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Merge remote-tracking branch 'upstream/master' into fuzzy-panda-carstate

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pull/30443/head
Shane Smiskol 2 years ago
parent dfe8d0685c 1d7caa80aa
commit 25e4bc7005
43 changed files with 540 additions and 495 deletions
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  1. 6
      .pre-commit-config.yaml
  2. 2
      RELEASES.md
  3. 3
      codecov.yml
  4. 8
      conftest.py
  5. 2
      panda
  6. 737
      poetry.lock
  7. 3
      pyproject.toml
  8. 5
      release/files_common
  9. 6
      selfdrive/boardd/tests/test_pandad.py
  10. 18
      selfdrive/car/subaru/carcontroller.py
  11. 11
      selfdrive/car/subaru/interface.py
  12. 24
      selfdrive/car/subaru/subarucan.py
  13. 26
      selfdrive/car/subaru/values.py
  14. 1
      selfdrive/car/tests/routes.py
  15. 11
      selfdrive/controls/controlsd.py
  16. 6
      selfdrive/manager/test/test_manager.py
  17. 4
      selfdrive/modeld/SConscript
  18. 4
      selfdrive/modeld/models/supercombo.onnx
  19. 1
      selfdrive/modeld/tests/test_modeld.py
  20. 2
      selfdrive/navd/SConscript
  21. 5
      selfdrive/navd/main.cc
  22. 33
      selfdrive/navd/tests/test_map_renderer.py
  23. 2
      selfdrive/test/process_replay/model_replay_ref_commit
  24. 10
      selfdrive/test/setup_device_ci.sh
  25. 6
      selfdrive/test/test_onroad.py
  26. 2
      selfdrive/test/test_time_to_onroad.py
  27. 2
      selfdrive/test/test_updated.py
  28. 4
      selfdrive/ui/qt/body.cc
  29. 1
      selfdrive/ui/qt/maps/map_helpers.cc
  30. 8
      selfdrive/ui/qt/widgets/wifi.cc
  31. 6
      system/camerad/test/test_camerad.py
  32. 2
      system/hardware/base.h
  33. 6
      system/hardware/pc/hardware.h
  34. 5
      system/hardware/tici/hardware.h
  35. 7
      system/hardware/tici/tests/test_hardware.py
  36. 15
      system/hardware/tici/tests/test_power_draw.py
  37. 8
      system/loggerd/tests/test_encoder.py
  38. 6
      system/sensord/rawgps/test_rawgps.py
  39. 7
      system/sensord/tests/test_pigeond.py
  40. 6
      system/sensord/tests/test_sensord.py
  41. 2
      tinygrad_repo
  42. 6
      tools/gpstest/test_gps.py
  43. 6
      tools/gpstest/test_gps_qcom.py

6
.pre-commit-config.yaml
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@ -41,7 +41,7 @@ repos:
args: ['--explicit-package-bases'] args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' 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 - repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.1.3 rev: v0.1.4
hooks: hooks:
- id: ruff - id: ruff
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@ -79,13 +79,13 @@ repos:
language: script language: script
pass_filenames: false pass_filenames: false
- repo: https://github.com/python-poetry/poetry - repo: https://github.com/python-poetry/poetry
rev: '1.6.0' rev: '1.7.0'
hooks: hooks:
- id: poetry-check - id: poetry-check
name: validate poetry lock name: validate poetry lock
args: args:
- --lock - --lock
- repo: https://github.com/python-jsonschema/check-jsonschema - repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.27.0 rev: 0.27.1
hooks: hooks:
- id: check-github-workflows - id: check-github-workflows

2
RELEASES.md
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@ -2,6 +2,8 @@ Version 0.9.5 (2023-XX-XX)
======================== ========================
* New driving model * New driving model
* Improved navigate on openpilot performance using navigation instructions as an additional model input * Improved navigate on openpilot performance using navigation instructions as an additional model input
* Do lateral planning inside the model
* New vision transformer architecture
* Cadillac Escalade ESV 2019 support thanks to twilsonco! * Cadillac Escalade ESV 2019 support thanks to twilsonco!
* Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Azera 2022 support thanks to sunnyhaibin!
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!

