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Merge remote-tracking branch 'upstream/master' into person-changing

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pull/31792/head
Shane Smiskol 1 year ago
parent 9b0df58e1e 78d72d7dc3
commit 1c88f7de10
37 changed files with 393 additions and 519 deletions
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  1. 2
      .pre-commit-config.yaml
  2. 2
      cereal
  3. 1
      common/params.cc
  4. 103
      common/transformations/camera.py
  5. 21
      common/transformations/model.py
  6. 2
      panda
  7. 445
      poetry.lock
  8. 2
      release/build_release.sh
  9. 1
      release/files_common
  10. 42
      selfdrive/boardd/boardd.cc
  11. 39
      selfdrive/boardd/panda.cc
  12. 3
      selfdrive/boardd/panda.h
  13. 5
      selfdrive/boardd/pandad.py
  14. 38
      selfdrive/boardd/set_time.py
  15. 2
      selfdrive/car/chrysler/fingerprints.py
  16. 1
      selfdrive/car/toyota/fingerprints.py
  17. 10
      selfdrive/modeld/modeld.py
  18. 11
      selfdrive/modeld/tests/test_modeld.py
  19. 6
      selfdrive/monitoring/driver_monitor.py
  20. 16
      selfdrive/test/process_replay/migration.py
  21. 20
      selfdrive/test/process_replay/model_replay.py
  22. 2
      selfdrive/test/process_replay/process_replay.py
  23. 2
      selfdrive/test/process_replay/ref_commit
  24. 4
      selfdrive/test/process_replay/regen.py
  25. 10
      selfdrive/test/process_replay/vision_meta.py
  26. 1
      selfdrive/thermald/thermald.py
  27. 10
      selfdrive/ui/qt/network/networking.cc
  28. 3
      selfdrive/ui/qt/network/wifi_manager.cc
  29. 2
      selfdrive/ui/qt/network/wifi_manager.h
  30. 11
      selfdrive/ui/tests/test_ui/run.py
  31. 7
      selfdrive/updated/tests/test_base.py
  32. 9
      system/loggerd/tests/test_loggerd.py
  33. 43
      tools/replay/lib/ui_helpers.py
  34. 26
      tools/replay/ui.py
  35. 1
      tools/sim/bridge/metadrive/metadrive_bridge.py
  36. 8
      tools/sim/bridge/metadrive/metadrive_process.py
  37. 1
      tools/sim/scenarios/metadrive/stay_in_lane.py

2
.pre-commit-config.yaml
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@ -33,7 +33,7 @@ repos:
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit - repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.2.2 rev: v0.3.2
hooks: hooks:
- id: ruff - id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'

2
cereal

@ -1 +1 @@
Subproject commit ae018910975883dfe70700fe161092ef62050fc2 Subproject commit 2e49ea08fc15c5947f6564dbc7982e95e32c1344

1
common/params.cc
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@ -207,7 +207,6 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
{"UpdaterLastFetchTime", PERSISTENT}, {"UpdaterLastFetchTime", PERSISTENT},
{"Version", PERSISTENT}, {"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
}; };
} // namespace } // namespace

103
common/transformations/camera.py
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@ -1,55 +1,58 @@
import itertools
import numpy as np import numpy as np
from dataclasses import dataclass
import openpilot.common.transformations.orientation as orient import openpilot.common.transformations.orientation as orient
## -- hardcoded hardware params -- ## -- hardcoded hardware params --
eon_f_focal_length = 910.0 @dataclass(frozen=True)
eon_d_focal_length = 650.0 class CameraConfig:
tici_f_focal_length = 2648.0 width: int
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame height: int
focal_length: float
eon_f_frame_size = (1164, 874)
eon_d_frame_size = (816, 612) @property
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208) def intrinsics(self):
# aka 'K' aka camera_frame_from_view_frame
# aka 'K' aka camera_frame_from_view_frame return np.array([
eon_fcam_intrinsics = np.array([ [self.focal_length, 0.0, float(self.width)/2],
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2], [0.0, self.focal_length, float(self.height)/2],
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2], [0.0, 0.0, 1.0]
[0.0, 0.0, 1.0]]) ])
eon_intrinsics = eon_fcam_intrinsics # xx
@property
eon_dcam_intrinsics = np.array([ def intrinsics_inv(self):
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2], # aka 'K_inv' aka view_frame_from_camera_frame
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2], return np.linalg.inv(self.intrinsics)
[0.0, 0.0, 1.0]])
@dataclass(frozen=True)
tici_fcam_intrinsics = np.array([ class DeviceCameraConfig:
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2], fcam: CameraConfig
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2], dcam: CameraConfig
[0.0, 0.0, 1.0]]) ecam: CameraConfig
tici_dcam_intrinsics = np.array([ ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2], ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), ar_ox_fisheye, ar_ox_fisheye)
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2], os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
[0.0, 0.0, 1.0]]) os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), os_fisheye, os_fisheye)
tici_ecam_intrinsics = tici_dcam_intrinsics DEVICE_CAMERAS = {
# A "device camera" is defined by a device type and sensor
# aka 'K_inv' aka view_frame_from_camera_frame
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics) # sensor type was never set on eon/neo/two
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx ("neo", "unknown"): DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), CameraConfig(0, 0, 0.)),
# unknown here is AR0231, field was added with OX03C10 support
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics) ("tici", "unknown"): ar_ox_config,
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
# before deviceState.deviceType was set, assume tici AR config
("unknown", "ar0231"): ar_ox_config,
FULL_FRAME_SIZE = tici_f_frame_size ("unknown", "ox03c10"): ar_ox_config,
FOCAL = tici_f_focal_length
fcam_intrinsics = tici_fcam_intrinsics # simulator (emulates a tici)
("pc", "unknown"): ar_ox_config,
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1] }
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', ar_ox_config), ('ox03c10', ar_ox_config), ('os04c10', os_config)))
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
# device/mesh : x->forward, y-> right, z->down # device/mesh : x->forward, y-> right, z->down
# view : x->right, y->down, z->forward # view : x->right, y->down, z->forward
@ -93,7 +96,7 @@ def roll_from_ke(m):
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1])) -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
def normalize(img_pts, intrinsics=fcam_intrinsics): def normalize(img_pts, intrinsics):
# normalizes image coordinates # normalizes image coordinates
# accepts single pt or array of pts # accepts single pt or array of pts
intrinsics_inv = np.linalg.inv(intrinsics) intrinsics_inv = np.linalg.inv(intrinsics)
@ -106,7 +109,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
return img_pts_normalized[:, :2].reshape(input_shape) return img_pts_normalized[:, :2].reshape(input_shape)
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf): def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
# denormalizes image coordinates # denormalizes image coordinates
# accepts single pt or array of pts # accepts single pt or array of pts
img_pts = np.array(img_pts) img_pts = np.array(img_pts)
@ -123,7 +126,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
return img_pts_denormalized[:, :2].reshape(input_shape) return img_pts_denormalized[:, :2].reshape(input_shape)
def get_calib_from_vp(vp, intrinsics=fcam_intrinsics): def get_calib_from_vp(vp, intrinsics):
vp_norm = normalize(vp, intrinsics) vp_norm = normalize(vp, intrinsics)
yaw_calib = np.arctan(vp_norm[0]) yaw_calib = np.arctan(vp_norm[0])
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))

