diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index c86c044772..1dd06f77e9 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -51,4 +51,4 @@ jobs: - name: Push master-ci run: | unset TARGET_DIR - BRANCH=master-ci release/build_devel.sh + BRANCH=__nightly release/build_devel.sh diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index ab0f3c1bee..3bcb143825 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -5,7 +5,33 @@ on: - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST) workflow_dispatch: +env: + BASE_IMAGE: openpilot-base + BUILD: selfdrive/test/docker_build.sh base + RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + jobs: + update_translations: + runs-on: ubuntu-latest + if: github.repository == 'commaai/openpilot' + steps: + - uses: actions/checkout@v4 + - uses: ./.github/workflows/setup-with-retry + - name: Update translations + run: | + ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish" + - name: Create Pull Request + uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 + with: + author: Vehicle Researcher + commit-message: "Update translations" + title: "[bot] Update translations" + body: "Automatic PR from repo-maintenance -> update_translations" + branch: "update-translations" + base: "master" + delete-branch: true + labels: bot + package_updates: name: package_updates runs-on: ubuntu-latest diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 7936192ca8..75e6249b76 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -84,7 +84,7 @@ jobs: run: >- sudo apt-get install -y imagemagick - scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase" + scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device') A=($scenes) DIFF="" diff --git a/.gitignore b/.gitignore index 4562e47817..834b463083 100644 --- a/.gitignore +++ b/.gitignore @@ -36,6 +36,7 @@ a.out *.pyxbldc *.vcd *.qm +*_pyx.cpp config.json clcache compile_commands.json diff --git a/Jenkinsfile b/Jenkinsfile index 330967c657..b1a0746ea3 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -166,7 +166,7 @@ node { env.GIT_BRANCH = checkout(scm).GIT_BRANCH env.GIT_COMMIT = checkout(scm).GIT_COMMIT - def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging', + def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging', 'testing-closet*', 'hotfix-*'] def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') @@ -183,7 +183,7 @@ node { ]) } - if (env.BRANCH_NAME == 'master-ci') { + if (env.BRANCH_NAME == '__nightly') { parallel ( 'nightly': { deviceStage("build nightly", "tici-needs-can", [], [ @@ -203,8 +203,6 @@ node { // tici tests 'onroad tests': { deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [ - // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it - //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"], 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]), @@ -240,7 +238,6 @@ node { step("test exposure", "pytest system/camerad/test/test_exposure.py"), ]) }, - /* 'camerad OS04C10': { deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), @@ -248,7 +245,6 @@ node { step("test exposure", "pytest system/camerad/test/test_exposure.py"), ]) }, - */ 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), diff --git a/RELEASES.md b/RELEASES.md index 4419f0c473..8a5638bc84 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,7 @@ +Version 0.9.9 (2025-04-XX) +======================== +* Tesla Model 3 and Y support thanks to lukasloetkolben! + Version 0.9.8 (2025-02-28) ======================== * New driving model @@ -8,6 +12,7 @@ Version 0.9.8 (2025-02-28) * More GPU time for bigger driving models * Power draw reduced 0.5W, which means your device runs cooler * Added toggle to enable driver monitoring even when openpilot is not engaged +* Localizer rewritten to remove GPS dependency at runtime * Firehose Mode for maximizing your training data uploads * Enable openpilot longitudinal control for Ford Q3 vehicles * New Toyota TSS2 longitudinal tune diff --git a/cereal/log.capnp b/cereal/log.capnp index 8aa95ad6e6..78b511ca64 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -151,6 +151,10 @@ struct InitData { gitBranch @11 :Text; gitRemote @13 :Text; + # this is source commit for prebuilt branches + gitSrcCommit @23 :Text; + gitSrcCommitDate @24 :Text; + androidProperties @16 :Map(Text, Text); pandaInfo @8 :PandaInfo; diff --git a/common/util.cc b/common/util.cc index 096df85634..a853faed04 100644 --- a/common/util.cc +++ b/common/util.cc @@ -257,7 +257,6 @@ bool ends_with(const std::string& s, const std::string& suffix) { std::string strip(const std::string &str) { auto should_trim = [](unsigned char ch) { - // trim whitespace or a null character return std::isspace(ch) || ch == '\0'; }; diff --git a/common/version.h b/common/version.h index 1f651fb392..6351a5b3ff 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.8" +#define COMMA_VERSION "0.9.9" diff --git a/docs/CARS.md b/docs/CARS.md index fa32aec550..a3b1fe6351 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -312,7 +312,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes -1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
