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  1. 2
      .github/workflows/release.yaml
  2. 5
      .github/workflows/selfdrive_tests.yaml
  3. 9
      Jenkinsfile
  4. 1
      README.md
  5. 1
      RELEASES.md
  6. 2
      cereal/messaging/socketmaster.cc
  7. 4
      cereal/services.py
  8. 6
      docs/CARS.md
  9. 2
      launch_env.sh
  10. 2
      opendbc_repo
  11. 2
      panda
  12. 3
      pyproject.toml
  13. 25
      release/README.md
  14. 23
      release/build_stripped.sh
  15. 34
      selfdrive/modeld/parse_model_outputs.py
  16. 2
      selfdrive/test/process_replay/ref_commit
  17. 31
      selfdrive/test/test_onroad.py
  18. 12
      selfdrive/ui/layouts/main.py
  19. 17
      selfdrive/ui/layouts/network.py
  20. 6
      selfdrive/ui/layouts/settings/firehose.py
  21. 22
      selfdrive/ui/layouts/settings/settings.py
  22. 10
      selfdrive/ui/layouts/settings/toggles.py
  23. 14
      selfdrive/ui/lib/api_helpers.py
  24. 5
      selfdrive/ui/lib/prime_state.py
  25. 30
      selfdrive/ui/onroad/model_renderer.py
  26. 7
      selfdrive/ui/qt/offroad/settings.cc
  27. 34
      system/camerad/sensors/ar0231_cl.h
  28. 58
      system/camerad/sensors/os04c10_cl.h
  29. 47
      system/camerad/sensors/ox03c10_cl.h
  30. 28
      system/hardware/tici/agnos.json
  31. 52
      system/hardware/tici/all-partitions.json
  32. 13
      system/loggerd/tests/vidc_debug.sh
  33. 9
      system/ui/lib/application.py
  34. 44
      system/ui/lib/networkmanager.py
  35. 4
      system/ui/lib/shader_polygon.py
  36. 1021
      system/ui/lib/wifi_manager.py
  37. 5
      system/ui/setup.py
  38. 5
      system/ui/updater.py
  39. 7
      system/ui/widgets/__init__.py
  40. 4
      system/ui/widgets/list_view.py
  41. 223
      system/ui/widgets/network.py
  42. 8
      system/updated/updated.py
  43. 2
      tinygrad_repo
  44. 7
      tools/camerastream/compressed_vipc.py
  45. 57
      tools/lib/file_sources.py
  46. 86
      tools/lib/logreader.py
  47. 7
      tools/lib/route.py
  48. 10
      tools/lib/tests/test_logreader.py
  49. 18
      tools/lib/url_file.py
  50. 217
      uv.lock

2
.github/workflows/release.yaml
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@ -39,4 +39,4 @@ jobs:
git config --global --add safe.directory '*'
git lfs pull
- name: Push master-ci
run: BRANCH=__nightly release/build_devel.sh
run: BRANCH=__nightly release/build_stripped.sh

5
.github/workflows/selfdrive_tests.yaml
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@ -52,7 +52,7 @@ jobs:
command: git lfs pull
- name: Build devel
timeout-minutes: 1
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot and run checks
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@ -162,7 +162,8 @@ jobs:
timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
run: |
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
$PYTEST --collect-only -m 'not slow' &> /dev/null && \
# Pre-compile Python bytecode so each pytest worker doesn't need to
$PYTEST --collect-only -m 'not slow' -qq && \
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \

9
Jenkinsfile vendored
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@ -178,7 +178,7 @@ node {
try {
if (env.BRANCH_NAME == 'devel-staging') {
deviceStage("build release3-staging", "tici-needs-can", [], [
deviceStage("build release3-staging", "tizi-needs-can", [], [
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
])
}
@ -186,12 +186,12 @@ node {
if (env.BRANCH_NAME == '__nightly') {
parallel (
'nightly': {
deviceStage("build nightly", "tici-needs-can", [], [
deviceStage("build nightly", "tizi-needs-can", [], [
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
])
},
'nightly-dev': {
deviceStage("build nightly-dev", "tici-needs-can", [], [
deviceStage("build nightly-dev", "tizi-needs-can", [], [
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
])
},
@ -200,9 +200,8 @@ node {
if (!env.BRANCH_NAME.matches(excludeRegex)) {
parallel (
// tici tests
'onroad tests': {
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
step("build openpilot", "cd system/manager && ./build.py"),
step("check dirty", "release/check-dirty.sh"),
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),

1
README.md
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@ -56,7 +56,6 @@ We have detailed instructions for [how to install the harness and device in a ca
| `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
| `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
| `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. |
To start developing openpilot
------

1
RELEASES.md
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@ -1,6 +1,7 @@
Version 0.10.1 (2025-09-08)
========================
* Record driving feedback using LKAS button
* Honda City 2023 support thanks to drFritz!
Version 0.10.0 (2025-08-05)
========================

2
cereal/messaging/socketmaster.cc
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@ -33,7 +33,7 @@ MessageContext message_context;
struct SubMaster::SubMessage {
std::string name;
SubSocket *socket = nullptr;
int freq = 0;
float freq = 0.0f;
bool updated = false, alive = false, valid = false, ignore_alive;
uint64_t rcv_time = 0, rcv_frame = 0;
void *allocated_msg_reader = nullptr;

4
cereal/services.py
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@ -109,12 +109,12 @@ def build_header():
h += "#include <map>\n"
h += "#include <string>\n"
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
h += "static std::map<std::string, service> services = {\n"
for k, v in SERVICE_LIST.items():
should_log = "true" if v.should_log else "false"
decimation = -1 if v.decimation is None else v.decimation
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
h += ' { "%s", {"%s", %s, %f, %d}},\n' % \
(k, k, should_log, v.frequency, decimation)
h += "};\n"

6
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 319 Supported Cars
# 321 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -76,10 +76,12 @@ A supported vehicle is one that just works when you install a comma device. All
|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||

2
launch_env.sh
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@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="12.8"
export AGNOS_VERSION="13"
fi
export STAGING_ROOT="/data/safe_staging"

2
opendbc_repo

@ -1 +1 @@
Subproject commit 4b203ff5d1ad867de127de6b27382ba73e6e31a7
Subproject commit 0fe56bc289d72d2f278e9c085f2ada6ecb13e688

2
panda

@ -1 +1 @@
Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec
Subproject commit 3dc21386239e3073a623156b75901aa302340d6c

3
pyproject.toml
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@ -101,8 +101,9 @@ dev = [
"av",
"azure-identity",
"azure-storage-blob",
"dbus-next",
"dbus-next", # TODO: remove once we moved everything to jeepney
"dictdiffer",
"jeepney",
"matplotlib",
"opencv-python-headless",
"parameterized >=0.8, <0.9",