21
common/transformations/model.py
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@ -1,19 +1,11 @@
import numpy as np import numpy as np
from openpilot.common.transformations.orientation import rot_from_euler from openpilot.common.transformations.orientation import rot_from_euler
from openpilot.common.transformations.camera import ( from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
# segnet # segnet
SEGNET_SIZE = (512, 384) SEGNET_SIZE = (512, 384)
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
# MED model # MED model
MEDMODEL_INPUT_SIZE = (512, 256) MEDMODEL_INPUT_SIZE = (512, 256)
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2) MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
# This function is verified to give similar results to xx.uncommon.utils.transform_img # This function is verified to give similar results to xx.uncommon.utils.transform_img
def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray: def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
if tici and wide_camera:
cam_intrinsics = tici_ecam_intrinsics
elif tici:
cam_intrinsics = tici_fcam_intrinsics
else:
cam_intrinsics = eon_fcam_intrinsics
calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
device_from_calib = rot_from_euler(device_from_calib_euler) device_from_calib = rot_from_euler(device_from_calib_euler)
camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
warp_matrix: np.ndarray = camera_from_calib @ calib_from_model warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
return warp_matrix return warp_matrix

2
panda

@ -1 +1 @@
Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477 Subproject commit 895a7001c9d21ac7c4ace65debe70dfaee017443

445
poetry.lock generated
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@ -255,13 +255,13 @@ files = [
[[package]] [[package]]
name = "azure-core" name = "azure-core"
version = "1.30.0" version = "1.30.1"
description = "Microsoft Azure Core Library for Python" description = "Microsoft Azure Core Library for Python"
optional = false optional = false
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "azure-core-1.30.0.tar.gz", hash = "sha256:6f3a7883ef184722f6bd997262eddaf80cfe7e5b3e0caaaf8db1695695893d35"}, {file = "azure-core-1.30.1.tar.gz", hash = "sha256:26273a254131f84269e8ea4464f3560c731f29c0c1f69ac99010845f239c1a8f"},
{file = "azure_core-1.30.0-py3-none-any.whl", hash = "sha256:3dae7962aad109610e68c9a7abb31d79720e1d982ddf61363038d175a5025e89"}, {file = "azure_core-1.30.1-py3-none-any.whl", hash = "sha256:7c5ee397e48f281ec4dd773d67a0a47a0962ed6fa833036057f9ea067f688e74"},
] ]
[package.dependencies] [package.dependencies]
@ -291,13 +291,13 @@ msal-extensions = ">=0.3.0,<2.0.0"
[[package]] [[package]]
name = "azure-storage-blob" name = "azure-storage-blob"
version = "12.19.0" version = "12.19.1"
description = "Microsoft Azure Blob Storage Client Library for Python" description = "Microsoft Azure Blob Storage Client Library for Python"
optional = false optional = false
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "azure-storage-blob-12.19.0.tar.gz", hash = "sha256:26c0a4320a34a3c2a1b74528ba6812ebcb632a04cd67b1c7377232c4b01a5897"}, {file = "azure-storage-blob-12.19.1.tar.gz", hash = "sha256:13e16ba42fc54ac2c7e8f976062173a5c82b9ec0594728e134aac372965a11b0"},
{file = "azure_storage_blob-12.19.0-py3-none-any.whl", hash = "sha256:7bbc2c9c16678f7a420367fef6b172ba8730a7e66df7f4d7a55d5b3c8216615b"}, {file = "azure_storage_blob-12.19.1-py3-none-any.whl", hash = "sha256:c5530dc51c21c9564e4eb706cd499befca8819b10dd89716d3fc90d747556243"},
] ]
[package.dependencies] [package.dependencies]
@ -894,69 +894,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
[[package]] [[package]]
name = "cython" name = "cython"
version = "3.0.8" version = "3.0.9"
description = "The Cython compiler for writing C extensions in the Python language." description = "The Cython compiler for writing C extensions in the Python language."
optional = false optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
files = [ files = [
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@ -2715,13 +2716,13 @@ numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
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python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "types-requests-2.31.0.20240218.tar.gz", hash = "sha256:f1721dba8385958f504a5386240b92de4734e047a08a40751c1654d1ac3349c5"}, {file = "types-requests-2.31.0.20240311.tar.gz", hash = "sha256:b1c1b66abfb7fa79aae09097a811c4aa97130eb8831c60e47aee4ca344731ca5"},
{file = "types_requests-2.31.0.20240218-py3-none-any.whl", hash = "sha256:a82807ec6ddce8f00fe0e949da6d6bc1fbf1715420218a9640d695f70a9e5a9b"}, {file = "types_requests-2.31.0.20240311-py3-none-any.whl", hash = "sha256:47872893d65a38e282ee9f277a4ee50d1b28bd592040df7d1fdaffdf3779937d"},
] ]
[package.dependencies] [package.dependencies]