+1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md index ce50ad5577..7086d85b85 100644 --- a/docs/contributing/roadmap.md +++ b/docs/contributing/roadmap.md @@ -16,7 +16,7 @@ a [learned simulator](https://youtu.be/EqQNZXqzFSI). * Always-on driver monitoring (behind a toggle) * GPS removed from the driving stack * 100KB qlogs -* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing +* `nightly` pushed after 1000 hours of hardware-in-the-loop testing * Car interface code moved into [opendbc](https://github.com/commaai/opendbc) * openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon) diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 442a811b16..66f57c2cd1 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -1,13 +1,9 @@ #!/usr/bin/env bash -if [ -z "$BASEDIR" ]; then - BASEDIR="/data/openpilot" -fi - -source "$BASEDIR/launch_env.sh" - DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +source "$DIR/launch_env.sh" + function agnos_init { # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta diff --git a/launch_env.sh b/launch_env.sh index 3300423055..88c6550443 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.8" + export AGNOS_VERSION="11.9" fi export STAGING_ROOT="/data/safe_staging" diff --git a/opendbc_repo b/opendbc_repo index b5f6d5c498..bc839875bd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b5f6d5c4982131c3a28acd7f9db7548ef1fb1414 +Subproject commit bc839875bd0ca476be71dea2cbebc92a4544c40c diff --git a/panda b/panda index a744fa7780..2c802449fd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a744fa778010b4689cc01f3bcf803b4becb80c22 +Subproject commit 2c802449fd51d9904ca265d06b7a5f9969057ae3 diff --git a/release/build_devel.sh b/release/build_devel.sh index c6d04396fe..05dcaafcaa 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -19,15 +19,15 @@ cd $TARGET_DIR cp -r $SOURCE_DIR/.git $TARGET_DIR pre-commit uninstall || true -echo "[-] bringing master-ci and devel in sync T=$SECONDS" +echo "[-] bringing __nightly and devel in sync T=$SECONDS" cd $TARGET_DIR -git fetch --depth 1 origin master-ci +git fetch --depth 1 origin __nightly git fetch --depth 1 origin devel -git checkout -f --track origin/master-ci -git reset --hard master-ci -git checkout master-ci +git checkout -f --track origin/__nightly +git reset --hard __nightly +git checkout __nightly git reset --hard origin/devel git clean -xdff git lfs uninstall @@ -51,9 +51,13 @@ rm -f panda/board/obj/panda.bin.signed # include source commit hash and build date in commit GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD) +GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD) DATETIME=$(date '+%Y-%m-%dT%H:%M:%S') VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}') +echo -n "$GIT_HASH" > git_src_commit +echo -n "$GIT_COMMIT_DATE" > git_src_commit_date + echo "[-] committing version $VERSION T=$SECONDS" git add -f . git status @@ -81,7 +85,7 @@ fi if [ ! -z "$BRANCH" ]; then echo "[-] Pushing to $BRANCH T=$SECONDS" - git push -f origin master-ci:$BRANCH + git push -f origin __nightly:$BRANCH fi echo "[-] done T=$SECONDS, ready at $TARGET_DIR" diff --git a/selfdrive/modeld/.gitignore b/selfdrive/modeld/.gitignore deleted file mode 100644 index 742d3d1205..0000000000 --- a/selfdrive/modeld/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*_pyx.cpp diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld deleted file mode 100755 index 90b43800fe..0000000000 --- a/selfdrive/modeld/dmonitoringmodeld +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -exec "$DIR/dmonitoringmodeld.py" "$@" diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld deleted file mode 100755 index 5ba4688554..0000000000 --- a/selfdrive/modeld/modeld +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/modeld/tests/dmon_lag/repro.cc