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openpilot_comma
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Merge branch 'master' into ffmodel

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pull/34637/head
ZwX1616 2 months ago
parent a26dc46003 ec81e78c54
commit 4421510e98
43 changed files with 269 additions and 462 deletions
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  1. 2
      .github/workflows/release.yaml
  2. 26
      .github/workflows/repo-maintenance.yaml
  3. 2
      .github/workflows/ui_preview.yaml
  4. 1
      .gitignore
  5. 8
      Jenkinsfile
  6. 5
      RELEASES.md
  7. 4
      cereal/log.capnp
  8. 1
      common/util.cc
  9. 2
      common/version.h
  10. 2
      docs/CARS.md
  11. 2
      docs/contributing/roadmap.md
  12. 8
      launch_chffrplus.sh
  13. 2
      launch_env.sh
  14. 2
      opendbc_repo
  15. 2
      panda
  16. 16
      release/build_devel.sh
  17. 1
      selfdrive/modeld/.gitignore
  18. 4
      selfdrive/modeld/dmonitoringmodeld
  19. 4
      selfdrive/modeld/modeld
  20. 101
      selfdrive/modeld/tests/dmon_lag/repro.cc
  21. 2
      selfdrive/modeld/tests/tf_test/build.sh
  22. 69
      selfdrive/modeld/tests/tf_test/main.cc
  23. 8
      selfdrive/modeld/tests/tf_test/pb_loader.py
  24. 39
      selfdrive/modeld/tests/timing/benchmark.py
  25. 3
      selfdrive/selfdrived/selfdrived.py
  26. 3
      selfdrive/ui/SConscript
  27. 2
      selfdrive/ui/qt/offroad/software_settings.cc
  28. 14
      selfdrive/ui/tests/test_translations.py
  29. 2
      selfdrive/ui/tests/test_ui/run.py
  30. 18
      selfdrive/ui/translations/main_ja.ts
  31. 32
      selfdrive/ui/translations/main_ko.ts
  32. 20
      selfdrive/ui/translations/main_zh-CHS.ts
  33. 20
      selfdrive/ui/translations/main_zh-CHT.ts
  34. 30
      system/camerad/cameras/spectra.cc
  35. 20
      system/hardware/tici/agnos.json
  36. 44
      system/hardware/tici/all-partitions.json
  37. 4
      system/loggerd/logger.cc
  38. 109
      system/loggerd/loggerd.cc
  39. 9
      system/manager/process_config.py
  40. 2
      tools/plotjuggler/juggle.py
  41. 4
      tools/replay/README.md
  42. 6
      tools/replay/main.cc
  43. 76
      uv.lock

2
.github/workflows/release.yaml
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@ -51,4 +51,4 @@ jobs:
- name: Push master-ci - name: Push master-ci
run: | run: |
unset TARGET_DIR unset TARGET_DIR
BRANCH=master-ci release/build_devel.sh BRANCH=__nightly release/build_devel.sh

26
.github/workflows/repo-maintenance.yaml
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@ -5,7 +5,33 @@ on:
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST) - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
workflow_dispatch: 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: 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 <user@comma.ai>
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: package_updates:
name: package_updates name: package_updates
runs-on: ubuntu-latest runs-on: ubuntu-latest

2
.github/workflows/ui_preview.yaml
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@ -84,7 +84,7 @@ jobs:
run: >- run: >-
sudo apt-get install -y imagemagick 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) A=($scenes)
DIFF="" DIFF=""

1
.gitignore vendored
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@ -36,6 +36,7 @@ a.out
*.pyxbldc *.pyxbldc
*.vcd *.vcd
*.qm *.qm
*_pyx.cpp
config.json config.json
clcache clcache
compile_commands.json compile_commands.json

8
Jenkinsfile vendored
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@ -166,7 +166,7 @@ node {
env.GIT_BRANCH = checkout(scm).GIT_BRANCH env.GIT_BRANCH = checkout(scm).GIT_BRANCH
env.GIT_COMMIT = checkout(scm).GIT_COMMIT 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-*'] 'testing-closet*', 'hotfix-*']
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
@ -183,7 +183,7 @@ node {
]) ])
} }
if (env.BRANCH_NAME == 'master-ci') { if (env.BRANCH_NAME == '__nightly') {
parallel ( parallel (
'nightly': { 'nightly': {
deviceStage("build nightly", "tici-needs-can", [], [ deviceStage("build nightly", "tici-needs-can", [], [
@ -203,8 +203,6 @@ node {
// tici tests // tici tests
'onroad tests': { 'onroad tests': {
deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [ 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("build openpilot", "cd system/manager && ./build.py"),
step("check dirty", "release/check-dirty.sh"), step("check dirty", "release/check-dirty.sh"),
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]), 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"), step("test exposure", "pytest system/camerad/test/test_exposure.py"),
]) ])
}, },
/*
'camerad OS04C10': { 'camerad OS04C10': {
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [ deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
step("build", "cd system/manager && ./build.py"), step("build", "cd system/manager && ./build.py"),
@ -248,7 +245,6 @@ node {
step("test exposure", "pytest system/camerad/test/test_exposure.py"), step("test exposure", "pytest system/camerad/test/test_exposure.py"),
]) ])
}, },
*/
'sensord': { 'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
step("build", "cd system/manager && ./build.py"), step("build", "cd system/manager && ./build.py"),