2
release/build_release.sh
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@ -94,7 +94,7 @@ cp -pR -n --parents $TEST_FILES $BUILD_DIR/
cd $BUILD_DIR cd $BUILD_DIR
RELEASE=1 selfdrive/test/test_onroad.py RELEASE=1 selfdrive/test/test_onroad.py
#selfdrive/manager/test/test_manager.py #selfdrive/manager/test/test_manager.py
selfdrive/car/tests/test_car_interfaces.py #selfdrive/car/tests/test_car_interfaces.py
rm -rf $TEST_FILES rm -rf $TEST_FILES
if [ ! -z "$RELEASE_BRANCH" ]; then if [ ! -z "$RELEASE_BRANCH" ]; then

1
release/files_common
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@ -82,7 +82,6 @@ selfdrive/boardd/panda.h
selfdrive/boardd/spi.cc selfdrive/boardd/spi.cc
selfdrive/boardd/panda_comms.h selfdrive/boardd/panda_comms.h
selfdrive/boardd/panda_comms.cc selfdrive/boardd/panda_comms.cc
selfdrive/boardd/set_time.py
selfdrive/boardd/pandad.py selfdrive/boardd/pandad.py
selfdrive/boardd/tests/test_boardd_loopback.py selfdrive/boardd/tests/test_boardd_loopback.py

42
selfdrive/boardd/boardd.cc
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@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
ExitHandler do_exit; ExitHandler do_exit;
static std::string get_time_str(const struct tm &time) {
char s[30] = {'\0'};
std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
return s;
}
bool check_all_connected(const std::vector<Panda *> &pandas) { bool check_all_connected(const std::vector<Panda *> &pandas) {
for (const auto& panda : pandas) { for (const auto& panda : pandas) {
if (!panda->connected()) { if (!panda->connected()) {
@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
return true; return true;
} }
enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
void sync_time(Panda *panda, SyncTimeDir dir) {
if (!panda->has_rtc) return;
setenv("TZ", "UTC", 1);
struct tm sys_time = util::get_time();
struct tm rtc_time = panda->get_rtc();
if (dir == SyncTimeDir::TO_PANDA) {
if (util::time_valid(sys_time)) {
// Write time to RTC if it looks reasonable
double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
if (std::abs(seconds) > 1.1) {
panda->set_rtc(sys_time);
LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
}
}
} else if (dir == SyncTimeDir::FROM_PANDA) {
LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
const struct timeval tv = {mktime(&rtc_time), 0};
settimeofday(&tv, 0);
LOGE("System time wrong, setting from RTC.");
}
}
}
bool safety_setter_thread(std::vector<Panda *> pandas) { bool safety_setter_thread(std::vector<Panda *> pandas) {
LOGD("Starting safety setter thread"); LOGD("Starting safety setter thread");
@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
throw std::runtime_error("Panda firmware out of date. Run pandad.py to update."); throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
} }
sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
return panda.release(); return panda.release();
} }
@ -581,11 +544,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
panda->set_ir_pwr(ir_pwr); panda->set_ir_pwr(ir_pwr);
prev_ir_pwr = ir_pwr; prev_ir_pwr = ir_pwr;
} }
// Write to rtc once per minute when no ignition present
if (!ignition && (sm.frame % 120 == 1)) {
sync_time(panda, SyncTimeDir::TO_PANDA);
}
} }
} }