3
codecov.yml
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@ -7,4 +7,5 @@ coverage:
patch: off patch: off
ignore: ignore:
- "**/test_*.py" - "**/test_*.py"
- "selfdrive/test/**"

8
conftest.py
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@ -2,6 +2,7 @@ import os
import pytest import pytest
from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.prefix import OpenpilotPrefix
from openpilot.system.hardware import TICI
@pytest.fixture(scope="function", autouse=True) @pytest.fixture(scope="function", autouse=True)
@ -31,3 +32,10 @@ def openpilot_class_fixture():
os.environ.clear() os.environ.clear()
os.environ.update(starting_env) os.environ.update(starting_env)
def pytest_collection_modifyitems(config, items):
skipper = pytest.mark.skip(reason="Skipping tici test on PC")
for item in items:
if not TICI and "tici" in item.keywords:
item.add_marker(skipper)

2
panda

@ -1 +1 @@
Subproject commit f3bdfdd4354ccc3a512dc289dc038d5b30d1fec2 Subproject commit fa04f476000e8cfff72780212b115b5ab059b079

737
poetry.lock generated
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@ -554,101 +554,101 @@ files = [
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description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet." description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
optional = false optional = false
python-versions = ">=3.7.0" python-versions = ">=3.7.0"
files = [ files = [
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typing-extensions = "*"
[package.extras]
docs = ["entangled-cli[rich]", "mkdocs", "mkdocs-entangled-plugin", "mkdocs-material", "mkdocstrings[python]", "pygments"]
rich = ["rich"]
test = ["build", "pytest", "rich", "wheel"]
[[package]] [[package]]
name = "shapely" name = "shapely"
version = "2.0.2" version = "2.0.2"

3
pyproject.toml
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@ -5,7 +5,8 @@ addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda
python_files = "test_*.py" python_files = "test_*.py"
#timeout = "30" # you get this long by default #timeout = "30" # you get this long by default
markers = [ markers = [
"slow: tests that take awhile to run and can be skipped with -m 'not slow'" "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
"tici: tests that are only meant to run on the C3/C3X",
] ]
testpaths = [ testpaths = [
"common", "common",

5
release/files_common
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@ -6,6 +6,7 @@ launch_openpilot.sh
Jenkinsfile Jenkinsfile
SConstruct SConstruct
pyproject.toml
README.md README.md
RELEASES.md RELEASES.md
@ -582,15 +583,15 @@ opendbc/tesla_can.dbc
opendbc/tesla_radar.dbc opendbc/tesla_radar.dbc
opendbc/tesla_powertrain.dbc opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile.py tinygrad_repo/openpilot/compile2.py
tinygrad_repo/extra/onnx.py tinygrad_repo/extra/onnx.py
tinygrad_repo/extra/onnx_ops.py tinygrad_repo/extra/onnx_ops.py
tinygrad_repo/extra/thneed.py tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/codegen/kernel.py tinygrad_repo/tinygrad/codegen/kernel.py
tinygrad_repo/tinygrad/codegen/linearizer.py tinygrad_repo/tinygrad/codegen/linearizer.py
tinygrad_repo/tinygrad/codegen/optimizer.py
tinygrad_repo/tinygrad/features/image.py tinygrad_repo/tinygrad/features/image.py
tinygrad_repo/tinygrad/features/search.py
tinygrad_repo/tinygrad/nn/* tinygrad_repo/tinygrad/nn/*
tinygrad_repo/tinygrad/renderer/cstyle.py tinygrad_repo/tinygrad/renderer/cstyle.py
tinygrad_repo/tinygrad/renderer/opencl.py tinygrad_repo/tinygrad/renderer/opencl.py

6
selfdrive/boardd/tests/test_pandad.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import pytest
import time import time
import unittest import unittest
@ -8,17 +9,16 @@ from cereal import log
from openpilot.common.gpio import gpio_set, gpio_init from openpilot.common.gpio import gpio_set, gpio_init
from panda import Panda, PandaDFU, PandaProtocolMismatch from panda import Panda, PandaDFU, PandaProtocolMismatch
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.pins import GPIO
HERE = os.path.dirname(os.path.realpath(__file__)) HERE = os.path.dirname(os.path.realpath(__file__))
@pytest.mark.tici
class TestPandad(unittest.TestCase): class TestPandad(unittest.TestCase):
def setUp(self): def setUp(self):
if PC:
raise unittest.SkipTest("needs a panda")
# ensure panda is up # ensure panda is up
if len(Panda.list()) == 0: if len(Panda.list()) == 0:
self._run_test(60) self._run_test(60)