25
release/README.md
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@ -3,33 +3,34 @@
```
## release checklist
**Go to `devel-staging`**
- [ ] make issue to track release
### Go to staging
- [ ] make a GitHub issue to track release
- [ ] create release master branch
- [ ] update RELEASES.md
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] build new userdata partition from `release3-staging`
- [ ] open a pull request from `devel-staging` to `devel`
- [ ] post on Discord, tag `@release crew`
**Go to `devel`**
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request, test the following:
Updating staging:
1. either rebase on master or cherry-pick changes
2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
3. build new userdata partition from `release3-staging`
### Go to release
- [ ] before going to release, test the following:
- [ ] update from previous release -> new release
- [ ] update from new release -> previous release
- [ ] fresh install with `openpilot-test.comma.ai`
- [ ] drive on fresh install
- [ ] no submodules or LFS
- [ ] check sentry, MTBF, etc.
- [ ] stress test in production
**Go to `release3`**
- [ ] stress test passes in production
- [ ] publish the blog post
- [ ] `git reset --hard origin/release3-staging`
- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
- [ ] create GitHub release
- [ ] final test install on `openpilot.comma.ai`
- [ ] update factory provisioning
- [ ] close out milestone
- [ ] close out milestone and issue
- [ ] post on Discord, X, etc.
```

23
release/build_devel.sh → release/build_stripped.sh
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@ -17,29 +17,23 @@ rm -rf $TARGET_DIR
mkdir -p $TARGET_DIR
cd $TARGET_DIR
cp -r $SOURCE_DIR/.git $TARGET_DIR
pre-commit uninstall || true
echo "[-] bringing __nightly and devel in sync T=$SECONDS"
echo "[-] setting up stripped branch sync T=$SECONDS"
cd $TARGET_DIR
git fetch --depth 1 origin __nightly
git fetch --depth 1 origin devel
git checkout -f --track origin/__nightly
git reset --hard __nightly
git checkout __nightly
git reset --hard origin/devel
git clean -xdff
git submodule foreach --recursive git clean -xdff
git lfs uninstall
# tmp branch
git checkout --orphan tmp
# remove everything except .git
echo "[-] erasing old openpilot T=$SECONDS"
git submodule deinit -f --all
git rm -rf --cached .
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
# reset source tree
# cleanup before the copy
cd $SOURCE_DIR
git clean -xdff
git submodule foreach --recursive git clean -xdff
# do the files copy
echo "[-] copying files T=$SECONDS"
@ -48,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
# in the directory
cd $TARGET_DIR
rm -rf .git/modules/
rm -f panda/board/obj/panda.bin.signed
# include source commit hash and build date in commit
@ -86,7 +81,7 @@ fi
if [ ! -z "$BRANCH" ]; then
echo "[-] Pushing to $BRANCH T=$SECONDS"
git push -f origin __nightly:$BRANCH
git push -f origin tmp:$BRANCH
fi
echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

34
selfdrive/modeld/parse_model_outputs.py
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@ -22,9 +22,10 @@ class Parser:
self.ignore_missing = ignore_missing
def check_missing(self, outs, name):
if name not in outs and not self.ignore_missing:
missing = name not in outs
if missing and not self.ignore_missing:
raise ValueError(f"Missing output {name}")
return name not in outs
return missing
def parse_categorical_crossentropy(self, name, outs, out_shape=None):
if self.check_missing(outs, name):
@ -84,6 +85,13 @@ class Parser:
outs[name] = pred_mu_final.reshape(final_shape)
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
def is_mhp(self, outs, name, shape):
if self.check_missing(outs, name):
return False
if outs[name].shape[1] == 2 * shape:
return False
return True
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@ -94,23 +102,17 @@ class Parser:
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs)
self.parse_binary_crossentropy('lead_prob', outs)
if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
self.parse_mdn('lead', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
else:
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
else:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
return outs

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
6d3219bca9f66a229b38a5382d301a92b0147edb
209b47bea61e145cf2d27eb3ab650c97bcd1d33f

31
selfdrive/test/test_onroad.py
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@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout
from openpilot.common.params import Params
from openpilot.selfdrive.selfdrived.events import EVENTS, ET
from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.hw import Paths
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.log_time_series import msgs_to_time_series
@ -33,7 +32,7 @@ CPU usage budget
TEST_DURATION = 25
LOG_OFFSET = 8
MAX_TOTAL_CPU = 280. # total for all 8 cores
MAX_TOTAL_CPU = 287. # total for all 8 cores
PROCS = {
# Baseline CPU usage by process
"selfdrive.controls.controlsd": 16.0,
@ -67,20 +66,10 @@ PROCS = {
"system.statsd": 1.0,
"system.loggerd.uploader": 15.0,
"system.loggerd.deleter": 1.0,
"./pandad": 19.0,
"system.qcomgpsd.qcomgpsd": 1.0,
}
PROCS.update({
"tici": {
"./pandad": 5.0,
"./ubloxd": 1.0,
"system.ubloxd.pigeond": 6.0,
},
"tizi": {
"./pandad": 19.0,
"system.qcomgpsd.qcomgpsd": 1.0,
}
}.get(HARDWARE.get_device_type(), {}))
TIMINGS = {
# rtols: max/min, rsd
"can": [2.5, 0.35],
@ -333,20 +322,18 @@ class TestOnroad:
assert np.all(eof_sof_diff > 0)
assert np.all(eof_sof_diff < 50*1e6)
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
first_fid = {min(self.ts[c]['frameId']) for c in cams}
assert len(first_fid) == 1, "Cameras don't start on same frame ID"
if cam.endswith('CameraState'):
# camerad guarantees that all cams start on frame ID 0
# (note loggerd also needs to start up fast enough to catch it)
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
else:
# encoder guarantees all cams start on the same frame ID
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
# we don't do a full segment rotation, so these might not match exactly
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
assert max(last_fid.values()) - min(last_fid.values()) < 10
last_fid = {max(self.ts[c]['frameId']) for c in cams}
assert max(last_fid) - min(last_fid) < 10
start, end = min(first_fid.values()), min(last_fid.values())
start, end = min(first_fid), min(last_fid)
for i in range(end-start):
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
diff = (max(ts.values()) - min(ts.values()))

12
selfdrive/ui/layouts/main.py
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@ -63,14 +63,20 @@ class MainLayout(Widget):
# Don't hide sidebar from interactive timeout
if self._current_mode != MainState.ONROAD:
self._sidebar.set_visible(False)
self._current_mode = MainState.ONROAD
self._set_current_layout(MainState.ONROAD)
else:
self._current_mode = MainState.HOME
self._set_current_layout(MainState.HOME)
self._sidebar.set_visible(True)
def _set_current_layout(self, layout: MainState):
if layout != self._current_mode:
self._layouts[self._current_mode].hide_event()
self._current_mode = layout
self._layouts[self._current_mode].show_event()
def open_settings(self, panel_type: PanelType):
self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
self._current_mode = MainState.SETTINGS
self._set_current_layout(MainState.SETTINGS)
self._sidebar.set_visible(False)
def _on_settings_clicked(self):