39
selfdrive/boardd/panda.cc
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@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
} }
hw_type = get_hw_type(); hw_type = get_hw_type();
has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
(hw_type == cereal::PandaState::PandaType::DOS) ||
(hw_type == cereal::PandaState::PandaType::TRES);
can_reset_communications(); can_reset_communications();
return; return;
@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
return (cereal::PandaState::PandaType)(hw_query[0]); return (cereal::PandaState::PandaType)(hw_query[0]);
} }
void Panda::set_rtc(struct tm sys_time) {
// tm struct has year defined as years since 1900
handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
// handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
}
struct tm Panda::get_rtc() {
struct __attribute__((packed)) timestamp_t {
uint16_t year; // Starts at 0
uint8_t month;
uint8_t day;
uint8_t weekday;
uint8_t hour;
uint8_t minute;
uint8_t second;
} rtc_time = {0};
handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
struct tm new_time = { 0 };
new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
new_time.tm_mon = rtc_time.month - 1;
new_time.tm_mday = rtc_time.day;
new_time.tm_hour = rtc_time.hour;
new_time.tm_min = rtc_time.minute;
new_time.tm_sec = rtc_time.second;
return new_time;
}
void Panda::set_fan_speed(uint16_t fan_speed) { void Panda::set_fan_speed(uint16_t fan_speed) {
handle->control_write(0xb1, fan_speed, 0); handle->control_write(0xb1, fan_speed, 0);
} }

3
selfdrive/boardd/panda.h
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@ -50,7 +50,6 @@ public:
Panda(std::string serial="", uint32_t bus_offset=0); Panda(std::string serial="", uint32_t bus_offset=0);
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
bool has_rtc = false;
const uint32_t bus_offset; const uint32_t bus_offset;
bool connected(); bool connected();
@ -64,8 +63,6 @@ public:
cereal::PandaState::PandaType get_hw_type(); cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience); void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time);
struct tm get_rtc();
void set_fan_speed(uint16_t fan_speed); void set_fan_speed(uint16_t fan_speed);
uint16_t get_fan_speed(); uint16_t get_fan_speed();
void set_ir_pwr(uint16_t ir_pwr); void set_ir_pwr(uint16_t ir_pwr);

5
selfdrive/boardd/pandad.py
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@ -10,7 +10,6 @@ from functools import cmp_to_key
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
from openpilot.common.basedir import BASEDIR from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.selfdrive.boardd.set_time import set_time
from openpilot.system.hardware import HARDWARE from openpilot.system.hardware import HARDWARE
from openpilot.common.swaglog import cloudlog from openpilot.common.swaglog import cloudlog
@ -154,10 +153,6 @@ def main() -> NoReturn:
cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial()) cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
if first_run: if first_run:
if panda.is_internal():
# update time from RTC
set_time(cloudlog)
# reset panda to ensure we're in a good state # reset panda to ensure we're in a good state
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
if panda.is_internal(): if panda.is_internal():

38
selfdrive/boardd/set_time.py
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@ -1,38 +0,0 @@
#!/usr/bin/env python3
import os
import datetime
from panda import Panda
from openpilot.common.time import MIN_DATE
def set_time(logger):
sys_time = datetime.datetime.today()
if sys_time > MIN_DATE:
logger.info("System time valid")
return
try:
ps = Panda.list()
if len(ps) == 0:
logger.error("Failed to set time, no pandas found")
return
for s in ps:
with Panda(serial=s) as p:
if not p.is_internal():
continue
# Set system time from panda RTC time
panda_time = p.get_datetime()
if panda_time > MIN_DATE:
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
os.system(f"TZ=UTC date -s '{panda_time}'")
break
except Exception:
logger.exception("Failed to fetch time from panda")
if __name__ == "__main__":
import logging
logging.basicConfig(level=logging.DEBUG)
set_time(logging)

2
selfdrive/car/chrysler/fingerprints.py
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@ -404,6 +404,7 @@ FW_VERSIONS = {
b'68527383AD', b'68527383AD',
b'68527387AE', b'68527387AE',
b'68527403AC', b'68527403AC',
b'68527403AD',
b'68546047AF', b'68546047AF',
b'68631938AA', b'68631938AA',
b'68631942AA', b'68631942AA',
@ -477,6 +478,7 @@ FW_VERSIONS = {
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'05035699AG ', b'05035699AG ',
b'05035841AC ',
b'05036026AB ', b'05036026AB ',
b'05036065AE ', b'05036065AE ',
b'05036066AE ', b'05036066AE ',

1
selfdrive/car/toyota/fingerprints.py
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@ -1547,6 +1547,7 @@ FW_VERSIONS = {
b'\x018966348W5100\x00\x00\x00\x00', b'\x018966348W5100\x00\x00\x00\x00',
b'\x018966348W9000\x00\x00\x00\x00', b'\x018966348W9000\x00\x00\x00\x00',
b'\x018966348X0000\x00\x00\x00\x00', b'\x018966348X0000\x00\x00\x00\x00',
b'\x01896634D11000\x00\x00\x00\x00',
b'\x01896634D12000\x00\x00\x00\x00', b'\x01896634D12000\x00\x00\x00\x00',
b'\x01896634D12100\x00\x00\x00\x00', b'\x01896634D12100\x00\x00\x00\x00',
b'\x01896634D43000\x00\x00\x00\x00', b'\x01896634D43000\x00\x00\x00\x00',

