From d33c5bccc68327d8ae740b4866446447e78c7f60 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 28 Dec 2023 10:54:09 -0800 Subject: [PATCH 01/92] CI: update labeler to 5.0.0 release (#30862) * update labeler * update labeler * update labeler * Update labeler (#63) * update labeler * update labeler * update labeler * fix that * Update labeler (#65) * update labeler * update labeler * update labeler * fix that * and that * Update labeler (#66) * update labeler * update labeler * update labeler * fix that * and that * fix that --- .github/labeler.yaml | 120 ++++++++++++++------------ .github/workflows/auto_pr_review.yaml | 2 +- 2 files changed, 66 insertions(+), 56 deletions(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index cf7a70a3f5..47d0d480a9 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -1,69 +1,79 @@ CI / testing: - - all: - - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile'] + - changed-files: + - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}" -car: - - all: - - changed-files: ['selfdrive/car/**'] +car: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/**' body: - - all: - - changed-files: ['selfdrive/car/body/*'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/body/*' + chrysler: - - all: - - changed-files: ['selfdrive/car/chrysler/*'] -ford: - - all: - - changed-files: ['selfdrive/car/ford/*'] -gm: - - all: - - changed-files: ['selfdrive/car/gm/*'] -honda: - - all: - - changed-files: ['selfdrive/car/honda/*'] -hyundai: - - all: - - changed-files: ['selfdrive/car/hyundai/*'] -mazda: - - all: - - changed-files: ['selfdrive/car/mazda/*'] -nissan: - - all: - - changed-files: ['selfdrive/car/nissan/*'] -subaru: - - all: - - changed-files: ['selfdrive/car/subaru/*'] -tesla: - - all: - - changed-files: ['selfdrive/car/tesla/*'] -toyota: - - all: - - changed-files: ['selfdrive/car/toyota/*'] -volkswagen: - - all: - - changed-files: ['selfdrive/car/volkswagen/*'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/chrysler/*' + +ford: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/ford/*' + +gm: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/gm/*' + +honda: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/honda/*' + +hyundai: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/hyundai/*' + +mazda: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/mazda/*' + +nissan: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/nissan/*' + +subaru: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/subaru/*' + +tesla: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/telsa/*' + +toyota: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/toyota/*' + +volkswagen: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/volkswagen/*' fingerprint: - - all: - - changed-files: ['selfdrive/car/*/fingerprints.py'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py' simulation: - - all: - - changed-files: ['tools/sim/**'] + - changed-files: + - any-glob-to-all-files: 'tools/sim/**' + ui: - - all: - - changed-files: ['selfdrive/ui/**'] -tools: - - all: - - changed-files: ['tools/**'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/ui/**' + +tools: + - changed-files: + - any-glob-to-all-files: 'tools/**' multilanguage: - - all: - - changed-files: ['selfdrive/ui/translations/**'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/ui/translations/**' research: - - all: - - changed-files: [ - 'selfdrive/modeld/models/**', - 'selfdrive/test/process_replay/model_replay_ref_commit', - ] + - changed-files: + - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}" diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index fd95592e91..0b748063bc 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -13,7 +13,7 @@ jobs: - uses: actions/checkout@v4 with: submodules: false - - uses: actions/labeler@v5.0.0-alpha.1 + - uses: actions/labeler@v5.0.0 with: dot: true configuration-path: .github/labeler.yaml From 9520153b6a3e2e762dee29cdb0ca2ed9f867e2cb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 29 Dec 2023 19:39:17 -0500 Subject: [PATCH 02/92] bump submodules (#30866) --- opendbc | 2 +- panda | 2 +- selfdrive/car/subaru/subarucan.py | 1 - 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index 0cff7a8aa2..40d9c723d4 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 0cff7a8aa2df3be711cab4570bb422cd8661cb8b +Subproject commit 40d9c723d48496229fecc436046538a53af19c11 diff --git a/panda b/panda index 114b85a649..20722a5946 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 114b85a649341d55d6beb36d7414eda5e6d324a2 +Subproject commit 20722a59467fc7d697bfe1edd233a38bafbc89d2 diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index b851bcc088..3f5af825f3 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -204,7 +204,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr "Signal1", "Cruise_Fault", "Cruise_RPM", - "Signal2", "Cruise_Activated", "Brake_Lights", "Cruise_Hold", From a58baf48fe9e951f5954fadbc2c4b2b118633493 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 29 Dec 2023 23:47:55 -0500 Subject: [PATCH 03/92] Subaru: longitudinal cleanup and dash status fixes (#30868) --- selfdrive/car/subaru/subarucan.py | 23 +++++++++-------------- 1 file changed, 9 insertions(+), 14 deletions(-) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 3f5af825f3..290737c3e6 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -48,8 +48,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long values["Cruise_Soft_Disable"] = 0 values["Cruise_Fault"] = 0 - if brake_cmd: - values["Cruise_Brake_Active"] = 1 + values["Cruise_Brake_Active"] = brake_cmd if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 @@ -153,14 +152,14 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l values["COUNTER"] = frame % 0x10 - if enabled and long_active: + if long_enabled: values["Cruise_State"] = 0 - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = enabled values["Cruise_Disengaged"] = 0 values["Car_Follow"] = int(lead_visible) - if long_enabled: values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + values["LDW_Off"] = 0 values["Cruise_Fault"] = 0 # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts @@ -186,15 +185,12 @@ def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brak if long_enabled: values["Cruise_Brake_Fault"] = 0 + values["Cruise_Activated"] = long_active - if long_active: - values["Cruise_Activated"] = 1 - - values["Brake_Pressure"] = brake_value + values["Brake_Pressure"] = brake_value - if brake_value > 0: - values["Cruise_Brake_Active"] = 1 - values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0 + values["Cruise_Brake_Active"] = brake_value > 0 + values["Cruise_Brake_Lights"] = brake_value >= 70 return packer.make_can_msg("ES_Brake", CanBus.main, values) @@ -216,8 +212,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr values["Cruise_RPM"] = cruise_rpm values["Cruise_Fault"] = 0 - if long_active: - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = long_active return packer.make_can_msg("ES_Status", CanBus.main, values) From fd88990006d8d5d07f4cc79af64ae51999d1159c Mon Sep 17 00:00:00 2001 From: royjr Date: Sun, 31 Dec 2023 13:58:15 -0500 Subject: [PATCH 04/92] multilang: bad language translation check (#30783) * compare bad against list * use web * Update test_translations.py * uncomment * override * wrap * AssertionError * better * detent * selfish * check numerusforms * already checked * use name * not again * combined * sets * assume available * fix assume * check regardless of other tests * assert not print * raise for status * better * done * useless * happy ruff * better set * quiet * clean * obvious * clearer Co-authored-by: Adeeb Shihadeh * IGNORED_WORDS * assert match * direct assert * show bad word * fix numerous empty string checks * fix IGNORED_WORDS --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/tests/test_translations.py | 29 +++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 622d198f7d..c3c1760dbd 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -5,6 +5,8 @@ import re import shutil import unittest import xml.etree.ElementTree as ET +import string +import requests from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations @@ -121,6 +123,33 @@ class TestTranslations(unittest.TestCase): matches = re.findall(r'@(\w+);', cur_translations) self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + def test_bad_language(self): + IGNORED_WORDS = {'pédale'} + + for name, file in self.translation_files.items(): + match = re.search(r'_([a-zA-Z]{2,3})', file) + assert match, f"{name} - could not parse language" + + response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") + response.raise_for_status() + + banned_words = {line.strip() for line in response.text.splitlines()} + + for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")).getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + if translation.get("type") == "unfinished": + continue + + translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text + + if not translation_text: + continue + + words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) + bad_words_found = words & (banned_words - IGNORED_WORDS) + assert not bad_words_found, f"Bad language found in {name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" + if __name__ == "__main__": unittest.main() From 331ea604220ba47460aa72e28f4424c8609f1022 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 31 Dec 2023 14:54:37 -0500 Subject: [PATCH 05/92] Add link to contributing channel (#30876) --- docs/BOUNTIES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index 9d6f8bc97b..bfefd52898 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -10,7 +10,7 @@ Get paid to improve openpilot! * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit -New bounties can be proposed in the **#contributing** channel in Discord. +New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord. ## Issue bounties From eb805e889ef2f9c6e1345dc164533b44494576d0 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Sun, 31 Dec 2023 22:02:05 +0100 Subject: [PATCH 06/92] [Cabana] Fix segfault in sparkline (#30870) --- tools/cabana/chart/sparkline.cc | 35 ++++++++++++++++++++------------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 42608c030f..34bc76b7c4 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -13,23 +13,30 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent()); auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent()); - if (first != last && !size.isEmpty()) { - points.clear(); - double value = 0; - for (auto it = first; it != last; ++it) { - if (sig->getValue((*it)->dat, (*it)->size, &value)) { - points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value); - } + if (first == last || size.isEmpty()) { + pixmap = QPixmap(); + return; + } + + points.clear(); + double value = 0; + for (auto it = first; it != last; ++it) { + if (sig->getValue((*it)->dat, (*it)->size, &value)) { + points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value); } - const auto [min, max] = std::minmax_element(points.begin(), points.end(), - [](auto &l, auto &r) { return l.y() < r.y(); }); - min_val = min->y() == max->y() ? min->y() - 1 : min->y(); - max_val = min->y() == max->y() ? max->y() + 1 : max->y(); - freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0); - render(sig->color, range, size); - } else { + } + + if (points.empty()) { pixmap = QPixmap(); + return; } + + const auto [min, max] = std::minmax_element(points.begin(), points.end(), + [](auto &l, auto &r) { return l.y() < r.y(); }); + min_val = min->y() == max->y() ? min->y() - 1 : min->y(); + max_val = min->y() == max->y() ? max->y() + 1 : max->y(); + freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0); + render(sig->color, range, size); } void Sparkline::render(const QColor &color, int range, QSize size) { From d3cdd837fa1061761021236c4fa9053f5c617bd8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Jan 2024 14:28:34 -0800 Subject: [PATCH 07/92] Bump submodules (#30881) bump submodules Co-authored-by: jnewb1 --- cereal | 2 +- rednose_repo | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index bceb8b942d..e29625c30b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bceb8b942d3e622c2476e197102950efc4fe0bfd +Subproject commit e29625c30bb2a4a34ce21134d0e5a91b2d4fa1b1 diff --git a/rednose_repo b/rednose_repo index 44e8a891a2..18b91458fd 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 44e8a891a2810f274a1fa980775155d9463e87b9 +Subproject commit 18b91458fd396530d43e1a2fe9a3ac9055fa9109 From 6ccf2cbfde4e1f5aa67dc0072f9c0dfd080be064 Mon Sep 17 00:00:00 2001 From: Sliicy Date: Mon, 1 Jan 2024 17:29:01 -0500 Subject: [PATCH 08/92] Fixed joystickd.py incorrect steering control (#30879) --- tools/joystick/joystickd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index c6024bf5e4..176ff25be6 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -47,7 +47,7 @@ class Joystick: else: self.cancel_button = 'BTN_TRIGGER' accel_axis = 'ABS_Y' - steer_axis = 'ABS_RZ' + steer_axis = 'ABS_RX' self.min_axis_value = {accel_axis: 0., steer_axis: 0.} self.max_axis_value = {accel_axis: 255., steer_axis: 255.} self.axes_values = {accel_axis: 0., steer_axis: 0.} From 65ece2081a91b84c8b78de404aea2ec17fa81e7c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 1 Jan 2024 14:36:37 -0800 Subject: [PATCH 09/92] metadrive: Change camera position to reflect typical height of a vehicle (#30831) --- tools/sim/bridge/metadrive/metadrive_bridge.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index c8d59ff5e6..b99596ac62 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -10,7 +10,7 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld from openpilot.tools.sim.lib.camerad import W, H -C3_POSITION = Vec3(0, 0, 1) +C3_POSITION = Vec3(0.0, 1.0, 1.22) class CopyRamRGBCamera(RGBCamera): From 0f724675580d25734e047904c29bad8be2ce984e Mon Sep 17 00:00:00 2001 From: stevenworks <123902217+stevenworks@users.noreply.github.com> Date: Mon, 1 Jan 2024 14:39:01 -0800 Subject: [PATCH 10/92] Typo fixes / Grammar corrections (#30860) * CONTRIBUTING.md: Misspelling * BOUNTIES.md: Misspelling * SAFETY.md: Grammar * realtime.py: Comment consistency * revert for now --------- Co-authored-by: Adeeb Shihadeh --- common/realtime.py | 2 +- docs/BOUNTIES.md | 2 +- docs/CONTRIBUTING.md | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 05e19e770f..a398146166 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -78,7 +78,7 @@ class Ratekeeper: time.sleep(self._remaining) return lagged - # this only monitor the cumulative lag, but does not enforce a rate + # Monitors the cumulative lag, but does not enforce a rate def monitor_time(self) -> bool: prev = self._last_monitor_time self._last_monitor_time = time.monotonic() diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index bfefd52898..a927a33b89 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -14,7 +14,7 @@ New bounties can be proposed in the [**#contributing**](https://discord.com/chan ## Issue bounties -We've tagged bounty eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this: +We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this: * **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot * **$300** - a day of work for an experienced openpilot developer * **$500** - a few days of work for an experienced openpilot developer diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index fa80e760de..30f4e0dfd3 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -11,7 +11,7 @@ Our software is open source so you can solve your own problems without needing h ## What contributions are we looking for? -**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** developoment is towards that goal. +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. ### What gets merged? From 9d7f618bc5352e3c4a179925b5fd9f024a286fd3 Mon Sep 17 00:00:00 2001 From: royjr Date: Mon, 1 Jan 2024 17:54:16 -0500 Subject: [PATCH 11/92] multilang: parameterize unit tests (#30842) * init * fix indents * remove import * safer * TemporaryDirectory * much cleaner --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/tests/test_translations.py | 152 ++++++++++-------------- 1 file changed, 64 insertions(+), 88 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index c3c1760dbd..caba386643 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -2,33 +2,26 @@ import json import os import re -import shutil import unittest +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 -TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f) + UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, - f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + self.assertTrue("" not in cur_translations, + f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") def test_finished_translations(self): """ @@ -80,75 +63,68 @@ class TestTranslations(unittest.TestCase): - that translation is not empty - that translation format arguments are consistent """ - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) + tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")) - for context in tr_xml.getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - source_text = message.find("source").text + for context in tr_xml.getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + source_text = message.find("source").text - # Do not test unfinished translations - if translation.get("type") == "unfinished": - continue + # Do not test unfinished translations + if translation.get("type") == "unfinished": + continue - if message.get("numerus") == "yes": - numerusform = [t.text for t in translation.findall("numerusform")] + if message.get("numerus") == "yes": + numerusform = [t.text for t in translation.findall("numerusform")] - for nf in numerusform: - self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") - self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") - self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) + for nf in numerusform: + self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") + self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") + self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) - else: - self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + else: + self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") - source_args = FORMAT_ARG.findall(source_text) - translation_args = FORMAT_ARG.findall(translation.text) - self.assertEqual(sorted(source_args), sorted(translation_args), - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") + source_args = FORMAT_ARG.findall(source_text) + translation_args = FORMAT_ARG.findall(translation.text) + self.assertEqual(sorted(source_args), sorted(translation_args), + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") def test_no_locations(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines(): - self.assertFalse(line.strip().startswith(LOCATION_TAG), - f"Line contains location tag: {line.strip()}, remove all line numbers.") + for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): + self.assertFalse(line.strip().startswith(LOCATION_TAG), + f"Line contains location tag: {line.strip()}, remove all line numbers.") def test_entities_error(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) - matches = re.findall(r'@(\w+);', cur_translations) - self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + matches = re.findall(r'@(\w+);', cur_translations) + self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") def test_bad_language(self): IGNORED_WORDS = {'pédale'} - for name, file in self.translation_files.items(): - match = re.search(r'_([a-zA-Z]{2,3})', file) - assert match, f"{name} - could not parse language" + match = re.search(r'_([a-zA-Z]{2,3})', self.file) + assert match, f"{self.name} - could not parse language" - response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") - response.raise_for_status() + response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") + response.raise_for_status() - banned_words = {line.strip() for line in response.text.splitlines()} + banned_words = {line.strip() for line in response.text.splitlines()} - for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")).getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - if translation.get("type") == "unfinished": - continue + for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + if translation.get("type") == "unfinished": + continue - translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text + translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text - if not translation_text: - continue + if not translation_text: + continue - words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) - bad_words_found = words & (banned_words - IGNORED_WORDS) - assert not bad_words_found, f"Bad language found in {name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" + words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) + bad_words_found = words & (banned_words - IGNORED_WORDS) + assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" if __name__ == "__main__": From fba521ecc6d4c260de8f3e93dadbc3e157a9a9a6 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 2 Jan 2024 15:42:08 -0500 Subject: [PATCH 12/92] url_file: fix non-200 files being cached (#30886) * fix + test * fix unclosed * easier to read Co-authored-by: Shane Smiskol * fix that --------- Co-authored-by: Shane Smiskol --- tools/lib/tests/test_caching.py | 79 +++++++++++++++++++++++---------- tools/lib/url_file.py | 2 + 2 files changed, 57 insertions(+), 24 deletions(-) diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 73ed843869..294c5a2233 100755 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,15 +1,58 @@ #!/usr/bin/env python3 +from functools import wraps +import http.server import os +import threading +import time import unittest -from pathlib import Path from parameterized import parameterized -from unittest import mock -from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.url_file import URLFile +class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): + FILE_EXISTS = True + + def do_GET(self): + if self.FILE_EXISTS: + self.send_response(200, b'1234') + else: + self.send_response(404) + self.end_headers() + + def do_HEAD(self): + if self.FILE_EXISTS: + self.send_response(200) + self.send_header("Content-Length", "4") + else: + self.send_response(404) + self.end_headers() + + +class CachingTestServer(threading.Thread): + def run(self): + self.server = http.server.HTTPServer(("127.0.0.1", 0), CachingTestRequestHandler) + self.port = self.server.server_port + self.server.serve_forever() + + def stop(self): + self.server.server_close() + self.server.shutdown() + +def with_caching_server(func): + @wraps(func) + def wrapper(*args, **kwargs): + server = CachingTestServer() + server.start() + time.sleep(0.25) # wait for server to get it's port + try: + func(*args, **kwargs, port=server.port) + finally: + server.stop() + return wrapper + + class TestFileDownload(unittest.TestCase): def compare_loads(self, url, start=0, length=None): @@ -66,32 +109,20 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(large_file_url) @parameterized.expand([(True, ), (False, )]) - def test_recover_from_missing_file(self, cache_enabled): + @with_caching_server + def test_recover_from_missing_file(self, cache_enabled, port): os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" - file_url = "http://localhost:5001/test.png" + file_url = f"http://localhost:{port}/test.png" - file_exists = False + CachingTestRequestHandler.FILE_EXISTS = False + length = URLFile(file_url).get_length() + self.assertEqual(length, -1) - def get_length_online_mock(self): - if file_exists: - return 4 - return -1 + CachingTestRequestHandler.FILE_EXISTS = True + length = URLFile(file_url).get_length() + self.assertEqual(length, 4) - patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock) - patch_length.start() - try: - length = URLFile(file_url).get_length() - self.assertEqual(length, -1) - - file_exists = True - length = URLFile(file_url).get_length() - self.assertEqual(length, 4) - finally: - tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length" - if tempfile_length.exists(): - tempfile_length.unlink() - patch_length.stop() if __name__ == "__main__": diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index d055f86577..97c0a639a7 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -57,6 +57,8 @@ class URLFile: def get_length_online(self): timeout = Timeout(connect=50.0, read=500.0) response = self._http_client.request('HEAD', self._url, timeout=timeout, preload_content=False) + if not (200 <= response.status <= 299): + return -1 length = response.headers.get('content-length', 0) return int(length) From 86bd3379522c67da94a3ac6f3e0628bffa14ce50 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 2 Jan 2024 16:17:19 -0500 Subject: [PATCH 13/92] CI: set CI=1 globally (#30888) ci=1 --- .github/workflows/selfdrive_tests.yaml | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d037011701..adb069d077 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -28,6 +28,8 @@ env: PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 + CI: 1 + jobs: build_release: name: build release @@ -51,7 +53,7 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR - ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" + ${{ env.RUN }} "python selfdrive/manager/build.py" - name: Run tests timeout-minutes: 3 run: | @@ -213,7 +215,7 @@ jobs: - name: Run replay timeout-minutes: 30 run: | - ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ chmod -R 777 /tmp/comma_download_cache && \ coverage combine && \ coverage xml" @@ -230,7 +232,7 @@ jobs: - name: Upload reference logs if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: @@ -286,7 +288,7 @@ jobs: timeout-minutes: 4 run: | ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ - ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ coverage combine && \ coverage xml" - name: Run unit tests From 7e71fd7baefef14d2987b28377e310df41251644 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Tue, 2 Jan 2024 15:27:15 -0600 Subject: [PATCH 14/92] new delhi model (#30822) * 027a1efa-10fb-4291-ad58-90cf0ff150b5/700 * debug * rm for now * bump refs * revert that --------- Co-authored-by: Adeeb Shihadeh --- Jenkinsfile | 2 +- selfdrive/modeld/models/navmodel.onnx | 4 ++-- selfdrive/modeld/models/navmodel_q.dlc | 2 +- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 5 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 9868777dfb..5c872664a2 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -241,7 +241,7 @@ node { 'replay': { deviceStage("tici", "tici-replay", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "selfdrive/test/process_replay/model_replay.py", ["tinygrad/", "selfdrive/modeld/"]], + ["model replay", "selfdrive/test/process_replay/model_replay.py"], ]) }, 'tizi': { diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx index 3b0961537e..93edb593cc 100644 --- a/selfdrive/modeld/models/navmodel.onnx +++ b/selfdrive/modeld/models/navmodel.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048 -size 14138061 +oid sha256:4971931accb5ba2e534bb3e0c591826ee507e2988df2eccf1fe862c303ddf9c5 +size 14221074 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index e878ec25af..cb6e55b75f 100644 --- a/selfdrive/modeld/models/navmodel_q.dlc +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132 +oid sha256:fa346ada6f8c6326a5ee5fcd27e45e3e710049358079413c6a4624b20c6e1e47 size 3630942 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 9697c01793..ca8642093d 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cf6133c5bff295a3ee69eeb01297ba77adb6b83dbc1d774442a48117dbaf4626 -size 48457192 +oid sha256:ae44fe832fe48b89998f09cebb1bcd129864a8f51497b636cd38e66e46d69a89 +size 48457850 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index bb111e22e2..1be0aaf8c3 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -91cd2bf71771c2770c0effc26c0bb23d27208138 +ad64b6f38c1362e9d184f3fc95299284eacb56d4 From 9cf57cc4e478d02dd8843c82320d336597b3621c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 2 Jan 2024 13:34:35 -0800 Subject: [PATCH 15/92] CI: bump lewagon/wait-on-check-action --- .github/workflows/release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 7c36410b32..cd2ebd9f82 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -21,7 +21,7 @@ jobs: sudo apt-get install -y libyaml-dev - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd + uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f with: ref: master wait-interval: 30 From 9b25bfc61866ff7853218e72aebd10df3c28595c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 2 Jan 2024 16:48:16 -0500 Subject: [PATCH 16/92] CI: set CI=1 in docker image (#30889) * ci=1 * wrong spot --- .github/workflows/selfdrive_tests.yaml | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index adb069d077..3c95d8055b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -20,16 +20,14 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 + RUN: docker run --shm-size 1G -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 BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/bash -c + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 - CI: 1 - jobs: build_release: name: build release From 205a78f02dd8a7e3de2334da419f57231153c69a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Jan 2024 14:18:52 -0800 Subject: [PATCH 17/92] PR comments: fix image links --- selfdrive/debug/print_docs_diff.