From f08d95b95a9dfbadd310a2fe0a348691aa4ad5f6 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 20:40:20 -0700 Subject: [PATCH 001/126] AGNOS 12.6 (#35922) * bump * production --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 38 ++++++------- system/hardware/tici/all-partitions.json | 72 ++++++++++++------------ 3 files changed, 56 insertions(+), 56 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index b0bff4e57f..0ed1395b37 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.4" + export AGNOS_VERSION="12.6" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index ec2557422c..7d99793a59 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,25 +1,25 @@ [ { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz", - "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", - "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz", + "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", + "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", "size": 3282256, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089" + "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89" }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz", - "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535", - "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz", + "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c", + "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c", "size": 98124, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091" + "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f" }, { "name": "abl", @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef.img.xz", - "hash": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef", - "hash_raw": "4de8f892dbac3fa3fee1efe68ca76e23e75812e81a6577d00d52e2da1ef624ef", - "size": 18479104, + "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz", + "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", + "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", + "size": 18515968, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "8d7094d774faa4e801e36b403a31b53b913b31d086f4dc682d2f64710c557e8a" + "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img.xz", - "hash": "cccd7073d067027396f2afd49874729757db0bbbc79853a0bf2938bd356fe164", - "hash_raw": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39", + "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz", + "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1", + "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "c7707f16ce7d977748677cc354e250943b4ff6c21b9a19a492053d32397cf9ec", + "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f", "alt": { - "hash": "4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39", - "url": "https://commadist.azureedge.net/agnosupdate/system-4bc3951f4aa3f70c53837dc2542d8b0666d37103b353fd81417cc7de1bbebe39.img", + "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", + "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img", "size": 5368709120 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index d28b48128b..0befc9dd9d 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -97,14 +97,14 @@ }, { "name": "persist", - 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"ondevice_hash": "16e27ba3c5cf9f0394ce6235ba6021b8a2de293fdb08399f8ca832fa5e4d0b9d" + "ondevice_hash": "1d24f1b9ac849566e4e99de34d6514450763dbdc5acafeda4ed6a0c3cc2f2a77" } ] \ No newline at end of file From fb34e7ccd362421ed37bc29c306b4376bdb665a0 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 21:06:28 -0700 Subject: [PATCH 002/126] ci: kick power watchdog on ci devices --- selfdrive/test/setup_device_ci.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index d717698514..c4a38efa41 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -54,6 +54,7 @@ while true; do # /data/ciui.py & #fi + awk '{print $1}' /proc/uptime > /var/tmp/power_watchdog sleep 5s done From 112d615ac9a7687fc73c8b3fcc8e7503cbbada4f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 4 Aug 2025 21:28:43 -0700 Subject: [PATCH 003/126] ci: fix setup device variable --- selfdrive/test/setup_device_ci.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index c4a38efa41..98909bfb52 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -54,7 +54,7 @@ while true; do # /data/ciui.py & #fi - awk '{print $1}' /proc/uptime > /var/tmp/power_watchdog + awk '{print \$1}' /proc/uptime > /var/tmp/power_watchdog sleep 5s done From d7b0a5fa7e84afe98ecca0e2d4ff1a0f2f60f50d Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 5 Aug 2025 13:41:41 -0700 Subject: [PATCH 004/126] Record feedback with LKAS button (#35888) * record feedback with LKAS button * fix alert test * slightly simplify feedbackd * "Audio Feedback Saved" upon time expiration or early stop * earlySend --> earlyStop * userFlag --> userBookmark * RecordAudioFeedback param/toggle * add audioFeedback test * simplify feedbackd * send bookmark regardless of toggle, show feedback event with higher priority * add userBookmark to selfdrived sm * fix mispelled param name * default off and move to main * segmentNum --> blockNum, earlyStop --> lastBlock * preserve audioFeedback * get rid of lastBlock and just send bookmark saved at the end * update raylib side * update toggle description and add raylib toggle --------- Co-authored-by: Adeeb Shihadeh --- cereal/log.capnp | 16 ++++- cereal/messaging/tests/test_pub_sub_master.py | 2 +- cereal/services.py | 4 +- common/params_keys.h | 1 + selfdrive/selfdrived/events.py | 18 ++++- selfdrive/selfdrived/selfdrived.py | 11 +-- .../test/process_replay/process_replay.py | 8 +-- selfdrive/test/test_onroad.py | 1 + selfdrive/ui/feedback/feedbackd.py | 70 +++++++++++++++++++ selfdrive/ui/layouts/main.py | 12 ++-- selfdrive/ui/layouts/settings/toggles.py | 10 +++ selfdrive/ui/qt/offroad/settings.cc | 7 ++ selfdrive/ui/qt/sidebar.cc | 6 +- selfdrive/ui/tests/test_feedbackd.py | 52 ++++++++++++++ system/loggerd/loggerd.cc | 10 +-- system/loggerd/tests/test_loggerd.py | 8 +-- system/manager/process_config.py | 1 + tools/cabana/videowidget.cc | 4 +- tools/replay/README.md | 2 +- tools/replay/consoleui.cc | 4 +- tools/replay/main.cc | 2 +- tools/replay/replay.cc | 2 +- tools/replay/timeline.cc | 6 +- tools/replay/timeline.h | 4 +- 24 files changed, 217 insertions(+), 44 deletions(-) create mode 100755 selfdrive/ui/feedback/feedbackd.py create mode 100644 selfdrive/ui/tests/test_feedbackd.py diff --git a/cereal/log.capnp b/cereal/log.capnp index b9f4170265..e756843562 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -127,8 +127,9 @@ struct OnroadEvent @0xc4fa6047f024e718 { espActive @90; personalityChanged @91; aeb @92; - userFlag @95; + userBookmark @95; excessiveActuation @96; + audioFeedback @97; soundsUnavailableDEPRECATED @47; } @@ -2468,7 +2469,7 @@ struct DebugAlert { alertText2 @1 :Text; } -struct UserFlag { +struct UserBookmark @0xfe346a9de48d9b50 { } struct SoundPressure @0xdc24138990726023 { @@ -2486,6 +2487,11 @@ struct AudioData { sampleRate @1 :UInt32; } +struct AudioFeedback { + audio @0 :AudioData; + blockNum @1 :UInt16; +} + struct Touch { sec @0 :Int64; usec @1 :Int64; @@ -2586,9 +2592,13 @@ struct Event { mapRenderState @105: MapRenderState; # UI services - userFlag @93 :UserFlag; uiDebug @102 :UIDebug; + # driving feedback + userBookmark @93 :UserBookmark; + bookmarkButton @148 :UserBookmark; + audioFeedback @149 :AudioFeedback; + # *********** debug *********** testJoystick @52 :Joystick; roadEncodeData @86 :EncodeData; diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py index e47e713393..5e26b49701 100644 --- a/cereal/messaging/tests/test_pub_sub_master.py +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -86,7 +86,7 @@ class TestSubMaster: "cameraOdometry": (20, 10), "liveCalibration": (4, 4), "carParams": (None, None), - "userFlag": (None, None), + "userBookmark": (None, None), } for service, (max_freq, min_freq) in checks.items(): diff --git a/cereal/services.py b/cereal/services.py index a13fc810f4..a4c7463f20 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -72,9 +72,11 @@ _services: dict[str, tuple] = { "navRoute": (True, 0.), "navThumbnail": (True, 0.), "qRoadEncodeIdx": (False, 20.), - "userFlag": (True, 0., 1), + "userBookmark": (True, 0., 1), "soundPressure": (True, 10., 10), "rawAudioData": (False, 20.), + "bookmarkButton": (True, 0., 1), + "audioFeedback": (True, 0., 1), # debug "uiDebug": (True, 0., 1), diff --git a/common/params_keys.h b/common/params_keys.h index 5cd6f9691b..3d7281bf93 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -105,6 +105,7 @@ inline static std::unordered_map keys = { {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}}, {"PrimeType", {PERSISTENT, INT}}, {"RecordAudio", {PERSISTENT, BOOL}}, + {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}}, {"RecordFront", {PERSISTENT, BOOL}}, {"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}}, diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 49c2cea4ac..9da7125dd8 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -11,6 +11,8 @@ from openpilot.common.constants import CV from openpilot.common.git import get_short_branch from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER +from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION AlertSize = log.SelfdriveState.AlertSize AlertStatus = log.SelfdriveState.AlertStatus @@ -198,6 +200,7 @@ class StartupAlert(Alert): Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.), + # ********** helper functions ********** def get_display_speed(speed_ms: float, metric: bool) -> str: speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))) @@ -252,6 +255,14 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) +def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE) + return NormalPermanentAlert( + "Recording Audio Feedback", + f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.", + priority=Priority.LOW) + + # *** debug alerts *** def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: @@ -370,6 +381,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin return NormalPermanentAlert("Invalid LKAS setting", text) + EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** @@ -991,9 +1003,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.WARNING: personality_changed_alert, }, - EventName.userFlag: { + EventName.userBookmark: { ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5), }, + + EventName.audioFeedback: { + ET.PERMANENT: audio_feedback_alert, + }, } diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 96077414de..61b98e9886 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -95,7 +95,7 @@ class SelfdriveD: self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \ + 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, ignore_alive=ignore, ignore_avg_freq=ignore, ignore_valid=ignore, frequency=int(1/DT_CTRL)) @@ -181,9 +181,12 @@ class SelfdriveD: self.events.add(EventName.selfdriveInitializing) return - # Check for user flag (bookmark) press - if self.sm.updated['userFlag']: - self.events.add(EventName.userFlag) + # Check for user bookmark press (bookmark button or end of LKAS button feedback) + if self.sm.updated['userBookmark']: + self.events.add(EventName.userBookmark) + + if