10
selfdrive/modeld/modeld.py
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@ -13,6 +13,7 @@ from openpilot.common.swaglog import cloudlog
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.transformations.model import get_warp_matrix from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive import sentry from openpilot.selfdrive import sentry
from openpilot.selfdrive.car.car_helpers import get_demo_car_params from openpilot.selfdrive.car.car_helpers import get_demo_car_params
@ -153,7 +154,7 @@ def main(demo=False):
# messaging # messaging
pm = PubMaster(["modelV2", "cameraOdometry"]) pm = PubMaster(["modelV2", "cameraOdometry"])
sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"]) sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
publish_state = PublishState() publish_state = PublishState()
params = Params() params = Params()
@ -225,10 +226,11 @@ def main(demo=False):
is_rhd = sm["driverMonitoringState"].isRHD is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId frame_id = sm["roadCameraState"].frameId
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"]: if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32) model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
live_calib_seen = True live_calib_seen = True
traffic_convention = np.zeros(2) traffic_convention = np.zeros(2)

11
selfdrive/modeld/tests/test_modeld.py
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@ -5,13 +5,14 @@ import random
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal.visionipc import VisionIpcServer, VisionStreamType from cereal.visionipc import VisionIpcServer, VisionStreamType
from openpilot.common.transformations.camera import tici_f_frame_size from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.realtime import DT_MDL from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.selfdrive.car.car_helpers import write_car_param
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8) CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
IMG_BYTES = IMG.flatten().tobytes() IMG_BYTES = IMG.flatten().tobytes()
@ -19,9 +20,9 @@ class TestModeld(unittest.TestCase):
def setUp(self): def setUp(self):
self.vipc_server = VisionIpcServer("camerad") self.vipc_server = VisionIpcServer("camerad")
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
self.vipc_server.start_listener() self.vipc_server.start_listener()
write_car_param() write_car_param()

6
selfdrive/monitoring/driver_monitor.py
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@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import interp
from openpilot.common.realtime import DT_DMON from openpilot.common.realtime import DT_DMON
from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.stat_live import RunningStatFilter from openpilot.common.stat_live import RunningStatFilter
from openpilot.common.transformations.camera import tici_d_frame_size from openpilot.common.transformations.camera import DEVICE_CAMERAS
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
@ -71,9 +71,11 @@ class DRIVER_MONITOR_SETTINGS():
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
# TODO: get these live
# model output refers to center of undistorted+leveled image # model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K EFL = 598.0 # focal length in K
W, H = tici_d_frame_size # corrected image has same size as raw cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw
class DistractedType: class DistractedType:
NOT_DISTRACTED = 0 NOT_DISTRACTED = 0

16
selfdrive/test/process_replay/migration.py
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@ -12,6 +12,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
msgs = migrate_sensorEvents(lr, old_logtime) msgs = migrate_sensorEvents(lr, old_logtime)
msgs = migrate_carParams(msgs, old_logtime) msgs = migrate_carParams(msgs, old_logtime)
msgs = migrate_gpsLocation(msgs) msgs = migrate_gpsLocation(msgs)
msgs = migrate_deviceState(msgs)
if manager_states: if manager_states:
msgs = migrate_managerState(msgs) msgs = migrate_managerState(msgs)
if panda_states: if panda_states:
@ -52,6 +53,21 @@ def migrate_gpsLocation(lr):
return all_msgs return all_msgs
def migrate_deviceState(lr):
all_msgs = []
dt = None
for msg in lr:
if msg.which() == 'initData':
dt = msg.initData.deviceType
if msg.which() == 'deviceState':
n = msg.as_builder()
n.deviceState.deviceType = dt
all_msgs.append(n.as_reader())
else:
all_msgs.append(msg)
return all_msgs
def migrate_pandaStates(lr): def migrate_pandaStates(lr):
all_msgs = [] all_msgs = []
# TODO: safety param migration should be handled automatically # TODO: safety param migration should be handled automatically

20
selfdrive/test/process_replay/model_replay.py
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@ -107,14 +107,17 @@ def model_replay(lr, frs):
# modeld is using frame pairs # modeld is using frame pairs
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}) modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
if not SEND_EXTRA_INPUTS: if not SEND_EXTRA_INPUTS:
modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]] modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]] dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration']
# initial calibration
cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder() # initial setup
cal_msg.logMonoTime = lr[0].logMonoTime for s in ('liveCalibration', 'deviceState'):
modeld_logs.insert(0, cal_msg.as_reader()) msg = next(msg for msg in lr if msg.which() == s).as_builder()
dmodeld_logs.insert(0, cal_msg.as_reader()) msg.logMonoTime = lr[0].logMonoTime
modeld_logs.insert(1, msg.as_reader())
dmodeld_logs.insert(1, msg.as_reader())
modeld = get_process_config("modeld") modeld = get_process_config("modeld")
dmonitoringmodeld = get_process_config("dmonitoringmodeld") dmonitoringmodeld = get_process_config("dmonitoringmodeld")
@ -218,7 +221,8 @@ if __name__ == "__main__":
results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
print(diff_long) if "CI" in os.environ:
print(diff_long)
print('-------------\n'*5) print('-------------\n'*5)
print(diff_short) print(diff_short)
with open("model_diff.txt", "w") as f: with open("model_diff.txt", "w") as f:

2
selfdrive/test/process_replay/process_replay.py
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@ -546,7 +546,7 @@ CONFIGS = [
), ),
ProcessConfig( ProcessConfig(
proc_name="modeld", proc_name="modeld",
pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
subs=["modelV2", "cameraOdometry"], subs=["modelV2", "cameraOdometry"],
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
should_recv_callback=ModeldCameraSyncRcvCallback(), should_recv_callback=ModeldCameraSyncRcvCallback(),

