bias_ns valid + # 0x08 = bias_ns valid + # 0x10 = bias_uncertainty_ns valid + # 0x20 = drift_nsps valid + # 0x40 = drift_uncertainty_nsps valid + flags: int + leap_seconds: int + time_ns: int + time_uncertainty_ns: int # 1-sigma + full_bias_ns: int + bias_ns: float + bias_uncertainty_ns: float # 1-sigma + drift_nsps: float + drift_uncertainty_nsps: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +@dataclass +class GnssMeasNmeaPort: + messageCount: int + messageNum: int + svCount: int + # constellation enum: + # 1 = GPS + # 2 = SBAS + # 3 = GLONASS + # 4 = QZSS + # 5 = BEIDOU + # 6 = GALILEO + constellation: int + svId: int + flags: int # always zero + time_offset_ns: int + # state bit mask: + # 0x0001 = CODE LOCK + # 0x0002 = BIT SYNC + # 0x0004 = SUBFRAME SYNC + # 0x0008 = TIME OF WEEK DECODED + # 0x0010 = MSEC AMBIGUOUS + # 0x0020 = SYMBOL SYNC + # 0x0040 = GLONASS STRING SYNC + # 0x0080 = GLONASS TIME OF DAY DECODED + # 0x0100 = BEIDOU D2 BIT SYNC + # 0x0200 = BEIDOU D2 SUBFRAME SYNC + # 0x0400 = GALILEO E1BC CODE LOCK + # 0x0800 = GALILEO E1C 2ND CODE LOCK + # 0x1000 = GALILEO E1B PAGE SYNC + # 0x2000 = GALILEO E1B PAGE SYNC + state: int + time_of_week_ns: int + time_of_week_uncertainty_ns: int # 1-sigma + carrier_to_noise_ratio: float + pseudorange_rate: float + pseudorange_rate_uncertainty: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +def nmea_checksum_ok(s): + checksum = 0 + for i, c in enumerate(s[1:]): + if c == "*": + if i != len(s) - 4: # should be 3rd to last character + print("ERROR: NMEA string does not have checksum delimiter in correct location:", s) + return False + break + checksum ^= ord(c) + else: + print("ERROR: NMEA string does not have checksum delimiter:", s) + return False + + return True + +def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: + while True: + try: + with open(device, "r") as nmeaport: + for line in nmeaport: + line = line.strip() + if DEBUG: + print(line) + if not line.startswith("$"): # all NMEA messages start with $ + continue + if not nmea_checksum_ok(line): + continue + + fields = line.split(",") + match fields[0]: + case "$GNCLK": + # fields at end are reserved (not used) + gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + print(gnss_clock) + case "$GNMEAS": + # fields at end are reserved (not used) + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + print(gnss_meas) + except Exception as e: + print(e) + sleep(1) + +def main() -> NoReturn: + from openpilot.common.gpio import gpio_init, gpio_set + from openpilot.system.hardware.tici.pins import GPIO + from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + + try: + check_output(["pidof", "rawgpsd"]) + print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (boardd not running) + raise e + + print("power up antenna ...") + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) + + if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""): + print("stop location tracking ...") + at_cmd("AT+QGPSEND") + + if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""): + print("configure outport ...") + at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1 + + if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""): + print("configure gnssrawdata ...") + # AT+QGPSCFG="gnssrawdata",,' + # values: + # 0x01 = GPS + # 0x02 = GLONASS + # 0x04 = BEIDOU + # 0x08 = GALILEO + # 0x10 = QZSS + # values: + # 0 = NMEA port + # 1 = AT port + at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port + print("rebooting ...") + at_cmd('AT+CFUN=1,1') + print("re-run this script when it is back up") + sys.exit(2) + + print("starting location tracking ...") + at_cmd("AT+QGPS=1") + + process_nmea_port_messages() + +if __name__ == "__main__": + main() diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index e3cd77a1a3..ccdce3b4e5 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -9,6 +9,7 @@ import cereal.messaging as messaging from cereal import log from cereal.services import service_list from openpilot.common.gpio import get_irqs_for_action +from openpilot.common.timeout import Timeout from openpilot.system.hardware import TICI from openpilot.selfdrive.manager.process_config import managed_processes @@ -73,15 +74,24 @@ def get_irq_count(irq: int): def read_sensor_events(duration_sec): sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] - esocks = {} + socks = {} + poller = messaging.Poller() events = defaultdict(list) for stype in sensor_types: - esocks[stype] = messaging.sub_sock(stype, timeout=0.1) - - start_time_sec = time.monotonic() - while time.monotonic() - start_time_sec < duration_sec: - for esock in esocks: - events[esock] += messaging.drain_sock(esocks[esock]) + socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100) + + # wait for sensors to come up + with Timeout(60, "sensors didn't come up"): + while len(poller.poll(250)) == 0: + pass + time.sleep(1) + for s in socks.values(): + messaging.drain_sock_raw(s) + + st = time.monotonic() + while time.monotonic() - st < duration_sec: + for s in socks: + events[s] += messaging.drain_sock(socks[s]) time.sleep(0.1) assert sum(map(len, events.values())) != 0, "No sensor events collected!" @@ -101,8 +111,7 @@ class TestSensord(unittest.TestCase): os.system("pkill -f ./_sensord") try: managed_processes["sensord"].start() - time.sleep(3) - cls.sample_secs = 10 + cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) cls.events = read_sensor_events(cls.sample_secs) # determine sensord's irq diff --git a/system/swaglog.py b/system/swaglog.py index 3d45ad9826..6ccd0d9791 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -15,6 +15,8 @@ if PC: else: SWAGLOG_DIR = "/data/log/" +SWAGLOG_IPC = "/tmp/logmessage" + def get_file_handler(): Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True) base_filename = os.path.join(SWAGLOG_DIR, "swaglog") @@ -89,7 +91,7 @@ class UnixDomainSocketHandler(logging.Handler): self.zctx = zmq.Context() self.sock = self.zctx.socket(zmq.PUSH) self.sock.setsockopt(zmq.LINGER, 10) - self.sock.connect("ipc:///tmp/logmessage") + self.sock.connect(f"ipc://{SWAGLOG_IPC}") self.pid = os.getpid() def emit(self, record): diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 330f151368..0b70774bbb 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -7,7 +7,7 @@ import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.swaglog import cloudlog, ipchandler -from selfdrive.test.helpers import temporary_swaglog_dir +from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc class TestLogmessaged(unittest.TestCase): @@ -35,6 +35,7 @@ class TestLogmessaged(unittest.TestCase): return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*"))) @temporary_swaglog_dir + @temporary_swaglog_ipc def test_simple_log(self, temp_dir): self._setup(temp_dir) msgs = [f"abc {i}" for i in range(10)] @@ -46,6 +47,7 @@ class TestLogmessaged(unittest.TestCase): assert len(self._get_log_files()) >= 1 @temporary_swaglog_dir + @temporary_swaglog_ipc def test_big_log(self, temp_dir): self._setup(temp_dir) n = 10 diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index b1709cd9bb..85a4e0a426 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -9,6 +9,7 @@ from laika.opt import calc_pos_fix from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.helpers import temporary_dir import cereal.messaging as messaging def get_gnss_measurements(log_reader): @@ -54,8 +55,9 @@ class TestUbloxProcessing(unittest.TestCase): self.assertEqual(count_gps, 5036) self.assertEqual(count_glonass, 3651) - def test_get_fix(self): - dog = AstroDog() + @temporary_dir + def test_get_fix(self, temp_dir): + dog = AstroDog(cache_dir=temp_dir) position_fix_found = 0 count_processed_measurements = 0 count_corrected_measurements = 0