5
RELEASES.md
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@ -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) Version 0.9.8 (2025-02-28)
======================== ========================
* New driving model * New driving model
@ -8,6 +12,7 @@ Version 0.9.8 (2025-02-28)
* More GPU time for bigger driving models * More GPU time for bigger driving models
* Power draw reduced 0.5W, which means your device runs cooler * Power draw reduced 0.5W, which means your device runs cooler
* Added toggle to enable driver monitoring even when openpilot is not engaged * 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 * Firehose Mode for maximizing your training data uploads
* Enable openpilot longitudinal control for Ford Q3 vehicles * Enable openpilot longitudinal control for Ford Q3 vehicles
* New Toyota TSS2 longitudinal tune * New Toyota TSS2 longitudinal tune

4
cereal/log.capnp
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@ -151,6 +151,10 @@ struct InitData {
gitBranch @11 :Text; gitBranch @11 :Text;
gitRemote @13 :Text; gitRemote @13 :Text;
# this is source commit for prebuilt branches
gitSrcCommit @23 :Text;
gitSrcCommitDate @24 :Text;
androidProperties @16 :Map(Text, Text); androidProperties @16 :Map(Text, Text);
pandaInfo @8 :PandaInfo; pandaInfo @8 :PandaInfo;

1
common/util.cc
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@ -257,7 +257,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {
std::string strip(const std::string &str) { std::string strip(const std::string &str) {
auto should_trim = [](unsigned char ch) { auto should_trim = [](unsigned char ch) {
// trim whitespace or a null character
return std::isspace(ch) || ch == '\0'; return std::isspace(ch) || ch == '\0';
}; };

2
common/version.h
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@ -1 +1 @@
#define COMMA_VERSION "0.9.8" #define COMMA_VERSION "0.9.9"

2
docs/CARS.md
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@ -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[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|| |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
### Footnotes ### Footnotes
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br /> <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
<sup>2</sup>By 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. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br /> <sup>2</sup>By 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. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br /> <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br /> <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />

2
docs/contributing/roadmap.md
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@ -16,7 +16,7 @@ a [learned simulator](https://youtu.be/EqQNZXqzFSI).
* Always-on driver monitoring (behind a toggle) * Always-on driver monitoring (behind a toggle)
* GPS removed from the driving stack * GPS removed from the driving stack
* 100KB qlogs * 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) * Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon) * openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)

8
launch_chffrplus.sh
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@ -1,13 +1,9 @@
#!/usr/bin/env bash #!/usr/bin/env bash
if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot"
fi
source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
source "$DIR/launch_env.sh"
function agnos_init { function agnos_init {
# TODO: move this to agnos # TODO: move this to agnos
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta

2
launch_env.sh
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@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="11.8" export AGNOS_VERSION="11.9"
fi fi
export STAGING_ROOT="/data/safe_staging" export STAGING_ROOT="/data/safe_staging"

2
opendbc_repo

@ -1 +1 @@
Subproject commit b5f6d5c4982131c3a28acd7f9db7548ef1fb1414 Subproject commit bc839875bd0ca476be71dea2cbebc92a4544c40c

2
panda

@ -1 +1 @@
Subproject commit a744fa778010b4689cc01f3bcf803b4becb80c22 Subproject commit 2c802449fd51d9904ca265d06b7a5f9969057ae3

