From c4efe2f973bf161db385ce617ebf63d9ac5f81c9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 31 Mar 2025 13:06:37 -0700 Subject: [PATCH 01/16] add cache key for macOS runners (#34963) * fix * test * restore * cleanup --- .github/workflows/selfdrive_tests.yaml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1c290732b8..b42dc7da26 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -90,21 +90,29 @@ jobs: - uses: actions/checkout@v4 with: submodules: true + - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Homebrew cache uses: ./.github/workflows/auto-cache with: path: ~/Library/Caches/Homebrew + key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + restore-keys: | + brew-macos-${{ env.CACHE_COMMIT_DATE }} + brew-macos - name: Install dependencies run: ./tools/mac_setup.sh env: # package install has DeprecationWarnings PYTHONWARNINGS: default - run: git lfs pull - - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - name: Getting scons cache uses: ./.github/workflows/auto-cache with: path: /tmp/scons_cache + key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + restore-keys: | + scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }}-macos - name: Building openpilot run: . .venv/bin/activate && scons -j$(nproc) From 447f279f83380d9dbed9c70a7994c3da53d1321f Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 31 Mar 2025 13:07:23 -0700 Subject: [PATCH 02/16] [bot] Update Python packages (#34962) Update Python packages Co-authored-by: Vehicle Researcher --- msgq_repo | 2 +- opendbc_repo | 2 +- panda | 2 +- rednose_repo | 2 +- uv.lock | 1251 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VehicleParamsLearner (#34955) * Refactor ParamsLearner * Make it VehicleParamsLearner * Fix * Use capnp serialization instead of json * Fix speed * Remove redundant comments * Monitor observed_roll * Just use init_state * Comment * Improve reset * Set globals api * Typing for return value * Redo reset messaging * Remove usages of math * Fix process_replay custom_params * Type ignores for rednose fields * Remove import * Reset previous values too * Update ref_commit * Revert it * Bring it back * Remove more * Add migration for cached params --- selfdrive/locationd/models/car_kf.py | 25 +- selfdrive/locationd/paramsd.py | 337 ++++++++++-------- .../test/process_replay/process_replay.py | 5 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 197 insertions(+), 172 deletions(-) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 5f40f19e46..349897f371 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -160,19 +160,18 @@ class CarKalman(KalmanFilter): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars) - def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): - dim_state = self.initial_x.shape[0] - dim_state_err = self.P_initial.shape[0] - x_init = self.initial_x - x_init[States.STEER_RATIO] = steer_ratio - x_init[States.STIFFNESS] = stiffness_factor - x_init[States.ANGLE_OFFSET] = angle_offset - - if P_initial is not None: - self.P_initial = P_initial - # init filter - self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, - dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + def __init__(self, generated_dir): + dim_state, dim_state_err = CarKalman.initial_x.shape[0], CarKalman.P_initial.shape[0] + self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial, + dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog) + + def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear): + self.filter.set_global("mass", mass) + self.filter.set_global("rotational_inertia", rotational_inertia) + self.filter.set_global("center_to_front", center_to_front) + self.filter.set_global("center_to_rear", center_to_rear) + self.filter.set_global("stiffness_front", stiffness_front) + self.filter.set_global("stiffness_rear", stiffness_rear) if __name__ == "__main__": diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 3819fba080..8daf60d32f 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import os -import math import json import numpy as np +import capnp import cereal.messaging as messaging from cereal import car, log @@ -13,12 +13,11 @@ from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.common.swaglog import cloudlog - MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits -ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) -ROLL_LOWERED_MAX = math.radians(8) -ROLL_STD_MAX = math.radians(1.5) +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) +ROLL_LOWERED_MAX = np.radians(8) +ROLL_STD_MAX = np.radians(1.5) LATERAL_ACC_SENSOR_THRESHOLD = 4.0 OFFSET_MAX = 10.0 OFFSET_LOWERED_MAX = 8.0 @@ -26,40 +25,58 @@ MIN_ACTIVE_SPEED = 1.0 LOW_ACTIVE_SPEED = 10.0 -class ParamsLearner: - def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None): - self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial) +class VehicleParamsLearner: + def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): + self.kf = CarKalman(GENERATED_DIR) + + self.x_initial = CarKalman.initial_x.copy() + self.x_initial[States.STEER_RATIO] = steer_ratio + self.x_initial[States.STIFFNESS] = stiffness_factor + self.x_initial[States.ANGLE_OFFSET] = angle_offset + self.P_initial = P_initial or CarKalman.P_initial - self.kf.filter.set_global("mass", CP.mass) - self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia) - self.kf.filter.set_global("center_to_front", CP.centerToFront) - self.kf.filter.set_global("center_to_rear", CP.wheelbase - CP.centerToFront) - self.kf.filter.set_global("stiffness_front", CP.tireStiffnessFront) - self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear) + self.kf.set_globals( + mass=CP.mass, + rotational_inertia=CP.rotationalInertia, + center_to_front=CP.centerToFront, + center_to_rear=CP.wheelbase - CP.centerToFront, + stiffness_front=CP.tireStiffnessFront, + stiffness_rear=CP.tireStiffnessRear + ) - self.active = False + self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio self.calibrator = PoseCalibrator() - self.speed = 0.0 - self.yaw_rate = 0.0 - self.yaw_rate_std = 0.0 - self.roll = 0.0 - self.steering_angle = 0.0 + self.observed_speed = 0.0 + self.observed_yaw_rate = 0.0 + self.observed_roll = 0.0 + + self.avg_offset_valid = True + self.total_offset_valid = True + self.roll_valid = True + + self.reset(None) + + def reset(self, t: float | None): + self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) - def handle_log(self, t, which, msg): + self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False + self.avg_angle_offset = self.angle_offset + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): if which == 'livePose': device_pose = Pose.from_live_pose(msg) calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std yaw_rate_valid = msg.angularVelocityDevice.valid - yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s - if yaw_rate_valid: - self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std - else: + yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + if not yaw_rate_valid: # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating - self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(10.0) + yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) + self.observed_yaw_rate = yaw_rate localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std @@ -72,18 +89,18 @@ class ParamsLearner: # This is done to bound the road roll estimate when localizer values are invalid roll = 0.0 roll_std = np.radians(10.0) - self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) if self.active: if msg.posenetOK: self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-self.yaw_rate]]), - np.array([np.atleast_2d(self.yaw_rate_std**2)])) + np.array([[-self.observed_yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) self.kf.predict_and_observe(t, ObservationKind.ROAD_ROLL, - np.array([[self.roll]]), + np.array([[self.observed_roll]]), np.array([np.atleast_2d(roll_std**2)])) self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) @@ -99,20 +116,79 @@ class ParamsLearner: self.calibrator.feed_live_calib(msg) elif which == 'carState': - self.steering_angle = msg.steeringAngleDeg - self.speed = msg.vEgo + steering_angle = msg.steeringAngleDeg - in_linear_region = abs(self.steering_angle) < 45 - self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region + in_linear_region = abs(steering_angle) < 45 + self.observed_speed = msg.vEgo + self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region if self.active: - self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]])) - self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.speed]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) if not self.active: # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) - self.kf.filter.reset_rewind() + self.kf.filter.set_filter_time(t) # type: ignore + self.kf.filter.reset_rewind() # type: ignore + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + x = self.kf.x + P = np.sqrt(self.kf.P.diagonal()) + if not np.all(np.isfinite(x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + self.reset(self.kf.t) + x = self.kf.x + + self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), + self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if self.active and self.observed_speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + msg.valid = valid + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = float(self.roll) + liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) + liveParameters.angleOffsetDeg = float(self.angle_offset) + liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 + liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) + liveParameters.angleOffsetValid = bool(self.total_offset_valid) + liveParameters.valid = all(( + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , + self.roll_valid, + roll_std < ROLL_STD_MAX, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, + )) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if debug: + liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() + liveParameters.debugFilterState.value = x.tolist() + liveParameters.debugFilterState.std = P.tolist() + + return msg def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): @@ -123,6 +199,65 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa return current_valid +# TODO: Remove this function after few releases (added in 0.9.9) +def migrate_cached_vehicle_params_if_needed(params_reader: Params): + last_parameters_data = params_reader.get("LiveParameters") + if last_parameters_data is None: + return + + try: + last_parameters_dict = json.loads(last_parameters_data) + last_parameters_msg = messaging.new_message('liveParameters') + last_parameters_msg.liveParameters.valid = True + last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio'] + last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor'] + last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg'] + params_reader.put("LiveParameters", last_parameters_msg.to_bytes()) + except (json.JSONDecodeError, KeyError): + pass + + +def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool): + last_parameters_data = params_reader.get("LiveParameters") + last_carparams_data = params_reader.get("CarParamsPrevRoute") + + steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None + + retrieve_success = False + if last_parameters_data is not None and last_carparams_data is not None: + try: + with log.Event.from_bytes(last_parameters_data) as last_lp_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: + lp = last_lp_msg.liveParameters + # Check if car model matches + if last_CP.carFingerprint != CP.carFingerprint: + raise Exception("Car model mismatch") + + # Check if starting values are sane + min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + steer_ratio_sane = min_sr <= lp.steerRatio <= max_sr + if not steer_ratio_sane: + raise Exception(f"Invalid starting values found {lp}") + + initial_filter_std = np.array(lp.debugFilterState.std) + if debug and len(initial_filter_std) != 0: + p_initial = initial_filter_std + + steer_ratio, stiffness_factor, angle_offset_deg = lp.steerRatio, lp.stiffnessFactor, lp.angleOffsetAverageDeg + retrieve_success = True + except Exception as e: + cloudlog.error(f"Failed to retrieve initial values: {e}") + + if not replay: + # When driving in wet conditions the stiffness can go down, and then be too low on the next drive + # Without a way to detect this we have to reset the stiffness every drive + stiffness_factor = 1.0 + + if not retrieve_success: + cloudlog.info("Parameter learner resetting to default values") + + return steer_ratio, stiffness_factor, angle_offset_deg, p_initial + + def main(): config_realtime_process([0, 1, 2, 3], 5) @@ -133,59 +268,12 @@ def main(): sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') params_reader = Params() - # wait for stats about the car to come in from controls - cloudlog.info("paramsd is waiting for CarParams") CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) - cloudlog.info("paramsd got CarParams") - min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + migrate_cached_vehicle_params_if_needed(params_reader) - params = params_reader.get("LiveParameters") - - # Check if car model matches - if params is not None: - params = json.loads(params) - if params.get('carFingerprint', None) != CP.carFingerprint: - cloudlog.info("Parameter learner found parameters for wrong car.") - params = None - - # Check if starting values are sane - if params is not None: - try: - steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr - if not steer_ratio_sane: - cloudlog.info(f"Invalid starting values found {params}") - params = None - except Exception as e: - cloudlog.info(f"Error reading params {params}: {str(e)}") - params = None - - # TODO: cache the params with the capnp struct - if params is None: - params = { - 'carFingerprint': CP.carFingerprint, - 'steerRatio': CP.steerRatio, - 'stiffnessFactor': 1.0, - 'angleOffsetAverageDeg': 0.0, - } - cloudlog.info("Parameter learner resetting to default values") - - if not REPLAY: - # When driving in wet conditions the stiffness can go down, and then be too low on the next drive - # Without a way to detect this we have to reset the stiffness every drive - params['stiffnessFactor'] = 1.0 - - pInitial = None - if DEBUG: - pInitial = np.array(params['debugFilterState']['std']) if 'debugFilterState' in params else None - - learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial) - angle_offset_average = params['angleOffsetAverageDeg'] - angle_offset = angle_offset_average - roll = 0.0 - avg_offset_valid = True - total_offset_valid = True - roll_valid = True + steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) while True: sm.update() @@ -196,72 +284,13 @@ def main(): learner.handle_log(t, which, sm[which]) if sm.updated['livePose']: - x = learner.kf.x - P = np.sqrt(learner.kf.P.diagonal()) - if not all(map(math.isfinite, x)): - cloudlog.error("NaN in liveParameters estimate. Resetting to default values") - learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0) - x = learner.kf.x - - angle_offset_average = np.clip(math.degrees(x[States.ANGLE_OFFSET].item()), - angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) - angle_offset = np.clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), - angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) - roll = np.clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL].item()) - if learner.active and learner.speed > LOW_ACTIVE_SPEED: - # Account for the opposite signs of the yaw rates - # At low speeds, bumping into a curb can cause the yaw rate to be very high - sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) - else: - sensors_valid = True - avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX) - total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX) - - msg = messaging.new_message('liveParameters') - - liveParameters = msg.liveParameters - liveParameters.posenetValid = True - liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) - liveParameters.roll = float(roll) - liveParameters.angleOffsetAverageDeg = float(angle_offset_average) - liveParameters.angleOffsetDeg = float(angle_offset) - liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr - liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 - liveParameters.angleOffsetAverageValid = bool(avg_offset_valid) - liveParameters.angleOffsetValid = bool(total_offset_valid) - liveParameters.valid = all(( - liveParameters.angleOffsetAverageValid, - liveParameters.angleOffsetValid , - roll_valid, - roll_std < ROLL_STD_MAX, - liveParameters.stiffnessFactorValid, - liveParameters.steerRatioValid, - )) - liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) - if DEBUG: - liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() - liveParameters.debugFilterState.value = x.tolist() - liveParameters.debugFilterState.std = P.tolist() - - msg.valid = sm.all_checks() + msg = learner.get_msg(sm.all_checks(), debug=DEBUG) + msg_dat = msg.to_bytes() if sm.frame % 1200 == 0: # once a minute - params = { - 'carFingerprint': CP.carFingerprint, - 'steerRatio': liveParameters.steerRatio, - 'stiffnessFactor': liveParameters.stiffnessFactor, - 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, - } - params_reader.put_nonblocking("LiveParameters", json.dumps(params)) - - pm.send('liveParameters', msg) + params_reader.put_nonblocking("LiveParameters", msg_dat) + + pm.send('liveParameters', msg_dat) if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 16761225d3..13de985c68 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -2,7 +2,6 @@ import os import time import copy -import json import heapq import signal from collections import Counter, OrderedDict @@ -628,9 +627,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> if len(live_calibration) > 0: custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes() if len(live_parameters) > 0: - lp_dict = live_parameters[msg_index].to_dict() - lp_dict["carFingerprint"] = CP.carFingerprint - custom_params["LiveParameters"] = json.dumps(lp_dict) + custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes() if len(live_torque_parameters) > 0: custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 73b2b61245..58ff170e74 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1904f49bcc97370a842aeee1f831e9ced5a6cad6 \ No newline at end of file +887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file From bad6103ce72faf7d71a6d2eedfd1b1842db82cda Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Mon, 31 Mar 2025 13:09:06 -0700 Subject: [PATCH 04/16] Remove duplicate "edited" type in PR review workflow (#34961) --- .github/workflows/auto_pr_review.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index eaaca56060..c6a1cb9821 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -1,7 +1,7 @@ name: "PR review" on: pull_request_target: - types: [opened, reopened, synchronize, edited, edited] + types: [opened, reopened, synchronize, edited] jobs: labeler: @@ -50,4 +50,3 @@ jobs: * all the tests are passing * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) * include a route or your device' dongle ID if relevant - From ffcbdc8c43ea6e1994df87419fd1888a0e0081a4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 31 Mar 2025 19:59:29 -0400 Subject: [PATCH 05/16] paramsd: catch all exceptions during migration (#34965) Catch all exceptions during migration --- selfdrive/locationd/paramsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 8daf60d32f..33a282da9a 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -213,7 +213,7 @@ def migrate_cached_vehicle_params_if_needed(params_reader: Params): last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor'] last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg'] params_reader.put("LiveParameters", last_parameters_msg.to_bytes()) - except (json.JSONDecodeError, KeyError): + except Exception: pass From 39d4148c709b6ecd1369bc20c22aa28ea05a0aa6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 31 Mar 2025 21:45:58 -0400 Subject: [PATCH 06/16] paramsd: cache restore unit test (#34966) * Add a test * Fix P_init restore * Add migration to the first test * Reuse the route from lld scenarios test --- selfdrive/locationd/paramsd.py | 4 +- selfdrive/locationd/test/test_paramsd.py | 57 ++++++++++++++++++++++++ 2 files changed, 59 insertions(+), 2 deletions(-) create mode 100644 selfdrive/locationd/test/test_paramsd.py diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 33a282da9a..243abc5c08 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -33,7 +33,7 @@ class VehicleParamsLearner: self.x_initial[States.STEER_RATIO] = steer_ratio self.x_initial[States.STIFFNESS] = stiffness_factor self.x_initial[States.ANGLE_OFFSET] = angle_offset - self.P_initial = P_initial or CarKalman.P_initial + self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial self.kf.set_globals( mass=CP.mass, @@ -240,7 +240,7 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re initial_filter_std = np.array(lp.debugFilterState.std) if debug and len(initial_filter_std) != 0: - p_initial = initial_filter_std + p_initial = np.diag(initial_filter_std) steer_ratio, stiffness_factor, angle_offset_deg = lp.steerRatio, lp.stiffnessFactor, lp.angleOffsetAverageDeg retrieve_success = True diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py new file mode 100644 index 0000000000..3c2bf9249a --- /dev/null +++ b/selfdrive/locationd/test/test_paramsd.py @@ -0,0 +1,57 @@ +import random +import numpy as np +import json + +from cereal import messaging +from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed +from openpilot.selfdrive.locationd.models.car_kf import CarKalman +from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE +from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader + + +def get_random_live_parameters(CP): + msg = messaging.new_message("liveParameters") + msg.liveParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio + msg.liveParameters.stiffnessFactor = random.random() + msg.liveParameters.angleOffsetAverageDeg = random.random() + msg.liveParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])] + return msg + + +class TestParamsd: + def test_read_saved_params(self): + params = Params() + + lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams]) + CP = next(m for m in lr if m.which() == "carParams").carParams + + msg = get_random_live_parameters(CP) + params.put("LiveParameters", msg.to_bytes()) + params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + + migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error + sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True) + np.testing.assert_allclose(sr, msg.liveParameters.steerRatio) + np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor) + np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg) + np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape) + np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std) + + # TODO Remove this test after the support for old format is removed + def test_read_saved_params_old_format(self): + params = Params() + + lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams]) + CP = next(m for m in lr if m.which() == "carParams").carParams + + msg = get_random_live_parameters(CP) + params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict())) + params.put("CarParamsPrevRoute", CP.as_builder().to_bytes()) + + migrate_cached_vehicle_params_if_needed(params) + sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True) + np.testing.assert_allclose(sr, msg.liveParameters.steerRatio) + np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor) + np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg) From 1034dbd37c592630727948e5f958bb3898b377f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 1 Apr 2025 00:02:02 -0400 Subject: [PATCH 07/16] Online lateral lag learning (#34531) * Add struct and services * Proof of concept * Use vego * Process replay support * Fix issues * Max not min * Remove print * Make lag positive * Points and updates * Sliding cross corr * Stuff * Remove redundant param * Move to lagd * Update alert * Something that works * Report isEstimated * Corr field * Use skimage masked corr * Fixes * Move to lat_accel_loc * Use the delay it in the model * Mark as executable * Add 0.2 to initial * add install line * Back to 5m window * Move the import up * corr window 120 * Show is estimated * Sort messages * New impl * Fix * Params * Set initial_lag elsewhere * Add param * Rename Param * Fix type isues * More blocks * Masked fft NCC implementation * Remove package installation * Use 20hz data and interp the correlation peak * Move ncc code to separate function * steering_saturated support * Constants * Add recovery buffer * Fix static * min_valid_block_count nad liveDelay * lateralDelayEstimate * Fix comm issues. Do estimations at 4hz * Fix * Display the estimate * Increase the block size * Cache every minute * DEBUG flag * Add progress to the alert * Fix crash * points only in debug * Fix BlockAverage restoration * Comment * Move estimators into estimator directory * Remove lagd * Feed only relevant messages * Rewrite as a set literal * np.diag with P_initial * Fix static * Struct renames * Update ref commit * Make it nicer * Some renames --- cereal/log.capnp | 16 + cereal/services.py | 1 + common/params_keys.h | 1 + selfdrive/locationd/estimators/__init__.py | 0 selfdrive/locationd/estimators/lateral_lag.py | 273 ++++++++++++++++++ .../locationd/estimators/vehicle_params.py | 197 +++++++++++++ selfdrive/locationd/paramsd.py | 257 ++++------------- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 545 insertions(+), 206 deletions(-) create mode 100644 selfdrive/locationd/estimators/__init__.py create mode 100644 selfdrive/locationd/estimators/lateral_lag.py create mode 100644 selfdrive/locationd/estimators/vehicle_params.py diff --git a/cereal/log.capnp b/cereal/log.capnp index 593399f832..797c2cd8ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2278,6 +2278,21 @@ struct LiveTorqueParametersData { useParams @12 :Bool; } +struct LiveDelayData { + lateralDelay @0 :Float32; + validBlocks @1 :Int32; + status @2 :Status; + + lateralDelayEstimate @3 :Float32; + points @4 :List(Float32); + + enum Status { + unestimated @0; + estimated @1; + invalid @2; + } +} + struct LiveMapDataDEPRECATED { speedLimitValid @0 :Bool; speedLimit @1 :Float32; @@ -2508,6 +2523,7 @@ struct Event { gnssMeasurements @91 :GnssMeasurements; liveParameters @61 :LiveParametersData; liveTorqueParameters @94 :LiveTorqueParametersData; + liveDelay @146 : LiveDelayData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; onroadEvents @134: List(OnroadEvent); diff --git a/cereal/services.py b/cereal/services.py index aad83177bb..82fc04bd00 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -36,6 +36,7 @@ _services: dict[str, tuple] = { "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), + "liveDelay": (True, 4., 1), "androidLog": (True, 0.), "carState": (True, 100., 10), "carControl": (True, 100., 10), diff --git a/common/params_keys.h b/common/params_keys.h index 2b540b744c..c7f0578430 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,6 +71,7 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, + {"LiveLag", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, diff --git a/selfdrive/locationd/estimators/__init__.py b/selfdrive/locationd/estimators/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/locationd/estimators/lateral_lag.py b/selfdrive/locationd/estimators/lateral_lag.py new file mode 100644 index 0000000000..87f0b123a7 --- /dev/null +++ b/selfdrive/locationd/estimators/lateral_lag.py @@ -0,0 +1,273 @@ +import numpy as np +from collections import deque +from functools import partial + +import cereal.messaging as messaging +from cereal import log +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose + +BLOCK_SIZE = 100 +BLOCK_NUM = 50 +BLOCK_NUM_NEEDED = 5 +MOVING_WINDOW_SEC = 300.0 +MIN_OKAY_WINDOW_SEC = 30.0 +MIN_RECOVERY_BUFFER_SEC = 2.0 +MIN_VEGO = 15.0 +MIN_ABS_YAW_RATE = np.radians(1.0) +MIN_NCC = 0.95 + + +def parabolic_peak_interp(R, max_index): + if max_index == 0 or max_index == len(R) - 1: + return max_index + + y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1] + offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1) + + return max_index + offset + + +def masked_normalized_cross_correlation(expected_sig, actual_sig, mask): + """ + References: + D. Padfield. "Masked FFT registration". In Proc. Computer Vision and + Pattern Recognition, pp. 2918-2925 (2010). + :DOI:`10.1109/CVPR.2010.5540032` + """ + + eps = np.finfo(np.float64).eps + expected_sig = np.asarray(expected_sig, dtype=np.float64) + actual_sig = np.asarray(actual_sig, dtype=np.float64) + + expected_sig[~mask] = 0.0 + actual_sig[~mask] = 0.0 + + rotated_expected_sig = expected_sig[::-1] + rotated_mask = mask[::-1] + + n = len(expected_sig) + len(actual_sig) - 1 + fft = partial(np.fft.fft, n=n) + + actual_sig_fft = fft(actual_sig) + rotated_expected_sig_fft = fft(rotated_expected_sig) + actual_mask_fft = fft(mask.astype(np.float64)) + rotated_mask_fft = fft(rotated_mask.astype(np.float64)) + + number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real + number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples) + number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps) + masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real + masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real + + numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real + numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples + + actual_squared_fft = fft(actual_sig ** 2) + actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real + actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples + actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0) + + rotated_expected_squared_fft = fft(rotated_expected_sig ** 2) + expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real + expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples + expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0) + + denom = np.sqrt(actual_sig_denom * expected_sig_denom) + + # zero-out samples with very small denominators + tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True) + nonzero_indices = denom > tol + + ncc = np.zeros_like(denom, dtype=np.float64) + ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices] + np.clip(ncc, -1, 1, out=ncc) + + return ncc + + +class Points: + def __init__(self, num_points): + self.times = deque(maxlen=num_points) + self.okay = deque(maxlen=num_points) + self.desired = deque(maxlen=num_points) + self.actual = deque(maxlen=num_points) + + @property + def num_points(self): + return len(self.desired) + + @property + def num_okay(self): + return np.count_nonzero(self.okay) + + def update(self, t, desired, actual, okay): + self.times.append(t) + self.okay.append(okay) + self.desired.append(desired) + self.actual.append(actual) + + def get(self): + return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay) + + +class BlockAverage: + def __init__(self, num_blocks, block_size, valid_blocks, initial_value): + self.num_blocks = num_blocks + self.block_size = block_size + self.block_idx = valid_blocks % block_size + self.idx = 0 + + self.values = np.tile(initial_value, (num_blocks, 1)) + self.valid_blocks = valid_blocks + + def update(self, value): + self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + (self.block_size - self.idx) * value) / self.block_size + self.idx = (self.idx + 1) % self.block_size + if self.idx == 0: + self.block_idx = (self.block_idx + 1) % self.num_blocks + self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) + + def get(self): + valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] + if not valid_block_idx: + return None + return float(np.mean(self.values[valid_block_idx], axis=0).item()) + + +class LateralLagEstimator: + inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"} + + def __init__(self, CP, dt, + block_count=BLOCK_NUM, min_valid_block_count=BLOCK_NUM_NEEDED, block_size=BLOCK_SIZE, + window_sec=MOVING_WINDOW_SEC, okay_window_sec=MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec=MIN_RECOVERY_BUFFER_SEC, + min_vego=MIN_VEGO, min_yr=MIN_ABS_YAW_RATE, min_ncc=MIN_NCC): + self.dt = dt + self.window_sec = window_sec + self.okay_window_sec = okay_window_sec + self.min_recovery_buffer_sec = min_recovery_buffer_sec + self.initial_lag = CP.steerActuatorDelay + 0.2 + self.block_size = block_size + self.block_count = block_count + self.min_valid_block_count = min_valid_block_count + self.min_vego = min_vego + self.min_yr = min_yr + self.min_ncc = min_ncc + + self.t = 0 + self.lat_active = False + self.steering_pressed = False + self.steering_saturated = False + self.desired_curvature = 0 + self.v_ego = 0 + self.yaw_rate = 0 + + self.last_lat_inactive_t = 0 + self.last_steering_pressed_t = 0 + self.last_steering_saturated_t = 0 + self.last_estimate_t = 0 + + self.calibrator = PoseCalibrator() + + self.reset(self.initial_lag, 0) + + def reset(self, initial_lag, valid_blocks): + window_len = int(self.window_sec / self.dt) + self.points = Points(window_len) + self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) + + def get_msg(self, valid, debug=False): + msg = messaging.new_message('liveDelay') + + msg.valid = valid + + liveDelay = msg.liveDelay + + estimated_lag = self.block_avg.get() + liveDelay.lateralDelayEstimate = estimated_lag or self.initial_lag + if self.block_avg.valid_blocks >= self.min_valid_block_count and estimated_lag is not None: + liveDelay.status = log.LiveDelayData.Status.estimated + liveDelay.lateralDelay = estimated_lag + else: + liveDelay.status = log.LiveDelayData.Status.unestimated + liveDelay.lateralDelay = self.initial_lag + liveDelay.validBlocks = self.block_avg.valid_blocks + if debug: + liveDelay.points = self.block_avg.values.flatten().tolist() + + return msg + + def handle_log(self, t, which, msg): + if which == "carControl": + self.lat_active = msg.latActive + elif which == "carState": + self.steering_pressed = msg.steeringPressed + self.v_ego = msg.vEgo + elif which == "controlsState": + self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated + self.desired_curvature = msg.desiredCurvature + elif which == "liveCalibration": + self.calibrator.feed_live_calib(msg) + elif which == "livePose": + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + self.yaw_rate = calibrated_pose.angular_velocity.z + self.t = t + + def points_valid(self): + return self.points.num_okay >= int(self.okay_window_sec / self.dt) + + def update_points(self): + if not self.lat_active: + self.last_lat_inactive_t = self.t + if self.steering_pressed: + self.last_steering_pressed_t = self.t + if self.steering_saturated: + self.last_steering_saturated_t = self.t + + la_desired = self.desired_curvature * self.v_ego * self.v_ego + la_actual_pose = self.yaw_rate * self.v_ego + + fast = self.v_ego > self.min_vego + turning = np.abs(self.yaw_rate) >= self.min_yr + has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated + self.t - last_t >= self.min_recovery_buffer_sec + for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] + ) + okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered + + self.points.update(self.t, la_desired, la_actual_pose, okay) + + def update_estimate(self): + # check if the points are valid overall + if not self.points_valid(): + return + + times, desired, actual, okay = self.points.get() + # check if there are any new valid data points since the last update + if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t: + new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) + if (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])): + return + + delay, corr = self.actuator_delay(desired, actual, okay, self.dt) + if corr < self.min_ncc: + return + + self.block_avg.update(delay) + self.last_estimate_t = self.t + + def correlation_lags(self, sig_len, dt): + return np.arange(0, sig_len) * dt + + def actuator_delay(self, expected_sig, actual_sig, mask, dt, max_lag=1.): + ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask) + + # only consider lags from 0 to max_lag + max_lag_samples = int(max_lag / dt) + roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] + + max_corr_index = np.argmax(roi_ncc) + corr = roi_ncc[max_corr_index] + lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + + return lag, corr diff --git a/selfdrive/locationd/estimators/vehicle_params.py b/selfdrive/locationd/estimators/vehicle_params.py new file mode 100644 index 0000000000..025d28dee0 --- /dev/null +++ b/selfdrive/locationd/estimators/vehicle_params.py @@ -0,0 +1,197 @@ +import numpy as np +import capnp + +import cereal.messaging as messaging +from cereal import car, log +from openpilot.common.realtime import DT_MDL +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose + +MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) +ROLL_LOWERED_MAX = np.radians(8) +ROLL_STD_MAX = np.radians(1.5) +LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 +MIN_ACTIVE_SPEED = 1.0 +LOW_ACTIVE_SPEED = 10.0 + + +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid + + +class VehicleParamsLearner: + inputs = {'carState', 'liveCalibration', 'livePose'} + + def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): + self.kf = CarKalman(GENERATED_DIR) + + self.x_initial = CarKalman.initial_x.copy() + self.x_initial[States.STEER_RATIO] = steer_ratio + self.x_initial[States.STIFFNESS] = stiffness_factor + self.x_initial[States.ANGLE_OFFSET] = angle_offset + self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial + + self.kf.set_globals( + mass=CP.mass, + rotational_inertia=CP.rotationalInertia, + center_to_front=CP.centerToFront, + center_to_rear=CP.wheelbase - CP.centerToFront, + stiffness_front=CP.tireStiffnessFront, + stiffness_rear=CP.tireStiffnessRear + ) + + self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + + self.calibrator = PoseCalibrator() + + self.observed_speed = 0.0 + self.observed_yaw_rate = 0.0 + self.observed_roll = 0.0 + + self.avg_offset_valid = True + self.total_offset_valid = True + self.roll_valid = True + + self.reset(None) + + def reset(self, t: float | None): + self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) + + self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False + self.avg_angle_offset = self.angle_offset + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): + if which == 'livePose': + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + + yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std + yaw_rate_valid = msg.angularVelocityDevice.valid + yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + if not yaw_rate_valid: + # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating + yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) + self.observed_yaw_rate = yaw_rate + + localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std + localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std + roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK + if roll_valid: + roll = localizer_roll + # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? + roll_std = 2 * localizer_roll_std + else: + # This is done to bound the road roll estimate when localizer values are invalid + roll = 0.0 + roll_std = np.radians(10.0) + self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) + + if self.active: + if msg.posenetOK: + self.kf.predict_and_observe(t, + ObservationKind.ROAD_FRAME_YAW_RATE, + np.array([[-self.observed_yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) + + self.kf.predict_and_observe(t, + ObservationKind.ROAD_ROLL, + np.array([[self.observed_roll]]), + np.array([np.atleast_2d(roll_std**2)])) + self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) + + # We observe the current stiffness and steer ratio (with a high observation noise) to bound + # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the + # states in longer routes (especially straight stretches). + stiffness = float(self.kf.x[States.STIFFNESS].item()) + steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) + self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) + + elif which == 'liveCalibration': + self.calibrator.feed_live_calib(msg) + + elif which == 'carState': + steering_angle = msg.steeringAngleDeg + + in_linear_region = abs(steering_angle) < 45 + self.observed_speed = msg.vEgo + self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region + + if self.active: + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) + + if not self.active: + # Reset time when stopped so uncertainty doesn't grow + self.kf.filter.set_filter_time(t) # type: ignore + self.kf.filter.reset_rewind() # type: ignore + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + x = self.kf.x + P = np.sqrt(self.kf.P.diagonal()) + if not np.all(np.isfinite(x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + self.reset(self.kf.t) + x = self.kf.x + + self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), + self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if self.active and self.observed_speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + msg.valid = valid + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = float(self.roll) + liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) + liveParameters.angleOffsetDeg = float(self.angle_offset) + liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 + liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) + liveParameters.angleOffsetValid = bool(self.total_offset_valid) + liveParameters.valid = all(( + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , + self.roll_valid, + roll_std < ROLL_STD_MAX, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, + )) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if debug: + liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() + liveParameters.debugFilterState.value = x.tolist() + liveParameters.debugFilterState.std = P.tolist() + + return msg diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 243abc5c08..524319fdee 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -2,201 +2,15 @@ import os import json import numpy as np -import capnp import cereal.messaging as messaging from cereal import car, log +from cereal.services import SERVICE_LIST from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, DT_MDL -from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR -from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose +from openpilot.common.realtime import config_realtime_process from openpilot.common.swaglog import cloudlog - -MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits -ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) -ROLL_LOWERED_MAX = np.radians(8) -ROLL_STD_MAX = np.radians(1.5) -LATERAL_ACC_SENSOR_THRESHOLD = 4.0 -OFFSET_MAX = 10.0 -OFFSET_LOWERED_MAX = 8.0 -MIN_ACTIVE_SPEED = 1.0 -LOW_ACTIVE_SPEED = 10.0 - - -class VehicleParamsLearner: - def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): - self.kf = CarKalman(GENERATED_DIR) - - self.x_initial = CarKalman.initial_x.copy() - self.x_initial[States.STEER_RATIO] = steer_ratio - self.x_initial[States.STIFFNESS] = stiffness_factor - self.x_initial[States.ANGLE_OFFSET] = angle_offset - self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial - - self.kf.set_globals( - mass=CP.mass, - rotational_inertia=CP.rotationalInertia, - center_to_front=CP.centerToFront, - center_to_rear=CP.wheelbase - CP.centerToFront, - stiffness_front=CP.tireStiffnessFront, - stiffness_rear=CP.tireStiffnessRear - ) - - self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio - - self.calibrator = PoseCalibrator() - - self.observed_speed = 0.0 - self.observed_yaw_rate = 0.0 - self.observed_roll = 0.0 - - self.avg_offset_valid = True - self.total_offset_valid = True - self.roll_valid = True - - self.reset(None) - - def reset(self, t: float | None): - self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) - - self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False - self.avg_angle_offset = self.angle_offset - - def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): - if which == 'livePose': - device_pose = Pose.from_live_pose(msg) - calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - - yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std - yaw_rate_valid = msg.angularVelocityDevice.valid - yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s - if not yaw_rate_valid: - # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating - yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) - self.observed_yaw_rate = yaw_rate - - localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std - localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std - roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK - if roll_valid: - roll = localizer_roll - # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? - roll_std = 2 * localizer_roll_std - else: - # This is done to bound the road roll estimate when localizer values are invalid - roll = 0.0 - roll_std = np.radians(10.0) - self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) - - if self.active: - if msg.posenetOK: - self.kf.predict_and_observe(t, - ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-self.observed_yaw_rate]]), - np.array([np.atleast_2d(yaw_rate_std**2)])) - - self.kf.predict_and_observe(t, - ObservationKind.ROAD_ROLL, - np.array([[self.observed_roll]]), - np.array([np.atleast_2d(roll_std**2)])) - self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) - - # We observe the current stiffness and steer ratio (with a high observation noise) to bound - # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the - # states in longer routes (especially straight stretches). - stiffness = float(self.kf.x[States.STIFFNESS].item()) - steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) - self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) - self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) - - elif which == 'liveCalibration': - self.calibrator.feed_live_calib(msg) - - elif which == 'carState': - steering_angle = msg.steeringAngleDeg - - in_linear_region = abs(steering_angle) < 45 - self.observed_speed = msg.vEgo - self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region - - if self.active: - self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) - self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) - - if not self.active: - # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) # type: ignore - self.kf.filter.reset_rewind() # type: ignore - - def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: - x = self.kf.x - P = np.sqrt(self.kf.P.diagonal()) - if not np.all(np.isfinite(x)): - cloudlog.error("NaN