18
selfdrive/car/subaru/carcontroller.py
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@ -2,7 +2,8 @@ from openpilot.common.numpy_fast import clip, interp
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.subaru import subarucan from openpilot.selfdrive.car.subaru import subarucan
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
CanBus, CarControllerParams, SubaruFlags
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
# involves the total steering angle change rather than rate, but these limits work well for now # involves the total steering angle change rather than rate, but these limits work well for now
@ -119,6 +120,21 @@ class CarController:
bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd)) can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
# Tester present (keeps eyesight disabled)
if self.frame % 100 == 0:
can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
# Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
if self.frame % 5 == 0:
can_sends.append(subarucan.create_es_highbeamassist(self.packer))
if self.frame % 10 == 0:
can_sends.append(subarucan.create_es_static_1(self.packer))
if self.frame % 2 == 0:
can_sends.append(subarucan.create_es_static_2(self.packer))
new_actuators = actuators.copy() new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last new_actuators.steerOutputCan = self.apply_steer_last

11
selfdrive/car/subaru/interface.py
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@ -1,8 +1,9 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@ -120,6 +121,9 @@ class CarInterface(CarInterfaceBase):
#ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
ret.flags |= SubaruFlags.DISABLE_EYESIGHT
if ret.openpilotLongitudinalControl: if ret.openpilotLongitudinalControl:
ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5] ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
@ -140,5 +144,10 @@ class CarInterface(CarInterfaceBase):
return ret return ret
@staticmethod
def init(CP, logcan, sendcan):
if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
def apply(self, c, now_nanos): def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos) return self.CC.update(c, self.CS, now_nanos)

24
selfdrive/car/subaru/subarucan.py
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@ -243,6 +243,30 @@ def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
return packer.make_can_msg("ES_Infotainment", CanBus.main, values) return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
def create_es_highbeamassist(packer):
values = {
"HBA_Available": False,
}
return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
def create_es_static_1(packer):
values = {
"SET_3": 3,
}
return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
def create_es_static_2(packer):
values = {
"SET_3": 3,
}
return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
# *** Subaru Pre-global *** # *** Subaru Pre-global ***
def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7): def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):

26
selfdrive/car/subaru/values.py
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@ -43,18 +43,23 @@ class CarControllerParams:
RPM_INACTIVE = 600 # a good base rpm for zero acceleration RPM_INACTIVE = 600 # a good base rpm for zero acceleration
THROTTLE_LOOKUP_BP = [0, 1] THROTTLE_LOOKUP_BP = [0, 2]
THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX] THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
RPM_LOOKUP_BP = [0, 1] RPM_LOOKUP_BP = [0, 2]
RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX] RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
BRAKE_LOOKUP_BP = [-1, 0] BRAKE_LOOKUP_BP = [-3.5, 0]
BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN] BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
class SubaruFlags(IntFlag): class SubaruFlags(IntFlag):
SEND_INFOTAINMENT = 1 SEND_INFOTAINMENT = 1
DISABLE_EYESIGHT = 2
GLOBAL_ES_ADDR = 0x787
GEN2_ES_BUTTONS_DID = b'\x11\x30'
class CanBus: class CanBus:
@ -439,6 +444,7 @@ FW_VERSIONS = {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\x7d\x97\x14\x40', b'\x7d\x97\x14\x40',
b'\xf1\x00\xbb\x0c\x04', b'\xf1\x00\xbb\x0c\x04',
b'm\x97\x14@',
], ],
(Ecu.eps, 0x746, None): [ (Ecu.eps, 0x746, None): [
b'}\xc0\x10\x00', b'}\xc0\x10\x00',
@ -447,13 +453,15 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x787, None): [ (Ecu.fwdCamera, 0x787, None): [
b'\x00\x00\x64\x35\x1f\x40\x20\x09', b'\x00\x00\x64\x35\x1f\x40\x20\x09',
b'\x00\x00c\xe9\x1f@ \x03', b'\x00\x00c\xe9\x1f@ \x03',
b'\x00\x00d\xd3\x1f@ \t' b'\x00\x00d\xd3\x1f@ \t',
b'\x00\x00c\xe9\x00\x00\x00\x00',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xba"@p\a', b'\xba"@p\a',
b'\xa7)\xa0q\a', b'\xa7)\xa0q\a',
b'\xf1\x82\xa7)\xa0q\a', b'\xf1\x82\xa7)\xa0q\a',
b'\xba"@@\a', b'\xba"@@\a',
b'\xa7"@p\x07',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xdc\xf2\x60\x60\x00', b'\xdc\xf2\x60\x60\x00',
@ -462,6 +470,7 @@ FW_VERSIONS = {
b'\xdc\xf2`\x81\000', b'\xdc\xf2`\x81\000',
b'\xdc\xf2`\x80\x00', b'\xdc\xf2`\x80\x00',
b'\x1a\xf6F`\x00', b'\x1a\xf6F`\x00',
b'\xda\xf2`\x80\x00',
], ],
}, },
CAR.LEGACY_PREGLOBAL: { CAR.LEGACY_PREGLOBAL: {
@ -470,6 +479,7 @@ FW_VERSIONS = {
b'[\xba\xc4\x03', b'[\xba\xc4\x03',
b'{\x97D\x00', b'{\x97D\x00',
b'[\x97D\000', b'[\x97D\000',
b'k\x9aD\x00',
], ],
(Ecu.eps, 0x746, None): [ (Ecu.eps, 0x746, None): [
b'[\xb0\x00\x01', b'[\xb0\x00\x01',
@ -486,12 +496,14 @@ FW_VERSIONS = {
b'\xa0+@p\x07', b'\xa0+@p\x07',
b'\xb4"@0\x07', b'\xb4"@0\x07',
b'\xa0"@q\a', b'\xa0"@q\a',
b'\xab+@p\x07',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xbe\xf2\x00p\x00', b'\xbe\xf2\x00p\x00',
b'\xbf\xfb\xc0\x80\x00', b'\xbf\xfb\xc0\x80\x00',
b'\xbd\xf2\x00`\x00', b'\xbd\xf2\x00`\x00',
b'\xbf\xf2\000\x80\000', b'\xbf\xf2\000\x80\000',
b'\xbe\xfb\xc0p\x00',
], ],
}, },
CAR.OUTBACK_PREGLOBAL: { CAR.OUTBACK_PREGLOBAL: {
@ -535,6 +547,7 @@ FW_VERSIONS = {
b'\xb4"@r\a', b'\xb4"@r\a',
b'\xa0+@@\x07', b'\xa0+@@\x07',
b'\xa0\"@\x80\a', b'\xa0\"@\x80\a',
b'\xa0*@u\x07',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xbd\xfb\xe0\x80\x00', b'\xbd\xfb\xe0\x80\x00',
@ -628,6 +641,7 @@ FW_VERSIONS = {
b'\xbc"`q\x07', b'\xbc"`q\x07',
b'\xe3,\xa0@\x07', b'\xe3,\xa0@\x07',
b'\xbc,\xa0u\x07', b'\xbc,\xa0u\x07',
b'\xde,\xa0@\x07',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xa5\xfe\xf7@\x00', b'\xa5\xfe\xf7@\x00',
@ -716,5 +730,5 @@ PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREG
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
# Cars that temporarily fault when steering angle rate is greater than some threshold. # Cars that temporarily fault when steering angle rate is greater than some threshold.
# Appears to be all cars that started production after 2020 # Appears to be all torque-based cars produced around 2019 - present
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020} STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}