b/selfdrive/modeld/tests/dmon_lag/repro.cc deleted file mode 100644 index c4c1c65cbe..0000000000 --- a/selfdrive/modeld/tests/dmon_lag/repro.cc +++ /dev/null @@ -1,101 +0,0 @@ -// clang++ -O2 repro.cc && ./a.out - -#include -#include -#include - -#include -#include -#include -#include -#include - -static inline double millis_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6; -} - -#define MODEL_WIDTH 320 -#define MODEL_HEIGHT 640 - -// null function still breaks it -#define input_lambda(x) x - -// this is copied from models/dmonitoring.cc, and is the code that triggers the issue -void inner(uint8_t *resized_buf, float *net_input_buf) { - int resized_width = MODEL_WIDTH; - int resized_height = MODEL_HEIGHT; - - // one shot conversion, O(n) anyway - // yuvframe2tensor, normalize - for (int r = 0; r < MODEL_HEIGHT/2; r++) { - for (int c = 0; c < MODEL_WIDTH/2; c++) { - // Y_ul - net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]); - // Y_ur - net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]); - // Y_dl - net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]); - // Y_dr - net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]); - // U - net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]); - // V - net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]); - } - } -} - -float trial() { - int resized_width = MODEL_WIDTH; - int resized_height = MODEL_HEIGHT; - - int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v - - // allocate the buffers - uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2); - float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float)); - printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float)); - - // test for bad buffers - static int CNT = 20; - float avg = 0.0; - for (int i = 0; i < CNT; i++) { - double s4 = millis_since_boot(); - inner(resized_buf, net_input_buf); - double s5 = millis_since_boot(); - avg += s5-s4; - } - avg /= CNT; - - // once it's bad, it's reliably bad - if (avg > 10) { - printf("HIT %f\n", avg); - printf("BAD\n"); - - for (int i = 0; i < 200; i++) { - double s4 = millis_since_boot(); - inner(resized_buf, net_input_buf); - double s5 = millis_since_boot(); - printf("%.2f ", s5-s4); - } - printf("\n"); - - exit(0); - } - - // don't free so we get a different buffer each time - //free(resized_buf); - //free(net_input_buf); - - return avg; -} - -int main() { - while (true) { - float ret = trial(); - printf("got %f\n", ret); - } -} - diff --git a/selfdrive/modeld/tests/tf_test/build.sh b/selfdrive/modeld/tests/tf_test/build.sh deleted file mode 100755 index df1d24761e..0000000000 --- a/selfdrive/modeld/tests/tf_test/build.sh +++ /dev/null @@ -1,2 +0,0 @@ -#!/usr/bin/env bash -clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow diff --git a/selfdrive/modeld/tests/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc deleted file mode 100644 index b00f7f95e8..0000000000 --- a/selfdrive/modeld/tests/tf_test/main.cc +++ /dev/null @@ -1,69 +0,0 @@ -#include -#include -#include -#include "tensorflow/c/c_api.h" - -void* read_file(const char* path, size_t* out_len) { - FILE* f = fopen(path, "r"); - if (!f) { - return NULL; - } - fseek(f, 0, SEEK_END); - long f_len = ftell(f); - rewind(f); - - char* buf = (char*)calloc(f_len, 1); - assert(buf); - - size_t num_read = fread(buf, f_len, 1, f); - fclose(f); - - if (num_read != 1) { - free(buf); - return NULL; - } - - if (out_len) { - *out_len = f_len; - } - - return buf; -} - -static void DeallocateBuffer(void* data, size_t) { - free(data); -} - -int main(int argc, char* argv[]) { - TF_Buffer* buf; - TF_Graph* graph; - TF_Status* status; - char *path = argv[1]; - - // load model - { - size_t model_size; - char tmp[1024]; - snprintf(tmp, sizeof(tmp), "%s.pb", path); - printf("loading model %s\n", tmp); - uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size); - buf = TF_NewBuffer(); - buf->data = model_data; - buf->length = model_size; - buf->data_deallocator = DeallocateBuffer; - printf("loaded model of size %d\n", model_size); - } - - // import graph - status = TF_NewStatus(); - graph = TF_NewGraph(); - TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions(); - TF_GraphImportGraphDef(graph, buf, opts, status); - TF_DeleteImportGraphDefOptions(opts); - TF_DeleteBuffer(buf); - if (TF_GetCode(status) != TF_OK) { - printf("FAIL: %s\n", TF_Message(status)); - } else { - printf("SUCCESS\n"); - } -} diff --git a/selfdrive/modeld/tests/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py