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
653f68e6be4689dc9dce1a93cb726d37b9c588d3 fba62008efd13fb578de325f0cdb0a87fe5e28f0

4
selfdrive/test/process_replay/regen.py
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@ -10,7 +10,7 @@ from collections.abc import Iterable
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
check_openpilot_enabled, get_custom_params_from_lr check_openpilot_enabled, get_custom_params_from_lr
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
from openpilot.selfdrive.test.update_ci_routes import upload_route from openpilot.selfdrive.test.update_ci_routes import upload_route
from openpilot.tools.lib.route import Route from openpilot.tools.lib.route import Route
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
@ -37,7 +37,7 @@ class DummyFrameReader(BaseFrameReader):
@staticmethod @staticmethod
def zero_dcamera(): def zero_dcamera():
return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0) return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
def regen_segment( def regen_segment(

10
selfdrive/test/process_replay/vision_meta.py
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@ -1,17 +1,17 @@
from collections import namedtuple from collections import namedtuple
from cereal.visionipc import VisionStreamType from cereal.visionipc import VisionStreamType
from openpilot.common.realtime import DT_MDL, DT_DMON from openpilot.common.realtime import DT_MDL, DT_DMON
from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size from openpilot.common.transformations.camera import DEVICE_CAMERAS
VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"]) VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size} ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size} WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None}
DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size} DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
VIPC_STREAM_METADATA = [ VIPC_STREAM_METADATA = [
# metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes) # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES), ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES), ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES), ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES),
] ]

1
selfdrive/thermald/thermald.py
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@ -216,6 +216,7 @@ def thermald_thread(end_event, hw_queue) -> None:
peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
msg = read_thermal(thermal_config) msg = read_thermal(thermal_config)
msg.deviceState.deviceType = HARDWARE.get_device_type()
if sm.updated['pandaStates'] and len(pandaStates) > 0: if sm.updated['pandaStates'] and len(pandaStates) > 0:

10
selfdrive/ui/qt/network/networking.cc
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@ -82,11 +82,11 @@ void Networking::connectToNetwork(const Network n) {
if (wifi->isKnownConnection(n.ssid)) { if (wifi->isKnownConnection(n.ssid)) {
wifi->activateWifiConnection(n.ssid); wifi->activateWifiConnection(n.ssid);
} else if (n.security_type == SecurityType::OPEN) { } else if (n.security_type == SecurityType::OPEN) {
wifi->connect(n); wifi->connect(n, false);
} else if (n.security_type == SecurityType::WPA) { } else if (n.security_type == SecurityType::WPA) {
QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8); QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
if (!pass.isEmpty()) { if (!pass.isEmpty()) {
wifi->connect(n, pass); wifi->connect(n, false, pass);
} }
} }
} }
@ -96,7 +96,7 @@ void Networking::wrongPassword(const QString &ssid) {
const Network &n = wifi->seenNetworks.value(ssid); const Network &n = wifi->seenNetworks.value(ssid);
QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8); QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
if (!pass.isEmpty()) { if (!pass.isEmpty()) {
wifi->connect(n, pass); wifi->connect(n, false, pass);
} }
} }
} }
@ -192,9 +192,9 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
hidden_network.ssid = ssid.toUtf8(); hidden_network.ssid = ssid.toUtf8();
if (!pass.isEmpty()) { if (!pass.isEmpty()) {
hidden_network.security_type = SecurityType::WPA; hidden_network.security_type = SecurityType::WPA;
wifi->connect(hidden_network, pass); wifi->connect(hidden_network, true, pass);
} else { } else {
wifi->connect(hidden_network); wifi->connect(hidden_network, true);
} }
emit requestWifiScreen(); emit requestWifiScreen();
} }

3
selfdrive/ui/qt/network/wifi_manager.cc
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@ -166,7 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) {
} }
} }
void WifiManager::connect(const Network &n, const QString &password, const QString &username) { void WifiManager::connect(const Network &n, const bool is_hidden, const QString &password, const QString &username) {
setCurrentConnecting(n.ssid); setCurrentConnecting(n.ssid);
forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting
Connection connection; Connection connection;
@ -176,6 +176,7 @@ void WifiManager::connect(const Network &n, const QString &password, const QStri
connection["connection"]["autoconnect-retries"] = 0; connection["connection"]["autoconnect-retries"] = 0;
connection["802-11-wireless"]["ssid"] = n.ssid; connection["802-11-wireless"]["ssid"] = n.ssid;
connection["802-11-wireless"]["hidden"] = is_hidden;
connection["802-11-wireless"]["mode"] = "infrastructure"; connection["802-11-wireless"]["mode"] = "infrastructure";
if (n.security_type == SecurityType::WPA) { if (n.security_type == SecurityType::WPA) {

2
selfdrive/ui/qt/network/wifi_manager.h
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@ -52,7 +52,7 @@ public:
std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid); std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid);
NetworkType currentNetworkType(); NetworkType currentNetworkType();
void updateGsmSettings(bool roaming, QString apn, bool metered); void updateGsmSettings(bool roaming, QString apn, bool metered);
void connect(const Network &ssid, const QString &password = {}, const QString &username = {}); void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {});
// Tethering functions // Tethering functions
void setTetheringEnabled(bool enabled); void setTetheringEnabled(bool enabled);