1
selfdrive/car/tests/routes.py
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@ -251,6 +251,7 @@ routes = [
CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
# CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal
# CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2), CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),

11
selfdrive/controls/controlsd.py
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@ -619,11 +619,18 @@ class Controls:
else: else:
lac_log = log.ControlsState.LateralDebugState.new_message() lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0: if self.sm.rcv_frame['testJoystick'] > 0:
# reset joystick if it hasn't been received in a while
should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
if not should_reset_joystick:
joystick_axes = self.sm['testJoystick'].axes
else:
joystick_axes = [0.0, 0.0]
if CC.longActive: if CC.longActive:
actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1) actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
if CC.latActive: if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1) steer = clip(joystick_axes[1], -1, 1)
# max angle is 45 for angle-based cars, max curvature is 0.02 # max angle is 45 for angle-based cars, max curvature is 0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02 actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02

6
selfdrive/manager/test/test_manager.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import pytest
import signal import signal
import time import time
import unittest import unittest
@ -17,6 +18,7 @@ MAX_STARTUP_TIME = 3
BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
@pytest.mark.tici
class TestManager(unittest.TestCase): class TestManager(unittest.TestCase):
def setUp(self): def setUp(self):
os.environ['PASSIVE'] = '0' os.environ['PASSIVE'] = '0'
@ -66,10 +68,6 @@ class TestManager(unittest.TestCase):
self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started") self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
# TODO: mapsd should exit cleanly
if p.name == "mapsd":
continue
self.assertTrue(exit_code is not None, f"{p.name} failed to exit") self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code

4
selfdrive/modeld/SConscript
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@ -58,11 +58,11 @@ lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd)
# Build thneed model # Build thneed model
if arch == "larch64" or GetOption('pc_thneed'): if arch == "larch64" or GetOption('pc_thneed'):
tinygrad_opts = ["NOLOCALS=1", "IMAGE=2", "GPU=1"] tinygrad_opts = []
if not GetOption('pc_thneed'): if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space # use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed" cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], []) tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)