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 8fb6277d3b..3d35532496 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -8,9 +8,10 @@ from openpilot.selfdrive.car.docs import get_all_car_info from openpilot.selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" -STAR_ICON = '' -VIDEO_ICON = '\ - ' +STAR_ICON = '' +VIDEO_ICON = '' + \ + '' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) ARROW_SYMBOL = "➡️" From 543cd4460acd24a7bfc5bd8f6b4f2d8b2242da12 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Jan 2024 18:10:23 -0700 Subject: [PATCH 18/92] HKG: fix 2021 Niro Hybrid harness (#30895) * originally was Hyundai F in the database, but one user on Discord (US) and one in support (SK) both needed hyundai D * bump --- docs/CARS.md | 5 +++-- selfdrive/car/hyundai/values.py | 3 ++- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e48f4765bb..466bf14fff 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 273 Supported Cars +# 274 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -132,7 +132,8 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 371478f429..4b92bc5a49 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -251,7 +251,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", From de4bc31ba6f9972b6d411a36dc5d32474a3d0287 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Jan 2024 18:14:51 -0700 Subject: [PATCH 19/92] Toyota: add 2024 RAV4 Hybrid (Canada-built) (#30887) * add 2024 RAV4 * bump reeleases * fix star link in PR comments * ? * consistent --- RELEASES.md | 2 +- docs/CARS.md | 2 +- selfdrive/car/toyota/fingerprints.py | 2 ++ selfdrive/car/toyota/values.py | 2 +- 4 files changed, 5 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 226a272824..b12f22d280 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,7 +8,7 @@ Version 0.9.6 (20XX-XX-XX) * Hyundai Staria 2023 support thanks to sunnyhaibin! * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Toyota RAV4 2023 support -* Toyota RAV4 Hybrid 2023 support +* Toyota RAV4 Hybrid 2023-24 support Version 0.9.5 (2023-11-17) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 466bf14fff..bb2484e816 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -245,7 +245,7 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon 2018-23|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon eHybrid 2020-23|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index e7f3fe27ad..51e35fcf70 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1126,6 +1126,7 @@ FW_VERSIONS = { b'\x01F15264283200\x00\x00\x00\x00', b'\x01F15264283300\x00\x00\x00\x00', b'\x01F152642F1000\x00\x00\x00\x00', + b'\x01F152642F8000\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', @@ -1144,6 +1145,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00', + b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00', ], }, CAR.SIENNA: { diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a087e25934..fca7c50dc7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -181,7 +181,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.RAV4_TSS2_2023: [ ToyotaCarInfo("Toyota RAV4 2023"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), From 8c4930d2d300a439aaf7dd9ca4324271cc0c7b52 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Jan 2024 18:22:06 -0700 Subject: [PATCH 20/92] Revert "test_models: fallback to public route when route isn't uploaded to CI bucket (#30794)" (#30896) * fails if no skip function * Revert "fails if no skip function" This reverts commit ff3d697d38dce56057c83f06033a689f2301a29d. * Revert "test_models: fallback to public route when route isn't uploaded to CI bucket (#30794)" This reverts commit 05dc0b51e6597fb83aed14f5a390fa4254751c98. --- selfdrive/car/tests/test_models.py | 38 +++++++----------------------- 1 file changed, 9 insertions(+), 29 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 7306962fa6..e9c2a4ecd5 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -37,7 +37,6 @@ INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50")) -CI = os.environ.get("CI", None) is not None def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: # build list of test cases @@ -68,33 +67,13 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None test_route: Optional[CarTestRoute] = None - test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket + ci: bool = True can_msgs: List[capnp.lib.capnp._DynamicStructReader] fingerprint: dict[int, dict[int, int]] elm_frame: Optional[int] car_safety_mode_frame: Optional[int] - @classmethod - def get_logreader(cls, seg): - if len(INTERNAL_SEG_LIST): - route_name = RouteName(cls.test_route.route) - return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") - else: - # Attempt to use CI bucket first - try: - return LogReader(get_url(cls.test_route.route, seg)) - except Exception: - cls.test_route_on_bucket = False - - # Fallback to public route, which will fail the test_route_on_ci_bucket when running in CI - try: - return LogReader(Route(cls.test_route.route).log_paths()[seg]) - except Exception: - pass - - raise Exception("Unable to get route. Check that the route is valid, and either public or uploaded to the CI bucket.") - @classmethod def setUpClass(cls): if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): @@ -116,7 +95,13 @@ class TestCarModelBase(unittest.TestCase): for seg in test_segs: try: - lr = cls.get_logreader(seg) + if len(INTERNAL_SEG_LIST): + route_name = RouteName(cls.test_route.route) + lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") + elif cls.ci: + lr = LogReader(get_url(cls.test_route.route, seg)) + else: + lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) except Exception: continue @@ -160,7 +145,7 @@ class TestCarModelBase(unittest.TestCase): if len(can_msgs) > int(50 / DT_CTRL): break else: - raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") + raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") # if relay is expected to be open in the route cls.openpilot_enabled = cls.car_safety_mode_frame is not None @@ -466,11 +451,6 @@ class TestCarModelBase(unittest.TestCase): failed_checks = {k: v for k, v in checks.items() if v > 0} self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") - @pytest.mark.skipif(not CI, reason="When running in CI we want to make sure all the routes are uploaded to the preserved CI bucket.") - def test_route_on_ci_bucket(self): - assert self.test_route_on_bucket, "Route not on CI bucket. \ - This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket." - @parameterized_class(('car_model', 'test_route'), get_test_cases()) @pytest.mark.xdist_group_class_property('test_route') From 633fef5a96d5c8db55a1e6276df6d7f060c4ccd7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Jan 2024 22:48:31 -0700 Subject: [PATCH 21/92] Fingerprints: add missing FW versions from users (#30837) Export Toyota fingerprints from last 2 weeks, 0.9.5-release --- selfdrive/car/toyota/fingerprints.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 51e35fcf70..62c4ddf3ce 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -23,6 +23,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F4702000\x00\x00\x00\x00', b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'8646F0701100\x00\x00\x00\x00', @@ -51,6 +52,7 @@ FW_VERSIONS = { b'8965B41090\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896630725100\x00\x00\x00\x00', b'\x01896630725200\x00\x00\x00\x00', b'\x01896630725300\x00\x00\x00\x00', b'\x01896630735100\x00\x00\x00\x00', @@ -142,6 +144,7 @@ FW_VERSIONS = { (Ecu.dsu, 0x791, None): [ b'8821F0601200 ', b'8821F0601300 ', + b'8821F0601400 ', b'8821F0602000 ', b'8821F0603300 ', b'8821F0603400 ', @@ -185,6 +188,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F0601200 ', b'8821F0601300 ', + b'8821F0601400 ', b'8821F0602000 ', b'8821F0603300 ', b'8821F0603400 ', @@ -497,6 +501,7 @@ FW_VERSIONS = { b'\x018965B12510\x00\x00\x00\x00\x00\x00', b'\x018965B12520\x00\x00\x00\x00\x00\x00', b'\x018965B12530\x00\x00\x00\x00\x00\x00', + b'\x018965B1254000\x00\x00\x00\x00', b'\x018965B1255000\x00\x00\x00\x00', b'\x018965B1256000\x00\x00\x00\x00', b'8965B12361\x00\x00\x00\x00\x00\x00', @@ -571,6 +576,7 @@ FW_VERSIONS = { b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F1206000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', @@ -578,6 +584,7 @@ FW_VERSIONS = { b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F7603300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, @@ -588,6 +595,7 @@ FW_VERSIONS = { b'\x01896630E43100\x00\x00\x00\x00', b'\x01896630E43200\x00\x00\x00\x00', b'\x01896630E44200\x00\x00\x00\x00', + b'\x01896630E44400\x00\x00\x00\x00', b'\x01896630E45000\x00\x00\x00\x00', b'\x01896630E45100\x00\x00\x00\x00', b'\x01896630E45200\x00\x00\x00\x00', @@ -792,6 +800,7 @@ FW_VERSIONS = { b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634762100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -800,6 +809,7 @@ FW_VERSIONS = { b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x02896634770100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -812,6 +822,7 @@ FW_VERSIONS = { b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', + b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00', b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00', b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', @@ -1239,6 +1250,7 @@ FW_VERSIONS = { b'\x018821F3301200\x00\x00\x00\x00', b'\x018821F3301300\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', b'\x018821F6201400\x00\x00\x00\x00', ], @@ -1251,6 +1263,7 @@ FW_VERSIONS = { b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', ], }, CAR.LEXUS_ES: { @@ -1321,6 +1334,7 @@ FW_VERSIONS = { b'\x01896637851000\x00\x00\x00\x00', b'\x01896637852000\x00\x00\x00\x00', b'\x01896637854000\x00\x00\x00\x00', + b'\x01896637873000\x00\x00\x00\x00', b'\x01896637878000\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ @@ -1441,6 +1455,7 @@ FW_VERSIONS = { b'\x018966348R1300\x00\x00\x00\x00', b'\x018966348R8500\x00\x00\x00\x00', b'\x018966348W1300\x00\x00\x00\x00', + b'\x018966348W2300\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152648472\x00\x00\x00\x00\x00\x00', @@ -1485,6 +1500,7 @@ FW_VERSIONS = { b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1505,6 +1521,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B0E011\x00\x00\x00\x00\x00\x00', b'8965B0E012\x00\x00\x00\x00\x00\x00', + b'8965B48102\x00\x00\x00\x00\x00\x00', b'8965B48111\x00\x00\x00\x00\x00\x00', b'8965B48112\x00\x00\x00\x00\x00\x00', ], @@ -1640,6 +1657,7 @@ FW_VERSIONS = { b'8965B58052\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ + b'F152658320\x00\x00\x00\x00\x00\x00', b'F152658341\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ From 8fbe382fa71710cff7c49d7076cf8ccaf5c1a570 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 3 Jan 2024 11:16:54 -0800 Subject: [PATCH 22/92] make scons parallel by default (#30901) --- SConstruct | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index 8790221315..e1a9b82c7f 100644 --- a/SConstruct +++ b/SConstruct @@ -14,6 +14,8 @@ AGNOS = TICI Decider('MD5-timestamp') +SetOption('num_jobs', int(os.cpu_count()/2)) + AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers') @@ -37,7 +39,7 @@ AddOption('--clazy', AddOption('--compile_db', action='store_true', help='build clang compilation database') - + AddOption('--ccflags', action='store', type='string', From 7f398e1cf9b0fd83bb1238b9b347a21d8868ee0f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 3 Jan 2024 12:54:22 -0700 Subject: [PATCH 23/92] test_models: fallback to public route when route isn't uploaded to CI bucket (#30893) * not sure why this is a test * Revert "not sure why this is a test" This reverts commit c13e16311eb882df65d216bbd59acb5702e985e6. * no ruff for this pattern :( * this is always caught * should fail * simpler * Revert "should fail" This reverts commit 21bd15275c46cd42fd19b058245334bae83cce77. * fix * cleanup this * better comment * better * this can be more localized * better names * better names * should fail * Revert "should fail" This reverts commit c58495e8b3417ce351df8048752ec60177827cb3. --------- Co-authored-by: Justin Newberry --- selfdrive/car/tests/test_models.py | 147 +++++++++++++++++------------ 1 file changed, 89 insertions(+), 58 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index e9c2a4ecd5..cc52995a33 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -36,6 +36,7 @@ JOB_ID = int(os.environ.get("JOB_ID", "0")) INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50")) +CI = os.environ.get("CI", None) is not None def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: @@ -67,13 +68,94 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None test_route: Optional[CarTestRoute] = None - ci: bool = True + test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket can_msgs: List[capnp.lib.capnp._DynamicStructReader] fingerprint: dict[int, dict[int, int]] elm_frame: Optional[int] car_safety_mode_frame: Optional[int] + @classmethod + def get_logreader(cls, seg): + if len(INTERNAL_SEG_LIST): + route_name = RouteName(cls.test_route.route) + return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") + else: + return LogReader(get_url(cls.test_route.route, seg)) + + @classmethod + def get_testing_data_from_logreader(cls, lr): + car_fw = [] + can_msgs = [] + cls.elm_frame = None + cls.car_safety_mode_frame = None + cls.fingerprint = gen_empty_fingerprint() + experimental_long = False + for msg in lr: + if msg.which() == "can": + can_msgs.append(msg) + if len(can_msgs) <= FRAME_FINGERPRINT: + for m in msg.can: + if m.src < 64: + cls.fingerprint[m.src][m.address] = len(m.dat) + + elif msg.which() == "carParams": + car_fw = msg.carParams.carFw + if msg.carParams.openpilotLongitudinalControl: + experimental_long = True + if cls.car_model is None and not cls.ci: + cls.car_model = msg.carParams.carFingerprint + + # Log which can frame the panda safety mode left ELM327, for CAN validity checks + elif msg.which() == 'pandaStates': + for ps in msg.pandaStates: + if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and ps.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) + + elif msg.which() == 'pandaStateDEPRECATED': + if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) + + if len(can_msgs) > int(50 / DT_CTRL): + return car_fw, can_msgs, experimental_long + + raise Exception("no can data found") + + @classmethod + def get_testing_data(cls): + test_segs = (2, 1, 0) + if cls.test_route.segment is not None: + test_segs = (cls.test_route.segment,) + + # Try the primary method first (CI or internal) + for seg in test_segs: + try: + lr = cls.get_logreader(seg) + return cls.get_testing_data_from_logreader(lr) + except Exception: + pass + + # Route is not in CI bucket, assume either user has access (private), or it is public + # test_route_on_ci_bucket will fail when running in CI + if not len(INTERNAL_SEG_LIST): + cls.test_route_on_bucket = False + + for seg in test_segs: + try: + lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) + return cls.get_testing_data_from_logreader(lr) + except Exception: + pass + + raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") + + @classmethod def setUpClass(cls): if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): @@ -89,63 +171,7 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.car_model}") - test_segs = (2, 1, 0) - if cls.test_route.segment is not None: - test_segs = (cls.test_route.segment,) - - for seg in test_segs: - try: - if len(INTERNAL_SEG_LIST): - route_name = RouteName(cls.test_route.route) - lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") - elif cls.ci: - lr = LogReader(get_url(cls.test_route.route, seg)) - else: - lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) - except Exception: - continue - - car_fw = [] - can_msgs = [] - cls.elm_frame = None - cls.car_safety_mode_frame = None - cls.fingerprint = gen_empty_fingerprint() - experimental_long = False - for msg in lr: - if msg.which() == "can": - can_msgs.append(msg) - if len(can_msgs) <= FRAME_FINGERPRINT: - for m in msg.can: - if m.src < 64: - cls.fingerprint[m.src][m.address] = len(m.dat) - - elif msg.which() == "carParams": - car_fw = msg.carParams.carFw - if msg.carParams.openpilotLongitudinalControl: - experimental_long = True - if cls.car_model is None and not cls.ci: - cls.car_model = msg.carParams.carFingerprint - - # Log which can frame the panda safety mode left ELM327, for CAN validity checks - elif msg.which() == 'pandaStates': - for ps in msg.pandaStates: - if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - if cls.car_safety_mode_frame is None and ps.safetyModel not in \ - (SafetyModel.elm327, SafetyModel.noOutput): - cls.car_safety_mode_frame = len(can_msgs) - - elif msg.which() == 'pandaStateDEPRECATED': - if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ - (SafetyModel.elm327, SafetyModel.noOutput): - cls.car_safety_mode_frame = len(can_msgs) - - if len(can_msgs) > int(50 / DT_CTRL): - break - else: - raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") + car_fw, can_msgs, experimental_long = cls.get_testing_data() # if relay is expected to be open in the route cls.openpilot_enabled = cls.car_safety_mode_frame is not None @@ -451,6 +477,11 @@ class TestCarModelBase(unittest.TestCase): failed_checks = {k: v for k, v in checks.items() if v > 0} self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") + @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI") + def test_route_on_ci_bucket(self): + self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " + + "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.") + @parameterized_class(('car_model', 'test_route'), get_test_cases()) @pytest.mark.xdist_group_class_property('test_route') From 17ac1d3c7b3b481826d51eb82aaf9dbcc3f3bd81 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 4 Jan 2024 05:14:29 +0800 Subject: [PATCH 24/92] UI: single-threaded CameraView (#30397) * single-threaded CameraView * updateFrame * inherit from CameraWidget * clear frame on offroadTransition * check frame_id * optional * unique_ptr * CameraView * cleanup * cleanup * log skipping frame * fix driverview * disconnectVipc * debug inconsistent frame * skip frame if uiPlan is outdate * cleanup * set connected = false * support camerad reboot&seeking in replay * cleanup * qDebug * use deque * cleanup --------- Co-authored-by: Comma Device --- selfdrive/ui/qt/offroad/driverview.cc | 13 +- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/onroad.cc | 30 ++-- selfdrive/ui/qt/onroad.h | 2 - selfdrive/ui/qt/widgets/cameraview.cc | 189 ++++++++++---------------- selfdrive/ui/qt/widgets/cameraview.h | 49 ++++--- selfdrive/ui/watch3.cc | 8 +- tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 4 +- 9 files changed, 124 insertions(+), 178 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index df9bb24651..08f6f10642 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -7,7 +7,7 @@ const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { @@ -20,22 +20,20 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VI void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); - CameraWidget::showEvent(event); + CameraView::showEvent(event); } void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - stopVipcThread(); - CameraWidget::hideEvent(event); + CameraView::hideEvent(event); } void DriverViewWindow::paintGL() { - CameraWidget::paintGL(); + CameraView::paintGL(); - std::lock_guard lk(frame_lock); QPainter p(this); // startup msg - if (frames.empty()) { + if (!frame) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -47,7 +45,6 @@ void DriverViewWindow::paintGL() { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); - bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { auto fxy_list = driver_data.getFacePosition(); diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 155e4ede32..97dd2faa78 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -2,7 +2,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewWindow : public CameraWidget { +class DriverViewWindow : public CameraView { Q_OBJECT public: diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 4df0ed81cb..ed4bdc15fb 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -44,12 +44,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraView("camerad", VISION_STREAM_ROAD, true, this); split->insertWidget(0, arCam); } if (getenv("MAP_RENDER_VIEW")) { - CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this); + CameraWidget *map_render = new CameraView("navd", VISION_STREAM_MAP, false, this); split->insertWidget(0, map_render); } @@ -126,6 +126,7 @@ void OnroadWindow::offroadTransition(bool offroad) { #endif alerts->updateAlert({}); + nvg->disconnectVipc(); } void OnroadWindow::primeChanged(bool prime) { @@ -328,6 +329,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { map_settings_btn->setVisible(!hideBottomIcons); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); } + + update(); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -609,21 +612,6 @@ void AnnotatedCameraWidget::paintGL() { // draw camera frame { - std::lock_guard lk(frame_lock); - - if (frames.empty()) { - if (skip_frame_count > 0) { - skip_frame_count--; - qDebug() << "skipping frame, not ready"; - return; - } - } else { - // skip drawing up to this many frames if we're - // missing camera frames. this smooths out the - // transitions from the narrow and wide cameras - skip_frame_count = 5; - } - // Wide or narrow cam dependent on speed bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); if (has_wide_cam) { @@ -639,14 +627,18 @@ void AnnotatedCameraWidget::paintGL() { } CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; + s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD; if (s->scene.calibration_valid) { auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } - CameraWidget::setFrameId(model.getFrameId()); + + if (!CameraWidget::receiveFrame(sm["uiPlan"].getUiPlan().getFrameId())) { + qDebug() << "skipping frame, not ready"; + return; + } CameraWidget::paintGL(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index b3ba411453..f6b80a75de 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -93,8 +93,6 @@ private: bool v_ego_cluster_seen = false; int status = STATUS_DISENGAGED; std::unique_ptr pm; - - int skip_frame_count = 0; bool wide_cam_requested = false; protected: diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 7b1f2f1d24..4d370b8cc5 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -6,14 +6,6 @@ #include #endif -#include -#include -#include -#include - -#include -#include - namespace { const char frame_vertex_shader[] = @@ -95,24 +87,25 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : - stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - qRegisterMetaType>("availableStreams"); - QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); - QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); - QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent) + : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { } CameraWidget::~CameraWidget() { makeCurrent(); - stopVipcThread(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); glDeleteBuffers(2, textures); } +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + } + egl_images.clear(); +#endif doneCurrent(); } @@ -176,45 +169,11 @@ void CameraWidget::initializeGL() { #endif } -void CameraWidget::showEvent(QShowEvent *event) { - if (!vipc_thread) { - clearFrames(); - vipc_thread = new QThread(); - connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); - connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); - vipc_thread->start(); - } -} - -void CameraWidget::stopVipcThread() { - makeCurrent(); - if (vipc_thread) { - vipc_thread->requestInterruption(); - vipc_thread->quit(); - vipc_thread->wait(); - vipc_thread = nullptr; - } - -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - assert(egl_display != EGL_NO_DISPLAY); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - assert(eglGetError() == EGL_SUCCESS); - } - egl_images.clear(); -#endif -} - -void CameraWidget::availableStreamsUpdated(std::set streams) { - available_streams = streams; -} - void CameraWidget::updateFrameMat() { int w = glWidth(), h = glHeight(); if (zoomed_view) { - if (active_stream_type == VISION_STREAM_DRIVER) { + if (streamType() == VISION_STREAM_DRIVER) { if (stream_width > 0 && stream_height > 0) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } @@ -223,7 +182,7 @@ void CameraWidget::updateFrameMat() { // to ensure this ends up in the middle of the screen // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? - if (active_stream_type == VISION_STREAM_WIDE_ROAD) { + if (streamType() == VISION_STREAM_WIDE_ROAD) { intrinsic_matrix = ECAM_INTRINSIC_MATRIX; zoom = 2.0; } else { @@ -269,25 +228,15 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - std::lock_guard lk(frame_lock); - if (frames.empty()) return; - - int frame_idx = frames.size() - 1; - - // Always draw latest frame until sync logic is more stable - // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - // if (frames[frame_idx].first == draw_frame_id) break; - // } + if (!frame) return; // Log duplicate/dropped frames - if (frames[frame_idx].first == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frames[frame_idx].first; + if (frame_id == prev_frame_id) { + qDebug() << "Drawing same frame twice" << frame_id; + } else if (frame_id != prev_frame_id + 1) { + qDebug() << "Skipped frame" << frame_id; } - prev_frame_id = frames[frame_idx].first; - VisionBuf *frame = frames[frame_idx].second; - assert(frame != nullptr); + prev_frame_id = frame_id; updateFrameMat(); @@ -327,7 +276,7 @@ void CameraWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { +void CameraWidget::vipcConnected() { makeCurrent(); stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; @@ -377,59 +326,69 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { #endif } -void CameraWidget::vipcFrameReceived() { - update(); -} +bool CameraWidget::receiveFrame(uint64_t request_frame_id) { + if (!vipc_client || vipc_client->type != requested_stream_type) { + qDebug().nospace() << "connecting to stream" << requested_stream_type + << (vipc_client ? QString(", was connected to %1").arg(vipc_client->type) : ""); + vipc_client.reset(new VisionIpcClient(stream_name, requested_stream_type, false)); + } -void CameraWidget::vipcThread() { - VisionStreamType cur_stream = requested_stream_type; - std::unique_ptr vipc_client; - VisionIpcBufExtra meta_main = {0}; - - while (!QThread::currentThread()->isInterruptionRequested()) { - if (!vipc_client || cur_stream != requested_stream_type) { - clearFrames(); - qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; - cur_stream = requested_stream_type; - vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); + if (!vipc_client->connected) { + frame = nullptr; + recent_frames.clear(); + available_streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (available_streams.empty() || !vipc_client->connect(false)) { + return false; } - active_stream_type = cur_stream; - - if (!vipc_client->connected) { - clearFrames(); - auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); - if (streams.empty()) { - QThread::msleep(100); - continue; - } - emit vipcAvailableStreamsUpdated(streams); + emit vipcAvailableStreamsUpdated(); + vipcConnected(); + } - if (!vipc_client->connect(false)) { - QThread::msleep(100); - continue; - } - emit vipcThreadConnected(vipc_client.get()); + VisionIpcBufExtra meta_main = {}; + while (auto buf = vipc_client->recv(&meta_main, 0)) { + if (recent_frames.size() > FRAME_BUFFER_SIZE) { + recent_frames.pop_front(); } + recent_frames.emplace_back(meta_main.frame_id, buf); + } - if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { - { - std::lock_guard lk(frame_lock); - frames.push_back(std::make_pair(meta_main.frame_id, buf)); - while (frames.size() > FRAME_BUFFER_SIZE) { - frames.pop_front(); - } - } - emit vipcThreadFrameReceived(); - } else { - if (!isVisible()) { - vipc_client->connected = false; - } + frame = nullptr; + if (request_frame_id > 0) { + auto it = std::find_if(recent_frames.begin(), recent_frames.end(), + [request_frame_id](auto &f) { return f.first == request_frame_id; }); + if (it != recent_frames.end()) { + std::tie(frame_id, frame) = *it; } + } else if (!recent_frames.empty()) { + std::tie(frame_id, frame) = recent_frames.back(); + } + return frame != nullptr; +} + +void CameraWidget::disconnectVipc() { + recent_frames.clear(); + frame = nullptr; + frame_id = 0; + prev_frame_id = 0; + if (vipc_client) { + vipc_client->connected = false; } } -void CameraWidget::clearFrames() { - std::lock_guard lk(frame_lock); - frames.clear(); - available_streams.clear(); +// Cameraview + +CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent) + : CameraWidget(name, stream_type, zoom, parent) { + timer = new QTimer(this); + timer->setInterval(1000.0 / UI_FREQ); + timer->callOnTimeout(this, [this]() { if (receiveFrame()) update(); }); +} + +void CameraView::showEvent(QShowEvent *event) { + timer->start(); +} + +void CameraView::hideEvent(QHideEvent *event) { + timer->stop(); + disconnectVipc(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index c97038cf43..a862079f1a 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include #include @@ -11,7 +10,7 @@ #include #include #include -#include +#include #ifdef QCOM2 #define EGL_EGLEXT_PROTOTYPES @@ -33,31 +32,27 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: - using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); ~CameraWidget(); + void disconnectVipc(); void setBackgroundColor(const QColor &color) { bg = color; } - void setFrameId(int frame_id) { draw_frame_id = frame_id; } void setStreamType(VisionStreamType type) { requested_stream_type = type; } - VisionStreamType getStreamType() { return active_stream_type; } - void stopVipcThread(); + inline VisionStreamType streamType() const { return requested_stream_type; } + inline const std::set &availableStreams() const { return available_streams; } + bool receiveFrame(uint64_t request_frame_id = 0); signals: + void vipcAvailableStreamsUpdated(); void clicked(); - void vipcThreadConnected(VisionIpcClient *); - void vipcThreadFrameReceived(); - void vipcAvailableStreamsUpdated(std::set); protected: void paintGL() override; void initializeGL() override; void resizeGL(int w, int h) override { updateFrameMat(); } - void showEvent(QShowEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); - void vipcThread(); - void clearFrames(); + void vipcConnected(); int glWidth(); int glHeight(); @@ -73,14 +68,18 @@ protected: std::map egl_images; #endif + // vipc std::string stream_name; int stream_width = 0; int stream_height = 0; int stream_stride = 0; - std::atomic active_stream_type; - std::atomic requested_stream_type; + VisionStreamType requested_stream_type; std::set available_streams; - QThread *vipc_thread = nullptr; + std::unique_ptr vipc_client; + std::deque> recent_frames; + VisionBuf *frame = nullptr; + uint64_t frame_id = 0; + uint64_t prev_frame_id = 0; // Calibration float x_offset = 0; @@ -88,16 +87,16 @@ protected: float zoom = 1.0; mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; +}; - std::recursive_mutex frame_lock; - std::deque> frames; - uint32_t draw_frame_id = 0; - uint32_t prev_frame_id = 0; +// update frames based on timer +class CameraView : public CameraWidget { + Q_OBJECT +public: + CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); + void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; -protected slots: - void vipcConnected(VisionIpcClient *vipc_client); - void vipcFrameReceived(); - void availableStreamsUpdated(std::set streams); +private: + QTimer *timer; }; - -Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index ec35c29b6b..cb12f82ea8 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index a6fd0b2b64..654c34ed37 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -160,12 +160,13 @@ QWidget *VideoWidget::createCameraWidget() { return w; } -void VideoWidget::vipcAvailableStreamsUpdated(std::set streams) { +void VideoWidget::vipcAvailableStreamsUpdated() { static const QString stream_names[] = { [VISION_STREAM_ROAD] = "Road camera", [VISION_STREAM_WIDE_ROAD] = "Wide road camera", [VISION_STREAM_DRIVER] = "Driver camera"}; + const auto &streams = cam_widget->availableStreams(); for (int i = 0; i < streams.size(); ++i) { if (camera_tab->count() <= i) { camera_tab->addTab(QString()); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index b2039e09a4..ae095fd559 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -73,9 +73,9 @@ protected: QWidget *createCameraWidget(); QHBoxLayout *createPlaybackController(); void loopPlaybackClicked(); - void vipcAvailableStreamsUpdated(std::set streams); + void vipcAvailableStreamsUpdated(); - CameraWidget *cam_widget; + CameraView *cam_widget; double maximum_time = 0; QToolButton *time_btn = nullptr; ToolButton *seek_backward_btn = nullptr; From 318d1204e5dc74fd990dd6dfc10c73750e8cbae0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 3 Jan 2024 14:11:11 -0800 Subject: [PATCH 25/92] CI: bump other lewagon/wait-on-check-action --- .github/workflows/prebuilt.