16
release/build_devel.sh
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@ -19,15 +19,15 @@ cd $TARGET_DIR
cp -r $SOURCE_DIR/.git $TARGET_DIR cp -r $SOURCE_DIR/.git $TARGET_DIR
pre-commit uninstall || true pre-commit uninstall || true
echo "[-] bringing master-ci and devel in sync T=$SECONDS" echo "[-] bringing __nightly and devel in sync T=$SECONDS"
cd $TARGET_DIR cd $TARGET_DIR
git fetch --depth 1 origin master-ci git fetch --depth 1 origin __nightly
git fetch --depth 1 origin devel git fetch --depth 1 origin devel
git checkout -f --track origin/master-ci git checkout -f --track origin/__nightly
git reset --hard master-ci git reset --hard __nightly
git checkout master-ci git checkout __nightly
git reset --hard origin/devel git reset --hard origin/devel
git clean -xdff git clean -xdff
git lfs uninstall git lfs uninstall
@ -51,9 +51,13 @@ rm -f panda/board/obj/panda.bin.signed
# include source commit hash and build date in commit # include source commit hash and build date in commit
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD) GIT_HASH=$(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') DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}') VERSION=$(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" echo "[-] committing version $VERSION T=$SECONDS"
git add -f . git add -f .
git status git status
@ -81,7 +85,7 @@ fi
if [ ! -z "$BRANCH" ]; then if [ ! -z "$BRANCH" ]; then
echo "[-] Pushing to $BRANCH T=$SECONDS" echo "[-] Pushing to $BRANCH T=$SECONDS"
git push -f origin master-ci:$BRANCH git push -f origin __nightly:$BRANCH
fi fi
echo "[-] done T=$SECONDS, ready at $TARGET_DIR" echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

1
selfdrive/modeld/.gitignore vendored
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@ -1 +0,0 @@
*_pyx.cpp

4
selfdrive/modeld/dmonitoringmodeld
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@ -1,4 +0,0 @@
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
exec "$DIR/dmonitoringmodeld.py" "$@"

4
selfdrive/modeld/modeld
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@ -1,4 +0,0 @@
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
exec "$DIR/modeld.py" "$@"

101
selfdrive/modeld/tests/dmon_lag/repro.cc
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@ -1,101 +0,0 @@
// clang++ -O2 repro.cc && ./a.out
#include <sched.h>
#include <sys/types.h>
#include <unistd.h>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <ctime>
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);
}
}

2
selfdrive/modeld/tests/tf_test/build.sh
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@ -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

69
selfdrive/modeld/tests/tf_test/main.cc
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@ -1,69 +0,0 @@
#include <cassert>
#include <cstdio>
#include <cstdlib>
#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");
}
}

8
selfdrive/modeld/tests/tf_test/pb_loader.py
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@ -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")

39
selfdrive/modeld/tests/timing/benchmark.py
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@ -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")

3
selfdrive/selfdrived/selfdrived.py
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@ -26,6 +26,7 @@ from openpilot.system.version import get_build_metadata
REPLAY = "REPLAY" in os.environ REPLAY = "REPLAY" in os.environ
SIMULATION = "SIMULATION" in os.environ SIMULATION = "SIMULATION" in os.environ
TESTING_CLOSET = "TESTING_CLOSET" 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()} LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
ThermalStatus = log.DeviceState.ThermalStatus ThermalStatus = log.DeviceState.ThermalStatus
@ -258,7 +259,7 @@ class SelfdriveD:
if not_running != self.not_running_prev: if not_running != self.not_running_prev:
cloudlog.event("process_not_running", not_running=not_running, error=True) cloudlog.event("process_not_running", not_running=not_running, error=True)
self.not_running_prev = not_running 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) self.events.add(EventName.processNotRunning)
else: else:
if not SIMULATION and not self.rk.lagging: if not SIMULATION and not self.rk.lagging:

3
selfdrive/ui/SConscript
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@ -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] translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' 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") lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES")
qt_env.Depends(lrelease, lupdate)
qt_env.NoClean(translation_sources) qt_env.NoClean(translation_sources)
qt_env.Precious(translation_sources) qt_env.Precious(translation_sources)
qt_env.NoCache(lupdate)
# create qrc file for compiled translations to include with assets # create qrc file for compiled translations to include with assets
translations_assets_src = "#selfdrive/assets/translations_assets.qrc" translations_assets_src = "#selfdrive/assets/translations_assets.qrc"

2
selfdrive/ui/qt/offroad/software_settings.cc
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@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
connect(targetBranchBtn, &ButtonControl::clicked, [=]() { connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
auto current = params.get("GitBranch"); auto current = params.get("GitBranch");
QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); 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); auto i = branches.indexOf(b);
if (i >= 0) { if (i >= 0) {
branches.removeAt(i); branches.removeAt(i);

14
selfdrive/ui/tests/test_translations.py
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@ -2,14 +2,12 @@ import pytest
import json import json
import os import os
import re import re
import shutil
import tempfile
import xml.etree.ElementTree as ET import xml.etree.ElementTree as ET
import string import string
import requests import requests
from parameterized import parameterized_class 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: with open(LANGUAGES_FILE) as f:
translation_files = json.load(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")), \ 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" 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") @pytest.mark.skip("Only test unfinished translations before going to release")
def test_unfinished_translations(self): def test_unfinished_translations(self):
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)