4
selfdrive/modeld/models/supercombo.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1 version https://git-lfs.github.com/spec/v1
oid sha256:6330383805f2e64e750f61c47660d2ec8522f55d84217c0520584d2e0d7c3faf oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850
size 52939093 size 52524758

1
selfdrive/modeld/tests/test_modeld.py
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@ -13,6 +13,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8) IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
IMG_BYTES = IMG.flatten().tobytes() IMG_BYTES = IMG.flatten().tobytes()
class TestModeld(unittest.TestCase): class TestModeld(unittest.TestCase):
def setUp(self): def setUp(self):

2
selfdrive/navd/SConscript
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@ -4,7 +4,7 @@ map_env = qt_env.Clone()
libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations, libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
if arch == 'larch64': if arch == 'larch64':
libs.append('EGL') libs.append(':libEGL_mesa.so.0')
if arch in ['larch64', 'aarch64', 'x86_64']: if arch in ['larch64', 'aarch64', 'x86_64']:
if arch == 'x86_64': if arch == 'x86_64':

5
selfdrive/navd/main.cc
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@ -4,14 +4,19 @@
#include <QApplication> #include <QApplication>
#include <QDebug> #include <QDebug>
#include "common/util.h"
#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/qt/maps/map_helpers.h"
#include "selfdrive/navd/map_renderer.h" #include "selfdrive/navd/map_renderer.h"
#include "system/hardware/hw.h" #include "system/hardware/hw.h"
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
Hardware::config_cpu_rendering();
qInstallMessageHandler(swagLogMessageHandler); qInstallMessageHandler(swagLogMessageHandler);
setpriority(PRIO_PROCESS, 0, -20); setpriority(PRIO_PROCESS, 0, -20);
int ret = util::set_core_affinity({0, 1, 2, 3});
assert(ret == 0);
QApplication app(argc, argv); QApplication app(argc, argv);
std::signal(SIGINT, sigTermHandler); std::signal(SIGINT, sigTermHandler);

33
selfdrive/navd/tests/test_map_renderer.py
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@ -1,6 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import numpy as np import numpy as np
import os import os
import pytest
import unittest import unittest
import requests import requests
import threading import threading
@ -10,7 +11,6 @@ import cereal.messaging as messaging
from typing import Any from typing import Any
from cereal.visionipc import VisionIpcClient, VisionStreamType from cereal.visionipc import VisionIpcClient, VisionStreamType
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import TICI
LLK_DECIMATION = 10 LLK_DECIMATION = 10
CACHE_PATH = "/data/mbgl-cache-navd.db" CACHE_PATH = "/data/mbgl-cache-navd.db"
@ -34,19 +34,12 @@ def gen_llk(location=LOCATION1):
class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
INTERNET_ACTIVE = True INTERNET_ACTIVE = True
def setup(self):
if self.INTERNET_ACTIVE:
super().setup()
def handle(self):
if self.INTERNET_ACTIVE:
super().handle()
def finish(self):
if self.INTERNET_ACTIVE:
super().finish()
def do_GET(self): def do_GET(self):
if not self.INTERNET_ACTIVE:
self.send_response(500)
self.end_headers()
return
url = f'https://api.mapbox.com{self.path}' url = f'https://api.mapbox.com{self.path}'
headers = dict(self.headers) headers = dict(self.headers)
@ -196,10 +189,8 @@ class TestMapRenderer(unittest.TestCase):
self._run_test(True, LOCATION2_REPEATED) self._run_test(True, LOCATION2_REPEATED)
@pytest.mark.tici
def test_render_time_distribution(self): def test_render_time_distribution(self):
if not TICI:
raise unittest.SkipTest
self._setup_test() self._setup_test()
# from location1 -> location2 and back # from location1 -> location2 and back
locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist() locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
@ -218,12 +209,12 @@ class TestMapRenderer(unittest.TestCase):
tol = (nominal / (1+tol)), (nominal * (1+tol)) tol = (nominal / (1+tol)), (nominal * (1+tol))
self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}") self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
assert_stat(_mean, 0.0035) assert_stat(_mean, 0.030)
assert_stat(_median, 0.0034) assert_stat(_median, 0.027)
assert_stat(_stddev, 0.00093, tol=0.5) assert_stat(_stddev, 0.0078)
self.assertLess(_max, 0.2) self.assertLess(_max, 0.065)
self.assertGreater(_min, 0.0010) self.assertGreater(_min, 0.015)
if __name__ == "__main__": if __name__ == "__main__":

2
selfdrive/test/process_replay/model_replay_ref_commit
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@ -1 +1 @@
eec02217169e6f5d71b8a376368ea96e83b10e4a 35a05ff1b68062c9478b2adfe96f1c294bee1b6c