11
selfdrive/ui/tests/test_ui/run.py
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@ -18,7 +18,7 @@ from cereal.messaging import SubMaster, PubMaster
from openpilot.common.mock import mock_messages from openpilot.common.mock import mock_messages
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL from openpilot.common.realtime import DT_MDL
from openpilot.common.transformations.camera import tici_f_frame_size from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
from openpilot.tools.webcam.camera import Camera from openpilot.tools.webcam.camera import Camera
@ -69,15 +69,16 @@ def setup_onroad(click, pm: PubMaster):
pm.send("pandaStates", dat) pm.send("pandaStates", dat)
d = DEVICE_CAMERAS[("tici", "ar0231")]
server = VisionIpcServer("camerad") server = VisionIpcServer("camerad")
server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size) server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height)
server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height)
server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height)
server.start_listener() server.start_listener()
time.sleep(0.5) # give time for vipc server to start time.sleep(0.5) # give time for vipc server to start
IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8)) IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
IMG_BYTES = IMG.flatten().tobytes() IMG_BYTES = IMG.flatten().tobytes()
cams = ('roadCameraState', 'wideRoadCameraState') cams = ('roadCameraState', 'wideRoadCameraState')

7
selfdrive/updated/tests/test_base.py
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@ -32,6 +32,10 @@ def update_release(directory, name, version, agnos_version, release_notes):
with open(directory / "launch_env.sh", "w") as f: with open(directory / "launch_env.sh", "w") as f:
f.write(f'export AGNOS_VERSION="{agnos_version}"') f.write(f'export AGNOS_VERSION="{agnos_version}"')
test_symlink = directory / "test_symlink"
if not os.path.exists(str(test_symlink)):
os.symlink("common/version.h", test_symlink)
@pytest.mark.slow # TODO: can we test overlayfs in GHA? @pytest.mark.slow # TODO: can we test overlayfs in GHA?
class BaseUpdateTest(unittest.TestCase): class BaseUpdateTest(unittest.TestCase):
@ -111,6 +115,9 @@ class BaseUpdateTest(unittest.TestCase):
self.assertEqual(get_version(str(self.staging_root / "finalized")), version) self.assertEqual(get_version(str(self.staging_root / "finalized")), version)
self.assertEqual(get_consistent_flag(), True) self.assertEqual(get_consistent_flag(), True)
with open(self.staging_root / "finalized" / "test_symlink") as f:
self.assertIn(version, f.read())
def wait_for_condition(self, condition, timeout=12): def wait_for_condition(self, condition, timeout=12):
start = time.monotonic() start = time.monotonic()
while True: while True:

9
system/loggerd/tests/test_loggerd.py
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@ -24,7 +24,7 @@ from openpilot.system.version import get_version
from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.helpers import RE
from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.logreader import LogReader
from cereal.visionipc import VisionIpcServer, VisionStreamType from cereal.visionipc import VisionIpcServer, VisionStreamType
from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size from openpilot.common.transformations.camera import DEVICE_CAMERAS
SentinelType = log.Sentinel.SentinelType SentinelType = log.Sentinel.SentinelType
@ -142,10 +142,11 @@ class TestLoggerd:
os.environ["LOGGERD_TEST"] = "1" os.environ["LOGGERD_TEST"] = "1"
Params().put("RecordFront", "1") Params().put("RecordFront", "1")
d = DEVICE_CAMERAS[("tici", "ar0231")]
expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"), streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"), (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")] (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
vipc_server = VisionIpcServer("camerad") vipc_server = VisionIpcServer("camerad")

43
tools/replay/lib/ui_helpers.py
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@ -7,9 +7,7 @@ import pygame
from matplotlib.backends.backend_agg import FigureCanvasAgg from matplotlib.backends.backend_agg import FigureCanvasAgg
from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
tici_f_frame_size, tici_f_focal_length,
get_view_frame_from_calib_frame)
from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@ -20,9 +18,6 @@ YELLOW = (255, 255, 0)
BLACK = (0, 0, 0) BLACK = (0, 0, 0)
WHITE = (255, 255, 255) WHITE = (255, 255, 255)
_FULL_FRAME_SIZE = {
}
class UIParams: class UIParams:
lidar_x, lidar_y, lidar_zoom = 384, 960, 6 lidar_x, lidar_y, lidar_zoom = 384, 960, 6
lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
@ -32,45 +27,13 @@ class UIParams:
car_color = 110 car_color = 110
UP = UIParams UP = UIParams
_BB_TO_FULL_FRAME = {}
_CALIB_BB_TO_FULL = {}
_FULL_FRAME_TO_BB = {}
_INTRINSICS = {}
eon_f_qcam_frame_size = (480, 360)
tici_f_qcam_frame_size = (528, 330)
cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
(tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
(eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
(tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
for size, focal, full_size in cams:
sz = size[0] * size[1]
_BB_SCALE = size[0] / 640.
_BB_TO_FULL_FRAME[sz] = np.asarray([
[_BB_SCALE, 0., 0.],
[0., _BB_SCALE, 0.],
[0., 0., 1.]])
calib_scale = full_size[0] / 640.
_CALIB_BB_TO_FULL[sz] = np.asarray([
[calib_scale, 0., 0.],
[0., calib_scale, 0.],
[0., 0., 1.]])
_FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
_FULL_FRAME_SIZE[sz] = (size[0], size[1])
_INTRINSICS[sz] = np.array([
[focal, 0., full_size[0] / 2.],
[0., focal, full_size[1] / 2.],
[0., 0., 1.]])
METER_WIDTH = 20 METER_WIDTH = 20
class Calibration: class Calibration:
def __init__(self, num_px, rpy, intrinsic): def __init__(self, num_px, rpy, intrinsic, calib_scale):
self.intrinsic = intrinsic self.intrinsic = intrinsic
self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0] self.zoom = calib_scale
def car_space_to_ff(self, x, y, z): def car_space_to_ff(self, x, y, z):
car_space_projective = np.column_stack((x, y, z)).T car_space_projective = np.column_stack((x, y, z)).T