deleted file mode 100755 index 3e476628eb..0000000000 --- a/selfdrive/modeld/tests/tf_test/pb_loader.py +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env python3 -import sys -import tensorflow as tf - -with open(sys.argv[1], "rb") as f: - graph_def = tf.compat.v1.GraphDef() - graph_def.ParseFromString(f.read()) - #tf.io.write_graph(graph_def, '', sys.argv[1]+".try") diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py deleted file mode 100755 index c629ec2fff..0000000000 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ /dev/null @@ -1,39 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore - -import os -import time -import numpy as np - -import cereal.messaging as messaging -from openpilot.system.manager.process_config import managed_processes - - -N = int(os.getenv("N", "5")) -TIME = int(os.getenv("TIME", "30")) - -if __name__ == "__main__": - sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000) - - execution_times = [] - - for _ in range(N): - os.environ['LOGPRINT'] = 'debug' - managed_processes['modeld'].start() - time.sleep(5) - - t = [] - start = time.monotonic() - while time.monotonic() - start < TIME: - msgs = messaging.drain_sock(sock, wait_for_one=True) - for m in msgs: - t.append(m.modelV2.modelExecutionTime) - - execution_times.append(np.array(t[10:]) * 1000) - managed_processes['modeld'].stop() - - print("\n\n") - print(f"ran modeld {N} times for {TIME}s each") - for _, t in enumerate(execution_times): - print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms") - print("\n\n") diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 9d30090b8b..784925c966 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -26,6 +26,7 @@ from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ +IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} ThermalStatus = log.DeviceState.ThermalStatus @@ -258,7 +259,7 @@ class SelfdriveD: if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running - if self.sm.recv_frame['managerState'] and not_running: + if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 60c82fa645..8fa4b55ea7 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -40,12 +40,9 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' -lupdate = qt_env.Command(translation_sources + ["translations/alerts_generated.h"], qt_src + widgets_src, "selfdrive/ui/update_translations.py") lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") -qt_env.Depends(lrelease, lupdate) qt_env.NoClean(translation_sources) qt_env.Precious(translation_sources) -qt_env.NoCache(lupdate) # create qrc file for compiled translations to include with assets translations_assets_src = "#selfdrive/assets/translations_assets.qrc" diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 194b723fc9..9bc3fad3c9 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { connect(targetBranchBtn, &ButtonControl::clicked, [=]() { auto current = params.get("GitBranch"); QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); - for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) { + for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master"}) { auto i = branches.indexOf(b); if (i >= 0) { branches.removeAt(i); diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 0967152fa4..09dd7c5d8b 100644 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -2,14 +2,12 @@ import pytest import json import os import re -import shutil -import tempfile import xml.etree.ElementTree as ET import string import requests from parameterized import parameterized_class -from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations +from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE with open(LANGUAGES_FILE) as f: translation_files = json.load(f) @@ -34,16 +32,6 @@ class TestTranslations: assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \ f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py" - def test_translations_updated(self): - with tempfile.TemporaryDirectory() as tmpdir: - shutil.copytree(TRANSLATIONS_DIR, tmpdir, dirs_exist_ok=True) - update_translations(translation_files=[self.file], translations_dir=tmpdir) - - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) - new_translations = self._read_translation_file(tmpdir, self.file) - assert cur_translations == new_translations, \ - f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files" - @pytest.mark.skip("Only test unfinished translations before going to release") def