10
selfdrive/test/setup_device_ci.sh
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@ -43,11 +43,11 @@ while true; do
sudo systemctl start ssh sudo systemctl start ssh
fi fi
if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
echo 'starting UI' # echo 'starting UI'
cp $SOURCE_DIR/selfdrive/test/ciui.py /data/ # cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
/data/ciui.py & # /data/ciui.py &
fi #fi
sleep 5s sleep 5s
done done

6
selfdrive/test/test_onroad.py
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@ -5,6 +5,7 @@ import json
import os import os
import pathlib import pathlib
import psutil import psutil
import pytest
import shutil import shutil
import subprocess import subprocess
import time import time
@ -33,7 +34,7 @@ PROCS = {
"./encoderd": 17.0, "./encoderd": 17.0,
"./camerad": 14.5, "./camerad": 14.5,
"./locationd": 11.0, "./locationd": 11.0,
"./mapsd": 2.0, "./mapsd": 1.5,
"selfdrive.controls.plannerd": 16.5, "selfdrive.controls.plannerd": 16.5,
"./_ui": 18.0, "./_ui": 18.0,
"selfdrive.locationd.paramsd": 9.0, "selfdrive.locationd.paramsd": 9.0,
@ -98,6 +99,7 @@ def cputime_total(ct):
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@pytest.mark.tici
class TestOnroad(unittest.TestCase): class TestOnroad(unittest.TestCase):
@classmethod @classmethod
@ -301,7 +303,7 @@ class TestOnroad(unittest.TestCase):
self.assertLessEqual(max(mems) - min(mems), 3.0) self.assertLessEqual(max(mems) - min(mems), 3.0)
def test_gpu_usage(self): def test_gpu_usage(self):
self.assertEqual(self.gpu_procs, {"weston", "_ui", "mapsd", "camerad", "selfdrive.modeld.modeld"}) self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"})
def test_camera_processing_time(self): def test_camera_processing_time(self):
result = "\n" result = "\n"

2
selfdrive/test/test_time_to_onroad.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import pytest
import time import time
import subprocess import subprocess
@ -9,6 +10,7 @@ from openpilot.common.timeout import Timeout
from openpilot.selfdrive.test.helpers import set_params_enabled from openpilot.selfdrive.test.helpers import set_params_enabled
@pytest.mark.tici
def test_time_to_onroad(): def test_time_to_onroad():
# launch # launch
set_params_enabled() set_params_enabled()

2
selfdrive/test/test_updated.py
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@ -1,6 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import datetime import datetime
import os import os
import pytest
import time import time
import tempfile import tempfile
import unittest import unittest
@ -13,6 +14,7 @@ from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params from openpilot.common.params import Params
@pytest.mark.tici
class TestUpdated(unittest.TestCase): class TestUpdated(unittest.TestCase):
def setUp(self): def setUp(self):

4
selfdrive/ui/qt/body.cc
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@ -63,9 +63,9 @@ BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QW
face = new QLabel(); face = new QLabel();
face->setAlignment(Qt::AlignCenter); face->setAlignment(Qt::AlignCenter);
layout->addWidget(face); layout->addWidget(face);
awake = new QMovie("../assets/body/awake.gif"); awake = new QMovie("../assets/body/awake.gif", {}, this);
awake->setCacheMode(QMovie::CacheAll); awake->setCacheMode(QMovie::CacheAll);
sleep = new QMovie("../assets/body/sleep.gif"); sleep = new QMovie("../assets/body/sleep.gif", {}, this);
sleep->setCacheMode(QMovie::CacheAll); sleep->setCacheMode(QMovie::CacheAll);
// record button // record button

1
selfdrive/ui/qt/maps/map_helpers.cc
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@ -21,6 +21,7 @@ QMapboxGLSettings get_mapbox_settings() {
if (!Hardware::PC()) { if (!Hardware::PC()) {
settings.setCacheDatabasePath(MAPS_CACHE_PATH); settings.setCacheDatabasePath(MAPS_CACHE_PATH);
settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
} }
settings.setApiBaseUrl(MAPS_HOST); settings.setApiBaseUrl(MAPS_HOST);
settings.setAccessToken(get_mapbox_token()); settings.setAccessToken(get_mapbox_token());