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index f5b0b8c558..58095cf19c 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -18,7 +18,7 @@ jobs: steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd + uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f with: ref: master wait-interval: 30 From 4430944b2966d0bcdf54357dfdfafacf24e6de32 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 3 Jan 2024 19:55:16 -0500 Subject: [PATCH 26/92] jenkins: lock "pc" label to limit concurrent workers (#30902) * lock pc label * remove that --- Jenkinsfile | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 5c872664a2..0ae5f5076d 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -110,18 +110,20 @@ def pcStage(String stageName, Closure body) { return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .") } - openpilot_base.inside(dockerArgs) { - timeout(time: 20, unit: 'MINUTES') { - try { - retryWithDelay (3, 15) { - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --recursive" - sh "git lfs pull" - } - body() - } finally { - sh "rm -rf ${env.WORKSPACE}/* || true" - sh "rm -rf .* || true" + lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) { + openpilot_base.inside(dockerArgs) { + timeout(time: 20, unit: 'MINUTES') { + try { + retryWithDelay (3, 15) { + sh "git config --global --add safe.directory '*'" + sh "git submodule update --init --recursive" + sh "git lfs pull" + } + body() + } finally { + sh "rm -rf ${env.WORKSPACE}/* || true" + sh "rm -rf .* || true" + } } } } From 115047d85860806958f50e241155d5f2bde5fa53 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 3 Jan 2024 17:53:40 -0800 Subject: [PATCH 27/92] timezoned: run while onroad (#30903) --- system/timezoned.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/system/timezoned.py b/system/timezoned.py index 546405c9a0..4a881c53a3 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -44,10 +44,6 @@ def main() -> NoReturn: while True: time.sleep(60) - is_onroad = not params.get_bool("IsOffroad") - if is_onroad: - continue - # Set based on param timezone = params.get("Timezone", encoding='utf8') if timezone is not None: From 28cf3155e21da663040040076f9fb9e746fd6834 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Thu, 4 Jan 2024 04:34:13 +0100 Subject: [PATCH 28/92] [HKG-CAN] Consider FCW alerts from SCC (#30885) * FCW is triggered differently when SCC is active * Update selfdrive/car/hyundai/carstate.py * Update selfdrive/car/hyundai/carstate.py * cmt --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carstate.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index edc9e4855f..2f1fb10804 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -147,8 +147,9 @@ class CarState(CarStateBase): aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 - ret.stockFcw = aeb_warning and not aeb_braking + ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking ret.stockAeb = aeb_warning and aeb_braking if self.CP.enableBsm: From ff0fed07ed92c7e4b2f3d348a769058652351c87 Mon Sep 17 00:00:00 2001 From: duetschlandftw <90730497+duetschlandftw@users.noreply.github.com> Date: Wed, 3 Jan 2024 22:43:59 -0500 Subject: [PATCH 29/92] Fingerprint for '21 Explorer ST (#30877) * carparams gave me a new firmware entry for "shiftByWire" from 'ford', so i added it here, as well as a new fw value under ecs.engine * Update selfdrive/car/ford/fingerprints.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py index 8594ab95df..4a82a5439e 100644 --- a/selfdrive/car/ford/fingerprints.py +++ b/selfdrive/car/ford/fingerprints.py @@ -92,6 +92,7 @@ FW_VERSIONS = { b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MB5A-14C204-LE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', From fe4090584923b559ef95131319a0ef77cfa1938a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 3 Jan 2024 20:07:58 -0800 Subject: [PATCH 30/92] Revert "Fingerprint for '21 Explorer ST (#30877)" This reverts commit ff0fed07ed92c7e4b2f3d348a769058652351c87. --- selfdrive/car/ford/fingerprints.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py index 4a82a5439e..8594ab95df 100644 --- a/selfdrive/car/ford/fingerprints.py +++ b/selfdrive/car/ford/fingerprints.py @@ -92,7 +92,6 @@ FW_VERSIONS = { b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-LE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 3c4150c542c6117292f29f2fa4906b0090d8e9b9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 3 Jan 2024 20:18:29 -0800 Subject: [PATCH 31/92] timezoned: set only from gps (#30904) * timezoned: set only from gps * unused --- system/timezoned.py | 30 ++++++------------------------ 1 file changed, 6 insertions(+), 24 deletions(-) diff --git a/system/timezoned.py b/system/timezoned.py index 4a881c53a3..2cfc0076e9 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -5,7 +5,6 @@ import time import subprocess from typing import NoReturn -import requests from timezonefinder import TimezoneFinder from openpilot.common.params import Params @@ -41,35 +40,18 @@ def main() -> NoReturn: # Get allowed timezones valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') + timezone = params.get("Timezone", encoding='utf8') + if timezone is not None: + cloudlog.debug("Setting timezone based on param") + set_timezone(valid_timezones, timezone) + while True: time.sleep(60) - # Set based on param - timezone = params.get("Timezone", encoding='utf8') - if timezone is not None: - cloudlog.debug("Setting timezone based on param") - set_timezone(valid_timezones, timezone) - continue - location = params.get("LastGPSPosition", encoding='utf8') - # Find timezone based on IP geolocation if no gps location is available - if location is None: - cloudlog.debug("Setting timezone based on IP lookup") - try: - r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) - if r.status_code == 200: - set_timezone(valid_timezones, r.text) - else: - cloudlog.error(f"Unexpected status code from api {r.status_code}") - - time.sleep(3600) # Don't make too many API requests - except requests.exceptions.RequestException: - cloudlog.exception("Error getting timezone based on IP") - continue - # Find timezone by reverse geocoding the last known gps location - else: + if location is not None: cloudlog.debug("Setting timezone based on GPS location") try: location = json.loads(location) From e85e401d073c3f64b882d52757d9653f22adfba2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Jan 2024 00:50:30 -0800 Subject: [PATCH 32/92] Fingerprints: add missing FW versions from users --- selfdrive/car/honda/fingerprints.py | 39 +++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 1667b46188..237ec18313 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -218,6 +218,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', + b'36802-TWA-A210\x00\x00', b'36802-TWA-A330\x00\x00', b'36802-TWB-H060\x00\x00', ], @@ -253,6 +254,7 @@ FW_VERSIONS = { b'37805-5BA-A760\x00\x00', b'37805-5BA-A930\x00\x00', b'37805-5BA-A960\x00\x00', + b'37805-5BA-C640\x00\x00', b'37805-5BA-C860\x00\x00', b'37805-5BA-L410\x00\x00', b'37805-5BA-L760\x00\x00', @@ -296,6 +298,7 @@ FW_VERSIONS = { b'78109-TBA-A510\x00\x00', b'78109-TBA-A520\x00\x00', b'78109-TBA-A530\x00\x00', + b'78109-TBA-C310\x00\x00', b'78109-TBA-C520\x00\x00', b'78109-TBC-A310\x00\x00', b'78109-TBC-A320\x00\x00', @@ -574,6 +577,7 @@ FW_VERSIONS = { b'37805-5PA-6630\x00\x00', b'37805-5PA-6640\x00\x00', b'37805-5PA-7630\x00\x00', + b'37805-5PA-9530\x00\x00', b'37805-5PA-9630\x00\x00', b'37805-5PA-9640\x00\x00', b'37805-5PA-9730\x00\x00', @@ -590,6 +594,7 @@ FW_VERSIONS = { b'37805-5PA-AD10\x00\x00', b'37805-5PA-AF20\x00\x00', b'37805-5PA-AH20\x00\x00', + b'37805-5PA-BF10\x00\x00', b'37805-5PA-C680\x00\x00', b'37805-5PD-Q630\x00\x00', b'37805-5PF-F730\x00\x00', @@ -634,6 +639,7 @@ FW_VERSIONS = { b'46114-TMC-U020\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TLA-A020\x00\x00', b'78109-TLA-A110\x00\x00', b'78109-TLA-A120\x00\x00', b'78109-TLA-A210\x00\x00', @@ -816,6 +822,7 @@ FW_VERSIONS = { ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-5MR-4080\x00\x00', + b'37805-5MR-4180\x00\x00', b'37805-5MR-A240\x00\x00', b'37805-5MR-A250\x00\x00', b'37805-5MR-A310\x00\x00', @@ -854,6 +861,7 @@ FW_VERSIONS = { b'28102-5MX-A001\x00\x00', b'28102-5MX-A600\x00\x00', b'28102-5MX-A610\x00\x00', + b'28102-5MX-A700\x00\x00', b'28102-5MX-A710\x00\x00', b'28102-5MX-A900\x00\x00', b'28102-5MX-A910\x00\x00', @@ -874,6 +882,7 @@ FW_VERSIONS = { b'78109-THR-A420\x00\x00', b'78109-THR-A430\x00\x00', b'78109-THR-A720\x00\x00', + b'78109-THR-A730\x00\x00', b'78109-THR-A820\x00\x00', b'78109-THR-A830\x00\x00', b'78109-THR-AB20\x00\x00', @@ -891,6 +900,7 @@ FW_VERSIONS = { b'78109-THR-AL10\x00\x00', b'78109-THR-AN10\x00\x00', b'78109-THR-C220\x00\x00', + b'78109-THR-C320\x00\x00', b'78109-THR-C330\x00\x00', b'78109-THR-CE20\x00\x00', b'78109-THR-DA20\x00\x00', @@ -927,11 +937,14 @@ FW_VERSIONS = { (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5EY-A050\x00\x00', b'28101-5EY-A100\x00\x00', + b'28101-5EY-A500\x00\x00', b'28101-5EZ-A050\x00\x00', b'28101-5EZ-A060\x00\x00', b'28101-5EZ-A100\x00\x00', b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A330\x00\x00', b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A500\x00\x00', b'28101-5EZ-A600\x00\x00', b'28101-5EZ-A700\x00\x00', ], @@ -943,13 +956,23 @@ FW_VERSIONS = { b'37805-RLV-B210\x00\x00', b'37805-RLV-B220\x00\x00', b'37805-RLV-B420\x00\x00', + b'37805-RLV-B430\x00\x00', + b'37805-RLV-B620\x00\x00', + b'37805-RLV-B710\x00\x00', + b'37805-RLV-B720\x00\x00', b'37805-RLV-C430\x00\x00', b'37805-RLV-C510\x00\x00', b'37805-RLV-C520\x00\x00', b'37805-RLV-C530\x00\x00', b'37805-RLV-C910\x00\x00', b'37805-RLV-F120\x00\x00', + b'37805-RLV-L080\x00\x00', + b'37805-RLV-L090\x00\x00', b'37805-RLV-L160\x00\x00', + b'37805-RLV-L180\x00\x00', + b'37805-RLV-L410\x00\x00', + b'37805-RLV-L430\x00\x00', + b'37805-RLV-L850\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', @@ -976,6 +999,7 @@ FW_VERSIONS = { b'36161-TG7-D520\x00\x00', b'36161-TG7-D630\x00\x00', b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A410\x00\x00', b'36161-TG8-A520\x00\x00', b'36161-TG8-A630\x00\x00', b'36161-TG8-A720\x00\x00', @@ -983,6 +1007,7 @@ FW_VERSIONS = { b'36161-TGS-A030\x00\x00', b'36161-TGS-A130\x00\x00', b'36161-TGS-A220\x00\x00', + b'36161-TGS-A320\x00\x00', b'36161-TGT-A030\x00\x00', b'36161-TGT-A130\x00\x00', ], @@ -1019,7 +1044,10 @@ FW_VERSIONS = { b'78109-TG8-AJ10\x00\x00', b'78109-TG8-AJ20\x00\x00', b'78109-TG8-AK20\x00\x00', + b'78109-TG8-AS20\x00\x00', + b'78109-TGS-AB10\x00\x00', b'78109-TGS-AC10\x00\x00', + b'78109-TGS-AD10\x00\x00', b'78109-TGS-AJ20\x00\x00', b'78109-TGS-AK20\x00\x00', b'78109-TGS-AP20\x00\x00', @@ -1072,13 +1100,17 @@ FW_VERSIONS = { b'37805-5YF-A420\x00\x00', b'37805-5YF-A430\x00\x00', b'37805-5YF-A750\x00\x00', + b'37805-5YF-A760\x00\x00', b'37805-5YF-A850\x00\x00', + b'37805-5YF-A860\x00\x00', b'37805-5YF-A870\x00\x00', b'37805-5YF-AD20\x00\x00', b'37805-5YF-C210\x00\x00', b'37805-5YF-C220\x00\x00', + b'37805-5YF-C230\x00\x00', b'37805-5YF-C410\x00\x00', b'37805-5YF-C420\x00\x00', + b'37805-5YF-C430\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', @@ -1113,6 +1145,7 @@ FW_VERSIONS = { b'78109-TJB-A140\x00\x00', b'78109-TJB-A240\x00\x00', b'78109-TJB-A420\x00\x00', + b'78109-TJB-A440\x00\x00', b'78109-TJB-AB10\x00\x00', b'78109-TJB-AD10\x00\x00', b'78109-TJB-AF10\x00\x00', @@ -1121,6 +1154,7 @@ FW_VERSIONS = { b'78109-TJB-AS10\x00\x00', b'78109-TJB-AU10\x00\x00', b'78109-TJB-AW10\x00\x00', + b'78109-TJC-A240\x00\x00', b'78109-TJC-A420\x00\x00', b'78109-TJC-AA10\x00\x00', b'78109-TJC-AD10\x00\x00', @@ -1340,12 +1374,14 @@ FW_VERSIONS = { b'77959-T47-A950\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-T20-A220\x00\x00', b'78108-T21-A220\x00\x00', b'78108-T21-A230\x00\x00', b'78108-T21-A620\x00\x00', b'78108-T21-A740\x00\x00', b'78108-T21-MB10\x00\x00', b'78108-T22-A020\x00\x00', + b'78108-T22-A030\x00\x00', b'78108-T23-A110\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ @@ -1354,6 +1390,8 @@ FW_VERSIONS = { b'36161-T20-A080\x00\x00', b'36161-T24-T070\x00\x00', b'36161-T47-A070\x00\x00', + b'8S102-T20-AA10\x00\x00', + b'8S102-T47-AA10\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-T20-AB40\x00\x00', @@ -1370,6 +1408,7 @@ FW_VERSIONS = { (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-64A-A540\x00\x00', b'37805-64A-A620\x00\x00', + b'37805-64A-AD10\x00\x00', b'37805-64D-P510\x00\x00', b'37805-64L-A540\x00\x00', b'37805-64S-A540\x00\x00', From 43b0b0f022b8e409b399110f95c3ba34480b5235 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Jan 2024 00:51:34 -0800 Subject: [PATCH 33/92] Revert "Fingerprints: add missing FW versions from users" This reverts commit e85e401d073c3f64b882d52757d9653f22adfba2. Meant for another branch. --- selfdrive/car/honda/fingerprints.py | 39 ----------------------------- 1 file changed, 39 deletions(-) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 237ec18313..1667b46188 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -218,7 +218,6 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', - b'36802-TWA-A210\x00\x00', b'36802-TWA-A330\x00\x00', b'36802-TWB-H060\x00\x00', ], @@ -254,7 +253,6 @@ FW_VERSIONS = { b'37805-5BA-A760\x00\x00', b'37805-5BA-A930\x00\x00', b'37805-5BA-A960\x00\x00', - b'37805-5BA-C640\x00\x00', b'37805-5BA-C860\x00\x00', b'37805-5BA-L410\x00\x00', b'37805-5BA-L760\x00\x00', @@ -298,7 +296,6 @@ FW_VERSIONS = { b'78109-TBA-A510\x00\x00', b'78109-TBA-A520\x00\x00', b'78109-TBA-A530\x00\x00', - b'78109-TBA-C310\x00\x00', b'78109-TBA-C520\x00\x00', b'78109-TBC-A310\x00\x00', b'78109-TBC-A320\x00\x00', @@ -577,7 +574,6 @@ FW_VERSIONS = { b'37805-5PA-6630\x00\x00', b'37805-5PA-6640\x00\x00', b'37805-5PA-7630\x00\x00', - b'37805-5PA-9530\x00\x00', b'37805-5PA-9630\x00\x00', b'37805-5PA-9640\x00\x00', b'37805-5PA-9730\x00\x00', @@ -594,7 +590,6 @@ FW_VERSIONS = { b'37805-5PA-AD10\x00\x00', b'37805-5PA-AF20\x00\x00', b'37805-5PA-AH20\x00\x00', - b'37805-5PA-BF10\x00\x00', b'37805-5PA-C680\x00\x00', b'37805-5PD-Q630\x00\x00', b'37805-5PF-F730\x00\x00', @@ -639,7 +634,6 @@ FW_VERSIONS = { b'46114-TMC-U020\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TLA-A020\x00\x00', b'78109-TLA-A110\x00\x00', b'78109-TLA-A120\x00\x00', b'78109-TLA-A210\x00\x00', @@ -822,7 +816,6 @@ FW_VERSIONS = { ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-5MR-4080\x00\x00', - b'37805-5MR-4180\x00\x00', b'37805-5MR-A240\x00\x00', b'37805-5MR-A250\x00\x00', b'37805-5MR-A310\x00\x00', @@ -861,7 +854,6 @@ FW_VERSIONS = { b'28102-5MX-A001\x00\x00', b'28102-5MX-A600\x00\x00', b'28102-5MX-A610\x00\x00', - b'28102-5MX-A700\x00\x00', b'28102-5MX-A710\x00\x00', b'28102-5MX-A900\x00\x00', b'28102-5MX-A910\x00\x00', @@ -882,7 +874,6 @@ FW_VERSIONS = { b'78109-THR-A420\x00\x00', b'78109-THR-A430\x00\x00', b'78109-THR-A720\x00\x00', - b'78109-THR-A730\x00\x00', b'78109-THR-A820\x00\x00', b'78109-THR-A830\x00\x00', b'78109-THR-AB20\x00\x00', @@ -900,7 +891,6 @@ FW_VERSIONS = { b'78109-THR-AL10\x00\x00', b'78109-THR-AN10\x00\x00', b'78109-THR-C220\x00\x00', - b'78109-THR-C320\x00\x00', b'78109-THR-C330\x00\x00', b'78109-THR-CE20\x00\x00', b'78109-THR-DA20\x00\x00', @@ -937,14 +927,11 @@ FW_VERSIONS = { (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5EY-A050\x00\x00', b'28101-5EY-A100\x00\x00', - b'28101-5EY-A500\x00\x00', b'28101-5EZ-A050\x00\x00', b'28101-5EZ-A060\x00\x00', b'28101-5EZ-A100\x00\x00', b'28101-5EZ-A210\x00\x00', - b'28101-5EZ-A330\x00\x00', b'28101-5EZ-A430\x00\x00', - b'28101-5EZ-A500\x00\x00', b'28101-5EZ-A600\x00\x00', b'28101-5EZ-A700\x00\x00', ], @@ -956,23 +943,13 @@ FW_VERSIONS = { b'37805-RLV-B210\x00\x00', b'37805-RLV-B220\x00\x00', b'37805-RLV-B420\x00\x00', - b'37805-RLV-B430\x00\x00', - b'37805-RLV-B620\x00\x00', - b'37805-RLV-B710\x00\x00', - b'37805-RLV-B720\x00\x00', b'37805-RLV-C430\x00\x00', b'37805-RLV-C510\x00\x00', b'37805-RLV-C520\x00\x00', b'37805-RLV-C530\x00\x00', b'37805-RLV-C910\x00\x00', b'37805-RLV-F120\x00\x00', - b'37805-RLV-L080\x00\x00', - b'37805-RLV-L090\x00\x00', b'37805-RLV-L160\x00\x00', - b'37805-RLV-L180\x00\x00', - b'37805-RLV-L410\x00\x00', - b'37805-RLV-L430\x00\x00', - b'37805-RLV-L850\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', @@ -999,7 +976,6 @@ FW_VERSIONS = { b'36161-TG7-D520\x00\x00', b'36161-TG7-D630\x00\x00', b'36161-TG7-Y630\x00\x00', - b'36161-TG8-A410\x00\x00', b'36161-TG8-A520\x00\x00', b'36161-TG8-A630\x00\x00', b'36161-TG8-A720\x00\x00', @@ -1007,7 +983,6 @@ FW_VERSIONS = { b'36161-TGS-A030\x00\x00', b'36161-TGS-A130\x00\x00', b'36161-TGS-A220\x00\x00', - b'36161-TGS-A320\x00\x00', b'36161-TGT-A030\x00\x00', b'36161-TGT-A130\x00\x00', ], @@ -1044,10 +1019,7 @@ FW_VERSIONS = { b'78109-TG8-AJ10\x00\x00', b'78109-TG8-AJ20\x00\x00', b'78109-TG8-AK20\x00\x00', - b'78109-TG8-AS20\x00\x00', - b'78109-TGS-AB10\x00\x00', b'78109-TGS-AC10\x00\x00', - b'78109-TGS-AD10\x00\x00', b'78109-TGS-AJ20\x00\x00', b'78109-TGS-AK20\x00\x00', b'78109-TGS-AP20\x00\x00', @@ -1100,17 +1072,13 @@ FW_VERSIONS = { b'37805-5YF-A420\x00\x00', b'37805-5YF-A430\x00\x00', b'37805-5YF-A750\x00\x00', - b'37805-5YF-A760\x00\x00', b'37805-5YF-A850\x00\x00', - b'37805-5YF-A860\x00\x00', b'37805-5YF-A870\x00\x00', b'37805-5YF-AD20\x00\x00', b'37805-5YF-C210\x00\x00', b'37805-5YF-C220\x00\x00', - b'37805-5YF-C230\x00\x00', b'37805-5YF-C410\x00\x00', b'37805-5YF-C420\x00\x00', - b'37805-5YF-C430\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', @@ -1145,7 +1113,6 @@ FW_VERSIONS = { b'78109-TJB-A140\x00\x00', b'78109-TJB-A240\x00\x00', b'78109-TJB-A420\x00\x00', - b'78109-TJB-A440\x00\x00', b'78109-TJB-AB10\x00\x00', b'78109-TJB-AD10\x00\x00', b'78109-TJB-AF10\x00\x00', @@ -1154,7 +1121,6 @@ FW_VERSIONS = { b'78109-TJB-AS10\x00\x00', b'78109-TJB-AU10\x00\x00', b'78109-TJB-AW10\x00\x00', - b'78109-TJC-A240\x00\x00', b'78109-TJC-A420\x00\x00', b'78109-TJC-AA10\x00\x00', b'78109-TJC-AD10\x00\x00', @@ -1374,14 +1340,12 @@ FW_VERSIONS = { b'77959-T47-A950\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78108-T20-A220\x00\x00', b'78108-T21-A220\x00\x00', b'78108-T21-A230\x00\x00', b'78108-T21-A620\x00\x00', b'78108-T21-A740\x00\x00', b'78108-T21-MB10\x00\x00', b'78108-T22-A020\x00\x00', - b'78108-T22-A030\x00\x00', b'78108-T23-A110\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ @@ -1390,8 +1354,6 @@ FW_VERSIONS = { b'36161-T20-A080\x00\x00', b'36161-T24-T070\x00\x00', b'36161-T47-A070\x00\x00', - b'8S102-T20-AA10\x00\x00', - b'8S102-T47-AA10\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-T20-AB40\x00\x00', @@ -1408,7 +1370,6 @@ FW_VERSIONS = { (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-64A-A540\x00\x00', b'37805-64A-A620\x00\x00', - b'37805-64A-AD10\x00\x00', b'37805-64D-P510\x00\x00', b'37805-64L-A540\x00\x00', b'37805-64S-A540\x00\x00', From 63f0d775bc938ba38dbc7f42957fc2a80094686c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Jan 2024 16:54:50 -0700 Subject: [PATCH 34/92] Fingerprints: add missing FW versions from users (#30906) Export fingerprints from Fingerprint stage --- selfdrive/car/toyota/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 62c4ddf3ce..f162d287f4 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -145,6 +145,7 @@ FW_VERSIONS = { b'8821F0601200 ', b'8821F0601300 ', b'8821F0601400 ', + b'8821F0601500 ', b'8821F0602000 ', b'8821F0603300 ', b'8821F0603400 ', @@ -189,6 +190,7 @@ FW_VERSIONS = { b'8821F0601200 ', b'8821F0601300 ', b'8821F0601400 ', + b'8821F0601500 ', b'8821F0602000 ', b'8821F0603300 ', b'8821F0603400 ', From 1148c65d232fdfe7aa46b80c078721d78876da4a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 4 Jan 2024 20:52:07 -0500 Subject: [PATCH 35/92] add read_seglist helper (#30908) add helper --- selfdrive/car/tests/test_models.py | 10 ++++------ selfdrive/test/helpers.py | 7 +++++++ 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index cc52995a33..253841877f 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,6 +21,7 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls +from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -52,12 +53,9 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,)))) else: - with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: - seg_list = f.read().splitlines() - - seg_list_grouped = [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] - seg_list_grouped = random.sample(seg_list_grouped, INTERNAL_SEG_CNT or len(seg_list_grouped)) - for platform, segment in seg_list_grouped: + segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) + segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) + for platform, segment in segment_list: segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 78b01c983f..134f1150b8 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -72,3 +72,10 @@ def with_processes(processes, init_time=0, ignore_stopped=None): def noop(*args, **kwargs): pass + + +def read_segment_list(segment_list_path): + with open(segment_list_path, "r") as f: + seg_list = f.read().splitlines() + + return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] From 397c1e373c1eada0cb27bfb070812f0fa466bdcf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Jan 2024 19:53:23 -0800 Subject: [PATCH 36/92] selfdrive/test: fix indentation no ruff rule for this --- selfdrive/test/helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 134f1150b8..6cba371fc2 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -76,6 +76,6 @@ def noop(*args, **kwargs): def read_segment_list(segment_list_path): with open(segment_list_path, "r") as f: - seg_list = f.read().splitlines() + seg_list = f.read().splitlines() return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] From 002ab5637b7d8dc22ad2197f4d98544d0518b941 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Jan 2024 23:16:39 -0700 Subject: [PATCH 37/92] Car docs: utilize post init (#30912) move these to earlier post_init --- selfdrive/car/docs_definitions.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2e80dde010..f2ce743607 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -244,10 +244,13 @@ class CarInfo: # all the parts needed for the supported car car_parts: CarParts = field(default_factory=CarParts) + def __post_init__(self): + self.make, self.model, self.years = split_name(self.name) + self.year_list = get_year_list(self.years) + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint - self.make, self.model, self.years = split_name(self.name) # longitudinal column op_long = "Stock" @@ -309,7 +312,6 @@ class CarInfo: self.row[Column.STEERING_TORQUE] = Star.FULL self.all_footnotes = all_footnotes - self.year_list = get_year_list(self.years) self.detail_sentence = self.get_detail_sentence(CP) return self From 15e0a906ad70f50594c58a38fb4d2cb1a6c9c89a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Jan 2024 14:52:24 -0500 Subject: [PATCH 38/92] tools: add car porting example notebook (#30918) * add car porting example notebooks * not required --- .../examples/subaru_steer_temp_fault.ipynb | 114 ++++++++++++++++++ 1 file changed, 114 insertions(+) create mode 100644 tools/car_porting/examples/subaru_steer_temp_fault.ipynb diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb new file mode 100644 index 0000000000..9dea025c62 --- /dev/null +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -0,0 +1,114 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# An example of searching through the database of segments for a specific condition, and plotting the results.\n", + "\n", + "segments = [\n", + " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--6\",\n", + " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--7\",\n", + " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--8\",\n", + "]\n", + "platform = \"SUBARU OUTBACK 6TH GEN\"" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import copy\n", + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "from openpilot.tools.lib.logreader import logreader_from_route_or_segment\n", + "\n", + "\n", + "from selfdrive.car.subaru.values import CanBus, DBC\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "\n", + "\"\"\"\n", + "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n", + "has stopped responding to our messages. This analysis would allow you to find the cause of these\n", + "steer warnings and potentially work around them.