2
selfdrive/ui/tests/test_ui/run.py
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@ -52,7 +52,7 @@ def setup_settings_software(click, pm: PubMaster):
time.sleep(UI_DELAY) time.sleep(UI_DELAY)
def setup_settings_firehose(click, pm: PubMaster): def setup_settings_firehose(click, pm: PubMaster):
click(278, 836) click(1780, 730)
def setup_settings_developer(click, pm: PubMaster): def setup_settings_developer(click, pm: PubMaster):
CP = car.CarParams() CP = car.CarParams()

18
selfdrive/ui/translations/main_ja.ts
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@ -309,17 +309,19 @@
<name>FirehosePanel</name> <name>FirehosePanel</name>
<message> <message>
<source>🔥 Firehose Mode 🔥</source> <source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation> <translation>🔥 Firehoseモード 🔥</translation>
</message> </message>
<message> <message>
<source>Enable Firehose Mode</source> <source>Enable Firehose Mode</source>
<translation type="unfinished"></translation> <translation>Firehoseを有効にする</translation>
</message> </message>
<message> <message>
<source>openpilot learns to drive by watching humans, like you, drive. <source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source> Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
<translation type="unfinished"></translation> <translation>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。</translation>
</message> </message>
<message> <message>
<source>0%</source> <source>0%</source>
@ -327,7 +329,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
</message> </message>
<message> <message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source> <source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<translation type="unfinished"></translation> <translation>以下の手順に従ってデバイスを準備してください:&lt;br&gt; 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&lt;br&gt; 2. Wi-Fiに接続してください&lt;br&gt; 3. 機能を有効にしてください&lt;br&gt; 4. 少なくとも30分間接続したままにしてください&lt;br&gt;&lt;br&gt;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。&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;どのように運転するか、どこで運転するかは重要ですか？&lt;/i&gt; いいえ、普段通りに運転してください。&lt;br&gt;&lt;i&gt;高速なUSB-C電源とは何ですか？&lt;/i&gt; 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。&lt;br&gt;&lt;i&gt;Wi-Fiに接続する必要がありますか？&lt;/i&gt; その通りです。&lt;br&gt;&lt;i&gt;デバイスを屋内に持ち込む必要がありますか？&lt;/i&gt; 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。&lt;br&gt;</translation>
</message> </message>
</context> </context>
<context> <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>Firehose</source> <source>Firehose</source>
<translation type="unfinished"></translation> <translation>データ学習</translation>
</message> </message>
</context> </context>
<context> <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name> <name>WiFiPromptWidget</name>
<message> <message>
<source>Open</source> <source>Open</source>
<translation type="unfinished"></translation> <translation>開く</translation>
</message> </message>
<message> <message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source> <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation> <translation>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。</translation>
</message> </message>
<message> <message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source> <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation> <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehoseモード &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message> </message>
</context> </context>
<context> <context>

32
selfdrive/ui/translations/main_ko.ts
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@ -121,27 +121,27 @@
</message> </message>
<message> <message>
<source>Longitudinal Maneuver Mode</source> <source>Longitudinal Maneuver Mode</source>
<translation>롱컨 기동 모드</translation> <translation>롱컨 제어 모드</translation>
</message> </message>
<message> <message>
<source>openpilot Longitudinal Control (Alpha)</source> <source>openpilot Longitudinal Control (Alpha)</source>
<translation type="unfinished">openpilot 가감속 제어 (알파)</translation> <translation>openpilot 가감속 제어 (알파)</translation>
</message> </message>
<message> <message>
<source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source> <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation type="unfinished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation> <translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
</message> </message>
<message> <message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source> <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished">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.</translation> <translation>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.</translation>
</message> </message>
<message> <message>
<source>Enable ADB</source> <source>Enable ADB</source>
<translation type="unfinished"></translation> <translation>ADB 사용</translation>
</message> </message>
<message> <message>
<source>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.</source> <source>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.</source>
<translation type="unfinished"></translation> <translation>ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
</message> </message>
</context> </context>
<context> <context>
@ -309,25 +309,27 @@
<name>FirehosePanel</name> <name>FirehosePanel</name>
<message> <message>
<source>🔥 Firehose Mode 🔥</source> <source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation> <translation>🔥 파이어호스 모드 🔥</translation>
</message> </message>
<message> <message>
<source>Enable Firehose Mode</source> <source>Enable Firehose Mode</source>
<translation type="unfinished"></translation> <translation>파이어호스 모드 활성화</translation>
</message> </message>
<message> <message>
<source>openpilot learns to drive by watching humans, like you, drive. <source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source> Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
<translation type="unfinished"></translation> <translation>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.</translation>
</message> </message>
<message> <message>
<source>0%</source> <source>0%</source>
<translation type="unfinished">5G {0%?}</translation> <translation>0%</translation>
</message> </message>
<message> <message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source> <source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<translation type="unfinished"></translation> <translation>다음 단계에 따라 장치를 준비하세요.:&lt;br&gt; 1. 장치를 내부로 가져와 올바른 USB-C 어댑터에 연결하세요.&lt;br&gt; 2. Wi-Fi에 연결하세요.&lt;br&gt; 3. 토글을 활성화하세요.&lt;br&gt; 4. 최소 30분 동안 연결 상태로 두세요.&lt;br&gt;&lt;br&gt; 장치를 다시 시작하면 토글이 꺼집니다. 효과를 극대화하려면 적어도 일주일에 한 번씩 반복하세요.&lt;br&gt;&lt;br&gt;&lt;b&gt;자주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;i&gt;운전 방법이나 장소가 중요한가요?&lt;/i&gt; 아니요, 평소처럼 운전하세요.&lt;br&gt;&lt;i&gt;올바른 USB-C 어댑터란 무엇인가요?&lt;/i&gt; 휴대폰이나 노트북 고속 충전기라면 어떤 것이든 괜찮습니다.&lt;br&gt;&lt;i&gt;Wi-Fi에 연결되어 있어야 하나요?&lt;/i&gt; 예.&lt;br&gt;&lt;i&gt;장치를 차 안으로 가져와야 하나요?&lt;/i&gt; 아니요, 주차한 후에는 활성화할 수 있지만 차량의 배터리에 따라 업로드가 제한됩니다.&lt;br&gt;</translation>
</message> </message>
</context> </context>
<context> <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>Firehose</source> <source>Firehose</source>
<translation type="unfinished"></translation> <translation>파이어호스</translation>
</message> </message>
</context> </context>
<context> <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name> <name>WiFiPromptWidget</name>
<message> <message>
<source>Open</source> <source>Open</source>
<translation type="unfinished"></translation> <translation>열기</translation>
</message> </message>
<message> <message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source> <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation> <translation>훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요.</translation>
</message> </message>
<message> <message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source> <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation> <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 파이어호스 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message> </message>
</context> </context>
<context> <context>