in liveParameters estimate. Resetting to default values") - self.reset(self.kf.t) - x = self.kf.x - - self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), - self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), - self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL].item()) - if self.active and self.observed_speed > LOW_ACTIVE_SPEED: - # Account for the opposite signs of the yaw rates - # At low speeds, bumping into a curb can cause the yaw rate to be very high - sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) - else: - sensors_valid = True - self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) - - msg = messaging.new_message('liveParameters') - - msg.valid = valid - - liveParameters = msg.liveParameters - liveParameters.posenetValid = True - liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) - liveParameters.roll = float(self.roll) - liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) - liveParameters.angleOffsetDeg = float(self.angle_offset) - liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr - liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 - liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) - liveParameters.angleOffsetValid = bool(self.total_offset_valid) - liveParameters.valid = all(( - liveParameters.angleOffsetAverageValid, - liveParameters.angleOffsetValid , - self.roll_valid, - roll_std < ROLL_STD_MAX, - liveParameters.stiffnessFactorValid, - liveParameters.steerRatioValid, - )) - liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) - if debug: - liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() - liveParameters.debugFilterState.value = x.tolist() - liveParameters.debugFilterState.std = P.tolist() - - return msg - - -def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): - if current_valid: - current_valid = abs(val) < threshold - else: - current_valid = abs(val) < lowered_threshold - return current_valid +from openpilot.selfdrive.locationd.estimators.vehicle_params import VehicleParamsLearner +from openpilot.selfdrive.locationd.estimators.lateral_lag import LateralLagEstimator # TODO: Remove this function after few releases (added in 0.9.9) @@ -258,22 +72,46 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re return steer_ratio, stiffness_factor, angle_offset_deg, p_initial +def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): + last_lag_data = params_reader.get("LiveLag") + last_carparams_data = params_reader.get("CarParamsPrevRoute") + + if last_lag_data is not None: + try: + with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: + ld = last_lag_msg.liveDelay + if last_CP.carFingerprint != CP.carFingerprint: + raise Exception("Car model mismatch") + + lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks + return lag, valid_blocks + except Exception as e: + cloudlog.error(f"Failed to retrieve initial lag: {e}") + + return None + + def main(): config_realtime_process([0, 1, 2, 3], 5) DEBUG = bool(int(os.getenv("DEBUG", "0"))) REPLAY = bool(int(os.getenv("REPLAY", "0"))) - pm = messaging.PubMaster(['liveParameters']) - sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') + pm = messaging.PubMaster(['liveParameters', 'liveDelay']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') params_reader = Params() CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) migrate_cached_vehicle_params_if_needed(params_reader) - steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) - learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) + steer_ratio, stiffness_factor, angle_offset_deg, p_initial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + params_learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), p_initial) + + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) + if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: + lag, valid_blocks = initial_lag_params + lag_learner.reset(lag, valid_blocks) while True: sm.update() @@ -281,17 +119,30 @@ def main(): for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): if sm.updated[which]: t = sm.logMonoTime[which] * 1e-9 - learner.handle_log(t, which, sm[which]) + if which in params_learner.inputs: + params_learner.handle_log(t, which, sm[which]) + if which in lag_learner.inputs: + lag_learner.handle_log(t, which, sm[which]) + lag_learner.update_points() + params_msg_dat, lag_msg_dat = None, None if sm.updated['livePose']: - msg = learner.get_msg(sm.all_checks(), debug=DEBUG) - - msg_dat = msg.to_bytes() - if sm.frame % 1200 == 0: # once a minute - params_reader.put_nonblocking("LiveParameters", msg_dat) - - pm.send('liveParameters', msg_dat) - + params_msg = params_learner.get_msg(sm.all_checks(), debug=DEBUG) + params_msg_dat = params_msg.to_bytes() + pm.send('liveParameters', params_msg_dat) + + # 4Hz driven by livePose + if sm.frame % 5 == 0: + lag_learner.update_estimate() + lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG) + lag_msg_dat = lag_msg.to_bytes() + pm.send('liveDelay', lag_msg_dat) + + if sm.frame % 1200 == 0: # cache every 60 seconds + if params_msg_dat is not None: + params_reader.put_nonblocking("LiveParameters", params_msg_dat) + if lag_msg_dat is not None: + params_reader.put_nonblocking("LiveLag", lag_msg_dat) if __name__ == "__main__": main() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 13de985c68..34b807fcad 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -542,8 +542,8 @@ CONFIGS = [ ), ProcessConfig( proc_name="paramsd", - pubs=["livePose", "liveCalibration", "carState"], - subs=["liveParameters"], + pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"], + subs=["liveParameters", "liveDelay"], ignore=["logMonoTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("livePose"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 58ff170e74..cd31ea53e8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file +0ef214e7f4f06d6d591a2257d254f3c00db6a0e9 \ No newline at end of file From 9cb4d3d75e6945fe55dcc640947704734fa22a5f Mon Sep 17 00:00:00 2001 From: Iamz Date: Wed, 2 Apr 2025 01:39:01 +0700 Subject: [PATCH 08/16] Update Thai translations (#34970) --- selfdrive/ui/translations/main_th.ts | 58 ++++++++++++++-------------- 1 file changed, 30 insertions(+), 28 deletions(-) diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index f6b9792dc4..aab2270a01 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -117,31 +117,31 @@ DeveloperPanel Joystick Debug Mode - + โหมดดีบักจอยสติ๊ก Longitudinal Maneuver Mode - + โหมดการควบคุมการเร่ง/เบรค openpilot Longitudinal Control (Alpha) - ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) + ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด + คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha + โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha Enable ADB - + เปิด ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB (Android Debug Bridge) อนุญาตให้เชื่อมต่ออุปกรณ์ของคุณผ่าน USB หรือผ่านเครือข่าย ดูข้อมูลเพิ่มเติมที่ https://docs.comma.ai/how-to/connect-to-comma @@ -309,35 +309,37 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 โหมดสายยางดับเพลิง 🔥 openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilot เรียนรู้วิธีขับรถจากการเฝ้าดูการขับขี่ของมนุษย์เช่นคุณ + +โหมดสายยางดับเพลิงช่วยให้คุณอัปโหลดข้อมูลการฝึกฝนได้มากที่สุด เพื่อนำไปพัฒนาโมเดลการขับขี่ของ openpilot ข้อมูลที่มากขึ้นหมายถึงโมเดลที่ใหญ่ขึ้น และนั่นหมายถึงโหมดทดลองที่ดีขึ้น Firehose Mode: ACTIVE - + โหมดสายยางดับเพลิง: เปิดใช้งาน ACTIVE - + เปิดใช้งาน For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + เพื่อประสิทธิภาพสูงสุด ควรนำอุปกรณ์เข้ามาข้างใน เชื่อมต่อกับอะแดปเตอร์ USB-C คุณภาพดี และ Wi-Fi สัปดาห์ละครั้ง<br><br>โหมดสายยางดับเพลิงยังสามารถทำงานระหว่างขับรถได้ หากเชื่อมต่อกับฮอตสปอตหรือซิมการ์ดที่มีเน็ตไม่จำกัด<br><br><br><b>คำถามที่พบบ่อย</b><br><br><i>วิธีการขับหรือสถานที่ขับขี่มีผลหรือไม่?</i>ไม่มีผล แค่ขับขี่ตามปกติของคุณ<br><br><i>เซกเมนต์ทั้งหมดของฉันจะถูกดึงข้อมูลในโหมดสายยางดับเพลิงหรือไม่?</i>ไม่ใช่ เราจะเลือกดึงข้อมูลเพียงบางส่วนจากเซกเมนต์ของคุณ<br><br><i>อะแดปเตอร์ USB-C แบบไหนดี?</i>ที่ชาร์จเร็วของโทรศัพท์หรือแล็ปท็อปแบบใดก็ได้ สามารถใช้ได้<br><br><i>ซอฟต์แวร์ที่ใช้มีผลหรือไม่?</i>มีผล เฉพาะ openpilot ตัวหลัก (และ fork เฉพาะบางตัว) เท่านั้น ที่สามารถนำข้อมูลไปใช้ฝึกฝนโมเดลได้ <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + มีการขับขี่ของคุณ <b>%n เซกเมนต์</b> อยู่ในชุดข้อมูลการฝึกฝนแล้วในขณะนี้ <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>ไม่เปิดใช้งาน</span>: เชื่อมต่อกับเครือข่ายที่ไม่จำกัดข้อมูล @@ -485,11 +487,11 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Waiting to start - + รอเริ่มทำงาน System Unresponsive - + ระบบไม่ตอบสนอง @@ -512,7 +514,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Please connect to Wi-Fi to complete initial pairing - + กรุณาเชื่อมต่อ Wi-Fi เพื่อทำการจับคู่ครั้งแรกให้เสร็จสิ้น @@ -554,7 +556,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Remote snapshots - + ภาพถ่ายระยะไกล @@ -670,11 +672,11 @@ This may take up to a minute. Developer - + นักพัฒนา Firehose - + สายยางดับเพลิง @@ -995,11 +997,11 @@ This may take up to a minute. Welcome to openpilot - + ยินดีต้อนรับสู่ openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + คุณต้องยอมรับข้อกำหนดและเงื่อนไขเพื่อใช้งาน openpilot อ่านข้อกำหนดล่าสุดได้ที่ <span style='color: #465BEA;'>https://comma.ai/terms</span> ก่อนดำเนินการต่อ @@ -1106,11 +1108,11 @@ This may take up to a minute. Always-On Driver Monitoring - + การเฝ้าระวังผู้ขับขี่ตลอดเวลา Enable driver monitoring even when openpilot is not engaged. - + เปิดใช้งานการเฝ้าระวังผู้ขับขี่แม้เมื่อ openpilot ไม่ได้เข้าควบคุมอยู่ @@ -1152,15 +1154,15 @@ This may take up to a minute. WiFiPromptWidget Open - + เปิด Maximize your training data uploads to improve openpilot's driving models. - + อัปโหลดข้อมูลการฝึกฝนให้ได้มากที่สุด เพื่อพัฒนาโมเดลการขับขี่ของ openpilot <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> โหมดสายยางดับเพลิง <span style='font-family: Noto Color Emoji;'>🔥</span> From b4cc9e68d126c2219a7ddf33519e222fe8bfe00d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 1 Apr 2025 17:44:30 -0400 Subject: [PATCH 09/16] Revert "Online lateral lag learning" (#34974) Revert "Online lateral lag learning (#34531)" This reverts commit 1034dbd37c592630727948e5f958bb3898b377f8. --- cereal/log.capnp | 16 - cereal/services.py | 1 - common/params_keys.h | 1 - selfdrive/locationd/estimators/__init__.py | 0 selfdrive/locationd/estimators/lateral_lag.py | 273 ------------------ .../locationd/estimators/vehicle_params.py | 197 ------------- selfdrive/locationd/paramsd.py | 257 +++++++++++++---- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 206 insertions(+), 545 deletions(-) delete mode 100644 selfdrive/locationd/estimators/__init__.py delete mode 100644 selfdrive/locationd/estimators/lateral_lag.py delete mode 100644 selfdrive/locationd/estimators/vehicle_params.py diff --git a/cereal/log.capnp b/cereal/log.capnp index 797c2cd8ac..593399f832 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2278,21 +2278,6 @@ struct LiveTorqueParametersData { useParams @12 :Bool; } -struct LiveDelayData { - lateralDelay @0 :Float32; - validBlocks @1 :Int32; - status @2 :Status; - - lateralDelayEstimate @3 :Float32; - points @4 :List(Float32); - - enum Status { - unestimated @0; - estimated @1; - invalid @2; - } -} - struct LiveMapDataDEPRECATED { speedLimitValid @0 :Bool; speedLimit @1 :Float32; @@ -2523,7 +2508,6 @@ struct Event { gnssMeasurements @91 :GnssMeasurements; liveParameters @61 :LiveParametersData; liveTorqueParameters @94 :LiveTorqueParametersData; - liveDelay @146 : LiveDelayData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; onroadEvents @134: List(OnroadEvent); diff --git a/cereal/services.py b/cereal/services.py index 