8
selfdrive/ui/qt/widgets/wifi.cc
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@ -18,8 +18,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
title_layout->setSpacing(32); title_layout->setSpacing(32);
{ {
QLabel *icon = new QLabel; QLabel *icon = new QLabel;
QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg"); QPixmap pixmap("../assets/offroad/icon_wifi_strength_full.svg");
icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation)); icon->setPixmap(pixmap.scaledToWidth(80, Qt::SmoothTransformation));
title_layout->addWidget(icon); title_layout->addWidget(icon);
QLabel *title = new QLabel(tr("Setup Wi-Fi")); QLabel *title = new QLabel(tr("Setup Wi-Fi"));
@ -68,8 +68,8 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
title_layout->addStretch(); title_layout->addStretch();
QLabel *icon = new QLabel; QLabel *icon = new QLabel;
QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg"); QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg");
icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation)); icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation));
title_layout->addWidget(icon); title_layout->addWidget(icon);
} }
uploading_layout->addLayout(title_layout); uploading_layout->addLayout(title_layout);

6
system/camerad/test/test_camerad.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest
import time import time
import unittest import unittest
import numpy as np import numpy as np
@ -8,7 +9,6 @@ import cereal.messaging as messaging
from cereal import log from cereal import log
from cereal.services import SERVICE_LIST from cereal.services import SERVICE_LIST
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import TICI
TEST_TIMESPAN = 30 TEST_TIMESPAN = 30
LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
@ -19,12 +19,10 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
@pytest.mark.tici
class TestCamerad(unittest.TestCase): class TestCamerad(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
# run camerad and record logs # run camerad and record logs
managed_processes['camerad'].start() managed_processes['camerad'].start()
time.sleep(3) time.sleep(3)

2
system/hardware/base.h
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@ -34,6 +34,8 @@ public:
static bool get_ssh_enabled() { return false; } static bool get_ssh_enabled() { return false; }
static void set_ssh_enabled(bool enabled) {} static void set_ssh_enabled(bool enabled) {}
static void config_cpu_rendering();
static bool PC() { return false; } static bool PC() { return false; }
static bool TICI() { return false; } static bool TICI() { return false; }
static bool AGNOS() { return false; } static bool AGNOS() { return false; }

6
system/hardware/pc/hardware.h
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@ -20,4 +20,10 @@ public:
snprintf(volume_str, sizeof(volume_str), "%.3f", volume); snprintf(volume_str, sizeof(volume_str), "%.3f", volume);
std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
} }
static void config_cpu_rendering() {
setenv("QT_QPA_PLATFORM", "offscreen", 1);
setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
}
}; };

5
system/hardware/tici/hardware.h
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@ -103,4 +103,9 @@ public:
static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
static void config_cpu_rendering() {
setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
}
}; };

7
system/hardware/tici/tests/test_hardware.py
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@ -1,20 +1,19 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest
import time import time
import unittest import unittest
import numpy as np import numpy as np
from openpilot.system.hardware import TICI
from openpilot.system.hardware.tici.hardware import Tici from openpilot.system.hardware.tici.hardware import Tici
HARDWARE = Tici() HARDWARE = Tici()
@pytest.mark.tici
class TestHardware(unittest.TestCase): class TestHardware(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
HARDWARE.initialize_hardware() HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False) HARDWARE.set_power_save(False)

15
system/hardware/tici/tests/test_power_draw.py
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@ -1,15 +1,16 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest
import unittest import unittest
import time import time
import math
import threading import threading
import numpy as np
from dataclasses import dataclass from dataclasses import dataclass
from tabulate import tabulate from tabulate import tabulate
from typing import List from typing import List
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal.services import SERVICE_LIST from cereal.services import SERVICE_LIST
from openpilot.system.hardware import HARDWARE, TICI from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.system.hardware.tici.power_monitor import get_power
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.manager.manager import manager_cleanup from openpilot.selfdrive.manager.manager import manager_cleanup
@ -44,13 +45,9 @@ def send_llk_msg(done):
time.sleep(1/20.) time.sleep(1/20.)
@pytest.mark.tici
class TestPowerDraw(unittest.TestCase): class TestPowerDraw(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def setUp(self): def setUp(self):
HARDWARE.initialize_hardware() HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False) HARDWARE.set_power_save(False)
@ -94,8 +91,8 @@ class TestPowerDraw(unittest.TestCase):
msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs)) msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received]) tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
with self.subTest(proc=proc.name): with self.subTest(proc=proc.name):
self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2)) np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
print(tabulate(tab)) print(tabulate(tab))
print(f"Baseline {baseline:.2f}W\n") print(f"Baseline {baseline:.2f}W\n")