17
selfdrive/ui/layouts/network.py
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@ -1,17 +0,0 @@
import pyray as rl
from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.network import WifiManagerUI
class NetworkLayout(Widget):
def __init__(self):
super().__init__()
self.wifi_manager = WifiManagerWrapper()
self.wifi_ui = WifiManagerUI(self.wifi_manager)
def _render(self, rect: rl.Rectangle):
self.wifi_ui.render(rect)
def shutdown(self):
self.wifi_manager.shutdown()

6
selfdrive/ui/layouts/settings/firehose.py
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@ -2,7 +2,7 @@ import pyray as rl
import time
import threading
from openpilot.common.api import Api, api_get
from openpilot.common.api import api_get
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.ui.ui_state import ui_state
@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
from openpilot.system.ui.lib.wrap_text import wrap_text
from openpilot.system.ui.widgets import Widget
from openpilot.selfdrive.ui.lib.api_helpers import get_token
TITLE = "Firehose Mode"
DESCRIPTION = (
@ -163,7 +163,7 @@ class FirehoseLayout(Widget):
dongle_id = self.params.get("DongleId")
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
return
identity_token = Api(dongle_id).get_token()
identity_token = get_token(dongle_id)
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
if response.status_code == 200:
data = response.json()

22
selfdrive/ui/layouts/settings/settings.py
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@ -2,7 +2,6 @@ import pyray as rl
from dataclasses import dataclass
from enum import IntEnum
from collections.abc import Callable
from openpilot.selfdrive.ui.layouts.network import NetworkLayout
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
@ -10,7 +9,9 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
from openpilot.system.ui.lib.text_measure import measure_text_cached
from openpilot.system.ui.lib.wifi_manager import WifiManager
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.network import WifiManagerUI
# Settings close button
SETTINGS_CLOSE_TEXT = "×"
@ -43,7 +44,7 @@ class PanelType(IntEnum):
@dataclass
class PanelInfo:
name: str
instance: object
instance: Widget
button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
@ -53,9 +54,12 @@ class SettingsLayout(Widget):
self._current_panel = PanelType.DEVICE
# Panel configuration
wifi_manager = WifiManager()
wifi_manager.set_active(False)
self._panels = {
PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)),
PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
@ -149,8 +153,14 @@ class SettingsLayout(Widget):
def set_current_panel(self, panel_type: PanelType):
if panel_type != self._current_panel:
self._panels[self._current_panel].instance.hide_event()
self._current_panel = panel_type
self._panels[self._current_panel].instance.show_event()
def show_event(self):
super().show_event()
self._panels[self._current_panel].instance.show_event()
def close_settings(self):
if self._close_callback:
self._close_callback()
def hide_event(self):
super().hide_event()
self._panels[self._current_panel].instance.hide_event()

10
selfdrive/ui/layouts/settings/toggles.py
Unescape View File

@ -23,10 +23,6 @@ DESCRIPTIONS = {
'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
"IsMetric": "Display speed in km/h instead of mph.",
"RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
"RecordAudioFeedback": (
"Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
"The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
),
}
@ -85,12 +81,6 @@ class TogglesLayout(Widget):
self._params.get_bool("RecordAudio"),
icon="microphone.png",
),
toggle_item(
"Record Audio Feedback with LKAS button",
DESCRIPTIONS["RecordAudioFeedback"],
self._params.get_bool("RecordAudioFeedback"),
icon="microphone.png",
),
toggle_item(
"Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
),

14
selfdrive/ui/lib/api_helpers.py
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@ -0,0 +1,14 @@
import time
from functools import lru_cache
from openpilot.common.api import Api
TOKEN_EXPIRY_HOURS = 2
@lru_cache(maxsize=1)
def _get_token(dongle_id: str, t: int):
return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
def get_token(dongle_id: str):
return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))

5
selfdrive/ui/lib/prime_state.py
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@ -3,10 +3,11 @@ import os
import threading
import time
from openpilot.common.api import Api, api_get
from openpilot.common.api import api_get
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
from openpilot.selfdrive.ui.lib.api_helpers import get_token
class PrimeType(IntEnum):
@ -49,7 +50,7 @@ class PrimeState:
return
try:
identity_token = Api(dongle_id).get_token()
identity_token = get_token(dongle_id)
response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
if response.status_code == 200:
data = response.json()

30
selfdrive/ui/onroad/model_renderer.py
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@ -187,9 +187,9 @@ class ModelRenderer(Widget):
self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
)
self._update_experimental_gradient(self._rect.height)
self._update_experimental_gradient()
def _update_experimental_gradient(self, height):
def _update_experimental_gradient(self):
"""Pre-calculate experimental mode gradient colors"""
if not self._experimental_mode:
return
@ -201,22 +201,21 @@ class ModelRenderer(Widget):
i = 0
while i < max_len:
track_idx = max_len - i - 1 # flip idx to start from bottom right
track_y = self._path.projected_points[track_idx][1]
if track_y < 0 or track_y > height:
# Some points (screen space) are out of frame (rect space)
track_y = self._path.projected_points[i][1]
if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
i += 1
continue
# Calculate color based on acceleration
lin_grad_point = (height - track_y) / height
# Calculate color based on acceleration (0 is bottom, 1 is top)
lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
# speed up: 120, slow down: 0
path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
path_hue = int(path_hue * 100 + 0.5) / 100
path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
# Use HSL to RGB conversion
color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@ -280,7 +279,7 @@ class ModelRenderer(Widget):
if self._experimental_mode:
# Draw with acceleration coloring
if len(self._exp_gradient['colors']) > 2:
if len(self._exp_gradient['colors']) > 1:
draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
else:
draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@ -409,13 +408,6 @@ class ModelRenderer(Widget):
return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
@staticmethod
def _map_val(x, x0, x1, y0, y1):
x = np.clip(x, x0, x1)
ra = x1 - x0
rb = y1 - y0
return (x - x0) * rb / ra + y0 if ra != 0 else y0
@staticmethod
def _hsla_to_color(h, s, l, a):
rgb = colorsys.hls_to_rgb(h, l, s)

7
selfdrive/ui/qt/offroad/settings.cc
Unescape View File

@ -68,13 +68,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
"../assets/icons/microphone.png",
true,
},
{
"RecordAudioFeedback",
tr("Record Audio Feedback with LKAS button"),
tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
"../assets/icons/microphone.png",
false,
},
{
"IsMetric",
tr("Use Metric System"),