20
selfdrive/ui/translations/main_zh-CHS.ts
Unescape View File

@ -309,25 +309,27 @@
<name>FirehosePanel</name> <name>FirehosePanel</name>
<message> <message>
<source>🔥 Firehose Mode 🔥</source> <source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation> <translation>🔥 训练数据上传模式 🔥</translation>
</message> </message>
<message> <message>
<source>Enable Firehose Mode</source> <source>Enable Firehose Mode</source>
<translation type="unfinished"></translation> <translation>启用训练数据上传模式</translation>
</message> </message>
<message> <message>
<source>openpilot learns to drive by watching humans, like you, drive. <source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source> Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
<translation type="unfinished"></translation> <translation>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。</translation>
</message> </message>
<message> <message>
<source>0%</source> <source>0%</source>
<translation type="unfinished">5G {0%?}</translation> <translation>0%</translation>
</message> </message>
<message> <message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source> <source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<translation type="unfinished"></translation> <translation>按照以下步骤准备您的设备：&lt;br&gt; 1. 将设备带到室内并连接到良好的 USB-C 充电器&lt;br&gt; 2. 连接 Wi-Fi&lt;br&gt; 3. 启用开关&lt;br&gt; 4. 保持连接至少 30 分钟&lt;br&gt;&lt;br&gt;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。&lt;br&gt;&lt;br&gt;&lt;b&gt;常见问题&lt;/b&gt;&lt;br&gt;&lt;i&gt;驾驶方式或地点重要吗？&lt;/i&gt; 不，按照平常的方式驾驶即可。&lt;br&gt;&lt;i&gt;什么是良好的 USB-C 充电器？&lt;/i&gt; 任何快速手机或笔记本电脑充电器都可以。&lt;br&gt;&lt;i&gt;我需要连接 Wi-Fi 吗？&lt;/i&gt; 是的。&lt;br&gt;&lt;i&gt;我需要把设备带到室内吗？&lt;/i&gt; 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。&lt;br&gt;</translation>
</message> </message>
</context> </context>
<context> <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>Firehose</source> <source>Firehose</source>
<translation type="unfinished"></translation> <translation>训练上传</translation>
</message> </message>
</context> </context>
<context> <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name> <name>WiFiPromptWidget</name>
<message> <message>
<source>Open</source> <source>Open</source>
<translation type="unfinished"></translation> <translation>开启</translation>
</message> </message>
<message> <message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source> <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation> <translation>最大化您的训练数据上传，以改善 openpilot 的驾驶模型。</translation>
</message> </message>
<message> <message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source> <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation> <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 训练数据上传模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message> </message>
</context> </context>
<context> <context>