82fc04bd00..aad83177bb 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -36,7 +36,6 @@ _services: dict[str, tuple] = { "errorLogMessage": (True, 0., 1), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), - "liveDelay": (True, 4., 1), "androidLog": (True, 0.), "carState": (True, 100., 10), "carControl": (True, 100., 10), diff --git a/common/params_keys.h b/common/params_keys.h index c7f0578430..2b540b744c 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -71,7 +71,6 @@ inline static std::unordered_map keys = { {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, - {"LiveLag", PERSISTENT}, {"LiveParameters", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, diff --git a/selfdrive/locationd/estimators/__init__.py b/selfdrive/locationd/estimators/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/selfdrive/locationd/estimators/lateral_lag.py b/selfdrive/locationd/estimators/lateral_lag.py deleted file mode 100644 index 87f0b123a7..0000000000 --- a/selfdrive/locationd/estimators/lateral_lag.py +++ /dev/null @@ -1,273 +0,0 @@ -import numpy as np -from collections import deque -from functools import partial - -import cereal.messaging as messaging -from cereal import log -from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose - -BLOCK_SIZE = 100 -BLOCK_NUM = 50 -BLOCK_NUM_NEEDED = 5 -MOVING_WINDOW_SEC = 300.0 -MIN_OKAY_WINDOW_SEC = 30.0 -MIN_RECOVERY_BUFFER_SEC = 2.0 -MIN_VEGO = 15.0 -MIN_ABS_YAW_RATE = np.radians(1.0) -MIN_NCC = 0.95 - - -def parabolic_peak_interp(R, max_index): - if max_index == 0 or max_index == len(R) - 1: - return max_index - - y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1] - offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1) - - return max_index + offset - - -def masked_normalized_cross_correlation(expected_sig, actual_sig, mask): - """ - References: - D. Padfield. "Masked FFT registration". In Proc. Computer Vision and - Pattern Recognition, pp. 2918-2925 (2010). - :DOI:`10.1109/CVPR.2010.5540032` - """ - - eps = np.finfo(np.float64).eps - expected_sig = np.asarray(expected_sig, dtype=np.float64) - actual_sig = np.asarray(actual_sig, dtype=np.float64) - - expected_sig[~mask] = 0.0 - actual_sig[~mask] = 0.0 - - rotated_expected_sig = expected_sig[::-1] - rotated_mask = mask[::-1] - - n = len(expected_sig) + len(actual_sig) - 1 - fft = partial(np.fft.fft, n=n) - - actual_sig_fft = fft(actual_sig) - rotated_expected_sig_fft = fft(rotated_expected_sig) - actual_mask_fft = fft(mask.astype(np.float64)) - rotated_mask_fft = fft(rotated_mask.astype(np.float64)) - - number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real - number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples) - number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps) - masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real - masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real - - numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real - numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples - - actual_squared_fft = fft(actual_sig ** 2) - actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real - actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples - actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0) - - rotated_expected_squared_fft = fft(rotated_expected_sig ** 2) - expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real - expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples - expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0) - - denom = np.sqrt(actual_sig_denom * expected_sig_denom) - - # zero-out samples with very small denominators - tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True) - nonzero_indices = denom > tol - - ncc = np.zeros_like(denom, dtype=np.float64) - ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices] - np.clip(ncc, -1, 1, out=ncc) - - return ncc - - -class Points: - def __init__(self, num_points): - self.times = deque(maxlen=num_points) - self.okay = deque(maxlen=num_points) - self.desired = deque(maxlen=num_points) - self.actual = deque(maxlen=num_points) - - @property - def num_points(self): - return len(self.desired) - - @property - def num_okay(self): - return np.count_nonzero(self.okay) - - def update(self, t, desired, actual, okay): - self.times.append(t) - self.okay.append(okay) - self.desired.append(desired) - self.actual.append(actual) - - def get(self): - return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay) - - -class BlockAverage: - def __init__(self, num_blocks, block_size, valid_blocks, initial_value): - self.num_blocks = num_blocks - self.block_size = block_size - self.block_idx = valid_blocks % block_size - self.idx = 0 - - self.values = np.tile(initial_value, (num_blocks, 1)) - self.valid_blocks = valid_blocks - - def update(self, value): - self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + (self.block_size - self.idx) * value) / self.block_size - self.idx = (self.idx + 1) % self.block_size - if self.idx == 0: - self.block_idx = (self.block_idx + 1) % self.num_blocks - self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks) - - def get(self): - valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx] - if not valid_block_idx: - return None - return float(np.mean(self.values[valid_block_idx], axis=0).item()) - - -class LateralLagEstimator: - inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"} - - def __init__(self, CP, dt, - block_count=BLOCK_NUM, min_valid_block_count=BLOCK_NUM_NEEDED, block_size=BLOCK_SIZE, - window_sec=MOVING_WINDOW_SEC, okay_window_sec=MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec=MIN_RECOVERY_BUFFER_SEC, - min_vego=MIN_VEGO, min_yr=MIN_ABS_YAW_RATE, min_ncc=MIN_NCC): - self.dt = dt - self.window_sec = window_sec - self.okay_window_sec = okay_window_sec - self.min_recovery_buffer_sec = min_recovery_buffer_sec - self.initial_lag = CP.steerActuatorDelay + 0.2 - self.block_size = block_size - self.block_count = block_count - self.min_valid_block_count = min_valid_block_count - self.min_vego = min_vego - self.min_yr = min_yr - self.min_ncc = min_ncc - - self.t = 0 - self.lat_active = False - self.steering_pressed = False - self.steering_saturated = False - self.desired_curvature = 0 - self.v_ego = 0 - self.yaw_rate = 0 - - self.last_lat_inactive_t = 0 - self.last_steering_pressed_t = 0 - self.last_steering_saturated_t = 0 - self.last_estimate_t = 0 - - self.calibrator = PoseCalibrator() - - self.reset(self.initial_lag, 0) - - def reset(self, initial_lag, valid_blocks): - window_len = int(self.window_sec / self.dt) - self.points = Points(window_len) - self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag) - - def get_msg(self, valid, debug=False): - msg = messaging.new_message('liveDelay') - - msg.valid = valid - - liveDelay = msg.liveDelay - - estimated_lag = self.block_avg.get() - liveDelay.lateralDelayEstimate = estimated_lag or self.initial_lag - if self.block_avg.valid_blocks >= self.min_valid_block_count and estimated_lag is not None: - liveDelay.status = log.LiveDelayData.Status.estimated - liveDelay.lateralDelay = estimated_lag - else: - liveDelay.status = log.LiveDelayData.Status.unestimated - liveDelay.lateralDelay = self.initial_lag - liveDelay.validBlocks = self.block_avg.valid_blocks - if debug: - liveDelay.points = self.block_avg.values.flatten().tolist() - - return msg - - def handle_log(self, t, which, msg): - if which == "carControl": - self.lat_active = msg.latActive - elif which == "carState": - self.steering_pressed = msg.steeringPressed - self.v_ego = msg.vEgo - elif which == "controlsState": - self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated - self.desired_curvature = msg.desiredCurvature - elif which == "liveCalibration": - self.calibrator.feed_live_calib(msg) - elif which == "livePose": - device_pose = Pose.from_live_pose(msg) - calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - self.yaw_rate = calibrated_pose.angular_velocity.z - self.t = t - - def points_valid(self): - return self.points.num_okay >= int(self.okay_window_sec / self.dt) - - def update_points(self): - if not self.lat_active: - self.last_lat_inactive_t = self.t - if self.steering_pressed: - self.last_steering_pressed_t = self.t - if self.steering_saturated: - self.last_steering_saturated_t = self.t - - la_desired = self.desired_curvature * self.v_ego * self.v_ego - la_actual_pose = self.yaw_rate * self.v_ego - - fast = self.v_ego > self.min_vego - turning = np.abs(self.yaw_rate) >= self.min_yr - has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated - self.t - last_t >= self.min_recovery_buffer_sec - for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t] - ) - okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered - - self.points.update(self.t, la_desired, la_actual_pose, okay) - - def update_estimate(self): - # check if the points are valid overall - if not self.points_valid(): - return - - times, desired, actual, okay = self.points.get() - # check if there are any new valid data points since the last update - if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t: - new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t) - if (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:])): - return - - delay, corr = self.actuator_delay(desired, actual, okay, self.dt) - if corr < self.min_ncc: - return - - self.block_avg.update(delay) - self.last_estimate_t = self.t - - def correlation_lags(self, sig_len, dt): - return np.arange(0, sig_len) * dt - - def actuator_delay(self, expected_sig, actual_sig, mask, dt, max_lag=1.): - ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask) - - # only consider lags from 0 to max_lag - max_lag_samples = int(max_lag / dt) - roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples] - - max_corr_index = np.argmax(roi_ncc) - corr = roi_ncc[max_corr_index] - lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt - - return lag, corr diff --git a/selfdrive/locationd/estimators/vehicle_params.py b/selfdrive/locationd/estimators/vehicle_params.py deleted file mode 100644 index 025d28dee0..0000000000 --- a/selfdrive/locationd/estimators/vehicle_params.py +++ /dev/null @@ -1,197 +0,0 @@ -import numpy as np -import capnp - -import cereal.messaging as messaging -from cereal import car, log -from openpilot.common.realtime import DT_MDL -from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR -from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose - -MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s -ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits -ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) -ROLL_LOWERED_MAX = np.radians(8) -ROLL_STD_MAX = np.radians(1.5) -LATERAL_ACC_SENSOR_THRESHOLD = 4.0 -OFFSET_MAX = 10.0 -OFFSET_LOWERED_MAX = 8.0 -MIN_ACTIVE_SPEED = 1.0 -LOW_ACTIVE_SPEED = 10.0 - - -def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): - if current_valid: - current_valid = abs(val) < threshold - else: - current_valid = abs(val) < lowered_threshold - return current_valid - - -class VehicleParamsLearner: - inputs = {'carState', 'liveCalibration', 'livePose'} - - def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): - self.kf = CarKalman(GENERATED_DIR) - - self.x_initial = CarKalman.initial_x.copy() - self.x_initial[States.STEER_RATIO] = steer_ratio - self.x_initial[States.STIFFNESS] = stiffness_factor - self.x_initial[States.ANGLE_OFFSET] = angle_offset - self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial - - self.kf.set_globals( - mass=CP.mass, - rotational_inertia=CP.rotationalInertia, - center_to_front=CP.centerToFront, - center_to_rear=CP.wheelbase - CP.centerToFront, - stiffness_front=CP.tireStiffnessFront, - stiffness_rear=CP.tireStiffnessRear - ) - - self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio - - self.calibrator = PoseCalibrator() - - self.observed_speed = 0.0 - self.observed_yaw_rate = 0.0 - self.observed_roll = 0.0 - - self.avg_offset_valid = True - self.total_offset_valid = True - self.roll_valid = True - - self.reset(None) - - def reset(self, t: float | None): - self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) - - self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False - self.avg_angle_offset = self.angle_offset - - def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): - if which == 'livePose': - device_pose = Pose.from_live_pose(msg) - calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) - - yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std - yaw_rate_valid = msg.angularVelocityDevice.valid - yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s - if not yaw_rate_valid: - # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating - yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) - self.observed_yaw_rate = yaw_rate - - localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std - localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std - roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK - if roll_valid: - roll = localizer_roll - # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? - roll_std = 2 * localizer_roll_std - else: - # This is done to bound the road roll estimate when localizer values are invalid - roll = 0.0 - roll_std = np.radians(10.0) - self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) - - if self.active: - if msg.posenetOK: - self.kf.predict_and_observe(t, - ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-self.observed_yaw_rate]]), - np.array([np.atleast_2d(yaw_rate_std**2)])) - - self.kf.predict_and_observe(t, - ObservationKind.ROAD_ROLL, - np.array([[self.observed_roll]]), - np.array([np.atleast_2d(roll_std**2)])) - self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) - - # We observe the current stiffness and steer ratio (with a high observation noise) to bound - # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the - # states in longer routes (especially straight stretches). - stiffness = float(self.kf.x[States.STIFFNESS].item()) - steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) - self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) - self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) - - elif which == 'liveCalibration': - self.calibrator.feed_live_calib(msg) - - elif which == 'carState': - steering_angle = msg.steeringAngleDeg - - in_linear_region = abs(steering_angle) < 45 - self.observed_speed = msg.vEgo - self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region - - if self.active: - self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) - self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) - - if not self.active: - # Reset time when stopped so uncertainty doesn't grow - self.kf.filter.set_filter_time(t) # type: ignore - self.kf.filter.reset_rewind() # type: ignore - - def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: - x = self.kf.x - P = np.sqrt(self.kf.P.diagonal()) - if not np.all(np.isfinite(x)): - cloudlog.error("NaN in liveParameters estimate. Resetting to default values") - self.reset(self.kf.t) - x = self.kf.x - - self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), - self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), - self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) - self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL].item()) - if self.active and self.observed_speed > LOW_ACTIVE_SPEED: - # Account for the opposite signs of the yaw rates - # At low speeds, bumping into a curb can cause the yaw rate to be very high - sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) - else: - sensors_valid = True - self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) - self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) - - msg = messaging.new_message('liveParameters') - - msg.valid = valid - - liveParameters = msg.liveParameters - liveParameters.posenetValid = True - liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) - liveParameters.roll = float(self.roll) - liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) - liveParameters.angleOffsetDeg = float(self.angle_offset) - liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr - liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 - liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) - liveParameters.angleOffsetValid = bool(self.total_offset_valid) - liveParameters.valid = all(( - liveParameters.angleOffsetAverageValid, - liveParameters.angleOffsetValid , - self.roll_valid, - roll_std < ROLL_STD_MAX, - liveParameters.stiffnessFactorValid, - liveParameters.steerRatioValid, - )) - liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) - if debug: - liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() - liveParameters.debugFilterState.value = x.tolist() - liveParameters.debugFilterState.std = P.tolist() - - return msg diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 524319fdee..243abc5c08 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -2,15 +2,201 @@ import os import json import numpy as np +import capnp import cereal.messaging as messaging from cereal import car, log -from cereal.services import SERVICE_LIST from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.locationd.estimators.vehicle_params import VehicleParamsLearner -from openpilot.selfdrive.locationd.estimators.lateral_lag import LateralLagEstimator + +MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = np.radians(-10), np.radians(10) +ROLL_LOWERED_MAX = np.radians(8) +ROLL_STD_MAX = np.radians(1.5) +LATERAL_ACC_SENSOR_THRESHOLD = 4.0 +OFFSET_MAX = 10.0 +OFFSET_LOWERED_MAX = 8.0 +MIN_ACTIVE_SPEED = 1.0 +LOW_ACTIVE_SPEED = 10.0 + + +class VehicleParamsLearner: + def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: float, angle_offset: float, P_initial: np.ndarray | None = None): + self.kf = CarKalman(GENERATED_DIR) + + self.x_initial = CarKalman.initial_x.copy() + self.x_initial[States.STEER_RATIO] = steer_ratio + self.x_initial[States.STIFFNESS] = stiffness_factor + self.x_initial[States.ANGLE_OFFSET] = angle_offset + self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial + + self.kf.set_globals( + mass=CP.mass, + rotational_inertia=CP.rotationalInertia, + center_to_front=CP.centerToFront, + center_to_rear=CP.wheelbase - CP.centerToFront, + stiffness_front=CP.tireStiffnessFront, + stiffness_rear=CP.tireStiffnessRear + ) + + self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio + + self.calibrator = PoseCalibrator() + + self.observed_speed = 0.0 + self.observed_yaw_rate = 0.0 + self.observed_roll = 0.0 + + self.avg_offset_valid = True + self.total_offset_valid = True + self.roll_valid = True + + self.reset(None) + + def reset(self, t: float | None): + self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t) + + self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False + self.avg_angle_offset = self.angle_offset + + def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader): + if which == 'livePose': + device_pose = Pose.from_live_pose(msg) + calibrated_pose = self.calibrator.build_calibrated_pose(device_pose) + + yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std + yaw_rate_valid = msg.angularVelocityDevice.valid + yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + if not yaw_rate_valid: + # This is done to bound the yaw rate estimate when localizer values are invalid or calibrating + yaw_rate, yaw_rate_std = 0.0, np.radians(10.0) + self.observed_yaw_rate = yaw_rate + + localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std + localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std + roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK + if roll_valid: + roll = localizer_roll + # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar? + roll_std = 2 * localizer_roll_std + else: + # This is done to bound the road roll estimate when localizer values are invalid + roll = 0.0 + roll_std = np.radians(10.0) + self.observed_roll = np.clip(roll, self.observed_roll - ROLL_MAX_DELTA, self.observed_roll + ROLL_MAX_DELTA) + + if self.active: + if msg.posenetOK: + self.kf.predict_and_observe(t, + ObservationKind.ROAD_FRAME_YAW_RATE, + np.array([[-self.observed_yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) + + self.kf.predict_and_observe(t, + ObservationKind.ROAD_ROLL, + np.array([[self.observed_roll]]), + np.array([np.atleast_2d(roll_std**2)])) + self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) + + # We observe the current stiffness and steer ratio (with a high observation noise) to bound + # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the + # states in longer routes (especially straight stretches). + stiffness = float(self.kf.x[States.STIFFNESS].item()) + steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) + self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) + self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) + + elif which == 'liveCalibration': + self.calibrator.feed_live_calib(msg) + + elif which == 'carState': + steering_angle = msg.steeringAngleDeg + + in_linear_region = abs(steering_angle) < 45 + self.observed_speed = msg.vEgo + self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region + + if self.active: + self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]])) + self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_X_SPEED, np.array([[self.observed_speed]])) + + if not self.active: + # Reset time when stopped so uncertainty doesn't grow + self.kf.filter.set_filter_time(t) # type: ignore + self.kf.filter.reset_rewind() # type: ignore + + def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder: + x = self.kf.x + P = np.sqrt(self.kf.P.diagonal()) + if not np.all(np.isfinite(x)): + cloudlog.error("NaN in liveParameters estimate. Resetting to default values") + self.reset(self.kf.t) + x = self.kf.x + + self.avg_angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item()), + self.avg_angle_offset - MAX_ANGLE_OFFSET_DELTA, self.avg_angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.angle_offset = np.clip(np.