34
system/camerad/sensors/ar0231_cl.h
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@ -1,34 +0,0 @@
#if SENSOR_ID == 1
#define VIGNETTE_PROFILE_8DT0MM
#define BIT_DEPTH 12
#define PV_MAX 4096
#define BLACK_LVL 168
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
// tone mapping params
const float gamma_k = 0.75;
const float gamma_b = 0.125;
const float mp = 0.01; // ideally midpoint should be adaptive
const float rk = 9 - 100*mp;
// poly approximation for s curve
return (rgb > mp) ?
((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
}
#endif

58
system/camerad/sensors/os04c10_cl.h
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@ -1,58 +0,0 @@
#if SENSOR_ID == 3
#define BGGR
#define VIGNETTE_PROFILE_4DT6MM
#define BIT_DEPTH 12
#define PV_MAX10 1023
#define PV_MAX12 4095
#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
#define BLACK_LVL 48
float combine_dual_pvs(float lv, float sv, int expo_time) {
float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
float svd = sv * fmin(expo_time, 8.0) / 8;
if (expo_time > 64) {
if (lv < PV_MAX10 - BLACK_LVL) {
return lv / (PV_MAX16 - BLACK_LVL);
} else {
return (svc / 64) / (PV_MAX16 - BLACK_LVL);
}
} else {
if (lv > 32) {
return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
} else {
return svd / (PV_MAX16 - BLACK_LVL);
}
}
}
float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
float4 pl = convert_float4(parsed - BLACK_LVL);
float4 ps = convert_float4(short_parsed - BLACK_LVL);
float4 pv;
pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
return (10 * rgb) / (1 + 9 * rgb);
}
#endif

47
system/camerad/sensors/ox03c10_cl.h
Unescape View File

@ -1,47 +0,0 @@
#if SENSOR_ID == 2
#define VIGNETTE_PROFILE_8DT0MM
#define BIT_DEPTH 12
#define BLACK_LVL 64
float ox_lut_func(int x) {
if (x < 512) {
return x * 5.94873e-8;
} else if (512 <= x && x < 768) {
return 3.0458e-05 + (x-512) * 1.19913e-7;
} else if (768 <= x && x < 1536) {
return 6.1154e-05 + (x-768) * 2.38493e-7;
} else if (1536 <= x && x < 1792) {
return 0.0002448 + (x-1536) * 9.56930e-7;
} else if (1792 <= x && x < 2048) {
return 0.00048977 + (x-1792) * 1.91441e-6;
} else if (2048 <= x && x < 2304) {
return 0.00097984 + (x-2048) * 3.82937e-6;
} else if (2304 <= x && x < 2560) {
return 0.0019601 + (x-2304) * 7.659055e-6;
} else if (2560 <= x && x < 2816) {
return 0.0039207 + (x-2560) * 1.525e-5;
} else {
return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
}
}
float4 normalize_pv(int4 parsed, float vignette_factor) {
// PWL
float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
}
#endif

28
system/hardware/tici/agnos.json
Unescape View File

@ -23,14 +23,14 @@
},
{
"name": "abl",
"url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
"hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
"hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
"hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
"size": 274432,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
"ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
},
{
"name": "aop",
@ -56,28 +56,28 @@
},
{
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
"hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"url": "https://commadist.azureedge.net/agnosupdate/boot-3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a.img.xz",
"hash": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
"hash_raw": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
"size": 18515968,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
"ondevice_hash": "41d693d7e752c04210b4f8d68015d2367ee83e1cd54cc7b0aca3b79b4855e6b1"
},
{
"name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
"hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
"hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
"url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img.xz",
"hash": "3596cd5d8a51dabcdd75c29f9317ca3dad9036b1083630ad719eaf584fdb1ce9",
"hash_raw": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
"size": 5368709120,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
"ondevice_hash": "32cdbc0ce176e0ea92944e53be875c12374512fa09b6041e42e683519d36591e",
"alt": {
"hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
"hash": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
"url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img",
"size": 5368709120
}
}

52
system/hardware/tici/all-partitions.json
Unescape View File

@ -152,14 +152,14 @@
},
{
"name": "abl",
"url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
"hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
"hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
"hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
"size": 274432,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
"ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
},
{
"name": "aop",
@ -339,62 +339,62 @@
},
{
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
"hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"url": "https://commadist.azureedge.net/agnosupdate/boot-3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a.img.xz",
"hash": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
"hash_raw": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a",
"size": 18515968,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
"ondevice_hash": "41d693d7e752c04210b4f8d68015d2367ee83e1cd54cc7b0aca3b79b4855e6b1"
},
{
"name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
"hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
"hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
"url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img.xz",
"hash": "3596cd5d8a51dabcdd75c29f9317ca3dad9036b1083630ad719eaf584fdb1ce9",
"hash_raw": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
"size": 5368709120,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
"ondevice_hash": "32cdbc0ce176e0ea92944e53be875c12374512fa09b6041e42e683519d36591e",
"alt": {
"hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
"hash": "4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3",
"url": "https://commadist.azureedge.net/agnosupdate/system-4d0c7005e242fc757adbefd43b44ab2e78be53ca5145fceb160cc32ecf8d6cc3.img",
"size": 5368709120
}
},
{
"name": "userdata_90",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12.img.xz",
"hash": "59e1bb2606b65293721dd89bcdc8d0c5cae47718c213eb40f235149aa5a408ae",
"hash_raw": "ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-a3695e6b4bade3dd9c2711cd92e93e9ac7744207c2af03b78f0b9a17e89d357f.img.xz",
"hash": "eeb50afb13973d7e54013fdb3ce0f4f396b8608c8325442966cad6b67e39a8d9",
"hash_raw": "a3695e6b4bade3dd9c2711cd92e93e9ac7744207c2af03b78f0b9a17e89d357f",
"size": 96636764160,
"sparse": true,
"full_check": true,
"has_ab": false,
"ondevice_hash": "40b5e666ec137a863178b51a7947e3bb76fe9259584d84e6a66361fabced3da5"
"ondevice_hash": "537088b516805b32b1b4ad176e7f3fc6bc828e296398ce65cbf5f6150fb1a26f"
},
{
"name": "userdata_89",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33.img.xz",
"hash": "e555a29c3ccb547ed840085c052cd1c6126c32d5c6dafe1712f593ae631be190",
"hash_raw": "2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-cbe9979b42b265c9e25a50e876faf5b592fe175aeb5936f2a97b345a6d4e53f5.img.xz",
"hash": "9456a8b117736e6f8eb35cc97fc62ddc8255f38a1be5959a6911498d6aaee08d",
"hash_raw": "cbe9979b42b265c9e25a50e876faf5b592fe175aeb5936f2a97b345a6d4e53f5",
"size": 95563022336,
"sparse": true,
"full_check": true,
"has_ab": false,
"ondevice_hash": "f5bc368dbe52ac7800634f74b1fd764fc3b6e68337984f40fd59222b1276d9f2"
"ondevice_hash": "9e7293cf9a377cb2f3477698e7143e6085a42f7355d7eace5bf9e590992941a8"
},
{
"name": "userdata_30",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b.img.xz",
"hash": "f5dfbe1dcba25b9a1920259bc89f52b5e406519539ff0112d5469fff3f1b6dba",
"hash_raw": "6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-0b25bb660f1c0c4475fc22a32a51cd32bb980f55b95069e6ab56dd8e47f00c31.img.xz",
"hash": "6c5c98c0fec64355ead5dfc9c1902653b4ea9a071e7b968d1ccd36565082f6b7",
"hash_raw": "0b25bb660f1c0c4475fc22a32a51cd32bb980f55b95069e6ab56dd8e47f00c31",
"size": 32212254720,
"sparse": true,
"full_check": true,
"has_ab": false,
"ondevice_hash": "b8f447f0ea40faae7292d3a0dc380d194caab6ec3f5007eda5661f2aa4d2f4ab"
"ondevice_hash": "42b5c09a36866d9a52e78b038901669d5bebb02176c498ce11618f200bdfe6b5"
}
]