test_unfinished_translations(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 0c94c04256..35323cf000 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -52,7 +52,7 @@ def setup_settings_software(click, pm: PubMaster): time.sleep(UI_DELAY) def setup_settings_firehose(click, pm: PubMaster): - click(278, 836) + click(1780, 730) def setup_settings_developer(click, pm: PubMaster): CP = car.CarParams() diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 1715df664d..a5c21d29a6 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -309,17 +309,19 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 Firehoseモード 🔥 Enable Firehose Mode - + Firehoseを有効にする openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. - + openpilotは人間であるあなたの運転から学び、AI学習します。 + +Firehoseモードを有効にすると、学習データを最大限アップロードし、openpilotの運転モデルを向上させることができます。より多くのデータはより大きなモデルを生み出し、Experimentalモードの精度向上につながります。 0% @@ -327,7 +329,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> - + 以下の手順に従ってデバイスを準備してください:<br> 1. デバイスを室内に持ち込み、高速なUSB-C電源に接続してください<br> 2. Wi-Fiに接続してください<br> 3. 機能を有効にしてください<br> 4. 少なくとも30分間接続したままにしてください<br><br>デバイスを再起動すると、この機能はオフになります。最大の効果を得るために、少なくとも週に1回は繰り返してください。<br><br><b>FAQ</b><br><i>どのように運転するか、どこで運転するかは重要ですか？</i> いいえ、普段通りに運転してください。<br><i>高速なUSB-C電源とは何ですか？</i> スマフォやノートPC用のワット数の大きい充電器を使って下さい。<br><i>Wi-Fiに接続する必要がありますか？</i> その通りです。<br><i>デバイスを屋内に持ち込む必要がありますか？</i> いいえ、駐車後に有効にすることができますが、アップロードは車のバッテリーによって制限されます。<br> @@ -664,7 +666,7 @@ This may take up to a minute. Firehose - + データ学習 @@ -1142,15 +1144,15 @@ This may take up to a minute. WiFiPromptWidget Open - + 開く Maximize your training data uploads to improve openpilot's driving models. - + openpilotの運転モデルを改善するために、大容量の学習データをアップロードして下さい。 <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehoseモード <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index cc648a5e39..b497e39f21 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -121,27 +121,27 @@ Longitudinal Maneuver Mode - 롱컨 기동 모드 + 롱컨 제어 모드 openpilot Longitudinal Control (Alpha) - openpilot 가감속 제어 (알파) + openpilot 가감속 제어 (알파) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다. + 경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다. + 이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다. Enable ADB - + ADB 사용 ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요. @@ -309,25 +309,27 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 파이어호스 모드 🔥 Enable Firehose Mode - + 파이어호스 모드 활성화 openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. - + 오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다. + +파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 나은 실험 모드를 갖춘 더 큰 모델을 의미합니다. 0% - 5G {0%?} + 0% Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> - + 다음 단계에 따라 장치를 준비하세요.:<br> 1. 장치를 내부로 가져와 올바른 USB-C 어댑터에 연결하세요.<br> 2. Wi-Fi에 연결하세요.<br> 3. 토글을 활성화하세요.<br> 4. 최소 30분 동안 연결 상태로 두세요.<br><br> 장치를 다시 시작하면 토글이 꺼집니다. 효과를 극대화하려면 적어도 일주일에 한 번씩 반복하세요.<br><br><b>자주 묻는 질문</b><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하세요.<br><i>올바른 USB-C 어댑터란 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기라면 어떤 것이든 괜찮습니다.<br><i>Wi-Fi에 연결되어 있어야 하나요?</i> 예.<br><i>장치를 차 안으로 가져와야 하나요?</i> 아니요, 주차한 후에는 활성화할 수 있지만 차량의 배터리에 따라 업로드가 제한됩니다.<br> @@ -664,7 +666,7 @@ This may take up to a minute. Firehose - + 파이어호스 @@ -1142,15 +1144,15 @@ This may take up to a minute. WiFiPromptWidget Open - + 열기 Maximize your training data uploads to improve openpilot's driving models. - + 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요. <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> 파이어호스 모드 <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index d5d5660691..e6c8734b15 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -309,25 +309,27 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 训练数据上传模式 🔥 Enable Firehose Mode - + 启用训练数据上传模式 openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. - + openpilot 通过观察人类（像你一样的驾驶）来学习驾驶。 + +训练数据上传模式可让你最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据意味着更大的模型，并带来更优秀的实验模式。 0% - 5G {0%?} + 0% Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> - + 按照以下步骤准备您的设备：<br> 1. 将设备带到室内并连接到良好的 USB-C 充电器<br> 2. 连接 Wi-Fi<br> 3. 启用开关<br> 4. 保持连接至少 30 分钟<br><br>开关会在设备重新启动后自动关闭。请至少每周重复一次，以获得最佳效果。<br><br><b>常见问题</b><br><i>驾驶方式或地点重要吗？</i> 不，按照平常的方式驾驶即可。<br><i>什么是良好的 USB-C 充电器？</i> 任何快速手机或笔记本电脑充电器都可以。<br><i>我需要连接 Wi-Fi 吗？</i> 是的。<br><i>我需要把设备带到室内吗？</i> 不，您可以在停车后启用，但您的上传速度将受限于车辆的电池。