\n", + "\"\"\"\n", + "\n", + "for segment in segments:\n", + " print(segment)\n", + " lr = logreader_from_route_or_segment(segment)\n", + "\n", + " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", + "\n", + " messages = [\n", + " (\"Steering_Torque\", 50)\n", + " ]\n", + "\n", + " cp = CANParser(DBC[platform][\"pt\"], messages, CanBus.main)\n", + "\n", + " steering_torque_history = []\n", + " examples = []\n", + "\n", + " for msg in can_msgs:\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", + " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", + " \n", + " steer_warning_last = False\n", + " for i, steering_torque_msg in enumerate(steering_torque_history):\n", + " steer_warning = steering_torque_msg[\"Steer_Warning\"]\n", + "\n", + " steer_angle = steering_torque_msg[\"Steering_Angle\"]\n", + "\n", + " if steer_warning and not steer_warning_last: # positive transition of \"Steer_Warning\"\n", + " examples.append(i)\n", + "\n", + " steer_warning_last = steer_warning\n", + "\n", + " FRAME_DELTA = 100 # plot this many frames around the positive transition\n", + "\n", + " for example in examples:\n", + " fig, axs = plt.subplots(2)\n", + "\n", + " min_frame = int(example-FRAME_DELTA/2)\n", + " max_frame = int(example+FRAME_DELTA/2)\n", + "\n", + " steering_angle_history = [msg[\"Steering_Angle\"] for msg in steering_torque_history[min_frame:max_frame]]\n", + " steering_warning_history = [msg[\"Steer_Warning\"] for msg in steering_torque_history[min_frame:max_frame]]\n", + "\n", + " xs = np.arange(-FRAME_DELTA/2, FRAME_DELTA/2)\n", + "\n", + " axs[0].plot(xs, steering_angle_history)\n", + " axs[0].set_ylabel(\"Steering Angle (deg)\")\n", + " axs[1].plot(xs, steering_warning_history)\n", + " axs[1].set_ylabel(\"Steer Warning\")\n", + "\n", + " plt.show()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} From e86d74b347f60a3e575d45b4c99d94d23c8c7d84 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Jan 2024 14:53:03 -0500 Subject: [PATCH 39/92] move car porting tools to tools/car_porting (#30916) just this for now --- selfdrive/car/README.md | 60 ------------------- tools/car_porting/README.md | 58 ++++++++++++++++++ .../car_porting}/auto_fingerprint.py | 0 .../car_porting}/test_car_model.py | 0 4 files changed, 58 insertions(+), 60 deletions(-) create mode 100644 tools/car_porting/README.md rename {selfdrive/debug => tools/car_porting}/auto_fingerprint.py (100%) rename {selfdrive/debug => tools/car_porting}/test_car_model.py (100%) diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md index f77bea205b..2c49cf2051 100644 --- a/selfdrive/car/README.md +++ b/selfdrive/car/README.md @@ -1,63 +1,3 @@ -# selfdrive/car - -Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car. - -## Useful car porting utilities - -Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car. - -### [Cabana](/tools/cabana/README.md) - -View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. - -Example: -```bash -> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' -``` - -### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py) - -Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in values.py - -Example: -```bash -> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' -Attempting to add fw version for: SUBARU OUTBACK 6TH GEN -``` - -### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) - -Finds common bugs for car interfaces, without even requiring a route. - - -#### Example: Typo in signal name -```bash -> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on - -===================================================================== -FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' - -``` - -### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py) - -Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches. - -#### Example: panda safety mismatch for gasPressed -```bash -> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' - -===================================================================== -FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) -Assert that panda safety matches openpilot's carState ----------------------------------------------------------------------- -Traceback (most recent call last): - File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate - self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") -AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} -``` - - ## Car port structure ### interface.py diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md new file mode 100644 index 0000000000..14e6c71e58 --- /dev/null +++ b/tools/car_porting/README.md @@ -0,0 +1,58 @@ +# tools/car_porting + +Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car. + +## Useful car porting utilities + +Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car. + +### [Cabana](/tools/cabana/README.md) + +View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. + +Example: +```bash +> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' +``` + +### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py) + +Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py + +Example: +```bash +> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' +Attempting to add fw version for: SUBARU OUTBACK 6TH GEN +``` + +### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) + +Finds common bugs for car interfaces, without even requiring a route. + + +#### Example: Typo in signal name +```bash +> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on + +===================================================================== +FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' + +``` + +### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py) + +Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches. + +#### Example: panda safety mismatch for gasPressed +```bash +> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' + +===================================================================== +FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) +Assert that panda safety matches openpilot's carState +---------------------------------------------------------------------- +Traceback (most recent call last): + File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate + self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") +AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} +``` \ No newline at end of file diff --git a/selfdrive/debug/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py similarity index 100% rename from selfdrive/debug/auto_fingerprint.py rename to tools/car_porting/auto_fingerprint.py diff --git a/selfdrive/debug/test_car_model.py b/tools/car_porting/test_car_model.py similarity index 100% rename from selfdrive/debug/test_car_model.py rename to tools/car_porting/test_car_model.py From 239b228ca6987daa54c20090346d458c9bd4493d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Jan 2024 16:57:02 -0500 Subject: [PATCH 40/92] add the notebook example to car port docs (#30920) * add the notebook example * fix link * add image * no lfs * no lfs --- tools/car_porting/README.md | 10 +++++++++- .../car_porting/examples/subaru_steer_temp_fault.ipynb | 2 +- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md index 14e6c71e58..ca21cdd329 100644 --- a/tools/car_porting/README.md +++ b/tools/car_porting/README.md @@ -55,4 +55,12 @@ Traceback (most recent call last): File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} -``` \ No newline at end of file +``` + +### [tools/car_porting/examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb) + +An example of searching through a database of segments for a specific condition, and plotting the results. + +![steer warning example](https://github.com/commaai/openpilot/assets/9648890/d60ad120-4b44-4974-ac79-adc660fb8fe2) + +*a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change* diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index 9dea025c62..a20d7d5062 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -6,7 +6,7 @@ "metadata": {}, "outputs": [], "source": [ - "# An example of searching through the database of segments for a specific condition, and plotting the results.\n", + "# An example of searching through a database of segments for a specific condition, and plotting the results.\n", "\n", "segments = [\n", " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--6\",\n", From 46f3fdc090cef3b4b1b8bb4938ad68e1ca7cb280 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 5 Jan 2024 15:17:49 -0800 Subject: [PATCH 41/92] Update Python packages and pre-commit hooks (#30597) * Update Python packages and pre-commit hooks * fix --------- Co-authored-by: jnewb1 --- .pre-commit-config.yaml | 8 +- poetry.lock | 1701 ++++++++++++++-------------- selfdrive/athena/athenad.py | 11 +- tools/webcam/front_mount_helper.py | 35 - tools/webcam/warp_vis.py | 43 - 5 files changed, 871 insertions(+), 927 deletions(-) delete mode 100755 tools/webcam/front_mount_helper.py delete mode 100755 tools/webcam/warp_vis.py diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 9f1ba1ab97..d3e309eba9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -39,10 +39,12 @@ repos: entry: mypy language: system types: [python] - args: ['--explicit-package-bases', '--local-partial-types'] + args: + - --local-partial-types + - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.6 + rev: v0.1.9 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' @@ -87,7 +89,7 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.27.2 + rev: 0.27.3 hooks: - id: check-github-workflows # - repo: local diff --git a/poetry.lock b/poetry.lock index 2731ff1c48..d7e512ef8a 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. 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ssock: socket.socket while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() + if isinstance(data, str): + data = data.encode("utf-8") local_sock.sendall(data) except WebSocketTimeoutException: pass @@ -728,10 +730,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: if onroad != onroad_prev: onroad_prev = onroad - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) + if sock is not None: + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) if end_event.wait(5): break diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py deleted file mode 100755 index 0b7b676f6e..0000000000 --- a/tools/webcam/front_mount_helper.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python -import numpy as np - -# copied from openpilot.common.transformations/camera.py -eon_dcam_focal_length = 860.0 # pixels -webcam_focal_length = 908.0 # pixels - -eon_dcam_intrinsics = np.array([ - [eon_dcam_focal_length, 0, 1152/2.], - [ 0, eon_dcam_focal_length, 864/2.], - [ 0, 0, 1]]) - -webcam_intrinsics = np.array([ - [webcam_focal_length, 0., 1280/2.], - [ 0., webcam_focal_length, 720/2.], - [ 0., 0., 1.]]) - -cam_id = 2 - -if __name__ == "__main__": - import cv2 - - trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) - - cap = cv2.VideoCapture(cam_id) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) - - while (True): - ret, img = cap.read() - if ret: - img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - img = img[:, -864//2:, :] - cv2.imshow('preview', img) - cv2.waitKey(10) diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py deleted file mode 100755 index e3f1284a45..0000000000 --- a/tools/webcam/warp_vis.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python -import numpy as np - -# copied from openpilot.common.transformations/camera.py -eon_focal_length = 910.0 # pixels -eon_dcam_focal_length = 860.0 # pixels - -webcam_focal_length = -908.0/1.5 # pixels - -eon_intrinsics = np.array([ - [eon_focal_length, 0., 1164/2.], - [ 0., eon_focal_length, 874/2.], - [ 0., 0., 1.]]) - -eon_dcam_intrinsics = np.array([ - [eon_dcam_focal_length, 0, 1152/2.], - [ 0, eon_dcam_focal_length, 864/2.], - [ 0, 0, 1]]) - -webcam_intrinsics = np.array([ - [webcam_focal_length, 0., 1280/2/1.5], - [ 0., webcam_focal_length, 720/2/1.5], - [ 0., 0., 1.]]) - -if __name__ == "__main__": - import cv2 - trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics)) - trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) - print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear) - print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front) - - cap = cv2.VideoCapture(1) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480) - - while (True): - ret, img = cap.read() - if ret: - # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - print(img.shape, end='\r') - cv2.imshow('preview', img) - cv2.waitKey(10) From 4cc48b75e859f5a41c86cf4241dab36509896491 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Jan 2024 19:20:37 -0500 Subject: [PATCH 42/92] add sanitizer function (#30919) * sanetizer function * spelling * better * move to helpers --- selfdrive/test/helpers.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 6cba371fc2..693604442d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -8,6 +8,7 @@ from openpilot.common.params import Params from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version +from openpilot.tools.lib.logreader import LogIterable def set_params_enabled(): @@ -79,3 +80,11 @@ def read_segment_list(segment_list_path): seg_list = f.read().splitlines() return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] + + +# Utilities for sanitizing routes of only essential data for testing car ports and doing validation. + +PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"] + +def sanitize(lr: LogIterable) -> LogIterable: + return filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr) From 03d6233743dbf8913ca48b59dd54f111be2ab595 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 5 Jan 2024 19:22:45 -0500 Subject: [PATCH 43/92] move profiling tools to tools/profiling (#30917) move profiling --- {selfdrive/debug => tools}/profiling/clpeak/.gitignore | 0 {selfdrive/debug => tools}/profiling/clpeak/build.sh | 0 {selfdrive/debug => tools}/profiling/clpeak/no_print.patch | 0 .../debug => tools}/profiling/clpeak/run_continuously.patch | 0 {selfdrive/debug => tools}/profiling/ftrace.sh | 0 {selfdrive/debug => tools}/profiling/palanteer/.gitignore | 0 {selfdrive/debug => tools}/profiling/palanteer/setup.sh | 0 {selfdrive/debug => tools}/profiling/perfetto/.gitignore | 0 {selfdrive/debug => tools}/profiling/perfetto/build.sh | 0 {selfdrive/debug => tools}/profiling/perfetto/copy.sh | 0 {selfdrive/debug => tools}/profiling/perfetto/record.sh | 0 {selfdrive/debug => tools}/profiling/perfetto/server.sh | 0 {selfdrive/debug => tools}/profiling/perfetto/traces.sh | 0 {selfdrive/debug => tools}/profiling/py-spy/profile.sh | 0 {selfdrive/debug => tools}/profiling/snapdragon/.gitignore | 0 {selfdrive/debug => tools}/profiling/snapdragon/README.md | 0 {selfdrive/debug => tools}/profiling/snapdragon/setup-agnos.sh | 0 {selfdrive/debug => tools}/profiling/snapdragon/setup-profiler.sh | 0 {selfdrive/debug => tools}/profiling/watch-irqs.sh | 0 19 files changed, 0 insertions(+), 0 deletions(-) rename {selfdrive/debug => tools}/profiling/clpeak/.gitignore (100%) rename {selfdrive/debug => tools}/profiling/clpeak/build.sh (100%) rename {selfdrive/debug => tools}/profiling/clpeak/no_print.patch (100%) rename {selfdrive/debug => tools}/profiling/clpeak/run_continuously.patch (100%) rename {selfdrive/debug => tools}/profiling/ftrace.sh (100%) rename {selfdrive/debug => tools}/profiling/palanteer/.gitignore (100%) rename {selfdrive/debug => tools}/profiling/palanteer/setup.sh (100%) rename {selfdrive/debug => tools}/profiling/perfetto/.gitignore (100%) rename {selfdrive/debug => tools}/profiling/perfetto/build.sh (100%) rename {selfdrive/debug => tools}/profiling/perfetto/copy.sh (100%) rename {selfdrive/debug => tools}/profiling/perfetto/record.sh (100%) rename {selfdrive/debug => tools}/profiling/perfetto/server.sh (100%) rename {selfdrive/debug => tools}/profiling/perfetto/traces.sh (100%) rename {selfdrive/debug => tools}/profiling/py-spy/profile.sh (100%) rename {selfdrive/debug => tools}/profiling/snapdragon/.gitignore (100%) rename {selfdrive/debug => tools}/profiling/snapdragon/README.md (100%) rename {selfdrive/debug => tools}/profiling/snapdragon/setup-agnos.sh (100%) rename {selfdrive/debug => tools}/profiling/snapdragon/setup-profiler.sh (100%) rename {selfdrive/debug => tools}/profiling/watch-irqs.sh (100%) diff --git a/selfdrive/debug/profiling/clpeak/.gitignore b/tools/profiling/clpeak/.gitignore similarity index 100% rename from selfdrive/debug/profiling/clpeak/.gitignore rename to tools/profiling/clpeak/.gitignore diff --git a/selfdrive/debug/profiling/clpeak/build.sh b/tools/profiling/clpeak/build.sh similarity index 100% rename from selfdrive/debug/profiling/clpeak/build.sh rename to tools/profiling/clpeak/build.sh diff --git a/selfdrive/debug/profiling/clpeak/no_print.patch b/tools/profiling/clpeak/no_print.patch similarity index 100% rename from selfdrive/debug/profiling/clpeak/no_print.patch rename to tools/profiling/clpeak/no_print.patch diff --git a/selfdrive/debug/profiling/clpeak/run_continuously.patch b/tools/profiling/clpeak/run_continuously.patch similarity index 100% rename from selfdrive/debug/profiling/clpeak/run_continuously.patch rename to tools/profiling/clpeak/run_continuously.patch diff --git a/selfdrive/debug/profiling/ftrace.sh b/tools/profiling/ftrace.sh similarity index 100% rename from selfdrive/debug/profiling/ftrace.sh rename to tools/profiling/ftrace.sh diff --git a/selfdrive/debug/profiling/palanteer/.gitignore b/tools/profiling/palanteer/.gitignore similarity index 100% rename from selfdrive/debug/profiling/palanteer/.gitignore rename to tools/profiling/palanteer/.gitignore diff --git a/selfdrive/debug/profiling/palanteer/setup.sh b/tools/profiling/palanteer/setup.sh similarity index 100% rename from selfdrive/debug/profiling/palanteer/setup.sh rename to tools/profiling/palanteer/setup.sh diff --git a/selfdrive/debug/profiling/perfetto/.gitignore b/tools/profiling/perfetto/.gitignore similarity index 100% rename from selfdrive/debug/profiling/perfetto/.gitignore rename to tools/profiling/perfetto/.gitignore diff --git a/selfdrive/debug/profiling/perfetto/build.sh b/tools/profiling/perfetto/build.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/build.sh rename to tools/profiling/perfetto/build.sh diff --git a/selfdrive/debug/profiling/perfetto/copy.sh b/tools/profiling/perfetto/copy.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/copy.sh rename to tools/profiling/perfetto/copy.sh diff --git a/selfdrive/debug/profiling/perfetto/record.sh b/tools/profiling/perfetto/record.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/record.sh rename to tools/profiling/perfetto/record.sh diff --git a/selfdrive/debug/profiling/perfetto/server.sh b/tools/profiling/perfetto/server.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/server.sh rename to tools/profiling/perfetto/server.sh diff --git a/selfdrive/debug/profiling/perfetto/traces.sh b/tools/profiling/perfetto/traces.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/traces.sh rename to tools/profiling/perfetto/traces.sh diff --git a/selfdrive/debug/profiling/py-spy/profile.sh b/tools/profiling/py-spy/profile.sh similarity index 100% rename from selfdrive/debug/profiling/py-spy/profile.sh rename to tools/profiling/py-spy/profile.sh diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/tools/profiling/snapdragon/.gitignore similarity index 100% rename from selfdrive/debug/profiling/snapdragon/.gitignore rename to tools/profiling/snapdragon/.gitignore diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md similarity index 100% rename from selfdrive/debug/profiling/snapdragon/README.md rename to tools/profiling/snapdragon/README.md diff --git a/selfdrive/debug/profiling/snapdragon/setup-agnos.sh b/tools/profiling/snapdragon/setup-agnos.sh similarity index 100% rename from selfdrive/debug/profiling/snapdragon/setup-agnos.sh rename to tools/profiling/snapdragon/setup-agnos.sh diff --git a/selfdrive/debug/profiling/snapdragon/setup-profiler.sh b/tools/profiling/snapdragon/setup-profiler.sh similarity index 100% rename from selfdrive/debug/profiling/snapdragon/setup-profiler.sh rename to tools/profiling/snapdragon/setup-profiler.sh diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/tools/profiling/watch-irqs.sh similarity index 100% rename from selfdrive/debug/profiling/watch-irqs.sh rename to tools/profiling/watch-irqs.sh From 2378f311d2955ed0983fc0b7f2b93b938a3256fa Mon Sep 17 00:00:00 2001 From: Meir Date: Sat, 6 Jan 2024 08:28:56 +0200 Subject: [PATCH 44/92] Auto translate with OpenAI (#30899) * auto translate with OpenAI * change model * fix mypy typing errors * update * fix lint errors * check api key after args parser * fix input args * use languages.json * just print --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/translations/auto_translate.py | 136 ++++++++++++++++++++ 1 file changed, 136 insertions(+) create mode 100755 selfdrive/ui/translations/auto_translate.py diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py new file mode 100755 index 0000000000..431e6d0905 --- /dev/null +++ b/selfdrive/ui/translations/auto_translate.py @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 + +import argparse +import json +import os +import pathlib +import xml.etree.ElementTree as ET +from typing import cast + +import requests + +TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent +TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json" + +OPENAI_MODEL = "gpt-4" +OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY") +OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code)." + \ + "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." + + +def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: + files = {} + + with open(TRANSLATIONS_LANGUAGES) as fp: + language_dict = json.load(fp) + + for filename in language_dict.values(): + path = TRANSLATIONS_DIR / f"{filename}.ts" + language = path.stem.split("main_")[1] + + if languages is None or language in languages: + files[language] = path + + return files + + +def translate_phrase(text: str, language: str) -> str: + response = requests.post( + "https://api.openai.com/v1/chat/completions", + json={ + "model": OPENAI_MODEL, + "messages": [ + { + "role": "system", + "content": OPENAI_PROMPT.format(language=language), + }, + { + "role": "user", + "content": text, + }, + ], + "temperature": 0.8, + "max_tokens": 1024, + "top_p": 1, + }, + headers={ + "Authorization": f"Bearer {OPENAI_API_KEY}", + }, + ) + + response.raise_for_status() + + data = response.json() + + return cast(str, data["choices"][0]["message"]["content"]) + + +def translate_file(path: pathlib.Path, language: str, all_: bool) -> None: + tree = ET.parse(path) + + root = tree.getroot() + + for context in root.findall("./context"): + name = context.find("name") + if name is None: + raise ValueError("name not found") + + print(f"Context: {name.text}") + + for message in context.findall("./message"): + source = message.find("source") + translation = message.find("translation") + + if source is None or translation is None: + raise ValueError("source or translation not found") + + if not all_ and translation.attrib.get("type") != "unfinished": + continue + + llm_translation = translate_phrase(cast(str, source.text), language) + + print(f"Source: {source.text}\n" + \ + f"Current translation: {translation.text}\n" + \ + f"LLM translation: {llm_translation}") + + translation.text = llm_translation + + with path.open("w", encoding="utf-8") as fp: + fp.write('\n' + + '\n' + + ET.tostring(root, encoding="utf-8").decode()) + + +def main(): + arg_parser = argparse.ArgumentParser("Auto translate") + + group = arg_parser.add_mutually_exclusive_group(required=True) + group.add_argument("-a", "--all-files", action="store_true", help="Translate all files") + group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)") + + arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)") + + args = arg_parser.parse_args() + + if OPENAI_API_KEY is None: + print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" + \ + "If you don't have one go to: https://beta.openai.com/account/api-keys.") + exit(1) + + files = get_language_files(None if args.all_files else args.file) + + if args.file: + missing_files = set(args.file) - set(files) + if len(missing_files): + print(f"No language files found: {missing_files}") + exit(1) + + print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}") + + for lang, path in files.items(): + print(f"Translate {lang} ({path})") + translate_file(path, lang, args.all_translations) + + +if __name__ == "__main__": + main() From 084871ed5bea42326bff40c35d6c02a55b3fdb13 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 6 Jan 2024 00:44:54 -0700 Subject: [PATCH 45/92] Auto translate: fix prompt & formatting (#30922) fixes --- selfdrive/ui/translations/auto_translate.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py index 431e6d0905..8613feb245 100755 --- a/selfdrive/ui/translations/auto_translate.py +++ b/selfdrive/ui/translations/auto_translate.py @@ -14,7 +14,7 @@ TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json" OPENAI_MODEL = "gpt-4" OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY") -OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code)." + \ +OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \ "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." @@ -55,10 +55,12 @@ def translate_phrase(text: str, language: str) -> str: }, headers={ "Authorization": f"Bearer {OPENAI_API_KEY}", + "Content-Type": "application/json", }, ) - response.raise_for_status() + if 400 <= response.status_code < 600: + raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response) data = response.json() @@ -89,9 +91,9 @@ def translate_file(path: pathlib.Path, language: str, all_: bool) -> None: llm_translation = translate_phrase(cast(str, source.text), language) - print(f"Source: {source.text}\n" + \ - f"Current translation: {translation.text}\n" + \ - f"LLM translation: {llm_translation}") + print(f"Source: {source.text}\n" + + f"Current translation: {translation.text}\n" + + f"LLM translation: {llm_translation}") translation.text = llm_translation @@ -113,7 +115,7 @@ def main(): args = arg_parser.parse_args() if OPENAI_API_KEY is None: - print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" + \ + print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" + "If you don't have one go to: https://beta.openai.com/account/api-keys.") exit(1) From f0ccb84ae3ed890fdf5610573a8b8882f4e29d3e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 6 Jan 2024 16:20:28 -0800 Subject: [PATCH 46/92] remove common.profiler (#30927) * remove common.profiler * cleanup --- common/profiler.py | 45 --------------------------------- selfdrive/controls/controlsd.py | 9 ------- 2 files changed, 54 deletions(-) delete mode 100644 common/profiler.py diff --git a/common/profiler.py b/common/profiler.py deleted file mode 100644 index 8b1a7a8cfa..0000000000 --- a/common/profiler.py +++ /dev/null @@ -1,45 +0,0 @@ -import time - -class Profiler(): - def __init__(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - self.tot = 0. - - def reset(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - - def checkpoint(self, name, ignore=False): - # ignore flag needed when benchmarking threads with ratekeeper - if not self.enabled: - return - tt = time.time() - if name not in self.cp: - self.cp[name] = 0. - if ignore: - self.cp_ignored.append(name) - self.cp[name] += tt - self.last_time - if not ignore: - self.tot += tt - self.last_time - self.last_time = tt - - def display(self): - if not self.enabled: - return - self.iter += 1 - print("******* Profiling %d *******" % self.iter) - for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]): - if n in self.cp_ignored: - print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - else: - print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 46a0b7f462..698c149515 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,6 @@ from typing import SupportsFloat from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.common.profiler import Profiler from openpilot.common.params import Params import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType @@ -195,7 +194,6 @@ class Controls: # controlsd is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) - self.prof = Profiler(False) # off by default def set_initial_state(self): if REPLAY: @@ -851,12 +849,10 @@ class Controls: def step(self): start_time = time.monotonic() - self.prof.checkpoint("Ratekeeper", ignore=True) # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") - self.prof.checkpoint("Sample") self.update_events(CS) cloudlog.timestamp("Events updated") @@ -864,16 +860,12 @@ class Controls: if not self.CP.passive and self.initialized: # Update control state self.state_transition(CS) - self.prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) CC, lac_log = self.state_control(CS) - self.prof.checkpoint("State Control") - # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.prof.checkpoint("Sent") self.CS_prev = CS @@ -893,7 +885,6 @@ class Controls: while True: self.step() self.rk.monitor_time() - self.prof.display() except SystemExit: e.set() t.join() From 7997fccdfa81b402e2059ec50915edeb3f3a024e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 6 Jan 2024 17:46:44 -0800 Subject: [PATCH 47/92] update mapsd cpu --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 3f97ef6bc6..bc12234c9c 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,7 +34,7 @@ PROCS = { "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, - "./mapsd": (1.0, 10.0), + "./mapsd": (0.5, 10.0), "selfdrive.controls.plannerd": 11.0, "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, From e867aa40dbd1239aadf8f31bb89c82512f02bff4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Jan 2024 14:34:04 -0800 Subject: [PATCH 48/92] ignore "car port" for stale pr detection --- .github/workflows/stale.