26
tools/replay/ui.py
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@ -10,8 +10,9 @@ import pygame
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.common.numpy_fast import clip from openpilot.common.numpy_fast import clip
from openpilot.common.basedir import BASEDIR from openpilot.common.basedir import BASEDIR
from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, from openpilot.common.transformations.camera import DEVICE_CAMERAS
_INTRINSICS, BLACK, GREEN, from openpilot.tools.replay.lib.ui_helpers import (UP,
BLACK, GREEN,
YELLOW, Calibration, YELLOW, Calibration,
get_blank_lid_overlay, init_plots, get_blank_lid_overlay, init_plots,
maybe_update_radar_points, plot_lead, maybe_update_radar_points, plot_lead,
@ -55,7 +56,7 @@ def ui_thread(addr):
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
'liveTracks', 'modelV2', 'liveParameters'], addr=addr) 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
img = np.zeros((480, 640, 3), dtype='uint8') img = np.zeros((480, 640, 3), dtype='uint8')
imgff = None imgff = None
@ -112,20 +113,27 @@ def ui_thread(addr):
vipc_client.connect(True) vipc_client.connect(True)
yuv_img_raw = vipc_client.recv() yuv_img_raw = vipc_client.recv()
if yuv_img_raw is None or not yuv_img_raw.data.any(): if yuv_img_raw is None or not yuv_img_raw.data.any():
continue continue
sm.update(0)
camera = DEVICE_CAMERAS[("three", str(sm['roadCameraState'].sensor))]
imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
num_px = vipc_client.width * vipc_client.height num_px = vipc_client.width * vipc_client.height
rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
zoom_matrix = _BB_TO_FULL_FRAME[num_px] qcam = "QCAM" in os.environ
bb_scale = (528 if qcam else camera.fcam.width) / 640.
calib_scale = camera.fcam.width / 640.
zoom_matrix = np.asarray([
[bb_scale, 0., 0.],
[0., bb_scale, 0.],
[0., 0., 1.]])
cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px] intrinsic_matrix = camera.fcam.intrinsics
sm.update(0)
w = sm['controlsState'].lateralControlState.which() w = sm['controlsState'].lateralControlState.which()
if w == 'lqrStateDEPRECATED': if w == 'lqrStateDEPRECATED':
@ -165,7 +173,7 @@ def ui_thread(addr):
if sm.updated['liveCalibration'] and num_px: if sm.updated['liveCalibration'] and num_px:
rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib) rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
calibration = Calibration(num_px, rpyCalib, intrinsic_matrix) calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
# *** blits *** # *** blits ***
pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1)) pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))

1
tools/sim/bridge/metadrive/metadrive_bridge.py
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@ -75,6 +75,7 @@ class MetaDriveBridge(SimulatorBridge):
on_continuous_line_done=False, on_continuous_line_done=False,
crash_vehicle_done=False, crash_vehicle_done=False,
crash_object_done=False, crash_object_done=False,
arrive_dest_done=False,
traffic_density=0.0, # traffic is incredibly expensive traffic_density=0.0, # traffic is incredibly expensive
map_config=create_map(), map_config=create_map(),
decision_repeat=1, decision_repeat=1,

8
tools/sim/bridge/metadrive/metadrive_process.py
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@ -22,7 +22,7 @@ C3_HPR = Vec3(0, 0,0)
metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"]) metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"]) metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
def apply_metadrive_patches(): def apply_metadrive_patches(arrive_dest_done=True):
# By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
def add_image_sensor_patched(self, name: str, cls, args): def add_image_sensor_patched(self, name: str, cls, args):
if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]: if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
@ -44,12 +44,14 @@ def apply_metadrive_patches():
def arrive_destination_patch(self, *args, **kwargs): def arrive_destination_patch(self, *args, **kwargs):
return False return False
MetaDriveEnv._is_arrive_destination = arrive_destination_patch if not arrive_dest_done:
MetaDriveEnv._is_arrive_destination = arrive_destination_patch
def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
exit_event): exit_event):
apply_metadrive_patches() arrive_dest_done = config.pop("arrive_dest_done", True)
apply_metadrive_patches(arrive_dest_done)
road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
if dual_camera: if dual_camera:

1
tools/sim/scenarios/metadrive/stay_in_lane.py
Unescape View File

@ -65,6 +65,7 @@ class MetaDriveBridge(SimulatorBridge):
on_continuous_line_done=True, on_continuous_line_done=True,
crash_vehicle_done=True, crash_vehicle_done=True,
crash_object_done=True, crash_object_done=True,
arrive_dest_done=True,
traffic_density=0.0, traffic_density=0.0,
map_config=create_map(), map_config=create_map(),
map_region_size=2048, map_region_size=2048,

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