<br> @@ -664,7 +666,7 @@ This may take up to a minute. Firehose - + 训练上传 @@ -1142,15 +1144,15 @@ This may take up to a minute. WiFiPromptWidget Open - + 开启 Maximize your training data uploads to improve openpilot's driving models. - + 最大化您的训练数据上传，以改善 openpilot 的驾驶模型。 <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> 训练数据上传模式 <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index a1ed78ed94..d750e9c46a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -309,25 +309,27 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 訓練資料上傳模式 🔥 Enable Firehose Mode - + 啟用訓練資料上傳模式 openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode. - + openpilot 透過觀察人類（像你一樣的駕駛）來學習駕駛。 + +訓練資料上傳模式可讓你最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據意味著更大的模型，並帶來更優秀的實驗模式。 0% - 5G {0%?} + 0% Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable the toggle<br> 4. Leave it connected for at least 30 minutes<br><br>The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.<br><br><b>FAQ</b><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><i>Do I need to be on Wi-Fi?</i> Yes.<br><i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br> - + 按照以下步驟準備您的裝置：<br> 1. 將裝置帶到室內並連接到良好的 USB-C 充電器<br> 2. 連接 Wi-Fi<br> 3. 啟用開關<br> 4. 保持連接至少 30 分鐘<br><br>開關會在裝置重新啟動後自動關閉。請至少每週重複一次，以獲得最佳效果。<br><br><b>常見問題</b><br><i>駕駛方式或地點重要嗎？</i> 不，按照平常的方式駕駛即可。<br><i>什麼是良好的 USB-C 充電器？</i> 任何快速手機或筆記本電腦充電器都可以。<br><i>我需要連接 Wi-Fi 嗎？</i> 是的。<br><i>我需要把裝置帶到室內嗎？</i> 不，您可以在停車後啟用，但您的上傳速度將受限於車輛的電池。<br> @@ -664,7 +666,7 @@ This may take up to a minute. Firehose - + 訓練上傳 @@ -1142,15 +1144,15 @@ This may take up to a minute. WiFiPromptWidget Open - + 開啟 Maximize your training data uploads to improve openpilot's driving models. - + 最大化您的訓練數據上傳，以改善 openpilot 的駕駛模型。 <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> 訓練資料上傳模式 <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 7e991755ce..3e5941b13f 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -249,13 +249,6 @@ SpectraCamera::~SpectraCamera() { } int SpectraCamera::clear_req_queue() { - struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; - req_mgr_flush_request.session_hdl = session_handle; - req_mgr_flush_request.link_hdl = link_handle; - req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; - int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); - LOGD("flushed all req: %d", ret); - if (icp_dev_handle > 0) { struct cam_flush_dev_cmd cmd = { .session_handle = session_handle, @@ -264,8 +257,16 @@ int SpectraCamera::clear_req_queue() { }; int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd)); assert(err == 0); + LOGD("flushed bps: %d", err); } + struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; + req_mgr_flush_request.session_hdl = session_handle; + req_mgr_flush_request.link_hdl = link_handle; + req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; + int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); + LOGD("flushed all req: %d", ret); + for (int i = 0; i < MAX_IFE_BUFS; ++i) { destroySyncObjectAt(i); } @@ -938,16 +939,15 @@ bool SpectraCamera::enqueue_buffer(int i, uint64_t request_id) { } } - // all good, hand off frame if (ret == 0) { + // all good, hand off frame frame_ready = true; - } - - if (ret != 0) { + destroySyncObjectAt(i); + } else { + // need to start over on sync failures, + // otherwise future frames will tear clear_req_queue(); } - - destroySyncObjectAt(i); } // create output fences @@ -1378,14 +1378,14 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { return false; } - if (!enabled) return false; - // ID from the qcom camera request manager uint64_t request_id = event_data->u.frame_msg.request_id; // raw as opposed to our re-indexed frame ID uint64_t frame_id_raw = event_data->u.frame_msg.frame_id; + //LOGD("handle cam %d, request id %lu -> %lu, frame id raw %lu", cc.camera_num, request_id_last, request_id, frame_id_raw); + if (request_id != 0) { // next ready // check for skipped_last frames if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) { diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7844dcbf68..6538560363 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz", - 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"ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4", + "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf", "alt": { - "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625", - "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img", + "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75", + "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img", "size": 