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index f2a24e4368..2d60d2f0e9 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -20,7 +20,7 @@ jobs: stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo - exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale + exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} From 073fc89ad49461c01ea474125a89a505543d093d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Jan 2024 14:54:39 -0800 Subject: [PATCH 49/92] Revert "UI: single-threaded CameraView (#30397)" This reverts commit 17ac1d3c7b3b481826d51eb82aaf9dbcc3f3bd81. --- selfdrive/ui/qt/offroad/driverview.cc | 13 +- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/onroad.cc | 30 ++-- selfdrive/ui/qt/onroad.h | 2 + selfdrive/ui/qt/widgets/cameraview.cc | 189 ++++++++++++++++---------- selfdrive/ui/qt/widgets/cameraview.h | 49 +++---- selfdrive/ui/watch3.cc | 8 +- tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 4 +- 9 files changed, 178 insertions(+), 124 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 08f6f10642..df9bb24651 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -7,7 +7,7 @@ const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { @@ -20,20 +20,22 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISI void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); - CameraView::showEvent(event); + CameraWidget::showEvent(event); } void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - CameraView::hideEvent(event); + stopVipcThread(); + CameraWidget::hideEvent(event); } void DriverViewWindow::paintGL() { - CameraView::paintGL(); + CameraWidget::paintGL(); + std::lock_guard lk(frame_lock); QPainter p(this); // startup msg - if (!frame) { + if (frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -45,6 +47,7 @@ void DriverViewWindow::paintGL() { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { auto fxy_list = driver_data.getFacePosition(); diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 97dd2faa78..155e4ede32 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -2,7 +2,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewWindow : public CameraView { +class DriverViewWindow : public CameraWidget { Q_OBJECT public: diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ed4bdc15fb..4df0ed81cb 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -44,12 +44,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraWidget *arCam = new CameraView("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); split->insertWidget(0, arCam); } if (getenv("MAP_RENDER_VIEW")) { - CameraWidget *map_render = new CameraView("navd", VISION_STREAM_MAP, false, this); + CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this); split->insertWidget(0, map_render); } @@ -126,7 +126,6 @@ void OnroadWindow::offroadTransition(bool offroad) { #endif alerts->updateAlert({}); - nvg->disconnectVipc(); } void OnroadWindow::primeChanged(bool prime) { @@ -329,8 +328,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { map_settings_btn->setVisible(!hideBottomIcons); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); } - - update(); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -612,6 +609,21 @@ void AnnotatedCameraWidget::paintGL() { // draw camera frame { + std::lock_guard lk(frame_lock); + + if (frames.empty()) { + if (skip_frame_count > 0) { + skip_frame_count--; + qDebug() << "skipping frame, not ready"; + return; + } + } else { + // skip drawing up to this many frames if we're + // missing camera frames. this smooths out the + // transitions from the narrow and wide cameras + skip_frame_count = 5; + } + // Wide or narrow cam dependent on speed bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); if (has_wide_cam) { @@ -627,18 +639,14 @@ void AnnotatedCameraWidget::paintGL() { } CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD; + s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; if (s->scene.calibration_valid) { auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } - - if (!CameraWidget::receiveFrame(sm["uiPlan"].getUiPlan().getFrameId())) { - qDebug() << "skipping frame, not ready"; - return; - } + CameraWidget::setFrameId(model.getFrameId()); CameraWidget::paintGL(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index f6b80a75de..b3ba411453 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -93,6 +93,8 @@ private: bool v_ego_cluster_seen = false; int status = STATUS_DISENGAGED; std::unique_ptr pm; + + int skip_frame_count = 0; bool wide_cam_requested = false; protected: diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 4d370b8cc5..7b1f2f1d24 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -6,6 +6,14 @@ #include #endif +#include +#include +#include +#include + +#include +#include + namespace { const char frame_vertex_shader[] = @@ -87,25 +95,24 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent) - : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : + stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { + setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); + QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { makeCurrent(); + stopVipcThread(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); glDeleteBuffers(2, textures); } -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); -#endif doneCurrent(); } @@ -169,11 +176,45 @@ void CameraWidget::initializeGL() { #endif } +void CameraWidget::showEvent(QShowEvent *event) { + if (!vipc_thread) { + clearFrames(); + vipc_thread = new QThread(); + connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); + connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); + vipc_thread->start(); + } +} + +void CameraWidget::stopVipcThread() { + makeCurrent(); + if (vipc_thread) { + vipc_thread->requestInterruption(); + vipc_thread->quit(); + vipc_thread->wait(); + vipc_thread = nullptr; + } + +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + assert(eglGetError() == EGL_SUCCESS); + } + egl_images.clear(); +#endif +} + +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { int w = glWidth(), h = glHeight(); if (zoomed_view) { - if (streamType() == VISION_STREAM_DRIVER) { + if (active_stream_type == VISION_STREAM_DRIVER) { if (stream_width > 0 && stream_height > 0) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } @@ -182,7 +223,7 @@ void CameraWidget::updateFrameMat() { // to ensure this ends up in the middle of the screen // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? - if (streamType() == VISION_STREAM_WIDE_ROAD) { + if (active_stream_type == VISION_STREAM_WIDE_ROAD) { intrinsic_matrix = ECAM_INTRINSIC_MATRIX; zoom = 2.0; } else { @@ -228,15 +269,25 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - if (!frame) return; + std::lock_guard lk(frame_lock); + if (frames.empty()) return; + + int frame_idx = frames.size() - 1; + + // Always draw latest frame until sync logic is more stable + // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { + // if (frames[frame_idx].first == draw_frame_id) break; + // } // Log duplicate/dropped frames - if (frame_id == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frame_id; - } else if (frame_id != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frame_id; + if (frames[frame_idx].first == prev_frame_id) { + qDebug() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_frame_id + 1) { + qDebug() << "Skipped frame" << frames[frame_idx].first; } - prev_frame_id = frame_id; + prev_frame_id = frames[frame_idx].first; + VisionBuf *frame = frames[frame_idx].second; + assert(frame != nullptr); updateFrameMat(); @@ -276,7 +327,7 @@ void CameraWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraWidget::vipcConnected() { +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; @@ -326,69 +377,59 @@ void CameraWidget::vipcConnected() { #endif } -bool CameraWidget::receiveFrame(uint64_t request_frame_id) { - if (!vipc_client || vipc_client->type != requested_stream_type) { - qDebug().nospace() << "connecting to stream" << requested_stream_type - << (vipc_client ? QString(", was connected to %1").arg(vipc_client->type) : ""); - vipc_client.reset(new VisionIpcClient(stream_name, requested_stream_type, false)); - } +void CameraWidget::vipcFrameReceived() { + update(); +} - if (!vipc_client->connected) { - frame = nullptr; - recent_frames.clear(); - available_streams = VisionIpcClient::getAvailableStreams(stream_name, false); - if (available_streams.empty() || !vipc_client->connect(false)) { - return false; +void CameraWidget::vipcThread() { + VisionStreamType cur_stream = requested_stream_type; + std::unique_ptr vipc_client; + VisionIpcBufExtra meta_main = {0}; + + while (!QThread::currentThread()->isInterruptionRequested()) { + if (!vipc_client || cur_stream != requested_stream_type) { + clearFrames(); + qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; + cur_stream = requested_stream_type; + vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); } - emit vipcAvailableStreamsUpdated(); - vipcConnected(); - } + active_stream_type = cur_stream; + + if (!vipc_client->connected) { + clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); - VisionIpcBufExtra meta_main = {}; - while (auto buf = vipc_client->recv(&meta_main, 0)) { - if (recent_frames.size() > FRAME_BUFFER_SIZE) { - recent_frames.pop_front(); + if (!vipc_client->connect(false)) { + QThread::msleep(100); + continue; + } + emit vipcThreadConnected(vipc_client.get()); } - recent_frames.emplace_back(meta_main.frame_id, buf); - } - frame = nullptr; - if (request_frame_id > 0) { - auto it = std::find_if(recent_frames.begin(), recent_frames.end(), - [request_frame_id](auto &f) { return f.first == request_frame_id; }); - if (it != recent_frames.end()) { - std::tie(frame_id, frame) = *it; + if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { + { + std::lock_guard lk(frame_lock); + frames.push_back(std::make_pair(meta_main.frame_id, buf)); + while (frames.size() > FRAME_BUFFER_SIZE) { + frames.pop_front(); + } + } + emit vipcThreadFrameReceived(); + } else { + if (!isVisible()) { + vipc_client->connected = false; + } } - } else if (!recent_frames.empty()) { - std::tie(frame_id, frame) = recent_frames.back(); - } - return frame != nullptr; -} - -void CameraWidget::disconnectVipc() { - recent_frames.clear(); - frame = nullptr; - frame_id = 0; - prev_frame_id = 0; - if (vipc_client) { - vipc_client->connected = false; } } -// Cameraview - -CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent) - : CameraWidget(name, stream_type, zoom, parent) { - timer = new QTimer(this); - timer->setInterval(1000.0 / UI_FREQ); - timer->callOnTimeout(this, [this]() { if (receiveFrame()) update(); }); -} - -void CameraView::showEvent(QShowEvent *event) { - timer->start(); -} - -void CameraView::hideEvent(QHideEvent *event) { - timer->stop(); - disconnectVipc(); +void CameraWidget::clearFrames() { + std::lock_guard lk(frame_lock); + frames.clear(); + available_streams.clear(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index a862079f1a..c97038cf43 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -10,7 +11,7 @@ #include #include #include -#include +#include #ifdef QCOM2 #define EGL_EGLEXT_PROTOTYPES @@ -32,27 +33,31 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: + using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); ~CameraWidget(); - void disconnectVipc(); void setBackgroundColor(const QColor &color) { bg = color; } + void setFrameId(int frame_id) { draw_frame_id = frame_id; } void setStreamType(VisionStreamType type) { requested_stream_type = type; } - inline VisionStreamType streamType() const { return requested_stream_type; } - inline const std::set &availableStreams() const { return available_streams; } - bool receiveFrame(uint64_t request_frame_id = 0); + VisionStreamType getStreamType() { return active_stream_type; } + void stopVipcThread(); signals: - void vipcAvailableStreamsUpdated(); void clicked(); + void vipcThreadConnected(VisionIpcClient *); + void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); protected: void paintGL() override; void initializeGL() override; void resizeGL(int w, int h) override { updateFrameMat(); } + void showEvent(QShowEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); - void vipcConnected(); + void vipcThread(); + void clearFrames(); int glWidth(); int glHeight(); @@ -68,18 +73,14 @@ protected: std::map egl_images; #endif - // vipc std::string stream_name; int stream_width = 0; int stream_height = 0; int stream_stride = 0; - VisionStreamType requested_stream_type; + std::atomic active_stream_type; + std::atomic requested_stream_type; std::set available_streams; - std::unique_ptr vipc_client; - std::deque> recent_frames; - VisionBuf *frame = nullptr; - uint64_t frame_id = 0; - uint64_t prev_frame_id = 0; + QThread *vipc_thread = nullptr; // Calibration float x_offset = 0; @@ -87,16 +88,16 @@ protected: float zoom = 1.0; mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; -}; -// update frames based on timer -class CameraView : public CameraWidget { - Q_OBJECT -public: - CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; + std::recursive_mutex frame_lock; + std::deque> frames; + uint32_t draw_frame_id = 0; + uint32_t prev_frame_id = 0; -private: - QTimer *timer; +protected slots: + void vipcConnected(VisionIpcClient *vipc_client); + void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); }; + +Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index cb12f82ea8..ec35c29b6b 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 654c34ed37..a6fd0b2b64 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -160,13 +160,12 @@ QWidget *VideoWidget::createCameraWidget() { return w; } -void VideoWidget::vipcAvailableStreamsUpdated() { +void VideoWidget::vipcAvailableStreamsUpdated(std::set streams) { static const QString stream_names[] = { [VISION_STREAM_ROAD] = "Road camera", [VISION_STREAM_WIDE_ROAD] = "Wide road camera", [VISION_STREAM_DRIVER] = "Driver camera"}; - const auto &streams = cam_widget->availableStreams(); for (int i = 0; i < streams.size(); ++i) { if (camera_tab->count() <= i) { camera_tab->addTab(QString()); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index ae095fd559..b2039e09a4 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -73,9 +73,9 @@ protected: QWidget *createCameraWidget(); QHBoxLayout *createPlaybackController(); void loopPlaybackClicked(); - void vipcAvailableStreamsUpdated(); + void vipcAvailableStreamsUpdated(std::set streams); - CameraView *cam_widget; + CameraWidget *cam_widget; double maximum_time = 0; QToolButton *time_btn = nullptr; ToolButton *seek_backward_btn = nullptr; From 2a49f94872c03086e52c0318c93bdd0c1d4bcafd Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Sun, 7 Jan 2024 15:02:25 -0800 Subject: [PATCH 50/92] Add necessary permissions/tokens for "lewagon/wait-on-check-action" so it can run nightly (#30923) --- .github/workflows/prebuilt.yaml | 3 +++ .github/workflows/release.yaml | 3 +++ 2 files changed, 6 insertions(+) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 58095cf19c..23b3574355 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -15,6 +15,8 @@ jobs: if: github.repository == 'commaai/openpilot' env: PUSH_IMAGE: true + permissions: + checks: read steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} @@ -23,6 +25,7 @@ jobs: ref: master wait-interval: 30 running-workflow-name: 'build prebuilt' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build master-ci).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index cd2ebd9f82..f1dc4c2e4a 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -14,6 +14,8 @@ jobs: image: ghcr.io/commaai/openpilot-base:latest runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + checks: read steps: - name: Install wait-on-check-action dependencies run: | @@ -26,6 +28,7 @@ jobs: ref: master wait-interval: 30 running-workflow-name: 'build master-ci' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build prebuilt).*).)*$ - uses: actions/checkout@v4 with: From 91c5c5eca765c990ff185a4a0bda7207eb55787d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Jan 2024 09:16:50 -0800 Subject: [PATCH 51/92] camerad: log request id (#30935) * camerad: log request id * bump cereal * bump cereal --- cereal | 2 +- system/camerad/cameras/camera_common.cc | 1 + system/camerad/cameras/camera_common.h | 1 + system/camerad/cameras/camera_qcom2.cc | 1 + 4 files changed, 4 insertions(+), 1 deletion(-) diff --git a/cereal b/cereal index e29625c30b..d81d86e7cd 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e29625c30bb2a4a34ce21134d0e5a91b2d4fa1b1 +Subproject commit d81d86e7cd83d1eb40314964a4d194231381d557 diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index f74fb15bff..91c6d44f84 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -136,6 +136,7 @@ void CameraBuf::queue(size_t buf_idx) { void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { framed.setFrameId(frame_data.frame_id); + framed.setRequestId(frame_data.request_id); framed.setTimestampEof(frame_data.timestamp_eof); framed.setTimestampSof(frame_data.timestamp_sof); framed.setIntegLines(frame_data.integ_lines); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 029d69990c..f98691ef00 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -26,6 +26,7 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; typedef struct FrameMetadata { uint32_t frame_id; + uint32_t request_id; // Timestamps uint64_t timestamp_sof; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 7915ad21fc..cbb959423c 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -766,6 +766,7 @@ void CameraState::handle_camera_event(void *evdat) { auto &meta_data = buf.camera_bufs_metadata[buf_idx]; meta_data.frame_id = main_id - idx_offset; + meta_data.request_id = real_id; meta_data.timestamp_sof = timestamp; exp_lock.lock(); meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); From 6743487d78f607b482a498518472b1e6c55d159f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Jan 2024 13:54:09 -0800 Subject: [PATCH 52/92] Update Python packages and pre-commit hooks (#30939) Co-authored-by: jnewb1 --- .pre-commit-config.yaml | 2 +- poetry.lock | 370 ++++++++++++++++++++-------------------- 2 files changed, 188 insertions(+), 184 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d3e309eba9..0a92b9d38e 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -44,7 +44,7 @@ repos: - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.9 + rev: v0.1.11 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' diff --git a/poetry.lock b/poetry.lock index d7e512ef8a..a991c76b1f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -171,13 +171,13 @@ frozenlist = ">=1.1.0" [[package]] name = "alabaster" -version = "0.7.13" -description = "A configurable sidebar-enabled Sphinx theme" +version = "0.7.15" +description = "A light, configurable Sphinx theme" optional = false -python-versions = ">=3.6" +python-versions = ">=3.9" files = [ - {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"}, - {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"}, + {file = "alabaster-0.7.15-py3-none-any.whl", hash = "sha256:d99c6fd0f7a86fca68ecc5231c9de45227991c10ee6facfb894cf6afb953b142"}, + {file = "alabaster-0.7.15.tar.gz", hash = "sha256:0127f4b1db0afc914883f930e3d40763131aebac295522fc4a04d9e77c703705"}, ] [[package]] @@ -1333,13 +1333,13 @@ rewrite = ["tokenize-rt (>=3)"] [[package]] name = "geopandas" 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band to go onroad startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + # ensure device is fully booted + startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted() + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger extra_text = f"{offroad_comp_temp:.1f}C" diff --git a/system/hardware/base.py b/system/hardware/base.py index 0b6ca44c3c..b432a41907 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -23,6 +23,9 @@ class HardwareBase(ABC): except Exception: return default + def booted(self) -> bool: + return True + @abstractmethod def reboot(self, reason=None): pass diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index f895bbc508..d1ac52c8dc 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -74,6 +74,11 @@ def sudo_write(val, path): # fallback for debugfs files os.system(f"sudo su -c 'echo {val} > {path}'") +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + except Exception: + return "" def affine_irq(val, action): irqs = get_irqs_for_action(action) @@ -554,6 +559,12 @@ class Tici(HardwareBase): time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) + def booted(self): + # this normally boots within 8s, but on rare occasions takes 30+s + encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info") + if "Core state: 0" in encoder_state and (time.monotonic() < 60*2): + return False + return True if __name__ == "__main__": t = Tici() From d689a4e6537b6b48e0ad9948ac919065317258c1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 8 Jan 2024 16:36:43 -0700 Subject: [PATCH 54/92] Fix string indentation (#30943) * fix bad spacing * more * these aren't important --- selfdrive/car/tests/test_lateral_limits.py | 4 ++-- selfdrive/debug/test_fw_query_on_routes.py | 4 ++-- selfdrive/ui/translations/create_badges.py | 4 ++-- tools/tuning/measure_steering_accuracy.py | 8 ++++---- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 1fc626972f..10e24ff4c5 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -95,8 +95,8 @@ if __name__ == "__main__": _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \ - m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + + f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") # exit with test result sys.exit(not result.result.wasSuccessful()) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 83e173244e..20c5486c32 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -112,8 +112,8 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \ - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + + "(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index a1b2ecb289..f6c8aae448 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -54,8 +54,8 @@ if __name__ == "__main__": badge_svg.extend([f'', content_svg, ""]) - badge_svg.insert(0, f'') + badge_svg.insert(0, '') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index c615608852..a7718043cb 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -105,10 +105,10 @@ class SteeringAccuracyTool: print(f" {'-'*118}") for k in sorted(self.speed_group_stats[group].keys()): v = self.speed_group_stats[group][k] - print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \ - | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \ - | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \ - | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') + print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' + + f'| error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% ' + + f'| =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} ' + + f'| sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') print("") From c8df0bd1d01ba41e1034edad1775eaf9595b58d4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Jan 2024 17:02:40 -0800 Subject: [PATCH 55/92] Bump submodules (#30938) bump submodules Co-authored-by: jnewb1 --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 20722a5946..d0184f7266 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 20722a59467fc7d697bfe1edd233a38bafbc89d2 +Subproject commit d0184f7266571ba563e5f992b6648ff4089b2dba From 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-content-hash = "3ab4ab63ba35d780759581d6572a6d6359c019a1be419f3c72ff3f0ee6008095" +content-hash = "ddef5baa3e9a1f50713ddc370ead968173200467a56df6a718ef3d2ada95e832" diff --git a/pyproject.toml b/pyproject.toml index 474c11e705..2fec88f244 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -125,7 +125,7 @@ inputs = "*" Jinja2 = "*" lru-dict = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" From 7fdd5c4a7d72d16eb2246b4766a4da6c9aad0765 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Mon, 8 Jan 2024 22:22:21 -0500 Subject: [PATCH 57/92] Python camerad for webcam (#30930) * webcamd * remove destroy windows * block * shebang execute * executaleeeee * executableeeeeee * she bang for camerad.py * listener * no signal? * good * ruff fix * delete listener * recover sim * remove assert * refactor * fix shell * fix namedtuple * little change * to tuple * cleanup * update readme --------- Co-authored-by: Adeeb Shihadeh --- tools/webcam/README.md | 5 --- tools/webcam/camera.py | 29 +++++++++++++++ tools/webcam/camerad.py | 68 +++++++++++++++++++++++++++++++++++ tools/webcam/start_camerad.sh | 14 ++++++++ 4 files changed, 111 insertions(+), 5 deletions(-) create mode 100644 tools/webcam/camera.py create mode 100755 tools/webcam/camerad.py create mode 100755 tools/webcam/start_camerad.sh diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 237e07cdb6..bdf39b8145 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -1,5 +1,3 @@ -# NOTE: this README is outdated. #24590 tracks adding back webcam support - # Run openpilot with webcam on PC What's needed: @@ -24,9 +22,6 @@ git clone https://github.com/commaai/openpilot.git ## Build openpilot for webcam ``` cd ~/openpilot -``` -- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down -``` USE_WEBCAM=1 scons -j$(nproc) ``` diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py new file mode 100644 index 0000000000..22438f0c98 --- /dev/null +++ b/tools/webcam/camera.py @@ -0,0 +1,29 @@ +import cv2 as cv +import numpy as np + +class Camera: + def __init__(self, cam_type_state, stream_type, camera_id): + self.cam_type_state = cam_type_state + self.stream_type = stream_type + self.cur_frame_id = 0 + + self.cap = cv.VideoCapture(camera_id) + self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH) + self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT) + + @classmethod + def bgr2nv12(self, bgr): + yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420) + uv_row_cnt = yuv.shape[0] // 3 + uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0]) + yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1) + return yuv + + def read_frames(self): + while True: + sts , frame = self.cap.read() + if not sts: + break + yuv = Camera.bgr2nv12(frame) + yield yuv.data.tobytes() + self.cap.release() diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py new file mode 100755 index 0000000000..caf044e7b6 --- /dev/null +++ b/tools/webcam/camerad.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +import threading +import os +from collections import namedtuple + +from cereal.visionipc import VisionIpcServer, VisionStreamType +from cereal import messaging + +from openpilot.tools.webcam.camera import Camera +from openpilot.common.realtime import Ratekeeper + +DUAL_CAM = os.getenv("DUAL_CAMERA") +CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"]) +CAMERAS = [ + CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")), + CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")), +] +if DUAL_CAM: + CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM)) + +class Camerad: + def __init__(self): + self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS]) + self.vipc_server = VisionIpcServer("camerad") + + self.cameras = [] + for c in CAMERAS: + cam = Camera(c.msg_name, c.stream_type, int(c.cam_id)) + assert cam.cap.isOpened(), f"Can't find camera {c}" + self.cameras.append(cam) + self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H) + + self.vipc_server.start_listener() + + def _send_yuv(self, yuv, frame_id, pub_type, yuv_type): + eof = int(frame_id * 0.05 * 1e9) + self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof) + dat = messaging.new_message(pub_type, valid=True) + msg = { + "frameId": frame_id, + "transform": [1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0] + } + setattr(dat, pub_type, msg) + self.pm.send(pub_type, dat) + + def camera_runner(self, cam): + rk = Ratekeeper(20, None) + while cam.cap.isOpened(): + for yuv in cam.read_frames(): + self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type) + cam.cur_frame_id += 1 + rk.keep_time() + + def run(self): + threads = [] + for cam in self.cameras: + cam_thread = threading.Thread(target=self.camera_runner, args=(cam,)) + cam_thread.start() + threads.append(cam_thread) + + for t in threads: + t.join() + +if __name__ == "__main__": + camerad = Camerad() + camerad.run() diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh new file mode 100755 index 0000000000..fbda2be9f3 --- /dev/null +++ b/tools/webcam/start_camerad.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# export the block below when call manager.py +export BLOCK="${BLOCK},camerad" +export USE_WEBCAM="1" + +# Change camera index according to your setting +export CAMERA_ROAD_ID="0" +export CAMERA_DRIVER_ID="1" +export DUAL_CAMERA="2" # camera index for wide road camera + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +$DIR/camerad.py From 88e445ef154e6da795b653cbefd6391eef731d8e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 8 Jan 2024 22:40:41 -0500 Subject: [PATCH 58/92] VW MQB: Improved longitudinal starting and stopping (#30874) * VW MQB: Improved stopping and starting * get longcontrol to take off sooner * oops * use the carParam instead of the constant * update refs --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/car/volkswagen/interface.py | 6 ++---- selfdrive/car/volkswagen/mqbcan.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 5 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index e7a7f2a998..2bc03a0e69 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -71,7 +71,7 @@ class CarController: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping - starting = actuators.longControlState == LongCtrlState.starting + starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, acc_control, stopping, starting, CS.esp_hold_confirmation)) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index d5377453c1..0a6573217c 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -90,11 +90,9 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.openpilotLongitudinalControl ret.stoppingControl = True - ret.startingState = True - ret.startAccel = 1.0 ret.stopAccel = -0.55 - ret.vEgoStarting = 1.0 - ret.vEgoStopping = 1.0 + ret.vEgoStarting = 0.1 + ret.vEgoStopping = 0.5 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 849d99592f..96e05aa8f0 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -94,7 +94,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont acc_hold_type = 0 acc_07_values = { - "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 559749be14..13baf9df40 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ea96f935a7a16c53623c3b03e70c0fbfa6b249e7 +94d2c0b18c2829b487fd23f079b08e9e3c75f4b4 \ No newline at end of file From d6cece756cc1fd9c8e6ca6290bdc7b0fd6d69d5b Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 8 Jan 2024 19:46:13 -0800 Subject: [PATCH 59/92] longplanner: expose dt (#30941) --- selfdrive/controls/lib/longitudinal_planner.