13
system/loggerd/tests/vidc_debug.sh
Unescape View File

@ -0,0 +1,13 @@
#!/usr/bin/env bash
set -e
cd /sys/kernel/debug/tracing
echo "" > trace
echo 1 > tracing_on
echo 1 > /sys/kernel/debug/tracing/events/msm_vidc/enable
echo 0xff > /sys/module/videobuf2_core/parameters/debug
echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug
cat /sys/kernel/debug/tracing/trace_pipe

9
system/ui/lib/application.py
Unescape View File

@ -67,7 +67,8 @@ class MouseEvent(NamedTuple):
class MouseState:
def __init__(self):
def __init__(self, scale: float = 1.0):
self._scale = scale
self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list
self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS
@ -102,8 +103,10 @@ class MouseState:
def _handle_mouse_event(self):
for slot in range(MAX_TOUCH_SLOTS):
mouse_pos = rl.get_touch_position(slot)
x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
ev = MouseEvent(
MousePos(mouse_pos.x, mouse_pos.y),
MousePos(x, y),
slot,
rl.is_mouse_button_pressed(slot),
rl.is_mouse_button_released(slot),
@ -133,7 +136,7 @@ class GuiApplication:
self._trace_log_callback = None
self._modal_overlay = ModalOverlay()
self._mouse = MouseState()
self._mouse = MouseState(self._scale)
self._mouse_events: list[MouseEvent] = []
# Debug variables

44
system/ui/lib/networkmanager.py
Unescape View File

@ -0,0 +1,44 @@
from enum import IntEnum
# NetworkManager device states
class NMDeviceState(IntEnum):
UNKNOWN = 0
DISCONNECTED = 30
PREPARE = 40
STATE_CONFIG = 50
NEED_AUTH = 60
IP_CONFIG = 70
ACTIVATED = 100
DEACTIVATING = 110
# NetworkManager constants
NM = "org.freedesktop.NetworkManager"
NM_PATH = '/org/freedesktop/NetworkManager'
NM_IFACE = 'org.freedesktop.NetworkManager'
NM_ACCESS_POINT_IFACE = 'org.freedesktop.NetworkManager.AccessPoint'
NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings'
NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings'
NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection'
NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless'
NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties'
NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
NM_DEVICE_TYPE_WIFI = 2
NM_DEVICE_TYPE_MODEM = 8
NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60
# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
NM_802_11_AP_FLAGS_NONE = 0x0
NM_802_11_AP_FLAGS_PRIVACY = 0x1
NM_802_11_AP_FLAGS_WPS = 0x2
# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags
NM_802_11_AP_SEC_PAIR_WEP40 = 0x00000001
NM_802_11_AP_SEC_PAIR_WEP104 = 0x00000002
NM_802_11_AP_SEC_GROUP_WEP40 = 0x00000010
NM_802_11_AP_SEC_GROUP_WEP104 = 0x00000020
NM_802_11_AP_SEC_KEY_MGMT_PSK = 0x00000100
NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200

4
system/ui/lib/shader_polygon.py
Unescape View File

@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) {
float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);
if (gradientColorCount <= 1) return gradientColors[0];
// handle t before first / after last stop
if (t <= gradientStops[0]) return gradientColors[0];
if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
for (int i = 0; i < gradientColorCount - 1; i++) {
if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);

1021
system/ui/lib/wifi_manager.py
View File

File diff suppressed because it is too large Load Diff

5
system/ui/setup.py
Unescape View File

@ -19,7 +19,7 @@ from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
from openpilot.system.ui.widgets.keyboard import Keyboard
from openpilot.system.ui.widgets.label import Label, TextAlignment
from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager
NetworkType = log.DeviceState.NetworkType
@ -72,8 +72,7 @@ class Setup(Widget):
self.download_url = ""
self.download_progress = 0
self.download_thread = None
self.wifi_manager = WifiManagerWrapper()
self.wifi_ui = WifiManagerUI(self.wifi_manager)
self.wifi_ui = WifiManagerUI(WifiManager())
self.keyboard = Keyboard()
self.selected_radio = None
self.warning = gui_app.texture("icons/warning.png", 150, 150)

5
system/ui/updater.py
Unescape View File

@ -7,7 +7,7 @@ from enum import IntEnum
from openpilot.system.hardware import HARDWARE
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
from openpilot.system.ui.lib.wifi_manager import WifiManager
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.button import gui_button, ButtonStyle
from openpilot.system.ui.widgets.label import gui_text_box, gui_label
@ -43,8 +43,7 @@ class Updater(Widget):
self.show_reboot_button = False
self.process = None
self.update_thread = None
self.wifi_manager = WifiManagerWrapper()
self.wifi_manager_ui = WifiManagerUI(self.wifi_manager)
self.wifi_manager_ui = WifiManagerUI(WifiManager())
def install_update(self):
self.current_screen = Screen.PROGRESS

7
system/ui/widgets/__init__.py
Unescape View File

@ -129,3 +129,10 @@ class Widget(abc.ABC):
def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
"""Optionally handle mouse release events."""
return False
def show_event(self):
"""Optionally handle show event. Parent must manually call this"""
def hide_event(self):
"""Optionally handle hide event. Parent must manually call this"""