8
system/loggerd/tests/test_encoder.py
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@ -1,6 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import math import math
import os import os
import pytest
import random import random
import shutil import shutil
import subprocess import subprocess
@ -31,14 +32,9 @@ CAMERAS = [
FILE_SIZE_TOLERANCE = 0.5 FILE_SIZE_TOLERANCE = 0.5
@pytest.mark.tici # TODO: all of loggerd should work on PC
class TestEncoder(unittest.TestCase): class TestEncoder(unittest.TestCase):
# TODO: all of loggerd should work on PC
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def setUp(self): def setUp(self):
self._clear_logs() self._clear_logs()
os.environ["LOGGERD_TEST"] = "1" os.environ["LOGGERD_TEST"] = "1"

6
system/sensord/rawgps/test_rawgps.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import pytest
import json import json
import time import time
import datetime import datetime
@ -7,19 +8,16 @@ import unittest
import subprocess import subprocess
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.system.hardware import TICI
from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@pytest.mark.tici
class TestRawgpsd(unittest.TestCase): class TestRawgpsd(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
os.system("sudo systemctl start systemd-resolved") os.system("sudo systemctl start systemd-resolved")
os.system("sudo systemctl restart ModemManager lte") os.system("sudo systemctl restart ModemManager lte")
wait_for_modem() wait_for_modem()

7
system/sensord/tests/test_pigeond.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest
import time import time
import unittest import unittest
@ -7,16 +8,12 @@ from cereal.services import SERVICE_LIST
from openpilot.common.gpio import gpio_read from openpilot.common.gpio import gpio_read
from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import TICI
from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.pins import GPIO
# TODO: test TTFF when we have good A-GNSS # TODO: test TTFF when we have good A-GNSS
@pytest.mark.tici
class TestPigeond(unittest.TestCase): class TestPigeond(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def tearDown(self): def tearDown(self):
managed_processes['pigeond'].stop() managed_processes['pigeond'].stop()

6
system/sensord/tests/test_sensord.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import pytest
import time import time
import unittest import unittest
import numpy as np import numpy as np
@ -10,7 +11,6 @@ from cereal import log
from cereal.services import SERVICE_LIST from cereal.services import SERVICE_LIST
from openpilot.common.gpio import get_irqs_for_action from openpilot.common.gpio import get_irqs_for_action
from openpilot.common.timeout import Timeout from openpilot.common.timeout import Timeout
from openpilot.system.hardware import TICI
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
BMX = { BMX = {
@ -98,12 +98,10 @@ def read_sensor_events(duration_sec):
return {k: v for k, v in events.items() if len(v) > 0} return {k: v for k, v in events.items() if len(v) > 0}
@pytest.mark.tici
class TestSensord(unittest.TestCase): class TestSensord(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
# enable LSM self test # enable LSM self test
os.environ["LSM_SELF_TEST"] = "1" os.environ["LSM_SELF_TEST"] = "1"

2
tinygrad_repo

@ -1 +1 @@
Subproject commit 5a4a62ecaecb2bfd8bb0f77033aca46df4e668bd Subproject commit ae5d1407ee844a97a52ad3756835d38e7e2b9e1b

6
tools/gpstest/test_gps.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest
import time import time
import unittest import unittest
import struct import struct
@ -6,7 +7,6 @@ import struct
from openpilot.common.params import Params from openpilot.common.params import Params
import cereal.messaging as messaging import cereal.messaging as messaging
import openpilot.system.sensord.pigeond as pd import openpilot.system.sensord.pigeond as pd
from openpilot.system.hardware import TICI
from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.test.helpers import with_processes
@ -107,12 +107,10 @@ def verify_time_to_first_fix(pigeon):
assert ttff < 40, f"Time to first fix > 40s, {ttff}" assert ttff < 40, f"Time to first fix > 40s, {ttff}"
@pytest.mark.tici
class TestGPS(unittest.TestCase): class TestGPS(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
ublox_available = Params().get_bool("UbloxAvailable") ublox_available = Params().get_bool("UbloxAvailable")
if not ublox_available: if not ublox_available:
raise unittest.SkipTest raise unittest.SkipTest

6
tools/gpstest/test_gps_qcom.py
Unescape View File

@ -1,10 +1,10 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest
import time import time
import unittest import unittest
import subprocess as sp import subprocess as sp
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.system.hardware import TICI
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
@ -30,12 +30,10 @@ def wait_for_location(socket, timeout):
continue continue
@pytest.mark.tici
class TestGPS(unittest.TestCase): class TestGPS(unittest.TestCase):
@classmethod @classmethod
def setUpClass(cls): def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
ublox_available = Params().get_bool("UbloxAvailable") ublox_available = Params().get_bool("UbloxAvailable")
if ublox_available: if ublox_available:
raise unittest.SkipTest raise unittest.SkipTest

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