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 13127b4634..018768f248 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -47,13 +47,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: - def __init__(self, CP, init_v=0.0, init_a=0.0): + def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc() self.fcw = False + self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N) @@ -148,8 +149,8 @@ class LongitudinalPlanner: # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired - self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) - self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') From 1d370a0880902099bbb7c2b6ff126ab61ae149bf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 8 Jan 2024 20:46:27 -0700 Subject: [PATCH 60/92] Fingerprints: add missing FW versions from users (#30945) Export FW versions --- selfdrive/car/toyota/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index f162d287f4..955ace8ef7 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -738,6 +738,7 @@ FW_VERSIONS = { b'\x018966353Q4000\x00\x00\x00\x00', b'\x018966353R1100\x00\x00\x00\x00', b'\x018966353R7100\x00\x00\x00\x00', + b'\x018966353R8000\x00\x00\x00\x00', b'\x018966353R8100\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ From af137bac5869a6ec2227d9183993a1ebcedd4ad4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Jan 2024 19:49:22 -0800 Subject: [PATCH 61/92] GM: remove GMLAN dash msg (#30547) * remove GMLAN * update refs --- selfdrive/car/gm/carcontroller.py | 15 --------------- selfdrive/car/gm/values.py | 1 - selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 1 insertion(+), 17 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f51cb75372..6c7e8007f2 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -154,21 +154,6 @@ class CarController: if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - # Show green icon when LKA torque is applied, and - # alarming orange icon when approaching torque limit. - # If not sent again, LKA icon disappears in about 5 seconds. - # Conveniently, sending camera message periodically also works as a keepalive. - lka_active = CS.lkas_status == 1 - lka_critical = lka_active and abs(actuators.steer) > 0.9 - lka_icon_status = (lka_active, lka_critical) - - # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and \ - (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): - steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) - can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) - self.lka_icon_status_last = lka_icon_status - new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 2a8577164f..dbbf15100f 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -139,7 +139,6 @@ class CanBus: OBSTACLE = 1 CAMERA = 2 CHASSIS = 2 - SW_GMLAN = 3 LOOPBACK = 128 DROPPED = 192 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 13baf9df40..474d5056fd 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -94d2c0b18c2829b487fd23f079b08e9e3c75f4b4 \ No newline at end of file +80c700f9b87e069dcb5b7ec76cd6036667615f2e \ No newline at end of file From ca57d329e2e835c9dfd8545bc5780c0e2afd95fe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 9 Jan 2024 01:48:48 -0700 Subject: [PATCH 62/92] Toyota: add 2024 RAV4 (#30909) * add 2024 RAV4 ICE FP * docs * also try vin bus 0 toyota * it works! --- RELEASES.md | 2 +- docs/CARS.md | 2 +- selfdrive/car/toyota/fingerprints.py | 2 ++ selfdrive/car/toyota/values.py | 2 +- 4 files changed, 5 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index b12f22d280..36a4a89dd2 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -7,7 +7,7 @@ Version 0.9.6 (20XX-XX-XX) * comma body streaming and controls over WebRTC * Hyundai Staria 2023 support thanks to sunnyhaibin! * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! -* Toyota RAV4 2023 support +* Toyota RAV4 2023-24 support * Toyota RAV4 Hybrid 2023-24 support Version 0.9.5 (2023-11-17) diff --git a/docs/CARS.md b/docs/CARS.md index bb2484e816..407c1d8cc7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -240,7 +240,7 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 955ace8ef7..485e3246d1 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1137,6 +1137,7 @@ FW_VERSIONS = { CAR.RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + b'\x01F15260R51000\x00\x00\x00\x00', b'\x01F15264283200\x00\x00\x00\x00', b'\x01F15264283300\x00\x00\x00\x00', b'\x01F152642F1000\x00\x00\x00\x00', @@ -1152,6 +1153,7 @@ FW_VERSIONS = { b'\x01896634AE1001\x00\x00\x00\x00', b'\x01896634AF0000\x00\x00\x00\x00', b'\x01896634AJ2000\x00\x00\x00\x00', + b'\x01896634AL5000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R03100\x00\x00\x00\x00', diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index fca7c50dc7..b3b6fd7377 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -180,7 +180,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ], CAR.RAV4_TSS2_2023: [ - ToyotaCarInfo("Toyota RAV4 2023"), + ToyotaCarInfo("Toyota RAV4 2023-24"), ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), From 2a074eefac19c9859eec12e1ec7f8a0f10789f1c Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Tue, 9 Jan 2024 10:40:45 -0800 Subject: [PATCH 63/92] Fix badges workflow blocking release/prebuilt workflows from permission and Git-LFS complications (#30947) --- .github/workflows/badges.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 923e249849..2f1a7d67c4 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -14,6 +14,8 @@ jobs: name: create badges runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + contents: write steps: - uses: actions/checkout@v4 with: @@ -23,6 +25,8 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" + rm .gitattributes + git checkout --orphan badges git rm -rf --cached . git config user.email "badge-researcher@comma.ai" From 221f81bbd3736dc764c2d57e93eedca3eb3db80d Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Tue, 9 Jan 2024 11:35:14 -0800 Subject: [PATCH 64/92] Add more permissions for pushing in prebuilt workflow (#30948) Continuing on from https://github.com/commaai/openpilot/pull/30947 --- .github/workflows/prebuilt.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 23b3574355..990be73f72 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -17,6 +17,8 @@ jobs: PUSH_IMAGE: true permissions: checks: read + contents: read + packages: write steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} From cd1d7eb4d2e590c56a570e6f45189eb10401401c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 9 Jan 2024 14:19:10 -0800 Subject: [PATCH 65/92] OS04C10 support (#30658) * getting frames * ok * support both output * cleanup * fix unused * undo * fix release files --------- Co-authored-by: Comma Device --- release/files_common | 7 +- system/camerad/SConscript | 2 +- system/camerad/cameras/camera_qcom2.cc | 21 +- system/camerad/sensors/ar0231.cc | 5 +- system/camerad/sensors/os04c10.cc | 105 ++++++++ system/camerad/sensors/os04c10_registers.h | 298 +++++++++++++++++++++ system/camerad/sensors/ox03c10.cc | 5 +- system/camerad/sensors/sensor.h | 16 +- 8 files changed, 439 insertions(+), 20 deletions(-) create mode 100644 system/camerad/sensors/os04c10.cc create mode 100644 system/camerad/sensors/os04c10_registers.h diff --git a/release/files_common b/release/files_common index 0facb5cc5f..71c096716b 100644 --- a/release/files_common +++ b/release/files_common @@ -291,11 +291,8 @@ system/camerad/main.cc system/camerad/snapshot/* system/camerad/cameras/camera_common.h system/camerad/cameras/camera_common.cc -system/camerad/sensors/ar0231.cc -system/camerad/sensors/ar0231_registers.h -system/camerad/sensors/ox03c10.cc -system/camerad/sensors/ox03c10_registers.h -system/camerad/sensors/sensor.h +system/camerad/sensors/*.h +system/camerad/sensors/*.cc selfdrive/manager/__init__.py selfdrive/manager/build.py diff --git a/system/camerad/SConscript b/system/camerad/SConscript index a0056c1f9f..60a8f261e5 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -3,7 +3,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', - 'sensors/ar0231.cc', 'sensors/ox03c10.cc']) + 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index cbb959423c..e17203a7dd 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -150,7 +150,7 @@ int CameraState::sensors_init() { power->count = 1; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = ci->power_config_val_low; + power->power_settings[0].config_val_low = ci->mclk_frequency; power = power_set_wait(power, 1); // reset high @@ -316,10 +316,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b .h_init = 0x0, .v_init = 0x0, }; - io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12; // CAM_FORMAT_UBWC_TP10 for YUV + io_cfg[0].format = ci->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = 0xc; + io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV io_cfg[0].fence = fence; io_cfg[0].direction = CAM_BUF_OUTPUT; @@ -459,7 +459,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num // Try different sensors one by one until it success. if (!init_sensor_lambda(new AR0231) && - !init_sensor_lambda(new OX03C10)) { + !init_sensor_lambda(new OX03C10) && + !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", camera_num); enabled = false; return; @@ -481,7 +482,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num LOG("-- Configuring sensor"); sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); - printf("dt is %x\n", ci->in_port_info_dt); // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) @@ -495,8 +495,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num .lane_cfg = 0x3210, .vc = 0x0, - .dt = ci->in_port_info_dt, - .format = CAM_FORMAT_MIPI_RAW_12, + .dt = ci->frame_data_type, + .format = ci->mipi_format, .test_pattern = 0x2, // 0x3? .usage_type = 0x0, @@ -522,7 +522,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num .num_out_res = 0x1, .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = CAM_FORMAT_MIPI_RAW_12, + .format = ci->mipi_format, .width = ci->frame_width, .height = ci->frame_height + ci->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, @@ -971,6 +971,9 @@ void cameras_run(MultiCameraState *s) { event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); } + // for debugging + //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20); + if (event_data->session_hdl == s->road_cam.session_handle) { s->road_cam.handle_camera_event(event_data); } else if (event_data->session_hdl == s->wide_road_cam.session_handle) { @@ -981,6 +984,8 @@ void cameras_run(MultiCameraState *s) { LOGE("Unknown vidioc event source"); assert(false); } + } else { + LOGE("unhandled event %d\n", ev.type); } } else { LOGE("VIDIOC_DQEVENT failed, errno=%d", errno); diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 559370ca62..1ca4b3f1ad 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -93,8 +93,9 @@ AR0231::AR0231() { init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); probe_reg_addr = 0x3000; probe_expected_data = 0x354; - in_port_info_dt = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - power_config_val_low = 19200000; //Hz + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + mclk_frequency = 19200000; //Hz dc_gain_factor = 2.5; dc_gain_min_weight = 0; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc new file mode 100644 index 0000000000..449e06be83 --- /dev/null +++ b/system/camerad/sensors/os04c10.cc @@ -0,0 +1,105 @@ +#include "system/camerad/sensors/sensor.h" + +namespace { + +const float sensor_analog_gains_OS04C10[] = { + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; + +const uint32_t os04c10_analog_gains_reg[] = { + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + +const uint32_t VS_TIME_MIN_OS04C10 = 1; +//const uint32_t VS_TIME_MAX_OS04C10 = 34; // vs < 35 + +} // namespace + +OS04C10::OS04C10() { + image_sensor = cereal::FrameData::ImageSensor::OS04C10; + data_word = false; + + frame_width = 1920; + frame_height = 1080; + frame_stride = (1920*10/8); + + /* + frame_width = 0xa80; + frame_height = 0x5f0; + frame_stride = 0xd20; + */ + + extra_height = 0; + frame_offset = 0; + + start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10)); + init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); + probe_reg_addr = 0x300a; + probe_expected_data = 0x5304; + mipi_format = CAM_FORMAT_MIPI_RAW_10; + frame_data_type = 0x2b; + mclk_frequency = 24000000; // Hz + + dc_gain_factor = 7.32; + dc_gain_min_weight = 1; // always on is fine + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.9; + dc_gain_off_grey = 1.0; + exposure_time_min = 2; // 1x + exposure_time_max = 2016; + analog_gain_min_idx = 0x0; + analog_gain_rec_idx = 0x0; // 1x + analog_gain_max_idx = 0x36; + analog_gain_cost_delta = -1; + analog_gain_cost_low = 0.4; + analog_gain_cost_high = 6.4; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 0.01; +} + +std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + //uint32_t lcg_time = hcg_time; + //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10); + //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10); + + uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g]; + + hcg_time = 100; + real_gain = 0x320; + + return { + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + //{0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + }; +} + +int OS04C10::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x6C, 0x20, 0x6C}[port]; +} + +float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + float score = std::abs(desired_ev - (exp_t * exp_gain)); + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + score += ((1 - analog_gain_cost_delta) + + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * + std::abs(exp_g_idx - gain_idx) * 5.0; + return score; +} diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h new file mode 100644 index 0000000000..c92389d1e1 --- /dev/null +++ b/system/camerad/sensors/os04c10_registers.h @@ -0,0 +1,298 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x0103, 0x01}, + {0x0301, 0x84}, + {0x0303, 0x01}, + {0x0305, 0x5b}, + {0x0306, 0x01}, + {0x0307, 0x17}, + {0x0323, 0x04}, + {0x0324, 0x01}, + {0x0325, 0x62}, + {0x3012, 0x06}, + {0x3013, 0x02}, + {0x3016, 0x72}, + {0x3021, 0x03}, + {0x3106, 0x21}, + {0x3107, 0xa1}, + {0x3500, 0x00}, + {0x3501, 0x00}, + {0x3502, 0x40}, + {0x3503, 0x88}, + {0x3508, 0x07}, + {0x3509, 0xc0}, + {0x350a, 0x04}, + {0x350b, 0x00}, + {0x350c, 0x07}, + {0x350d, 0xc0}, + {0x350e, 0x04}, + {0x350f, 0x00}, + {0x3510, 0x00}, + {0x3511, 0x00}, + {0x3512, 0x20}, + {0x3624, 0x00}, + {0x3625, 0x4c}, + {0x3660, 0x00}, + {0x3666, 0xa5}, + {0x3667, 0xa5}, + {0x366a, 0x64}, + {0x3673, 0x0d}, + {0x3672, 0x0d}, + {0x3671, 0x0d}, + {0x3670, 0x0d}, + {0x3685, 0x00}, + {0x3694, 0x0d}, + {0x3693, 0x0d}, + {0x3692, 0x0d}, + {0x3691, 0x0d}, + {0x3696, 0x4c}, + {0x3697, 0x4c}, + {0x3698, 0x40}, + {0x3699, 0x80}, + {0x369a, 0x18}, + {0x369b, 0x1f}, + {0x369c, 0x14}, + {0x369d, 0x80}, + {0x369e, 0x40}, + {0x369f, 0x21}, + {0x36a0, 0x12}, + {0x36a1, 0x5d}, + {0x36a2, 0x66}, + {0x370a, 0x00}, + {0x370e, 0x0c}, + {0x3710, 0x00}, + {0x3713, 0x00}, + {0x3725, 0x02}, + {0x372a, 0x03}, + {0x3738, 0xce}, + {0x3748, 0x00}, + {0x374a, 0x00}, + {0x374c, 0x00}, + {0x374e, 0x00}, + {0x3756, 0x00}, + {0x3757, 0x0e}, + {0x3767, 0x00}, + {0x3771, 0x00}, + {0x377b, 0x20}, + {0x377c, 0x00}, + {0x377d, 0x0c}, + {0x3781, 0x03}, + {0x3782, 0x00}, + {0x3789, 0x14}, + {0x3795, 0x02}, + {0x379c, 0x00}, + {0x379d, 0x00}, + {0x37b8, 0x04}, + {0x37ba, 0x03}, + {0x37bb, 0x00}, + {0x37bc, 0x04}, + {0x37be, 0x08}, + {0x37c4, 0x11}, + {0x37c5, 0x80}, + {0x37c6, 0x14}, + {0x37c7, 0x08}, + {0x37da, 0x11}, + {0x381f, 0x08}, + {0x3829, 0x03}, + {0x3881, 0x00}, + {0x3888, 0x04}, + {0x388b, 0x00}, + {0x3c80, 0x10}, + {0x3c86, 0x00}, + {0x3c8c, 0x20}, + {0x3c9f, 0x01}, + {0x3d85, 0x1b}, + {0x3d8c, 0x71}, + {0x3d8d, 0xe2}, + {0x3f00, 0x0b}, + {0x3f06, 0x04}, + {0x400a, 0x01}, + {0x400b, 0x50}, + {0x400e, 0x08}, + {0x4043, 0x7e}, + {0x4045, 0x7e}, + {0x4047, 0x7e}, + {0x4049, 0x7e}, + {0x4090, 0x14}, + {0x40b0, 0x00}, + {0x40b1, 0x00}, + {0x40b2, 0x00}, + {0x40b3, 0x00}, + {0x40b4, 0x00}, + {0x40b5, 0x00}, + {0x40b7, 0x00}, + {0x40b8, 0x00}, + {0x40b9, 0x00}, + {0x40ba, 0x00}, + {0x4301, 0x00}, + {0x4303, 0x00}, + {0x4502, 0x04}, + {0x4503, 0x00}, + {0x4504, 0x06}, + {0x4506, 0x00}, + {0x4507, 0x64}, + {0x4803, 0x00}, + {0x480c, 0x32}, + {0x480e, 0x00}, + {0x4813, 0x00}, + {0x4819, 0x70}, + {0x481f, 0x30}, + {0x4823, 0x3f}, + {0x4825, 0x30}, + {0x4833, 0x10}, + {0x484b, 0x07}, + {0x488b, 0x00}, + {0x4d00, 0x04}, + {0x4d01, 0xad}, + {0x4d02, 0xbc}, + {0x4d03, 0xa1}, + {0x4d04, 0x1f}, + {0x4d05, 0x4c}, + {0x4d0b, 0x01}, + {0x4e00, 0x2a}, + {0x4e0d, 0x00}, + {0x5001, 0x09}, + {0x5004, 0x00}, + {0x5080, 0x04}, + {0x5036, 0x00}, + {0x5180, 0x70}, + {0x5181, 0x10}, + {0x520a, 0x03}, + {0x520b, 0x06}, + {0x520c, 0x0c}, + {0x580b, 0x0f}, + {0x580d, 0x00}, + {0x580f, 0x00}, + {0x5820, 0x00}, + {0x5821, 0x00}, + {0x301c, 0xf8}, + {0x301e, 0xb4}, + {0x301f, 0xd0}, + {0x3022, 0x01}, + {0x3109, 0xe7}, + {0x3600, 0x00}, + {0x3610, 0x65}, + {0x3611, 0x85}, + {0x3613, 0x3a}, + {0x3615, 0x60}, + {0x3621, 0x90}, + {0x3620, 0x0c}, + {0x3629, 0x00}, + {0x3661, 0x04}, + {0x3664, 0x70}, + {0x3665, 0x00}, + {0x3681, 0xa6}, + {0x3682, 0x53}, + {0x3683, 0x2a}, + {0x3684, 0x15}, + {0x3700, 0x2a}, + {0x3701, 0x12}, + {0x3703, 0x28}, + {0x3704, 0x0e}, + {0x3706, 0x4a}, + {0x3709, 0x4a}, + {0x370b, 0xa2}, + {0x370c, 0x01}, + {0x370f, 0x04}, + {0x3714, 0x24}, + {0x3716, 0x24}, + {0x3719, 0x11}, + {0x371a, 0x1e}, + {0x3720, 0x00}, + {0x3724, 0x13}, + {0x373f, 0xb0}, + {0x3741, 0x4a}, + {0x3743, 0x4a}, + {0x3745, 0x4a}, + {0x3747, 0x4a}, + {0x3749, 0xa2}, + {0x374b, 0xa2}, + {0x374d, 0xa2}, + {0x374f, 0xa2}, + {0x3755, 0x10}, + {0x376c, 0x00}, + {0x378d, 0x30}, + {0x3790, 0x4a}, + {0x3791, 0xa2}, + {0x3798, 0x40}, + {0x379e, 0x00}, + {0x379f, 0x04}, + {0x37a1, 0x10}, + {0x37a2, 0x1e}, + {0x37a8, 0x10}, + {0x37a9, 0x1e}, + {0x37ac, 0xa0}, + {0x37b9, 0x01}, + {0x37bd, 0x01}, + {0x37bf, 0x26}, + {0x37c0, 0x11}, + {0x37c2, 0x04}, + {0x37cd, 0x19}, + {0x37e0, 0x08}, + {0x37e6, 0x04}, + {0x37e5, 0x02}, + {0x37e1, 0x0c}, + {0x3737, 0x04}, + {0x37d8, 0x02}, + {0x37e2, 0x10}, + {0x3739, 0x10}, + {0x3662, 0x10}, + {0x37e4, 0x20}, + {0x37e3, 0x08}, + {0x37d9, 0x08}, + {0x4040, 0x00}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3800, 0x01}, + {0x3801, 0x80}, + {0x3802, 0x00}, + {0x3803, 0xdc}, + {0x3804, 0x09}, + {0x3805, 0x0f}, + {0x3806, 0x05}, + {0x3807, 0x23}, + {0x3808, 0x07}, + {0x3809, 0x80}, + {0x380a, 0x04}, + {0x380b, 0x38}, + {0x380c, 0x04}, + {0x380d, 0x2e}, + {0x380e, 0x12}, + {0x380f, 0x70}, + {0x3811, 0x08}, + {0x3813, 0x08}, + {0x3814, 0x01}, + {0x3815, 0x01}, + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x3820, 0x88}, + {0x3821, 0x00}, + {0x3880, 0x25}, + {0x3882, 0x20}, + {0x3c91, 0x0b}, + {0x3c94, 0x45}, + {0x3cad, 0x00}, + {0x3cae, 0x00}, + {0x4000, 0xf3}, + {0x4001, 0x60}, + {0x4003, 0x40}, + {0x4300, 0xff}, + {0x4302, 0x0f}, + {0x4305, 0x83}, + {0x4505, 0x84}, + {0x4809, 0x1e}, + {0x480a, 0x04}, + {0x4837, 0x15}, + {0x4c00, 0x08}, + {0x4c01, 0x08}, + {0x4c04, 0x00}, + {0x4c05, 0x00}, + {0x5000, 0xf9}, + {0x3c8c, 0x10}, +}; diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 2bad50cff9..1f0609820b 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -34,8 +34,9 @@ OX03C10::OX03C10() { init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10)); probe_reg_addr = 0x300a; probe_expected_data = 0x5803; - in_port_info_dt = 0x2c; // one is 0x2a, two are 0x2b - power_config_val_low = 24000000; //Hz + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x2c; // one is 0x2a, two are 0x2b + mclk_frequency = 24000000; //Hz dc_gain_factor = 7.32; dc_gain_min_weight = 1; // always on is fine diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 06d3a43a21..4e2194d914 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -9,12 +9,14 @@ #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/ar0231_registers.h" #include "system/camerad/sensors/ox03c10_registers.h" +#include "system/camerad/sensors/os04c10_registers.h" #define ANALOG_GAIN_MAX_CNT 55 const size_t FRAME_WIDTH = 1928; const size_t FRAME_HEIGHT = 1208; const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) + class SensorInfo { public: SensorInfo() = default; @@ -56,8 +58,10 @@ public: uint32_t probe_expected_data; std::vector start_reg_array; std::vector init_reg_array; - uint32_t in_port_info_dt; - uint32_t power_config_val_low; + + uint32_t mipi_format; + uint32_t mclk_frequency; + uint32_t frame_data_type; }; class AR0231 : public SensorInfo { @@ -79,3 +83,11 @@ public: float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; }; + +class OS04C10 : public SensorInfo { +public: + OS04C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; From 4eba5fe68dc89bf9a39cc2c1f5db6c154ced9d12 Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Tue, 9 Jan 2024 16:46:09 -0800 Subject: [PATCH 66/92] Add permissions to build_masterci in release workflow so it can push master-ci (#30949) --- .github/workflows/release.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index f1dc4c2e4a..38dbf07a47 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -16,6 +16,7 @@ jobs: if: github.repository == 'commaai/openpilot' permissions: checks: read + contents: write steps: - name: Install wait-on-check-action dependencies run: | From 61ebb5b668be32f0fc5547bf3b70ee55f7cbbecd Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 9 Jan 2024 22:24:46 -0500 Subject: [PATCH 67/92] VW MQB: EA driver inactivity workaround (#24711) * VW MQB: Emergency Assist mitigation * elide superfluous newline * update refs --------- Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/volkswagen/carcontroller.py | 11 ++++++++++- selfdrive/car/volkswagen/carstate.py | 13 ++++++++++++- selfdrive/car/volkswagen/interface.py | 5 ++++- selfdrive/car/volkswagen/mqbcan.py | 18 ++++++++++++++++++ selfdrive/car/volkswagen/values.py | 6 +++++- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 51 insertions(+), 6 deletions(-) diff --git a/panda b/panda index d0184f7266..2a0536c631 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d0184f7266571ba563e5f992b6648ff4089b2dba +Subproject commit 2a0536c63148a02add52555386b5533f3555ef58 diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 2bc03a0e69..0cee2c7fce 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -65,6 +65,15 @@ class CarController: self.apply_steer_last = apply_steer can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque + # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to + # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. + ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX) + if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): + ea_simulated_torque = CS.out.steeringTorque + can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque)) + # **** Acceleration Controls ******************************************** # if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index cbe8918d48..25c5bc04bc 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ - CarControllerParams + CarControllerParams, VolkswagenFlags class CarState(CarStateBase): @@ -14,6 +14,7 @@ class CarState(CarStateBase): self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False self.upscale_lead_car_signal = False + self.eps_stock_values = False def create_button_events(self, pt_cp, buttons): button_events = [] @@ -59,6 +60,11 @@ class CarState(CarStateBase): ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + # VW Emergency Assist status tracking and mitigation + self.eps_stock_values = pt_cp.vl["LH_EPS_03"] + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 + # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 @@ -293,6 +299,11 @@ class CarState(CarStateBase): messages = [] + if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + messages += [ + ("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not + ] + if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ # sig_address, frequency diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 0a6573217c..710e779d0a 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -3,7 +3,7 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -67,6 +67,9 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera + if 0x126 in fingerprint[2]: # HCA_01 + ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value + # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 96e05aa8f0..787c7de530 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): return packer.make_can_msg("HCA_01", bus, values) +def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): + values = {s: eps_stock_values[s] for s in [ + "COUNTER", # Sync counter value to EPS output + "EPS_Lenkungstyp", # EPS rack type + "EPS_Berechneter_LW", # Absolute raw steering angle + "EPS_VZ_BLW", # Raw steering angle sign + "EPS_HCA_Status", # EPS HCA control status + ]} + + values.update({ + # Absolute driver torque input and sign, with EA inactivity mitigation + "EPS_Lenkmoment": abs(ea_simulated_torque), + "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, + }) + + return packer.make_can_msg("LH_EPS_03", bus, values) + + def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): values = {} if len(ldw_stock_values): diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 35e88895db..f4809e4523 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,6 +1,6 @@ from collections import defaultdict, namedtuple from dataclasses import dataclass, field -from enum import Enum, StrEnum +from enum import Enum, IntFlag, StrEnum from typing import Dict, List, Union from cereal import car @@ -109,6 +109,10 @@ class CANBUS: cam = 2 +class VolkswagenFlags(IntFlag): + STOCK_HCA_PRESENT = 1 + + # Check the 7th and 8th characters of the VIN before adding a new CAR. If the # chassis code is already listed below, don't add a new CAR, just add to the # FW_VERSIONS for that existing CAR. diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 474d5056fd..9163bcae75 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -80c700f9b87e069dcb5b7ec76cd6036667615f2e \ No newline at end of file +1b981ce7f817974d4a7a28b06f01f727a5a7ea7b \ No newline at end of file From db3ef3e1d87859c20251be641304dd6be6febce2 Mon Sep 17 00:00:00 2001 From: ugtthis <142481257+ugtthis@users.noreply.github.com> Date: Tue, 9 Jan 2024 20:32:23 -0800 Subject: [PATCH 68/92] UI/MapETA: Increased contrast of widget texts for better readability (#30952) --- selfdrive/ui/qt/maps/map_eta.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc index 322861ed15..161844c618 100644 --- a/selfdrive/ui/qt/maps/map_eta.cc +++ b/selfdrive/ui/qt/maps/map_eta.cc @@ -20,7 +20,7 @@ void MapETA::paintEvent(QPaintEvent *event) { QPainter p(this); p.setRenderHint(QPainter::Antialiasing); p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 150)); + p.setBrush(QColor(0, 0, 0, 255)); QSizeF txt_size = eta_doc.size(); p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25); p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2); From 0d126e1e9e60a3d995bc90454bee206b5d70024f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 10 Jan 2024 14:55:19 -0500 Subject: [PATCH 69/92] SegmentRangeReader: new format for reading multiple segments (#30940) * segment range reader * rename that * revert that * cleanup * revert this for now * revert this for now * Fix + test * rm that * rm that * use for auto_fingerprint * simpler * for notebook too * match numpy indexing * just use numpy directly * remove that * spacing * spacing * use qlog for auto fingerprint * add 'read mode' * pass in read mode * add test for modes * numpy indexing * fix that case * more examples * fix the notebook * cleanup the notebook * cleaner * fix those --- tools/car_porting/auto_fingerprint.py | 6 +- .../examples/subaru_steer_temp_fault.ipynb | 14 ++-- tools/lib/helpers.py | 5 +- tools/lib/route.py | 22 +++++ tools/lib/srreader.py | 81 +++++++++++++++++++ tools/lib/tests/test_srreader.py | 63 +++++++++++++++ 6 files changed, 177 insertions(+), 14 deletions(-) create mode 100644 tools/lib/srreader.py create mode 100644 tools/lib/tests/test_srreader.py diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index 1870dcba80..ef3efc1cf3 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -5,10 +5,9 @@ from collections import defaultdict from typing import Optional from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.selfdrive.car.fw_versions import match_fw_to_car from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS") @@ -25,8 +24,7 @@ if __name__ == "__main__": parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?') args = parser.parse_args() - route = Route(args.route) - lr = MultiLogIterator(route.qlog_paths()) + lr = SegmentRangeReader(args.route, ReadMode.QLOG) carFw = None carVin = None diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index a20d7d5062..b60915e6ec 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -9,9 +9,7 @@ "# An example of searching through a database of segments for a specific condition, and plotting the results.