4
system/ui/widgets/list_view.py
Unescape View File

@ -213,6 +213,7 @@ class ListItem(Widget):
self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT))
self._font = gui_app.font(FontWeight.NORMAL)
self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None
# Cached properties for performance
self._prev_max_width: int = 0
@ -261,8 +262,7 @@ class ListItem(Widget):
if self.title:
# Draw icon if present
if self.icon:
icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE)
rl.draw_texture(icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE)
rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.width) // 2), rl.WHITE)
text_x += ICON_SIZE + ITEM_PADDING
# Draw main text

223
system/ui/widgets/network.py
Unescape View File

@ -1,17 +1,16 @@
from dataclasses import dataclass
from enum import IntEnum
from functools import partial
from threading import Lock
from typing import Literal
from typing import cast
import pyray as rl
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
from openpilot.system.ui.widgets.button import ButtonStyle, Button
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
from openpilot.system.ui.widgets.keyboard import Keyboard
from openpilot.system.ui.widgets.label import gui_label
from openpilot.system.ui.widgets.label import TextAlignment, gui_label
NM_DEVICE_STATE_NEED_AUTH = 60
MIN_PASSWORD_LENGTH = 8
@ -27,85 +26,67 @@ STRENGTH_ICONS = [
]
@dataclass
class StateIdle:
action: Literal["idle"] = "idle"
@dataclass
class StateConnecting:
network: NetworkInfo
action: Literal["connecting"] = "connecting"
@dataclass
class StateNeedsAuth:
network: NetworkInfo
retry: bool
action: Literal["needs_auth"] = "needs_auth"
@dataclass
class StateShowForgetConfirm:
network: NetworkInfo
action: Literal["show_forget_confirm"] = "show_forget_confirm"
@dataclass
class StateForgetting:
network: NetworkInfo
action: Literal["forgetting"] = "forgetting"
UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
class UIState(IntEnum):
IDLE = 0
CONNECTING = 1
NEEDS_AUTH = 2
SHOW_FORGET_CONFIRM = 3
FORGETTING = 4
class WifiManagerUI(Widget):
def __init__(self, wifi_manager: WifiManagerWrapper):
def __init__(self, wifi_manager: WifiManager):
super().__init__()
self.state: UIState = StateIdle()
self.wifi_manager = wifi_manager
self.state: UIState = UIState.IDLE
self._state_network: Network | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
self._password_retry: bool = False # for NEEDS_AUTH
self.btn_width: int = 200
self.scroll_panel = GuiScrollPanel()
self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
self._load_icons()
self._networks: list[NetworkInfo] = []
self._networks: list[Network] = []
self._networks_buttons: dict[str, Button] = {}
self._forget_networks_buttons: dict[str, Button] = {}
self._lock = Lock()
self.wifi_manager = wifi_manager
self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel")
self.wifi_manager.set_callbacks(
WifiManagerCallbacks(
need_auth=self._on_need_auth,
activated=self._on_activated,
forgotten=self._on_forgotten,
networks_updated=self._on_network_updated,
connection_failed=self._on_connection_failed
)
)
self.wifi_manager.start()
self.wifi_manager.connect()
self.wifi_manager.set_callbacks(need_auth=self._on_need_auth,
activated=self._on_activated,
forgotten=self._on_forgotten,
networks_updated=self._on_network_updated,
disconnected=self._on_disconnected)
def show_event(self):
# start/stop scanning when widget is visible
self.wifi_manager.set_active(True)
def hide_event(self):
self.wifi_manager.set_active(False)
def _load_icons(self):
for icon in STRENGTH_ICONS + ["icons/checkmark.png", "icons/circled_slash.png", "icons/lock_closed.png"]:
gui_app.texture(icon, ICON_SIZE, ICON_SIZE)
def _render(self, rect: rl.Rectangle):
with self._lock:
if not self._networks:
gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
return
match self.state:
case StateNeedsAuth(network, retry):
self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
self.keyboard.reset()
gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
case StateShowForgetConfirm(network):
self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?')
self._confirm_dialog.reset()
gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
case _:
self._draw_network_list(rect)
def _on_password_entered(self, network: NetworkInfo, result: int):
self.wifi_manager.process_callbacks()
if not self._networks:
gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
return
if self.state == UIState.NEEDS_AUTH and self._state_network:
self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
self.keyboard.reset()
gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result))
elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
self._confirm_dialog.reset()
gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
else:
self._draw_network_list(rect)
def _on_password_entered(self, network: Network, result: int):
if result == 1:
password = self.keyboard.text
self.keyboard.clear()
@ -113,13 +94,13 @@ class WifiManagerUI(Widget):
if len(password) >= MIN_PASSWORD_LENGTH:
self.connect_to_network(network, password)
elif result == 0:
self.state = StateIdle()
self.state = UIState.IDLE
def on_forgot_confirm_finished(self, network, result: int):
if result == 1:
self.forget_network(network)
elif result == 0:
self.state = StateIdle()
self.state = UIState.IDLE
def _draw_network_list(self, rect: rl.Rectangle):
content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@ -140,24 +121,25 @@ class WifiManagerUI(Widget):
rl.end_scissor_mode()
def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool):
def _draw_network_item(self, rect, network: Network, clicked: bool):
spacing = 50
ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
status_text = ""
match self.state:
case StateConnecting(network=connecting):
if connecting.ssid == network.ssid:
self._networks_buttons[network.ssid].set_enabled(False)
status_text = "CONNECTING..."
case StateForgetting(network=forgetting):
if forgetting.ssid == network.ssid:
self._networks_buttons[network.ssid].set_enabled(False)
status_text = "FORGETTING..."
case _:
self._networks_buttons[network.ssid].set_enabled(True)
if self.state == UIState.CONNECTING and self._state_network:
if self._state_network.ssid == network.ssid:
self._networks_buttons[network.ssid].set_enabled(False)
status_text = "CONNECTING..."
elif self.state == UIState.FORGETTING and self._state_network:
if self._state_network.ssid == network.ssid:
self._networks_buttons[network.ssid].set_enabled(False)
status_text = "FORGETTING..."
elif network.security_type == SecurityType.UNSUPPORTED:
self._networks_buttons[network.ssid].set_enabled(False)
else:
self._networks_buttons[network.ssid].set_enabled(True)
self._networks_buttons[network.ssid].render(ssid_rect)
@ -181,18 +163,21 @@ class WifiManagerUI(Widget):
def _networks_buttons_callback(self, network):
if self.scroll_panel.is_touch_valid():
if not network.is_saved and network.security_type != SecurityType.OPEN:
self.state = StateNeedsAuth(network, False)
self.state = UIState.NEEDS_AUTH
self._state_network = network
self._password_retry = False
elif not network.is_connected:
self.connect_to_network(network)
def _forget_networks_buttons_callback(self, network):
if self.scroll_panel.is_touch_valid():
self.state = StateShowForgetConfirm(network)
self.state = UIState.SHOW_FORGET_CONFIRM
self._state_network = network
def _draw_status_icon(self, rect, network: NetworkInfo):
def _draw_status_icon(self, rect, network: Network):
"""Draw the status icon based on network's connection state"""
icon_file = None
if network.is_connected:
if network.is_connected and self.state != UIState.CONNECTING:
icon_file = "icons/checkmark.png"
elif network.security_type == SecurityType.UNSUPPORTED:
icon_file = "icons/circled_slash.png"
@ -206,63 +191,59 @@ class WifiManagerUI(Widget):
icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2)
rl.draw_texture_v(texture, icon_rect, rl.WHITE)
def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: NetworkInfo):
def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: Network):
"""Draw the Wi-Fi signal strength icon based on network's signal strength"""
strength_level = max(0, min(3, round(network.strength / 33.0)))
rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)
def connect_to_network(self, network: NetworkInfo, password=''):
self.state = StateConnecting(network)
def connect_to_network(self, network: Network, password=''):
self.state = UIState.CONNECTING
self._state_network = network
if network.is_saved and not password:
self.wifi_manager.activate_connection(network.ssid)
else:
self.wifi_manager.connect_to_network(network.ssid, password)
def forget_network(self, network: NetworkInfo):
self.state = StateForgetting(network)
network.is_saved = False
def forget_network(self, network: Network):
self.state = UIState.FORGETTING
self._state_network = network
self.wifi_manager.forget_connection(network.ssid)
def _on_network_updated(self, networks: list[NetworkInfo]):
with self._lock:
self._networks = networks
for n in self._networks:
self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT,
button_style=ButtonStyle.NO_EFFECT)
self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
font_size=45)
def _on_network_updated(self, networks: list[Network]):
self._networks = networks
for n in self._networks:
self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT,
button_style=ButtonStyle.NO_EFFECT)
self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
font_size=45)
def _on_need_auth(self, ssid):
with self._lock:
network = next((n for n in self._networks if n.ssid == ssid), None)
if network:
self.state = StateNeedsAuth(network, True)
network = next((n for n in self._networks if n.ssid == ssid), None)
if network:
self.state = UIState.NEEDS_AUTH
self._state_network = network
self._password_retry = True
def _on_activated(self):
with self._lock:
if isinstance(self.state, StateConnecting):
self.state = StateIdle()
if self.state == UIState.CONNECTING:
self.state = UIState.IDLE
def _on_forgotten(self, ssid):
with self._lock:
if isinstance(self.state, StateForgetting):
self.state = StateIdle()
def _on_forgotten(self):
if self.state == UIState.FORGETTING:
self.state = UIState.IDLE
def _on_connection_failed(self, ssid: str, error: str):
with self._lock:
if isinstance(self.state, StateConnecting):
self.state = StateIdle()
def _on_disconnected(self):
if self.state == UIState.CONNECTING:
self.state = UIState.IDLE
def main():
gui_app.init_window("Wi-Fi Manager")
wifi_manager = WifiManagerWrapper()
wifi_ui = WifiManagerUI(wifi_manager)
wifi_ui = WifiManagerUI(WifiManager())
for _ in gui_app.render():
wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
wifi_manager.shutdown()
gui_app.close()