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + self.angle_offset - MAX_ANGLE_OFFSET_DELTA, self.angle_offset + MAX_ANGLE_OFFSET_DELTA) + self.roll = np.clip(float(x[States.ROAD_ROLL].item()), self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) + if self.active and self.observed_speed > LOW_ACTIVE_SPEED: + # Account for the opposite signs of the yaw rates + # At low speeds, bumping into a curb can cause the yaw rate to be very high + sensors_valid = bool(abs(self.observed_speed * (x[States.YAW_RATE].item() + self.observed_yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + else: + sensors_valid = True + self.avg_offset_valid = check_valid_with_hysteresis(self.avg_offset_valid, self.avg_angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) + self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX) + + msg = messaging.new_message('liveParameters') + + msg.valid = valid + + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = sensors_valid + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) + liveParameters.roll = float(self.roll) + liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset) + liveParameters.angleOffsetDeg = float(self.angle_offset) + liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr + liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0 + liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid) + liveParameters.angleOffsetValid = bool(self.total_offset_valid) + liveParameters.valid = all(( + liveParameters.angleOffsetAverageValid, + liveParameters.angleOffsetValid , + self.roll_valid, + roll_std < ROLL_STD_MAX, + liveParameters.stiffnessFactorValid, + liveParameters.steerRatioValid, + )) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) + if debug: + liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message() + liveParameters.debugFilterState.value = x.tolist() + liveParameters.debugFilterState.std = P.tolist() + + return msg + + +def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float): + if current_valid: + current_valid = abs(val) < threshold + else: + current_valid = abs(val) < lowered_threshold + return current_valid # TODO: Remove this function after few releases (added in 0.9.9) @@ -72,46 +258,22 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re return steer_ratio, stiffness_factor, angle_offset_deg, p_initial -def retrieve_initial_lag(params_reader: Params, CP: car.CarParams): - last_lag_data = params_reader.get("LiveLag") - last_carparams_data = params_reader.get("CarParamsPrevRoute") - - if last_lag_data is not None: - try: - with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP: - ld = last_lag_msg.liveDelay - if last_CP.carFingerprint != CP.carFingerprint: - raise Exception("Car model mismatch") - - lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks - return lag, valid_blocks - except Exception as e: - cloudlog.error(f"Failed to retrieve initial lag: {e}") - - return None - - def main(): config_realtime_process([0, 1, 2, 3], 5) DEBUG = bool(int(os.getenv("DEBUG", "0"))) REPLAY = bool(int(os.getenv("REPLAY", "0"))) - pm = messaging.PubMaster(['liveParameters', 'liveDelay']) - sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose') + pm = messaging.PubMaster(['liveParameters']) + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') params_reader = Params() CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) migrate_cached_vehicle_params_if_needed(params_reader) - steer_ratio, stiffness_factor, angle_offset_deg, p_initial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) - params_learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), p_initial) - - lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) - if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None: - lag, valid_blocks = initial_lag_params - lag_learner.reset(lag, valid_blocks) + steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG) + learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial) while True: sm.update() @@ -119,30 +281,17 @@ def main(): for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]): if sm.updated[which]: t = sm.logMonoTime[which] * 1e-9 - if which in params_learner.inputs: - params_learner.handle_log(t, which, sm[which]) - if which in lag_learner.inputs: - lag_learner.handle_log(t, which, sm[which]) - lag_learner.update_points() + learner.handle_log(t, which, sm[which]) - params_msg_dat, lag_msg_dat = None, None if sm.updated['livePose']: - params_msg = params_learner.get_msg(sm.all_checks(), debug=DEBUG) - params_msg_dat = params_msg.to_bytes() - pm.send('liveParameters', params_msg_dat) - - # 4Hz driven by livePose - if sm.frame % 5 == 0: - lag_learner.update_estimate() - lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG) - lag_msg_dat = lag_msg.to_bytes() - pm.send('liveDelay', lag_msg_dat) - - if sm.frame % 1200 == 0: # cache every 60 seconds - if params_msg_dat is not None: - params_reader.put_nonblocking("LiveParameters", params_msg_dat) - if lag_msg_dat is not None: - params_reader.put_nonblocking("LiveLag", lag_msg_dat) + msg = learner.get_msg(sm.all_checks(), debug=DEBUG) + + msg_dat = msg.to_bytes() + if sm.frame % 1200 == 0: # once a minute + params_reader.put_nonblocking("LiveParameters", msg_dat) + + pm.send('liveParameters', msg_dat) + if __name__ == "__main__": main() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 34b807fcad..13de985c68 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -542,8 +542,8 @@ CONFIGS = [ ), ProcessConfig( proc_name="paramsd", - pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"], - subs=["liveParameters", "liveDelay"], + pubs=["livePose", "liveCalibration", "carState"], + subs=["liveParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("livePose"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cd31ea53e8..58ff170e74 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0ef214e7f4f06d6d591a2257d254f3c00db6a0e9 \ No newline at end of file +887623a18d82088dc5ed9ecdced55eb0d3f718b1 \ No newline at end of file From 3707efff6b30a83be60f036c5ea3bced4ca7d72a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 1 Apr 2025 16:54:53 -0700 Subject: [PATCH 10/16] camerad: don't gate first frame on FSIN (#34972) don't wait --- system/camerad/sensors/ox03c10_registers.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h index 5c6282942b..bb7a1c5dd6 100644 --- a/system/camerad/sensors/ox03c10_registers.h +++ b/system/camerad/sensors/ox03c10_registers.h @@ -65,7 +65,6 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3008, 0x80}, // io_pad_sel // FSIN (frame sync) with external pulses - {0x3822, 0x33}, // wait for pulse before first frame {0x3009, 0x2}, {0x3015, 0x2}, {0x383E, 0x80}, @@ -73,6 +72,9 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3882, 0x8}, {0x3883, 0x0D}, {0x3836, 0x1F}, {0x3837, 0x40}, + // causes issues on some devices + //{0x3822, 0x33}, // wait for pulse before first frame + {0x3892, 0x44}, {0x3823, 0x41}, From 6a3d0e090c65c5d7685d1f8c37f3dffaac726071 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 2 Apr 2025 14:38:29 -0400 Subject: [PATCH 11/16] ci: update package management for `ui_preview` (#34967) * ci: update package management for `ui_preview` Add `apt-get update` before installing ImageMagick to ensure the package list is up-to-date. This prevents potential installation issues due to outdated package information. * test commit * try this * revert --- .github/workflows/ui_preview.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index f3fdc270db..4e8338c483 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -82,7 +82,7 @@ jobs: if: github.event_name == 'pull_request_target' id: find_diff run: >- - sudo apt-get install -y imagemagick + sudo apt-get update && sudo apt-get install -y imagemagick scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device') A=($scenes) From 5c4ceb7b39fb480755b58a3d60d52e86a004b1cd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 2 Apr 2025 15:12:54 -0400 Subject: [PATCH 12/16] liveDelay message (#34976) Bring back the lag message --- cereal/log.capnp | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 593399f832..797c2cd8ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2278,6 +2278,21 @@ struct LiveTorqueParametersData { useParams @12 :Bool; } +struct LiveDelayData { + lateralDelay @0 :Float32; + validBlocks @1 :Int32; + status @2 :Status; + + lateralDelayEstimate @3 :Float32; + points @4 :List(Float32); + + enum Status { + unestimated @0; + estimated @1; + invalid @2; + } +} + struct LiveMapDataDEPRECATED { speedLimitValid @0 :Bool; speedLimit @1 :Float32; @@ -2508,6 +2523,7 @@ struct Event { gnssMeasurements @91 :GnssMeasurements; liveParameters @61 :LiveParametersData; liveTorqueParameters @94 :LiveTorqueParametersData; + liveDelay @146 : LiveDelayData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; onroadEvents @134: List(OnroadEvent); From e45fc5e84ba4a78d6c8c535d057f8bd3863fec06 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 3 Apr 2025 19:51:15 -0700 Subject: [PATCH 13/16] Bump tinygrad to upstream master (#34973) bump tg --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 70266e9f94..0e34f9082e 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 70266e9f94d5a247ccbb2f3a46e72a2fbdaf7a8e +Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b From 049193b1785010b49cce9b3796c7c44d21e263b6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 3 Apr 2025 23:31:55 -0400 Subject: [PATCH 14/16] test_onroad: test liveParameters service timing (#34977) Add live params to test onroad --- selfdrive/test/test_onroad.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index de329d85f2..ebc87800b7 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -95,6 +95,7 @@ TIMINGS = { "modelV2": [2.5, 0.35], "driverStateV2": [2.5, 0.40], "livePose": [2.5, 0.35], + "liveParameters": [2.5, 0.35], "wideRoadCameraState": [1.5, 0.35], } From cab57a00d0b7c86bbd3ffa7421aefe80889543fa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 4 Apr 2025 09:52:59 -0700 Subject: [PATCH 15/16] selfdrived: remove ignored processes list (#34978) * selfdrived: remove ignored processes list * it's a set --- selfdrive/selfdrived/selfdrived.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index bb30c4ba9b..b1399ab43b 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -20,12 +20,12 @@ from openpilot.selfdrive.selfdrived.events import Events, ET from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert +from openpilot.system.hardware import HARDWARE from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ -IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} ThermalStatus = log.DeviceState.ThermalStatus @@ -115,6 +115,12 @@ class SelfdriveD: self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) + # some comma three with NVMe experience NVMe dropouts mid-drive that + # cause loggerd to crash on write, so ignore it only on that platform + self.ignored_processes = set() + if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'): + self.ignored_processes = {'loggerd', } + # Determine startup event self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster if not car_recognized: @@ -258,7 +264,7 @@ class SelfdriveD: if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running - if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): + if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes): self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: From 1e3f6599bd57da364a46ffc195320502fe4f9252 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 4 Apr 2025 19:05:36 -0400 Subject: [PATCH 16/16] calibrationd: read carParams from Params (#34981) * Read CarParams once from Params * Remove it from process replay --- selfdrive/locationd/calibrationd.py | 10 ++++++---- selfdrive/test/process_replay/process_replay.py | 3 ++- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 8ce884ae4f..e265b70f1a 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -11,7 +11,7 @@ import capnp import numpy as np from typing import NoReturn -from cereal import log +from cereal import log, car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params @@ -258,16 +258,18 @@ def main() -> NoReturn: config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveCalibration']) - sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry') + sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry') + + params_reader = Params() + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) calibrator = Calibrator(param_put=True) + calibrator.not_car = CP.notCar while 1: timeout = 0 if sm.frame == -1 else 100 sm.update(timeout) - calibrator.not_car = sm['carParams'].notCar - if sm.updated['cameraOdometry']: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 13de985c68..3ee761ee44 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -516,9 +516,10 @@ CONFIGS = [ ), ProcessConfig( proc_name="calibrationd", - pubs=["carState", "cameraOdometry", "carParams"], + pubs=["carState", "cameraOdometry"], subs=["liveCalibration"], ignore=["logMonoTime"], + init_callback=get_car_params_callback, should_recv_callback=calibration_rcv_callback, ), ProcessConfig(