\n", "\n", "segments = [\n", - " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--6\",\n", - " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--7\",\n", - " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20--8\",\n", + " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n", "]\n", "platform = \"SUBARU OUTBACK 6TH GEN\"" ] @@ -25,13 +23,12 @@ "import copy\n", "import matplotlib.pyplot as plt\n", "import numpy as np\n", - "from openpilot.tools.lib.logreader import logreader_from_route_or_segment\n", - "\n", - "\n", - "from selfdrive.car.subaru.values import CanBus, DBC\n", "\n", "from opendbc.can.parser import CANParser\n", "\n", + "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", + "from openpilot.tools.lib.srreader import SegmentRangeReader\n", + "\n", "\"\"\"\n", "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n", "has stopped responding to our messages. This analysis would allow you to find the cause of these\n", @@ -39,8 +36,7 @@ "\"\"\"\n", "\n", "for segment in segments:\n", - " print(segment)\n", - " lr = logreader_from_route_or_segment(segment)\n", + " lr = SegmentRangeReader(segment)\n", "\n", " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", "\n", diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 067b64b6ac..539d1ce34f 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -7,8 +7,11 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S" class RE: DONGLE_ID = r'(?P[a-z0-9]{16})' TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' - ROUTE_NAME = r'{}[|_/]{}'.format(DONGLE_ID, TIMESTAMP) + ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, TIMESTAMP) SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) + INDEX = r'-?[0-9]+' + SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) + SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?'.format(ROUTE_NAME, SLICE) BOOTLOG_NAME = ROUTE_NAME EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) diff --git a/tools/lib/route.py b/tools/lib/route.py index e37b7d4434..17048773b2 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -229,3 +229,25 @@ class SegmentName: def data_dir(self) -> Optional[str]: return self._data_dir def __str__(self) -> str: return self._canonical_name + + +class SegmentRange: + def __init__(self, segment_range: str): + self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range) + assert self.m, f"Segment range is not valid {segment_range}" + + @property + def route_name(self): + return self.m.group("route_name") + + @property + def dongle_id(self): + return self.m.group("dongle_id") + + @property + def timestamp(self): + return self.m.group("timestamp") + + @property + def _slice(self): + return self.m.group("slice") diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py new file mode 100644 index 0000000000..5ad13352d9 --- /dev/null +++ b/tools/lib/srreader.py @@ -0,0 +1,81 @@ +import enum +import re +import numpy as np +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.helpers import RE +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentRange + +class ReadMode(enum.Enum): + RLOG = 0 # only read rlogs + QLOG = 1 # only read qlogs + #AUTO = 2 # default to rlogs, fallback to qlogs, not supported yet + + +def create_slice_from_string(s: str): + m = re.fullmatch(RE.SLICE, s) + assert m is not None, f"Invalid slice: {s}" + start, end, step = m.groups() + start = int(start) if start is not None else None + end = int(end) if end is not None else None + step = int(step) if step is not None else None + + if start is not None and ":" not in s and end is None and step is None: + return start + return slice(start, end, step) + + +def parse_slice(sr: SegmentRange): + route = Route(sr.route_name) + segs = np.arange(route.max_seg_number+1) + s = create_slice_from_string(sr._slice) + return segs[s] if isinstance(s, slice) else [segs[s]] + +def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG): + segs = parse_slice(sr) + route = Route(sr.route_name) + + log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() + + for seg in segs: + yield LogReader(log_paths[seg]) + +def internal_source(sr: SegmentRange, mode=ReadMode.RLOG): + segs = parse_slice(sr) + + for seg in segs: + yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2") + +def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG): + segs = parse_slice(sr) + + for seg in segs: + yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog')) + +def auto_source(sr: SegmentRange, mode=ReadMode.RLOG): + # Automatically determine viable source + + try: + next(internal_source(sr, mode)) + return internal_source(sr, mode) + except Exception: + pass + + try: + next(openpilotci_source(sr, mode)) + return openpilotci_source(sr, mode) + except Exception: + pass + + return comma_api_source(sr, mode) + + +class SegmentRangeReader: + def __init__(self, segment_range: str, mode=ReadMode.RLOG, source=auto_source): + sr = SegmentRange(segment_range) + self.lrs = source(sr, mode) + + def __iter__(self): + for lr in self.lrs: + for m in lr: + yield m diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_srreader.py new file mode 100644 index 0000000000..2a017be6ae --- /dev/null +++ b/tools/lib/tests/test_srreader.py @@ -0,0 +1,63 @@ +import numpy as np +import unittest +from parameterized import parameterized + +from openpilot.tools.lib.route import SegmentRange +from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader, parse_slice + +NUM_SEGS = 17 # number of segments in the test route +ALL_SEGS = list(np.arange(NUM_SEGS)) +TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12" + +class TestSegmentRangeReader(unittest.TestCase): + @parameterized.expand([ + (f"{TEST_ROUTE}", ALL_SEGS), + (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS), + (f"{TEST_ROUTE}--0", [0]), + (f"{TEST_ROUTE}--5", [5]), + (f"{TEST_ROUTE}/0", [0]), + (f"{TEST_ROUTE}/5", [5]), + (f"{TEST_ROUTE}/0:10", ALL_SEGS[0:10]), + (f"{TEST_ROUTE}/0:0", []), + (f"{TEST_ROUTE}/4:6", ALL_SEGS[4:6]), + (f"{TEST_ROUTE}/0:-1", ALL_SEGS[0:-1]), + (f"{TEST_ROUTE}/:5", ALL_SEGS[:5]), + (f"{TEST_ROUTE}/2:", ALL_SEGS[2:]), + (f"{TEST_ROUTE}/2:-1", ALL_SEGS[2:-1]), + (f"{TEST_ROUTE}/-1", [ALL_SEGS[-1]]), + (f"{TEST_ROUTE}/-2", [ALL_SEGS[-2]]), + (f"{TEST_ROUTE}/-2:-1", ALL_SEGS[-2:-1]), + (f"{TEST_ROUTE}/-4:-2", ALL_SEGS[-4:-2]), + (f"{TEST_ROUTE}/:10:2", ALL_SEGS[:10:2]), + (f"{TEST_ROUTE}/5::2", ALL_SEGS[5::2]), + ]) + def test_parse_slice(self, segment_range, expected): + sr = SegmentRange(segment_range) + segs = parse_slice(sr) + self.assertListEqual(list(segs), expected) + + @parameterized.expand([ + (f"{TEST_ROUTE}//",), + (f"{TEST_ROUTE}---",), + (f"{TEST_ROUTE}/-4:--2",), + (f"{TEST_ROUTE}/-a",), + (f"{TEST_ROUTE}/0:1:2:3",), + (f"{TEST_ROUTE}/:::3",), + ]) + def test_bad_ranges(self, segment_range): + with self.assertRaises(AssertionError): + sr = SegmentRange(segment_range) + parse_slice(sr) + + @parameterized.expand([ + (ReadMode.QLOG, 11643), + (ReadMode.RLOG, 70577), + ]) + def test_modes(self, mode, expected): + lr = SegmentRangeReader(TEST_ROUTE+"/0", mode) + + self.assertEqual(len(list(lr)), expected) + + +if __name__ == "__main__": + unittest.main() From 926793b17ff92c57036b16f343bba263498b7423 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 10 Jan 2024 16:02:39 -0500 Subject: [PATCH 70/92] migrate can_print_changes to segmentrangereader (#30953) more tools --- selfdrive/debug/can_print_changes.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ea1160d60b..20fe502efc 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -3,10 +3,12 @@ import argparse import binascii import time from collections import defaultdict +from typing import Optional import cereal.messaging as messaging from openpilot.selfdrive.debug.can_table import can_table -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogIterable +from openpilot.tools.lib.srreader import SegmentRangeReader RED = '\033[91m' CLEAR = '\033[0m' @@ -95,13 +97,15 @@ if __name__ == "__main__": args = parser.parse_args() - init_lr, new_lr = None, None + init_lr: Optional[LogIterable] = None + new_lr: Optional[LogIterable] = None + if args.init: if args.init == '': init_lr = [] else: - init_lr = logreader_from_route_or_segment(args.init) + init_lr = SegmentRangeReader(args.init) if args.comp: - new_lr = logreader_from_route_or_segment(args.comp) + new_lr = SegmentRangeReader(args.comp) can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) From cfb23eb2d160639b870690a9bd6e7ba5350e3bc6 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 10 Jan 2024 16:36:55 -0500 Subject: [PATCH 71/92] segmentrangereader: support sort_by_time (#30954) support sort-by-time --- tools/lib/srreader.py | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py index 5ad13352d9..9824e0466b 100644 --- a/tools/lib/srreader.py +++ b/tools/lib/srreader.py @@ -31,49 +31,49 @@ def parse_slice(sr: SegmentRange): s = create_slice_from_string(sr._slice) return segs[s] if isinstance(s, slice) else [segs[s]] -def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG): +def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): segs = parse_slice(sr) route = Route(sr.route_name) log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() for seg in segs: - yield LogReader(log_paths[seg]) + yield LogReader(log_paths[seg], sort_by_time=sort_by_time) -def internal_source(sr: SegmentRange, mode=ReadMode.RLOG): +def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): segs = parse_slice(sr) for seg in segs: - yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2") + yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time) -def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG): +def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): segs = parse_slice(sr) for seg in segs: - yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog')) + yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time) -def auto_source(sr: SegmentRange, mode=ReadMode.RLOG): +def auto_source(*args, **kwargs): # Automatically determine viable source try: - next(internal_source(sr, mode)) - return internal_source(sr, mode) + next(internal_source(*args, **kwargs)) + return internal_source(*args, **kwargs) except Exception: pass try: - next(openpilotci_source(sr, mode)) - return openpilotci_source(sr, mode) + next(openpilotci_source(*args, **kwargs)) + return openpilotci_source(*args, **kwargs) except Exception: pass - return comma_api_source(sr, mode) + return comma_api_source(*args, **kwargs) class SegmentRangeReader: - def __init__(self, segment_range: str, mode=ReadMode.RLOG, source=auto_source): + def __init__(self, segment_range: str, mode=ReadMode.RLOG, source=auto_source, sort_by_time=False): sr = SegmentRange(segment_range) - self.lrs = source(sr, mode) + self.lrs = source(sr, mode, sort_by_time) def __iter__(self): for lr in self.lrs: From 576cba217d1334b6429762bb47dfdb77adc576d1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 10 Jan 2024 16:48:35 -0500 Subject: [PATCH 72/92] buildjet: pin location to de (#30955) * pin location * stringify * Fix * fromjson * flip the parens * and those --- .github/workflows/selfdrive_tests.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3c95d8055b..0e1e47c012 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -75,7 +75,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ fromJson( (matrix.arch == 'aarch64') && '["buildjet-2vcpu-ubuntu-2204-arm", "buildjet-pinned-location_de_arm"]' || 'ubuntu-20.04' ) }} steps: - uses: actions/checkout@v4 with: @@ -94,7 +94,7 @@ jobs: strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ fromJson( (matrix.arch == 'aarch64') && '["buildjet-2vcpu-ubuntu-2204-arm", "buildjet-pinned-location_de_arm"]' || 'ubuntu-20.04' ) }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 From af1b7e5c5912f328d196ff7da952f756a0fc5d04 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 10 Jan 2024 18:11:20 -0500 Subject: [PATCH 73/92] Revert "buildjet: pin location to de" (#30956) Revert "buildjet: pin location to de (#30955)" This reverts commit 576cba217d1334b6429762bb47dfdb77adc576d1. --- .github/workflows/selfdrive_tests.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0e1e47c012..3c95d8055b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -75,7 +75,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ fromJson( (matrix.arch == 'aarch64') && '["buildjet-2vcpu-ubuntu-2204-arm", "buildjet-pinned-location_de_arm"]' || 'ubuntu-20.04' ) }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -94,7 +94,7 @@ jobs: strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ fromJson( (matrix.arch == 'aarch64') && '["buildjet-2vcpu-ubuntu-2204-arm", "buildjet-pinned-location_de_arm"]' || 'ubuntu-20.04' ) }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 From 1da08460cba9f3d67b7b84249ccd8ee9bd282bf7 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Wed, 10 Jan 2024 21:13:21 -0500 Subject: [PATCH 74/92] Enable variable pass between test and metadrive processes (#30961) pass started between processes --- tools/sim/tests/test_sim_bridge.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index 2a12ef791a..850fd83bac 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -3,7 +3,7 @@ import subprocess import time import unittest -from multiprocessing import Queue +from multiprocessing import Queue, Value from cereal import messaging from openpilot.common.basedir import BASEDIR @@ -27,6 +27,7 @@ class TestSimBridgeBase(unittest.TestCase): sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState']) q = Queue() bridge = self.create_bridge() + bridge.started = Value('b', False) p_bridge = bridge.run(q, retries=10) self.processes.append(p_bridge) From 3918039e293c1784cecc49cca41bc1907f23f146 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 10 Jan 2024 19:37:10 -0800 Subject: [PATCH 75/92] manager: clean exit on ctrl-c --- selfdrive/manager/manager.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 37947a9a03..8b9bba4a47 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -229,6 +229,8 @@ if __name__ == "__main__": try: main() + except KeyboardInterrupt: + print("got CTRL-C, exiting") except Exception: add_file_handler(cloudlog) cloudlog.exception("Manager failed to start") From e9e8f4df38cb54d0f97f2c5aede0a76921807c47 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 10 Jan 2024 23:19:16 -0800 Subject: [PATCH 76/92] update count_events.py to SegmentRangeReader --- selfdrive/debug/count_events.py | 48 +++++++++++++++------------------ 1 file changed, 21 insertions(+), 27 deletions(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a2c3576b6f..70f412bff1 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -4,16 +4,12 @@ import math import datetime from collections import Counter from pprint import pprint -from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import SERVICE_LIST -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode if __name__ == "__main__": - r = Route(sys.argv[1]) - cnt_valid: Counter = Counter() cnt_events: Counter = Counter() @@ -24,31 +20,29 @@ if __name__ == "__main__": start_time = math.inf end_time = -math.inf ignition_off = None - for q in tqdm(r.qlog_paths()): - if q is None: - continue - lr = list(LogReader(q)) - for msg in lr: - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) + for msg in SegmentRangeReader(sys.argv[1], ReadMode.QLOG): + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) - if msg.which() == 'onroadEvents': - for e in msg.onroadEvents: - cnt_events[e.name] += 1 - elif msg.which() == 'controlsState': - if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: + if msg.which() == 'onroadEvents': + for e in msg.onroadEvents: + cnt_events[e.name] += 1 + elif msg.which() == 'controlsState': + at = msg.controlsState.alertType + if "/override" not in at or "lanechange" in at.lower(): + if len(alerts) == 0 or alerts[-1][1] != at: t = (msg.logMonoTime - start_time) / 1e9 - alerts.append((t, msg.controlsState.alertType)) - elif msg.which() == 'pandaStates': - if ignition_off is None: - ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) - if not ign: - ignition_off = msg.logMonoTime - elif msg.which() in cams: - cnt_cameras[msg.which()] += 1 + alerts.append((t, at)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime + elif msg.which() in cams: + cnt_cameras[msg.which()] += 1 - if not msg.valid: - cnt_valid[msg.which()] += 1 + if not msg.valid: + cnt_valid[msg.which()] += 1 duration = (end_time - start_time) / 1e9 From b92e71a2b6a2067fa67578106a6b5c15f3f5dfb1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 10 Jan 2024 23:23:13 -0800 Subject: [PATCH 77/92] updated: persist more state between runs for UI (#30963) * persist branches and more * fix target * typo --------- Co-authored-by: Comma Device --- common/params.cc | 2 +- selfdrive/updated.py | 15 +++++++++------ 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/common/params.cc b/common/params.cc index 620cd42641..7b14ac6955 100644 --- a/common/params.cc +++ b/common/params.cc @@ -199,7 +199,7 @@ std::unordered_map keys = { {"UbloxAvailable", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", PERSISTENT}, {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/updated.py b/selfdrive/updated.py index db6a06dc9e..a623aaefc8 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -230,7 +230,6 @@ class Updater: b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') if b is None: b = self.get_branch(BASEDIR) - self.params.put("UpdaterTargetBranch", b) return b @property @@ -245,7 +244,7 @@ class Updater: @property def update_available(self) -> bool: - if os.path.isdir(OVERLAY_MERGED): + if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch return hash_mismatch or branch_mismatch @@ -259,9 +258,11 @@ class Updater: def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: self.params.put("UpdateFailedCount", str(failed_count)) + self.params.put("UpdaterTargetBranch", self.target_branch) self.params.put_bool("UpdaterFetchAvailable", self.update_available) - self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + if len(self.branches): + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) last_update = datetime.datetime.utcnow() if update_success: @@ -428,10 +429,11 @@ def main() -> None: # invalidate old finalized update set_consistent_flag(False) - # wait a bit before first cycle - wait_helper.sleep(60) + # set initial state + params.put("UpdaterState", "idle") # Run the update loop + first_run = True while True: wait_helper.ready_event.clear() @@ -444,7 +446,8 @@ def main() -> None: # ensure we have some params written soon after startup updater.set_params(False, update_failed_count, exception) - if not system_time_valid(): + if not system_time_valid() or first_run: + first_run = False wait_helper.sleep(60) continue From bef6d7f0bb1f985fa959627d674210c46870d914 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 11 Jan 2024 01:39:15 -0700 Subject: [PATCH 78/92] pre-commit: speed up translation step (#30966) * formatting fix * fix missing class attr warning * add translation_files option, remove pluralonly, type hint * updates * update --- selfdrive/ui/tests/test_translations.py | 7 +++++-- selfdrive/ui/update_translations.py | 20 +++++++++----------- 2 files changed, 14 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index caba386643..9ba9054ea1 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -22,6 +22,9 @@ FORMAT_ARG = re.compile("%[0-9]+") @parameterized_class(("name", "file"), translation_files.items()) class TestTranslations(unittest.TestCase): + name: str + file: str + @staticmethod def _read_translation_file(path, file): tr_file = os.path.join(path, f"{file}.ts") @@ -30,12 +33,12 @@ class TestTranslations(unittest.TestCase): def test_missing_translation_files(self): self.assertTrue(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(plural_only=["main_en"], translations_dir=tmpdir) + 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) diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 004c6425dc..e988a13b7f 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -9,6 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") +PLURAL_ONLY = ["main_en"] # base language, only create entries for strings with plural forms def generate_translations_include(): @@ -22,21 +23,20 @@ def generate_translations_include(): with open(TRANSLATIONS_INCLUDE_FILE, "w") as f: f.write(content) -def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): - generate_translations_include() - if plural_only is None: - plural_only = [] +def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR): + generate_translations_include() - with open(LANGUAGES_FILE, "r") as f: - translation_files = json.load(f) + if translation_files is None: + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f).values() - for file in translation_files.values(): + for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" - if file in plural_only: + if file in PLURAL_ONLY: args += " -pluralonly" ret = os.system(args) assert ret == 0 @@ -46,8 +46,6 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], - help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() - update_translations(args.vanish, args.plural_only) + update_translations(args.vanish) From 3c74a61c979cb318768699dc8d4fe39c64779622 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 11 Jan 2024 01:39:26 -0700 Subject: [PATCH 79/92] Honda: remove hud ECU from CR-V Hybrid (#30965) remove almost absent ECU --- selfdrive/car/honda/fingerprints.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 1667b46188..543a283e47 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -744,9 +744,6 @@ FW_VERSIONS = { b'78109-TPG-A110\x00\x00', b'78109-TPG-A210\x00\x00', ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TLA-X010\x00\x00', - ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TMB-H040\x00\x00', b'36802-TPA-E040\x00\x00', From 32dfb3f8f28df60657e8d94c53d219e4606f2375 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 13:14:10 -0500 Subject: [PATCH 80/92] More migration to segmentrangereader (#30959) * filter log message * ffr * gtfs * gtfs --- selfdrive/debug/filter_log_message.py | 37 ++++++------------- selfdrive/debug/fingerprint_from_route.py | 6 +-- .../test/get_thumbnails_for_segment.py | 15 ++------ 3 files changed, 17 insertions(+), 41 deletions(-) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 20cef0fcc0..f8e78c8b98 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import os import argparse import json import cereal.messaging as messaging -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.srreader import SegmentRangeReader LEVELS = { "DEBUG": 10, @@ -53,31 +51,18 @@ if __name__ == "__main__": parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") args = parser.parse_args() - logs = None - if len(args.route): - if os.path.exists(args.route[0]): - logs = [args.route[0]] - else: - r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] - - if len(args.route) == 2 and logs: - n = int(args.route[1]) - logs = [logs[n]] - min_level = LEVELS[args.level] - if logs: - for log in logs: - if log: - lr = LogReader(log) - for m in lr: - if m.which() == 'logMessage': - print_logmessage(m.logMonoTime, m.logMessage, min_level) - elif m.which() == 'errorLogMessage' and 'qlog' in log: - print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) - elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime, m.androidLog) + if args.route: + for route in args.route: + lr = SegmentRangeReader(route) + for m in lr: + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime, m.logMessage, min_level) + elif m.which() == 'errorLogMessage': + print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime, m.androidLog) else: sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) while True: diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index c2bff7c638..a019e09260 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader def get_fingerprint(lr): @@ -40,6 +39,5 @@ if __name__ == "__main__": print("Usage: ./fingerprint_from_route.py ") sys.exit(1) - route = Route(sys.argv[1]) - lr = MultiLogIterator(route.log_paths()[:5]) + lr = SegmentRangeReader(sys.argv[1], mode=ReadMode.QLOG) get_fingerprint(lr) diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 43f543f1bd..95d865e4e4 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -1,26 +1,19 @@ #!/usr/bin/env python3 - +import argparse import os - from tqdm import tqdm -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import argparse +from openpilot.tools.lib.srreader import SegmentRangeReader if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("route", help="The route name") - parser.add_argument("segment", type=int, help="The index of the segment") args = parser.parse_args() - out_path = os.path.join("jpegs", f"{args.route.replace('|', '_')}_{args.segment}") + out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") os.makedirs(out_path, exist_ok=True) - r = Route(args.route) - path = r.log_paths()[args.segment] or r.qlog_paths()[args.segment] - lr = list(LogReader(path)) + lr = SegmentRangeReader(args.route) for msg in tqdm(lr): if msg.which() == 'thumbnail': From be814ed44747ab09f8db429ff0ee1e7f87180fec Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 13:25:24 -0500 Subject: [PATCH 81/92] SegmentRangeReader: log type selector (#30960) * log type selector * test this too * and this * invalid selector * use strenum * don't hardcode size * oneline --- tools/lib/helpers.py | 2 +- tools/lib/route.py | 4 ++++ tools/lib/srreader.py | 13 ++++++++----- tools/lib/tests/test_srreader.py | 20 ++++++++++++-------- 4 files changed, 25 insertions(+), 14 deletions(-) diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 539d1ce34f..c184efe6a2 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -11,7 +11,7 @@ class RE: SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) INDEX = r'-?[0-9]+' SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) - SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?'.format(ROUTE_NAME, SLICE) + SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qr]))?'.format(ROUTE_NAME, SLICE) BOOTLOG_NAME = ROUTE_NAME EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) diff --git a/tools/lib/route.py b/tools/lib/route.py index 17048773b2..d3df93ccda 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -251,3 +251,7 @@ class SegmentRange: @property def _slice(self): return self.m.group("slice") + + @property + def selector(self): + return self.m.group("selector") diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py index 9824e0466b..2c08072e98 100644 --- a/tools/lib/srreader.py +++ b/tools/lib/srreader.py @@ -6,10 +6,10 @@ from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentRange -class ReadMode(enum.Enum): - RLOG = 0 # only read rlogs - QLOG = 1 # only read qlogs - #AUTO = 2 # default to rlogs, fallback to qlogs, not supported yet +class ReadMode(enum.StrEnum): + RLOG = "r" # only read rlogs + QLOG = "q" # only read qlogs + #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet def create_slice_from_string(s: str): @@ -71,8 +71,11 @@ def auto_source(*args, **kwargs): class SegmentRangeReader: - def __init__(self, segment_range: str, mode=ReadMode.RLOG, source=auto_source, sort_by_time=False): + def __init__(self, segment_range: str, default_mode=ReadMode.RLOG, source=auto_source, sort_by_time=False): sr = SegmentRange(segment_range) + + mode = default_mode if sr.selector is None else ReadMode(sr.selector) + self.lrs = source(sr, mode, sort_by_time) def __iter__(self): diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_srreader.py index 2a017be6ae..84521ae219 100644 --- a/tools/lib/tests/test_srreader.py +++ b/tools/lib/tests/test_srreader.py @@ -37,10 +37,11 @@ class TestSegmentRangeReader(unittest.TestCase): self.assertListEqual(list(segs), expected) @parameterized.expand([ - (f"{TEST_ROUTE}//",), + (f"{TEST_ROUTE}///",), (f"{TEST_ROUTE}---",), (f"{TEST_ROUTE}/-4:--2",), (f"{TEST_ROUTE}/-a",), + (f"{TEST_ROUTE}/j",), (f"{TEST_ROUTE}/0:1:2:3",), (f"{TEST_ROUTE}/:::3",), ]) @@ -49,14 +50,17 @@ class TestSegmentRangeReader(unittest.TestCase): sr = SegmentRange(segment_range) parse_slice(sr) - @parameterized.expand([ - (ReadMode.QLOG, 11643), - (ReadMode.RLOG, 70577), - ]) - def test_modes(self, mode, expected): - lr = SegmentRangeReader(TEST_ROUTE+"/0", mode) + def test_modes(self): + qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) + rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) + + self.assertLess(qlog_len * 6, rlog_len) + + def test_modes_from_name(self): + qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/q"))) + rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/r"))) - self.assertEqual(len(list(lr)), expected) + self.assertLess(qlog_len * 6, rlog_len) if __name__ == "__main__": From 0320fb385ad02a096257561c61c8c2b585741c97 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 10:54:53 -0800 Subject: [PATCH 82/92] fix static analysis --- selfdrive/debug/fingerprint_from_route.