8
system/updated/updated.py
Unescape View File

@ -243,7 +243,13 @@ class Updater:
if b is None:
b = self.get_branch(BASEDIR)
b = {
("tici", "release3"): "release-tici"
("tici", "release3"): "release-tici",
("tici", "release3-staging"): "release-tici",
("tici", "master"): "master-tici",
("tici", "nightly"): "release-tici",
("tici", "nightly-dev"): "release-tici",
("tizi", "release3"): "release-tizi",
}.get((HARDWARE.get_device_type(), b), b)
return b

2
tinygrad_repo

@ -1 +1 @@
Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1
Subproject commit e146418f6566301ffe8ebea093c0081409241c8d

7
tools/camerastream/compressed_vipc.py
Unescape View File

@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
class CompressedVipc:
def __init__(self, addr, vision_streams, nvidia=False, debug=False):
def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
print("getting frame sizes")
os.environ["ZMQ"] = "1"
messaging.reset_context()
@ -117,7 +117,7 @@ class CompressedVipc:
os.environ.pop("ZMQ")
messaging.reset_context()
self.vipc_server = VisionIpcServer("camerad")
self.vipc_server = VisionIpcServer(server_name)
for vst in vision_streams:
ed = sm[ENCODE_SOCKETS[vst]]
self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@ -144,6 +144,7 @@ if __name__ == "__main__":
parser.add_argument("addr", help="Address of comma three")
parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
parser.add_argument("--server", default="camerad", help="choose vipc server name")
parser.add_argument("--silent", action="store_true", help="Suppress debug output")
args = parser.parse_args()
@ -154,7 +155,7 @@ if __name__ == "__main__":
]
vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
# register exit handler
signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())

57
tools/lib/file_sources.py
Unescape View File

@ -0,0 +1,57 @@
from collections.abc import Callable
from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
from openpilot.tools.lib.openpilotci import get_url
from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
from openpilot.tools.lib.route import Route, SegmentRange, FileName
# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
FileNames = tuple[str, ...]
Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
InternalUnavailableException = Exception("Internal source not available")
def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
route = Route(sr.route_name)
# comma api will have already checked if the file exists
if fns == FileName.RLOG:
return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
else:
return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
if not internal_source_available(endpoint_url):
raise InternalUnavailableException
def get_internal_url(sr: SegmentRange, seg, file):
return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
# Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
valid_files: dict[int, str] = {}
for seg_idx, urls in files.items():
if isinstance(urls, str):
urls = [urls]
# Add first valid file URL
for url in urls:
if file_exists(url):
valid_files[seg_idx] = url
break
return valid_files