4404019200 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index b21225e4ac..5b3478f746 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz", - 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"ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4", + "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf", "alt": { - "hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625", - "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img", + "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75", + "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img", "size": 4404019200 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236.img.xz", - "hash": "4f0a862e3aff4980e697ece63afaef6f9869d013ac2ca4c45193e41089ee4f5c", - "hash_raw": "554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a.img.xz", + "hash": "b77b66ae8178519dbd72443ff7bdd21b97d0d4d76425472bedc7d369958de37b", + "hash_raw": "fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "5d780092d51c569e6b8a28ab73f4029bcc3517698f496af5801f863c9865060f" + "ondevice_hash": "52d2b8e2486e7fa0cdeb2a6512a8058db43544c905367a2e1b81a5ad4636d4b7" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80.img.xz", - "hash": "ba49fef48573e9befdfb6334181753855cb83d3e1d8c6d4d83d510ea0141ec3f", - "hash_raw": "6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307.img.xz", + "hash": "cc24b1c78234f92cd8ef66541f3fb8924719fc4b7f42c26e26eb71ec21cd2e93", + "hash_raw": "1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "19b63b184063c25ff2fc9f1c8d1c919c140c3e1295ebac6cb66e64c5cb609abe" + "ondevice_hash": "80bf38b8b60ea1ef1fc0849af4e18bf114761f98f5371476e2f762d0f8463204" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe.img.xz", - "hash": "828d0911713af02de7fae4c583a2274783e344939f296c7c016866a8cf2cb63f", - "hash_raw": "498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6.img.xz", + "hash": "657b052cf6434ef19ff73bdeaf5b2511e5c42f64594ae37bac467a12b4cd673f", + "hash_raw": "6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92" + "ondevice_hash": "6437e5a5b7144103952950f2f59f8e70b98cd26ee5bfb06cbd0a13b2e2f343b7" } ] \ No newline at end of file diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 1461ceaca6..f07aee1596 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -50,6 +50,10 @@ kj::Array logger_build_init_data() { init.setPassive(false); init.setDongleId(params_map["DongleId"]); + // for prebuilt branches + init.setGitSrcCommit(util::read_file("../../git_src_commit")); + init.setGitSrcCommitDate(util::read_file("../../git_src_commit_date")); + auto lparams = init.initParams().initEntries(params_map.size()); int j = 0; for (auto& [key, value] : params_map) { diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index daf0cc112e..ea0178fe80 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -64,6 +64,58 @@ struct RemoteEncoder { bool seen_first_packet = false; }; +size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) { + auto edata = (event.*(encoder_info.get_encode_data_func))(); + auto idx = edata.getIdx(); + auto flags = idx.getFlags(); + + // if we aren't recording yet, try to start, since we are in the correct segment + if (!re.recording) { + if (flags & V4L2_BUF_FLAG_KEYFRAME) { + // only create on iframe + if (re.dropped_frames) { + // this should only happen for the first segment, maybe + LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames); + re.dropped_frames = 0; + } + // if we aren't actually recording, don't create the writer + if (encoder_info.record) { + assert(encoder_info.filename != NULL); + re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), + encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, + edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType())); + // write the header + auto header = edata.getHeader(); + re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false); + } + re.recording = true; + } else { + // this is a sad case when we aren't recording, but don't have an iframe + // nothing we can do but drop the frame + ++re.dropped_frames; + return 0; + } + } + + // we have to be recording if we are here + assert(re.recording); + + // if we are actually writing the video file, do so + if (re.writer) { + auto data = edata.getData(); + re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof() / 1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); + } + + // put it in log stream as the idx packet + MessageBuilder bmsg; + auto evt = bmsg.initEvent(event.getValid()); + evt.setLogMonoTime(event.getLogMonoTime()); + (evt.