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index a019e09260..7126a282c9 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -39,5 +39,5 @@ if __name__ == "__main__": print("Usage: ./fingerprint_from_route.py ") sys.exit(1) - lr = SegmentRangeReader(sys.argv[1], mode=ReadMode.QLOG) + lr = SegmentRangeReader(sys.argv[1], ReadMode.QLOG) get_fingerprint(lr) From ed153141fc733b9ac3d6c1cedfbcd01039c6ff20 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 11 Jan 2024 10:56:46 -0800 Subject: [PATCH 83/92] rm old debug script --- selfdrive/debug/sensor_data_to_hist.py | 111 ------------------------- 1 file changed, 111 deletions(-) delete mode 100755 selfdrive/debug/sensor_data_to_hist.py diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py deleted file mode 100755 index 73f98b285c..0000000000 --- a/selfdrive/debug/sensor_data_to_hist.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -''' -printing the gap between interrupts in a histogram to check if the -frequency is what we expect, the bmx is not interrupt driven for as we -get interrupts in a 2kHz rate. -''' - -import argparse -import sys -import numpy as np -from collections import defaultdict - -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import matplotlib.pyplot as plt - -SRC_BMX = "bmx055" -SRC_LSM = "lsm6ds3" - - -def parseEvents(log_reader): - bmx_data = defaultdict(list) - lsm_data = defaultdict(list) - - for m in log_reader: - if m.which() not in ['accelerometer', 'gyroscope']: - continue - - d = getattr(m, m.which()).to_dict() - - if d["source"] == SRC_BMX and "acceleration" in d: - bmx_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_BMX and "gyroUncalibrated" in d: - bmx_data["gyro"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "acceleration" in d: - lsm_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "gyroUncalibrated" in d: - lsm_data["gyro"].append(d["timestamp"] / 1e9) - - return bmx_data, lsm_data - - -def cleanData(data): - if len(data) == 0: - return [], [] - - data.sort() - diffs = np.diff(data) - return data, diffs - - -def logAvgValues(data, sensor): - if len(data) == 0: - print(f"{sensor}: no data to average") - return - - avg = sum(data) / len(data) - hz = 1 / avg - print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("route", type=str, help="route name") - parser.add_argument("segment", type=int, help="segment number") - args = parser.parse_args() - - r = Route(args.route) - logs = r.log_paths() - - if len(logs) == 0: - print("NO data routes") - sys.exit(0) - - if args.segment >= len(logs): - print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}") - sys.exit(0) - - lr = LogReader(logs[args.segment]) - bmx_data, lsm_data = parseEvents(lr) - - # sort bmx accel data, and then cal all the diffs, and to a histogram of those - bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"]) - bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"]) - lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"]) - lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"]) - - # get out the averages - logAvgValues(bmx_accel_diffs, "bmx accel") - logAvgValues(bmx_gyro_diffs, "bmx gyro ") - logAvgValues(lsm_accel_diffs, "lsm accel") - logAvgValues(lsm_gyro_diffs, "lsm gyro ") - - fig, axs = plt.subplots(1, 2, tight_layout=True) - axs[0].hist(bmx_accel_diffs, bins=50) - axs[0].set_title("bmx_accel") - axs[1].hist(bmx_gyro_diffs, bins=50) - axs[1].set_title("bmx_gyro") - - figl, axsl = plt.subplots(1, 2, tight_layout=True) - axsl[0].hist(lsm_accel_diffs, bins=50) - axsl[0].set_title("lsm_accel") - axsl[1].hist(lsm_gyro_diffs, bins=50) - axsl[1].set_title("lsm_gyro") - - print("check plot...") - plt.show() From f820b7cd94bf366c8ea2bd48a8d15ab1ccd7d2e0 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Thu, 11 Jan 2024 14:16:09 -0500 Subject: [PATCH 84/92] FIx violations and enable --warn=all (#30854) * --warn=all * setoption default warn=all * to old test yaml * cleanup * advanced cscanner * SCons conditional scanner * not time yet --------- Co-authored-by: Adeeb Shihadeh --- SConstruct | 3 +++ 1 file changed, 3 insertions(+) diff --git a/SConstruct b/SConstruct index e1a9b82c7f..11b95702c3 100644 --- a/SConstruct +++ b/SConstruct @@ -9,6 +9,9 @@ import SCons.Errors SCons.Warnings.warningAsException(True) +# pending upstream fix - https://github.com/SCons/scons/issues/4461 +#SetOption('warn', 'all') + TICI = os.path.isfile('/TICI') AGNOS = TICI From 7e9843b5e6d0756bc7c17ef7338c384b7b330df0 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 14:46:31 -0500 Subject: [PATCH 85/92] replace more tools with SegmentRangeReader (#30968) * replace lrfros * and those ones too --- selfdrive/debug/run_process_on_route.py | 9 +++------ selfdrive/debug/toyota_eps_factor.py | 6 ++---- tools/latencylogger/latency_logger.py | 4 ++-- tools/replay/can_replay.py | 4 ++-- tools/tuning/measure_steering_accuracy.py | 4 ++-- 5 files changed, 11 insertions(+), 16 deletions(-) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 8209b409ca..51ba06ec14 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -3,14 +3,12 @@ import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.srreader import SegmentRangeReader if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--qlog", help="Use qlog instead of log", action="store_true") parser.add_argument("--fingerprint", help="The fingerprint to use") parser.add_argument("route", help="The route name to use") parser.add_argument("process", help="The process to run") @@ -18,8 +16,7 @@ if __name__ == "__main__": cfg = [c for c in CONFIGS if c.proc_name == args.process][0] - route = Route(args.route) - lr = MultiLogIterator(route.qlog_paths() if args.qlog else route.log_paths()) + lr = SegmentRangeReader(args.route) inputs = list(lr) outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) @@ -29,5 +26,5 @@ if __name__ == "__main__": inputs = [i for i in inputs if i.which() not in produces] outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) - fn = f"{args.route}_{args.process}.bz2" + fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" save_log(fn, outputs) diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index d60d2d372b..1f72fa296a 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -5,8 +5,7 @@ import matplotlib.pyplot as plt from sklearn import linear_model from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.srreader import SegmentRangeReader MIN_SAMPLES = 30 * 100 @@ -58,7 +57,6 @@ def get_eps_factor(lr, plot=False): if __name__ == "__main__": - r = Route(sys.argv[1]) - lr = MultiLogIterator(r.log_paths()) + lr = SegmentRangeReader(sys.argv[1]) n = get_eps_factor(lr, plot="--plot" in sys.argv) print("EPS torque factor: ", n) diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index f2adc97e01..29d4889d35 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,7 +8,7 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.srreader import SegmentRangeReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" @@ -236,7 +236,7 @@ if __name__ == "__main__": args = parser.parse_args() r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - lr = logreader_from_route_or_segment(r, sort_by_time=True) + lr = SegmentRangeReader(r, sort_by_time=True) data, _ = get_timestamps(lr) print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 0827ca799f..590a37734c 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -11,7 +11,7 @@ os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list from openpilot.tools.plotjuggler.juggle import load_segment -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.srreader import SegmentRangeReader from panda import Panda, PandaJungle def send_thread(s, flock): @@ -102,7 +102,7 @@ if __name__ == "__main__": for lr in tqdm(pool.map(load_segment, logs)): CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] else: - lr = logreader_from_route_or_segment(args.route_or_segment_name) + lr = SegmentRangeReader(args.route_or_segment_name) CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] # set both to cycle ignition diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index a7718043cb..de4de46c2a 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.srreader import SegmentRangeReader def sigint_handler(signal, frame): exit(0) @@ -128,7 +128,7 @@ if __name__ == "__main__": if args.route is not None: print(f"loading {args.route}...") - lr = logreader_from_route_or_segment(args.route, sort_by_time=True) + lr = SegmentRangeReader(args.route, sort_by_time=True) sm = {} for msg in lr: From fb994ae782259e8ed4d9212edc3c9fb277f831f6 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 15:55:19 -0500 Subject: [PATCH 86/92] segmentrangereader: support more sources (#30970) * support more sources * remove this --- tools/lib/route.py | 21 ++++++++++++++++++++- tools/lib/srreader.py | 4 ++-- tools/lib/tests/test_srreader.py | 5 +++++ 3 files changed, 27 insertions(+), 3 deletions(-) diff --git a/tools/lib/route.py b/tools/lib/route.py index d3df93ccda..93788e7ab3 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,6 +1,6 @@ import os import re -from urllib.parse import urlparse +from urllib.parse import parse_qs, urlparse from collections import defaultdict from itertools import chain from typing import Optional @@ -231,8 +231,27 @@ class SegmentName: def __str__(self) -> str: return self._canonical_name +def parse_useradmin(segment_range): + if "useradmin.comma.ai" in segment_range: + query = parse_qs(urlparse(segment_range).query) + return query["onebox"][0] + return segment_range + +def parse_cabana(segment_range): + if "cabana.comma.ai" in segment_range: + query = parse_qs(urlparse(segment_range).query) + return query["route"][0] + return segment_range + +def parse_cd(segment_range): + return segment_range.replace("cd:/", "") + class SegmentRange: def __init__(self, segment_range: str): + segment_range = parse_useradmin(segment_range) + segment_range = parse_cabana(segment_range) + segment_range = parse_cd(segment_range) + self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range) assert self.m, f"Segment range is not valid {segment_range}" diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py index 2c08072e98..08abd03d33 100644 --- a/tools/lib/srreader.py +++ b/tools/lib/srreader.py @@ -71,12 +71,12 @@ def auto_source(*args, **kwargs): class SegmentRangeReader: - def __init__(self, segment_range: str, default_mode=ReadMode.RLOG, source=auto_source, sort_by_time=False): + def __init__(self, segment_range: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): sr = SegmentRange(segment_range) mode = default_mode if sr.selector is None else ReadMode(sr.selector) - self.lrs = source(sr, mode, sort_by_time) + self.lrs = default_source(sr, mode, sort_by_time) def __iter__(self): for lr in self.lrs: diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_srreader.py index 84521ae219..e1c54557be 100644 --- a/tools/lib/tests/test_srreader.py +++ b/tools/lib/tests/test_srreader.py @@ -30,6 +30,11 @@ class TestSegmentRangeReader(unittest.TestCase): (f"{TEST_ROUTE}/-4:-2", ALL_SEGS[-4:-2]), (f"{TEST_ROUTE}/:10:2", ALL_SEGS[:10:2]), (f"{TEST_ROUTE}/5::2", ALL_SEGS[5::2]), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE}", ALL_SEGS), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS), + (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS), + (f"cd:/{TEST_ROUTE}", ALL_SEGS), ]) def test_parse_slice(self, segment_range, expected): sr = SegmentRange(segment_range) From 042ccb9244ac167a07d289864c99e0d169bb9e1a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 16:11:59 -0500 Subject: [PATCH 87/92] move can replay to segmentrangereader (#30971) can replay --- tools/replay/can_replay.py | 23 ++++++++++++----------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 590a37734c..4be516a108 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -4,13 +4,11 @@ import os import time import threading import multiprocessing -from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list -from openpilot.tools.plotjuggler.juggle import load_segment from openpilot.tools.lib.srreader import SegmentRangeReader from panda import Panda, PandaJungle @@ -92,18 +90,21 @@ if __name__ == "__main__": parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") args = parser.parse_args() + def process(lr): + return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + print("Loading log...") if args.route_or_segment_name is None: - ROUTE = "77611a1fac303767/2020-03-24--09-50-38" - REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available + args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16" + + sr = SegmentRangeReader(args.route_or_segment_name) + + with multiprocessing.Pool(24) as pool: CAN_MSGS = [] - logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] - with multiprocessing.Pool(24) as pool: - for lr in tqdm(pool.map(load_segment, logs)): - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] - else: - lr = SegmentRangeReader(args.route_or_segment_name) - CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + for p in pool.map(process, sr.lrs): + CAN_MSGS.extend(p) + + print("Finished loading...") # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) From 8d9e431f43d5974d7908aae4645d6fa6fb0e7324 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 16:35:50 -0500 Subject: [PATCH 88/92] car porting examples: add example of plotting the response of brake_pressure vs acceleration (#30958) * another example * add comment * fix that * oop * fix link --- tools/car_porting/README.md | 8 ++ .../examples/subaru_long_accel.ipynb | 120 ++++++++++++++++++ 2 files changed, 128 insertions(+) create mode 100644 tools/car_porting/examples/subaru_long_accel.ipynb diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md index ca21cdd329..4197e3ab76 100644 --- a/tools/car_porting/README.md +++ b/tools/car_porting/README.md @@ -64,3 +64,11 @@ An example of searching through a database of segments for a specific condition, ![steer warning example](https://github.com/commaai/openpilot/assets/9648890/d60ad120-4b44-4974-ac79-adc660fb8fe2) *a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change* + +### [tools/car_porting/examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb) + +An example of plotting the response of an actuator when it is active. + +![brake pressure example](https://github.com/commaai/openpilot/assets/9648890/8f32cf1d-8fc0-4407-b540-70625ebbf082) + +*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.* \ No newline at end of file diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb new file mode 100644 index 0000000000..ea685dcd4f --- /dev/null +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -0,0 +1,120 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "segments = [\n", + " \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n", + "]\n", + "platform = \"SUBARU OUTBACK 6TH GEN\"\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import copy\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "\n", + "from openpilot.selfdrive.car.subaru.values import DBC\n", + "from openpilot.tools.lib.srreader import SegmentRangeReader\n", + "\n", + "\"\"\"\n", + "In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n", + "\"\"\"\n", + "\n", + "for segment in segments:\n", + " lr = SegmentRangeReader(segment)\n", + "\n", + " messages = [\n", + " (\"ES_Distance\", 20),\n", + " (\"ES_Brake\", 20),\n", + " (\"ES_Status\", 20),\n", + " ]\n", + "\n", + " cp = CANParser(DBC[platform][\"pt\"], messages, 1)\n", + "\n", + " es_distance_history = []\n", + " es_status_history = []\n", + " es_brake_history = []\n", + " acceleration_history = []\n", + "\n", + " last_acc = 0\n", + "\n", + " for msg in lr:\n", + " if msg.which() == \"can\":\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", + " es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n", + " es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n", + " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", + "\n", + " acceleration_history.append(last_acc)\n", + " \n", + " if msg.which() == \"carState\":\n", + " last_acc = msg.carState.aEgo" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def process(history, func):\n", + " return np.array([func(h) for h in history])\n", + "\n", + "cruise_activated = process(es_status_history, lambda es_status: es_status[\"Cruise_Activated\"])\n", + "cruise_throttle = process(es_distance_history, lambda es_distance: es_distance[\"Cruise_Throttle\"])\n", + "cruise_rpm = process(es_status_history, lambda es_status: es_status[\"Cruise_RPM\"])\n", + "cruise_brake = process(es_brake_history, lambda es_brake: es_brake[\"Brake_Pressure\"])\n", + "acceleration = process(acceleration_history, lambda acc: acc)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import matplotlib.pyplot as plt\n", + "\n", + "valid_brake = (cruise_activated==1) & (cruise_brake>0) # only when cruise is activated and eyesight is braking\n", + "\n", + "ax = plt.figure().add_subplot()\n", + "\n", + "ax.set_title(\"Brake_Pressure vs Acceleration\")\n", + "ax.set_xlabel(\"Brake_Pessure\")\n", + "ax.set_ylabel(\"Acceleration\")\n", + "ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} From 68bcb6b8da0db090c37d6d9a633d7ffdd58e24fe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 11 Jan 2024 15:57:04 -0800 Subject: [PATCH 89/92] Fingerprints: add missing FW versions from users (#30972) Export fingerprints --- selfdrive/car/toyota/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 485e3246d1..c72766f40a 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1412,6 +1412,7 @@ FW_VERSIONS = { CAR.LEXUS_RC: { (Ecu.engine, 0x700, None): [ b'\x01896632461100\x00\x00\x00\x00', + b'\x01896632478100\x00\x00\x00\x00', b'\x01896632478200\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ From eb09294fc265ffc9cc2ed7f03acc5037d064de81 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 19:56:48 -0500 Subject: [PATCH 90/92] segmentrangereader: support direct parsing (#30973) * use correct source * revert * cleanup imports * clean * direct parsing * rename * move up * fixes * fix that * better error message --- tools/lib/route.py | 21 +--------- tools/lib/srreader.py | 67 +++++++++++++++++++++++++++++--- tools/lib/tests/test_srreader.py | 22 +++++++++-- 3 files changed, 82 insertions(+), 28 deletions(-) diff --git a/tools/lib/route.py b/tools/lib/route.py index 93788e7ab3..d3df93ccda 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,6 +1,6 @@ import os import re -from urllib.parse import parse_qs, urlparse +from urllib.parse import urlparse from collections import defaultdict from itertools import chain from typing import Optional @@ -231,27 +231,8 @@ class SegmentName: def __str__(self) -> str: return self._canonical_name -def parse_useradmin(segment_range): - if "useradmin.comma.ai" in segment_range: - query = parse_qs(urlparse(segment_range).query) - return query["onebox"][0] - return segment_range - -def parse_cabana(segment_range): - if "cabana.comma.ai" in segment_range: - query = parse_qs(urlparse(segment_range).query) - return query["route"][0] - return segment_range - -def parse_cd(segment_range): - return segment_range.replace("cd:/", "") - class SegmentRange: def __init__(self, segment_range: str): - segment_range = parse_useradmin(segment_range) - segment_range = parse_cabana(segment_range) - segment_range = parse_cd(segment_range) - self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range) assert self.m, f"Segment range is not valid {segment_range}" diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py index 08abd03d33..db2ebd1936 100644 --- a/tools/lib/srreader.py +++ b/tools/lib/srreader.py @@ -1,6 +1,9 @@ import enum -import re import numpy as np +import pathlib +import re +from urllib.parse import parse_qs, urlparse + from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader @@ -37,6 +40,10 @@ def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() + invalid_segs = [seg for seg in segs if log_paths[seg] is None] + + assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" + for seg in segs: yield LogReader(log_paths[seg], sort_by_time=sort_by_time) @@ -52,6 +59,9 @@ def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False) for seg in segs: yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time) +def direct_source(file_or_url, sort_by_time): + yield LogReader(file_or_url, sort_by_time=sort_by_time) + def auto_source(*args, **kwargs): # Automatically determine viable source @@ -69,14 +79,61 @@ def auto_source(*args, **kwargs): return comma_api_source(*args, **kwargs) +def parse_useradmin(identifier): + if "useradmin.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["onebox"][0] + return None + +def parse_cabana(identifier): + if "cabana.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["route"][0] + return None + +def parse_cd(identifier): + if "cd:/" in identifier: + return identifier.replace("cd:/", "") + return None + +def parse_direct(identifier): + if "https://" in identifier or "http://" in identifier or pathlib.Path(identifier).exists(): + return identifier + return None + +def parse_indirect(identifier): + parsed = parse_useradmin(identifier) or parse_cabana(identifier) + + if parsed is not None: + return parsed, comma_api_source, True + + parsed = parse_cd(identifier) + if parsed is not None: + return parsed, internal_source, True + + return identifier, None, False class SegmentRangeReader: - def __init__(self, segment_range: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): - sr = SegmentRange(segment_range) + def _logreaders_from_identifier(self, identifier): + parsed, source, is_indirect = parse_indirect(identifier) + + if not is_indirect: + direct_parsed = parse_direct(identifier) + if direct_parsed is not None: + return direct_source(identifier, sort_by_time=self.sort_by_time) + + sr = SegmentRange(parsed) + mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) + source = self.default_source if source is None else source + + return source(sr, mode, sort_by_time=self.sort_by_time) - mode = default_mode if sr.selector is None else ReadMode(sr.selector) + def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): + self.default_mode = default_mode + self.default_source = default_source + self.sort_by_time = sort_by_time - self.lrs = default_source(sr, mode, sort_by_time) + self.lrs = self._logreaders_from_identifier(identifier) def __iter__(self): for lr in self.lrs: diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_srreader.py index e1c54557be..b22599dee8 100644 --- a/tools/lib/tests/test_srreader.py +++ b/tools/lib/tests/test_srreader.py @@ -1,13 +1,17 @@ +import shutil +import tempfile import numpy as np import unittest from parameterized import parameterized +import requests from openpilot.tools.lib.route import SegmentRange -from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader, parse_slice +from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader, parse_slice, parse_indirect NUM_SEGS = 17 # number of segments in the test route ALL_SEGS = list(np.arange(NUM_SEGS)) TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12" +QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" class TestSegmentRangeReader(unittest.TestCase): @parameterized.expand([ @@ -36,11 +40,23 @@ class TestSegmentRangeReader(unittest.TestCase): (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS), (f"cd:/{TEST_ROUTE}", ALL_SEGS), ]) - def test_parse_slice(self, segment_range, expected): - sr = SegmentRange(segment_range) + def test_indirect_parsing(self, identifier, expected): + parsed, _, _ = parse_indirect(identifier) + sr = SegmentRange(parsed) segs = parse_slice(sr) self.assertListEqual(list(segs), expected) + def test_direct_parsing(self): + qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) + + with requests.get(QLOG_FILE, stream=True) as r: + with qlog as f: + shutil.copyfileobj(r.raw, f) + + for f in [QLOG_FILE, qlog.name]: + l = len(list(SegmentRangeReader(f))) + self.assertGreater(l, 100) + @parameterized.expand([ (f"{TEST_ROUTE}///",), (f"{TEST_ROUTE}---",), From d7e7659852f14ca458605f13c2bdae90f5de5a45 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 20:02:47 -0500 Subject: [PATCH 91/92] move plotjuggler to segment range reader (#30969) * pj * limit test to 2 segs * remove * fix test --- tools/plotjuggler/juggle.py | 71 +++++---------------------- tools/plotjuggler/test_plotjuggler.py | 6 +-- 2 files changed, 15 insertions(+), 62 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 02858b1edf..3df777c959 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 +import multiprocessing import os import sys -import multiprocessing import platform import shutil import subprocess @@ -9,13 +9,12 @@ import tarfile import tempfile import requests import argparse +from functools import partial from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route, SegmentName from openpilot.tools.lib.helpers import save_log -from urllib.parse import urlparse, parse_qs + +from openpilot.tools.lib.srreader import SegmentRangeReader juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -53,17 +52,6 @@ def get_plotjuggler_version(): return tuple(map(int, version.split("."))) -def load_segment(segment_name): - if segment_name is None: - return [] - - try: - return list(LogReader(segment_name)) - except (AssertionError, ValueError) as e: - print(f"Error parsing {segment_name}: {e}") - return [] - - def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): env = os.environ.copy() env["BASEDIR"] = BASEDIR @@ -82,48 +70,16 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}' subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) +def process(can, lr): + return [d for d in lr if can or d.which() not in ['can', 'sendcan']] -def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False): - segment_start = 0 - if 'cabana' in route_or_segment_name: - query = parse_qs(urlparse(route_or_segment_name).query) - route_or_segment_name = query["route"][0] +def juggle_route(route_or_segment_name, can, layout, dbc=None): + sr = SegmentRangeReader(route_or_segment_name) - if route_or_segment_name.startswith(("http://", "https://", "cd:/")) or os.path.isfile(route_or_segment_name): - logs = [route_or_segment_name] - elif ci: - route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) - route = route_or_segment_name.route_name.canonical_name - segment_start = max(route_or_segment_name.segment_num, 0) - logs = [get_url(route, i) for i in range(100)] # Assume there not more than 100 segments - else: - route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) - segment_start = max(route_or_segment_name.segment_num, 0) - - if route_or_segment_name.segment_num != -1 and segment_count is None: - segment_count = 1 - - r = Route(route_or_segment_name.route_name.canonical_name, route_or_segment_name.data_dir) - logs = r.qlog_paths() if qlog else r.log_paths() - - segment_end = segment_start + segment_count if segment_count else None - logs = logs[segment_start:segment_end] - - if None in logs: - resp = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") - if resp == 'y': - logs = r.qlog_paths()[segment_start:segment_end] - else: - print("Please try a different route or segment") - return - - all_data = [] with multiprocessing.Pool(24) as pool: - for d in pool.map(load_segment, logs): - all_data += d - - if not can: - all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']] + all_data = [] + for p in pool.map(partial(process, can), sr.lrs): + all_data.extend(p) # Infer DBC name from logs if dbc is None: @@ -146,15 +102,12 @@ if __name__ == "__main__": formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--qlog", action="store_true", help="Use qlogs") - parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket") parser.add_argument("--can", action="store_true", help="Parse CAN data") parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins") parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.") parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)") - parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot") if len(sys.argv) == 1: parser.print_help() @@ -177,4 +130,4 @@ if __name__ == "__main__": start_juggler(layout=args.layout) else: route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci) + juggle_route(route_or_segment_name, args.can, args.layout, args.dbc) diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index b002331cd7..1cb2dc0674 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -8,7 +8,7 @@ import unittest from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout -from openpilot.tools.plotjuggler.juggle import install +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") @@ -18,8 +18,8 @@ class TestPlotJuggler(unittest.TestCase): install() pj = os.path.join(PJ_DIR, "juggle.py") - with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', - stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: + with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"', + stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: # Wait for "Done reading Rlog data" signal from the plugin output = "\n" with Timeout(180, error_msg=output): From e7657d896f3cb7ec5044d4ac4c48a714c8e4c512 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 20:15:37 -0500 Subject: [PATCH 92/92] Subaru: fix disable eyesight enum (#30974) value --- selfdrive/car/subaru/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8a33ce5e24..1296aead5e 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -122,7 +122,7 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl: - ret.flags |= SubaruFlags.DISABLE_EYESIGHT + ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: ret.longitudinalTuning.kpBP = [0., 5., 35.]