86
tools/lib/logreader.py
Unescape View File

@ -12,16 +12,15 @@ import urllib.parse
import warnings
import zstandard as zstd
from collections.abc import Callable, Iterable, Iterator
from collections.abc import Iterable, Iterator
from typing import cast
from urllib.parse import parse_qs, urlparse
from cereal import log as capnp_log
from openpilot.common.swaglog import cloudlog
from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
from openpilot.tools.lib.openpilotci import get_url
from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available
from openpilot.tools.lib.route import Route, SegmentRange, FileName
from openpilot.tools.lib.filereader import FileReader
from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
from openpilot.tools.lib.route import SegmentRange, FileName
from openpilot.tools.lib.log_time_series import msgs_to_time_series
LogMessage = type[capnp._DynamicStructReader]
@ -40,6 +39,7 @@ def save_log(dest, log_msgs, compress=True):
with open(dest, "wb") as f:
f.write(dat)
def decompress_stream(data: bytes):
dctx = zstd.ZstdDecompressor()
decompressed_data = b""
@ -139,68 +139,15 @@ class ReadMode(enum.StrEnum):
AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user
LogPath = str | None
LogFileName = tuple[str, ...]
Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, LogPath]]
InternalUnavailableException = Exception("Internal source not available")
class LogsUnavailable(Exception):
pass
def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
route = Route(sr.route_name)
# comma api will have already checked if the file exists
if fns == FileName.RLOG:
return {seg: route.log_paths()[seg] for seg in seg_idxs}
else:
return {seg: route.qlog_paths()[seg] for seg in seg_idxs}
def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]:
if not internal_source_available(endpoint_url):
raise InternalUnavailableException
def get_internal_url(sr: SegmentRange, seg, file):
return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
def direct_source(file_or_url: str) -> list[str]:
return [file_or_url]
def eval_source(files: dict[int, list[str] | str]) -> dict[int, LogPath]:
# Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
valid_files: dict[int, LogPath] = {}
for seg_idx, urls in files.items():
if isinstance(urls, str):
urls = [urls]
# Add first valid file URL or None
for url in urls:
if file_exists(url):
valid_files[seg_idx] = url
break
else:
valid_files[seg_idx] = None
return valid_files
# TODO this should apply to camera files as well
def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
exceptions = {}
@ -219,37 +166,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)
# Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
# This function only returns when we've sourced all files, or throws an exception
valid_files: dict[int, LogPath] = {}
valid_files: dict[int, str] = {}
for fn in try_fns:
for source in sources:
try:
files = source(sr, needed_seg_idxs, fn)
# Build a dict of valid files
for idx, f in files.items():
if valid_files.get(idx) is None:
valid_files[idx] = f
valid_files |= files
# Don't check for segment files that have already been found
needed_seg_idxs = [idx for idx in needed_seg_idxs if valid_files.get(idx) is None]
needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]
# We've found all files, return them
if all(f is not None for f in valid_files.values()):
if len(needed_seg_idxs) == 0:
return cast(list[str], list(valid_files.values()))
except Exception as e:
exceptions[source.__name__] = e
if fn == try_fns[0]:
missing_logs = list(valid_files.values()).count(None)
missing_logs = len(needed_seg_idxs)
if mode == ReadMode.AUTO:
cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...")
cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
elif mode == ReadMode.AUTO_INTERACTIVE:
if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
break
missing_logs = list(valid_files.values()).count(None)
raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " +
missing_logs = len(needed_seg_idxs)
raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
"are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
"Exceptions for sources:\n - " + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
@ -353,6 +298,7 @@ class LogReader:
def time_series(self):
return msgs_to_time_series(self)
if __name__ == "__main__":
import codecs

7
tools/lib/route.py
Unescape View File

@ -231,7 +231,6 @@ class RouteName:
def __str__(self) -> str: return self._canonical_name
class SegmentName:
# TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
# of this class instead of manually constructing a segment name (use canonical_name prop instead)
@ -252,7 +251,7 @@ class SegmentName:
@property
def canonical_name(self) -> str: return self._canonical_name
#TODO should only use one name
# TODO should only use one name
@property
def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"
@ -283,7 +282,7 @@ class SegmentName:
@staticmethod
def from_file_name(file_name):
# ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1]
dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
@staticmethod
@ -304,6 +303,7 @@ class SegmentName:
dongle_id, route_name, segment_num = prefix.split("/")
return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
@cache
def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
try:
@ -365,4 +365,3 @@ class SegmentRange:
def __repr__(self) -> str:
return self.__str__()

10
tools/lib/tests/test_logreader.py
Unescape View File

@ -10,7 +10,8 @@ import requests
from parameterized import parameterized
from cereal import log as capnp_log
from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
from openpilot.tools.lib.route import SegmentRange
from openpilot.tools.lib.url_file import URLFileException
@ -40,7 +41,7 @@ def setup_source_scenario(mocker, is_internal=False):
else:
internal_source_mock.side_effect = InternalUnavailableException
openpilotci_source_mock.return_value = {3: None}
openpilotci_source_mock.return_value = {}
comma_api_source_mock.return_value = {3: QLOG_FILE}
yield
@ -90,7 +91,7 @@ class TestLogReader:
@pytest.mark.parametrize("cache_enabled", [True, False])
def test_direct_parsing(self, mocker, cache_enabled):
file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
@ -208,13 +209,12 @@ class TestLogReader:
assert qlog_len == log_len
@pytest.mark.parametrize("is_internal", [True, False])
@pytest.mark.slow
def test_auto_source_scenarios(self, mocker, is_internal):
lr = LogReader(QLOG_FILE)
qlog_len = len(list(lr))
with setup_source_scenario(mocker, is_internal=is_internal):
lr = LogReader(f"{TEST_ROUTE}/0/q")
lr = LogReader(f"{TEST_ROUTE}/3/q")
log_len = len(list(lr))
assert qlog_len == log_len

18
tools/lib/url_file.py
Unescape View File

@ -9,12 +9,14 @@ from urllib3.util import Timeout
from openpilot.common.file_helpers import atomic_write_in_dir
from openpilot.system.hardware.hw import Paths
# Cache chunk size
K = 1000
CHUNK_SIZE = 1000 * K
logging.getLogger("urllib3").setLevel(logging.WARNING)
def hash_256(link: str) -> str:
return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()
@ -24,7 +26,7 @@ class URLFileException(Exception):
class URLFile:
_pool_manager: PoolManager|None = None
_pool_manager: PoolManager | None = None
@staticmethod
def reset() -> None:
@ -33,16 +35,16 @@ class URLFile:
@staticmethod
def pool_manager() -> PoolManager:
if URLFile._pool_manager is None:
socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
return URLFile._pool_manager
def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
self._url = url
self._timeout = Timeout(connect=timeout, read=timeout)
self._pos = 0
self._length: int|None = None
self._length: int | None = None
self._debug = debug
# True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
@ -58,7 +60,7 @@ class URLFile:
def __exit__(self, exc_type, exc_value, traceback) -> None:
pass
def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
def get_length_online(self) -> int:
@ -85,7 +87,7 @@ class URLFile:
file_length.write(str(self._length))
return self._length
def read(self, ll: int|None=None) -> bytes:
def read(self, ll: int | None = None) -> bytes:
if self._force_download:
return self.read_aux(ll=ll)
@ -117,7 +119,7 @@ class URLFile:
self._pos = file_end
return response
def read_aux(self, ll: int|None=None) -> bytes:
def read_aux(self, ll: int | None = None) -> bytes:
download_range = False
headers = {}
if self._pos != 0 or ll is not None:
@ -152,7 +154,7 @@ class URLFile:
self._pos += len(ret)
return ret
def seek(self, pos:int) -> None:
def seek(self, pos: int) -> None:
self._pos = pos
@property

217
uv.lock
Unescape View File

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