20
selfdrive/ui/translations/main_zh-CHT.ts
Unescape View File

@ -309,25 +309,27 @@
<name>FirehosePanel</name> <name>FirehosePanel</name>
<message> <message>
<source>🔥 Firehose Mode 🔥</source> <source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation> <translation>🔥 訓練資料上傳模式 🔥</translation>
</message> </message>
<message> <message>
<source>Enable Firehose Mode</source> <source>Enable Firehose Mode</source>
<translation type="unfinished"></translation> <translation>啟用訓練資料上傳模式</translation>
</message> </message>
<message> <message>
<source>openpilot learns to drive by watching humans, like you, drive. <source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source> Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
<translation type="unfinished"></translation> <translation>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。</translation>
</message> </message>
<message> <message>
<source>0%</source> <source>0%</source>
<translation type="unfinished">5G {0%?}</translation> <translation>0%</translation>
</message> </message>
<message> <message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source> <source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<translation type="unfinished"></translation> <translation>按照以下步驟準備您的裝置：&lt;br&gt; 1. 將裝置帶到室內並連接到良好的 USB-C 充電器&lt;br&gt; 2. 連接 Wi-Fi&lt;br&gt; 3. 啟用開關&lt;br&gt; 4. 保持連接至少 30 分鐘&lt;br&gt;&lt;br&gt;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。&lt;br&gt;&lt;br&gt;&lt;b&gt;常見問題&lt;/b&gt;&lt;br&gt;&lt;i&gt;駕駛方式或地點重要嗎？&lt;/i&gt; 不，按照平常的方式駕駛即可。&lt;br&gt;&lt;i&gt;什麼是良好的 USB-C 充電器？&lt;/i&gt; 任何快速手機或筆記本電腦充電器都可以。&lt;br&gt;&lt;i&gt;我需要連接 Wi-Fi 嗎？&lt;/i&gt; 是的。&lt;br&gt;&lt;i&gt;我需要把裝置帶到室內嗎？&lt;/i&gt; 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。&lt;br&gt;</translation>
</message> </message>
</context> </context>
<context> <context>
@ -664,7 +666,7 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>Firehose</source> <source>Firehose</source>
<translation type="unfinished"></translation> <translation>訓練上傳</translation>
</message> </message>
</context> </context>
<context> <context>
@ -1142,15 +1144,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name> <name>WiFiPromptWidget</name>
<message> <message>
<source>Open</source> <source>Open</source>
<translation type="unfinished"></translation> <translation>開啟</translation>
</message> </message>
<message> <message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source> <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation> <translation>最大化您的訓練數據上傳，以改善 openpilot 的駕駛模型。</translation>
</message> </message>
<message> <message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source> <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation> <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 訓練資料上傳模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message> </message>
</context> </context>
<context> <context>

30
system/camerad/cameras/spectra.cc
Unescape View File

@ -249,13 +249,6 @@ SpectraCamera::~SpectraCamera() {
} }
int SpectraCamera::clear_req_queue() { 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) { if (icp_dev_handle > 0) {
struct cam_flush_dev_cmd cmd = { struct cam_flush_dev_cmd cmd = {
.session_handle = session_handle, .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)); int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd));
assert(err == 0); 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) { for (int i = 0; i < MAX_IFE_BUFS; ++i) {
destroySyncObjectAt(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) { if (ret == 0) {
// all good, hand off frame
frame_ready = true; frame_ready = true;
} destroySyncObjectAt(i);
} else {
if (ret != 0) { // need to start over on sync failures,
// otherwise future frames will tear
clear_req_queue(); clear_req_queue();
} }
destroySyncObjectAt(i);
} }
// create output fences // create output fences
@ -1378,14 +1378,14 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
return false; return false;
} }
if (!enabled) return false;
// ID from the qcom camera request manager // ID from the qcom camera request manager
uint64_t request_id = event_data->u.frame_msg.request_id; uint64_t request_id = event_data->u.frame_msg.request_id;
// raw as opposed to our re-indexed frame ID // raw as opposed to our re-indexed frame ID
uint64_t frame_id_raw = event_data->u.frame_msg.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 if (request_id != 0) { // next ready
// check for skipped_last frames // check for skipped_last frames
if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) { if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) {

20
system/hardware/tici/agnos.json
Unescape View File

@ -56,28 +56,28 @@
}, },
{ {
"name": "boot", "name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
"hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", "hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
"hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", "hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
"size": 18475008, "size": 18475008,
"sparse": false, "sparse": false,
"full_check": true, "full_check": true,
"has_ab": true, "has_ab": true,
"ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5" "ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
}, },
{ {
"name": "system", "name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img.xz",
"hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39", "hash": "affcc08700026f1726ef16337e031fffc5556435b2b0facea81c7ffb0b66560c",
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"size": 4404019200, "size": 4404019200,
"sparse": true, "sparse": true,
"full_check": false, "full_check": false,
"has_ab": true, "has_ab": true,
"ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4", "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf",
"alt": { "alt": {
"hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625", "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img", "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img",
"size": 4404019200 "size": 4404019200
} }
} }