*(encoder_info.set_encode_idx_func))(idx); + auto new_msg = bmsg.toBytes(); + s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? + return new_msg.size(); +} + int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) { int bytes_count = 0; @@ -72,7 +124,6 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct auto event = cmsg.getRoot(); auto edata = (event.*(encoder_info.get_encode_data_func))(); auto idx = edata.getIdx(); - auto flags = idx.getFlags(); // encoderd can have started long before loggerd if (!re.seen_first_packet) { @@ -95,61 +146,15 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct re.marked_ready_to_rotate = false; // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { - for (auto &qmsg : re.q) { - bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); + for (auto qmsg : re.q) { + capnp::FlatArrayMessageReader reader({(capnp::word *)qmsg->getData(), qmsg->getSize() / sizeof(capnp::word)}); + bytes_count += write_encode_data(s, reader.getRoot(), re, encoder_info); + delete qmsg; } re.q.clear(); } } - - // if we aren't recording yet, try to start, since we are in the correct segment - if (!re.recording) { - if (flags & V4L2_BUF_FLAG_KEYFRAME) { - // only create on iframe - if (re.dropped_frames) { - // this should only happen for the first segment, maybe - LOGW("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames); - re.dropped_frames = 0; - } - // if we aren't actually recording, don't create the writer - if (encoder_info.record) { - assert(encoder_info.filename != NULL); - re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), - encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, - edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType())); - // write the header - auto header = edata.getHeader(); - re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); - } - re.recording = true; - } else { - // this is a sad case when we aren't recording, but don't have an iframe - // nothing we can do but drop the frame - delete msg; - ++re.dropped_frames; - return bytes_count; - } - } - - // we have to be recording if we are here - assert(re.recording); - - // if we are actually writing the video file, do so - if (re.writer) { - auto data = edata.getData(); - re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); - } - - // put it in log stream as the idx packet - MessageBuilder bmsg; - auto evt = bmsg.initEvent(event.getValid()); - evt.setLogMonoTime(event.getLogMonoTime()); - (evt.*(encoder_info.set_encode_idx_func))(idx); - auto new_msg = bmsg.toBytes(); - s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? - bytes_count += new_msg.size(); - - // free the message, we used it + bytes_count += write_encode_data(s, event, re, encoder_info); delete msg; } else if (offset_segment_num > s->logger.segment()) { // encoderd packet has a newer segment, this means encoderd has rolled over diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 120390ce5f..96315eeb29 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -75,10 +75,11 @@ procs = [ PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), - # TODO Make python process once TG allows opening QCOM from child proc - NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)), - # TODO Make python process once TG allows opening QCOM from child proc - NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), + # TODO: Make python process once TG allows opening QCOM from child pro + # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26 + NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad), + NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld.py"], driverview, enabled=(WEBCAM or not PC)), + NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 66bb9fa404..5b6bd0a418 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -75,7 +75,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl def process(can, lr): - return [d for d in lr if can or d.which() not in ['can', 'sendcan']] + return [d for d in lr if can or d.which() not in ['can', 'sendcan'] and not d.which().startswith('customReserved')] def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate): diff --git a/tools/replay/README.md b/tools/replay/README.md index 5e91aae943..f02090c58e 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -58,8 +58,8 @@ Mock openpilot components by publishing logged messages. 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