44
system/hardware/tici/all-partitions.json
Unescape View File

@ -339,62 +339,62 @@
}, },
{ {
"name": "boot", "name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
"hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", "hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
"hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", "hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
"size": 18475008, "size": 18475008,
"sparse": false, "sparse": false,
"full_check": true, "full_check": true,
"has_ab": true, "has_ab": true,
"ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5" "ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
}, },
{ {
"name": "system", "name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img.xz",
"hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39", "hash": "affcc08700026f1726ef16337e031fffc5556435b2b0facea81c7ffb0b66560c",
"hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625", "hash_raw": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
"size": 4404019200, "size": 4404019200,
"sparse": true, "sparse": true,
"full_check": false, "full_check": false,
"has_ab": true, "has_ab": true,
"ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4", "ondevice_hash": "cc86836c6fc1c54f24dd0395e57e0b1ac6efe44d3ece833ab3ed456fe46a55cf",
"alt": { "alt": {
"hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625", "hash": "061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img", "url": "https://commadist.azureedge.net/agnosupdate/system-061783c4826369c7aa711266e8e1d9eecfd0a6d6c8afc6042e4045617512be75.img",
"size": 4404019200 "size": 4404019200
} }
}, },
{ {
"name": "userdata_90", "name": "userdata_90",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a.img.xz",
"hash": "4f0a862e3aff4980e697ece63afaef6f9869d013ac2ca4c45193e41089ee4f5c", "hash": "b77b66ae8178519dbd72443ff7bdd21b97d0d4d76425472bedc7d369958de37b",
"hash_raw": "554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236", "hash_raw": "fd9d27a3ef5c1f63b85721798ba4ea10f2a4c71d0c8d9b59362a99f24dfff54a",
"size": 96636764160, "size": 96636764160,
"sparse": true, "sparse": true,
"full_check": true, "full_check": true,
"has_ab": false, "has_ab": false,
"ondevice_hash": "5d780092d51c569e6b8a28ab73f4029bcc3517698f496af5801f863c9865060f" "ondevice_hash": "52d2b8e2486e7fa0cdeb2a6512a8058db43544c905367a2e1b81a5ad4636d4b7"
}, },
{ {
"name": "userdata_89", "name": "userdata_89",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307.img.xz",
"hash": "ba49fef48573e9befdfb6334181753855cb83d3e1d8c6d4d83d510ea0141ec3f", "hash": "cc24b1c78234f92cd8ef66541f3fb8924719fc4b7f42c26e26eb71ec21cd2e93",
"hash_raw": "6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80", "hash_raw": "1042711c5f69146ff7680f09eab1b2eb6fe9da0411318e9ff913c27168cb0307",
"size": 95563022336, "size": 95563022336,
"sparse": true, "sparse": true,
"full_check": true, "full_check": true,
"has_ab": false, "has_ab": false,
"ondevice_hash": "19b63b184063c25ff2fc9f1c8d1c919c140c3e1295ebac6cb66e64c5cb609abe" "ondevice_hash": "80bf38b8b60ea1ef1fc0849af4e18bf114761f98f5371476e2f762d0f8463204"
}, },
{ {
"name": "userdata_30", "name": "userdata_30",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe.img.xz", "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6.img.xz",
"hash": "828d0911713af02de7fae4c583a2274783e344939f296c7c016866a8cf2cb63f", "hash": "657b052cf6434ef19ff73bdeaf5b2511e5c42f64594ae37bac467a12b4cd673f",
"hash_raw": "498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe", "hash_raw": "6d429550c42616e3f252034305f238ce0e90926762992ff3f92322f226caa5b6",
"size": 32212254720, "size": 32212254720,
"sparse": true, "sparse": true,
"full_check": true, "full_check": true,
"has_ab": false, "has_ab": false,
"ondevice_hash": "4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92" "ondevice_hash": "6437e5a5b7144103952950f2f59f8e70b98cd26ee5bfb06cbd0a13b2e2f343b7"
} }
] ]

4
system/loggerd/logger.cc
Unescape View File

@ -50,6 +50,10 @@ kj::Array<capnp::word> logger_build_init_data() {
init.setPassive(false); init.setPassive(false);
init.setDongleId(params_map["DongleId"]); 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()); auto lparams = init.initParams().initEntries(params_map.size());
int j = 0; int j = 0;
for (auto& [key, value] : params_map) { for (auto& [key, value] : params_map) {

109
system/loggerd/loggerd.cc
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@ -64,6 +64,58 @@ struct RemoteEncoder {
bool seen_first_packet = false; 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 handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
int bytes_count = 0; int bytes_count = 0;
@ -72,7 +124,6 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
auto event = cmsg.getRoot<cereal::Event>(); auto event = cmsg.getRoot<cereal::Event>();
auto edata = (event.*(encoder_info.get_encode_data_func))(); auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx(); auto idx = edata.getIdx();
auto flags = idx.getFlags();
// encoderd can have started long before loggerd // encoderd can have started long before loggerd
if (!re.seen_first_packet) { 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; re.marked_ready_to_rotate = false;
// we are in this segment now, process any queued messages before this one // we are in this segment now, process any queued messages before this one
if (!re.q.empty()) { if (!re.q.empty()) {
for (auto &qmsg : re.q) { for (auto qmsg : re.q) {
bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); capnp::FlatArrayMessageReader reader({(capnp::word *)qmsg->getData(), qmsg->getSize() / sizeof(capnp::word)});
bytes_count += write_encode_data(s, reader.getRoot<cereal::Event>(), re, encoder_info);
delete qmsg;
} }
re.q.clear(); re.q.clear();
} }
} }
bytes_count += write_encode_data(s, event, re, encoder_info);
// 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
delete msg; delete msg;
} else if (offset_segment_num > s->logger.segment()) { } else if (offset_segment_num > s->logger.segment()) {
// encoderd packet has a newer segment, this means encoderd has rolled over // encoderd packet has a newer segment, this means encoderd has rolled over

9
system/manager/process_config.py
Unescape View File

@ -75,10 +75,11 @@ procs = [
PythonProcess("micd", "system.micd", iscar), PythonProcess("micd", "system.micd", iscar),
PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("timed", "system.timed", always_run, enabled=not PC),
# TODO Make python process once TG allows opening QCOM from child proc # TODO: Make python process once TG allows opening QCOM from child pro
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)), # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
# TODO Make python process once TG allows opening QCOM from child proc NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], 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("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)), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),

2
tools/plotjuggler/juggle.py
Unescape View File

@ -75,7 +75,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
def process(can, lr): 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): def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):

4
tools/replay/README.md
Unescape View File

@ -58,8 +58,8 @@ Mock openpilot components by publishing logged messages.
Options: Options:
-h, --help Displays this help. -h, --help Displays this help.
-a, --allow <allow> whitelist of services to send -a, --allow <allow> whitelist of services to send (comma-separated)
-b, --block <block> blacklist of services to send -b, --block <block> blacklist of services to send (comma-separated)
-c, --cache <n> cache <n> segments in memory. default is 5 -c, --cache <n> cache <n> segments in memory. default is 5
-s, --start <seconds> start from <seconds> -s, --start <seconds> start from <seconds>
-x <speed> playback <speed>. between 0.2 - 3 -x <speed> playback <speed>. between 0.2 - 3

6
tools/replay/main.cc
Unescape View File

@ -11,10 +11,10 @@
#include "tools/replay/util.h" #include "tools/replay/util.h"
const std::string helpText = const std::string helpText =
R"(Usage: replay [options] R"(Usage: replay [options] [route]
Options: Options:
-a, --allow Whitelist of services to send -a, --allow Whitelist of services to send (comma-separated)
-b, --block Blacklist of services to send -b, --block Blacklist of services to send (comma-separated)
-c, --cache Cache <n> segments in memory. Default is 5 -c, --cache Cache <n> segments in memory. Default is 5
-s, --start Start from <seconds> -s, --start Start from <seconds>
-x, --playback Playback <speed> -x, --playback Playback <speed>

76
uv.lock
Unescape View File

@ -902,7 +902,7 @@ wheels = [
[[package]] [[package]]
name = "matplotlib" name = "matplotlib"
version = "3.10.0" version = "3.10.1"
source = { registry = "https://pypi.org/simple" } source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "contourpy" }, { name = "contourpy" },
@ -915,20 +915,20 @@ dependencies = [
{ name = "pyparsing" }, { name = "pyparsing" },
{ name = "python-dateutil" }, { name = "python-dateutil" },
] ]
sdist = { url = "https://files.pythonhosted.org/packages/68/dd/fa2e1a45fce2d09f4aea3cee169760e672c8262325aa5796c49d543dc7e6/matplotlib-3.10.0.tar.gz", hash = "sha256:b886d02a581b96704c9d1ffe55709e49b4d2d52709ccebc4be42db856e511278", size = 36686418 } sdist = { url = "https://files.pythonhosted.org/packages/2f/08/b89867ecea2e305f408fbb417139a8dd941ecf7b23a2e02157c36da546f0/matplotlib-3.10.1.tar.gz", hash = "sha256:e8d2d0e3881b129268585bf4765ad3ee73a4591d77b9a18c214ac7e3a79fb2ba", size = 36743335 }
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