self.sm.updated['audioFeedback']: + self.events.add(EventName.audioFeedback) # Don't add any more events while in dashcam mode if self.CP.passive: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 29a268b452..56a0fdb61a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -418,10 +418,10 @@ CONFIGS = [ proc_name="selfdrived", pubs=[ "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", - "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", - "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput", - "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug", + "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2", + "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters", + "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState", + "carControl", "driverAssistance", "alertDebug", "audioFeedback", ], subs=["selfdriveState", "onroadEvents"], ignore=["logMonoTime"], diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index cd702377e7..935da99c10 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -55,6 +55,7 @@ PROCS = { "selfdrive.locationd.paramsd": 9.0, "selfdrive.locationd.lagd": 11.0, "selfdrive.ui.soundd": 3.0, + "selfdrive.ui.feedback.feedbackd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 2.0, "system.logmessaged": 1.0, diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py new file mode 100755 index 0000000000..b02e5d97a7 --- /dev/null +++ b/selfdrive/ui/feedback/feedbackd.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from cereal import car +from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER + +FEEDBACK_MAX_DURATION = 10.0 +ButtonType = car.CarState.ButtonEvent.Type + + +def main(): + params = Params() + pm = messaging.PubMaster(['userBookmark', 'audioFeedback']) + sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState']) + should_record_audio = False + block_num = 0 + waiting_for_release = False + early_stop_triggered = False + + while True: + sm.update() + should_send_bookmark = False + + if sm.updated['carState'] and sm['carState'].canValid: + for be in sm['carState'].buttonEvents: + if be.type == ButtonType.lkas: + if be.pressed: + if not should_record_audio: + if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set + should_record_audio = True + block_num = 0 + waiting_for_release = False + early_stop_triggered = False + cloudlog.info("LKAS button pressed - starting 10-second audio feedback") + else: + should_send_bookmark = True # immediately send bookmark if toggle false + cloudlog.info("LKAS button pressed - bookmarking") + elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early + waiting_for_release = True + elif waiting_for_release: # Second press released + waiting_for_release = False + early_stop_triggered = True + cloudlog.info("LKAS button released - ending recording early") + + if should_record_audio and sm.updated['rawAudioData']: + raw_audio = sm['rawAudioData'] + msg = messaging.new_message('audioFeedback', valid=True) + msg.audioFeedback.audio.data = raw_audio.data + msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate + msg.audioFeedback.blockNum = block_num + block_num += 1 + if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop + should_send_bookmark = True # send bookmark at end of audio segment + should_record_audio = False + early_stop_triggered = False + cloudlog.info("10-second recording completed or second button press - stopping audio feedback") + pm.send('audioFeedback', msg) + + if sm.updated['bookmarkButton']: + cloudlog.info("Bookmark button pressed!") + should_send_bookmark = True + + if should_send_bookmark: + msg = messaging.new_message('userBookmark', valid=True) + pm.send('userBookmark', msg) + + +if __name__ == '__main__': + main() diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index 144d34e02f..3ab8525d33 100644 --- a/selfdrive/ui/layouts/main.py +++ b/selfdrive/ui/layouts/main.py @@ -19,7 +19,7 @@ class MainLayout(Widget): def __init__(self): super().__init__() - self._pm = messaging.PubMaster(['userFlag']) + self._pm = messaging.PubMaster(['bookmarkButton']) self._sidebar = Sidebar() self._current_mode = MainState.HOME @@ -40,7 +40,7 @@ class MainLayout(Widget): def _setup_callbacks(self): self._sidebar.set_callbacks(on_settings=self._on_settings_clicked, - on_flag=self._on_flag_clicked) + on_flag=self._on_bookmark_clicked) self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE)) self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state) self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked) @@ -76,10 +76,10 @@ class MainLayout(Widget): def _on_settings_clicked(self): self.open_settings(PanelType.DEVICE) - def _on_flag_clicked(self): - user_flag = messaging.new_message('userFlag') - user_flag.valid = True - self._pm.send('userFlag', user_flag) + def _on_bookmark_clicked(self): + user_bookmark = messaging.new_message('bookmarkButton') + user_bookmark.valid = True + self._pm.send('bookmarkButton', user_bookmark) def _on_onroad_clicked(self): self._sidebar.set_visible(not self._sidebar.is_visible) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index 58afcec5ef..ff0564a61a 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -23,6 +23,10 @@ DESCRIPTIONS = { 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "IsMetric": "Display speed in km/h instead of mph.", "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.", + "RecordAudioFeedback": ( + "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " + + "The event will be highlighted in comma connect and the segment will be preserved on your device's storage." + ), } @@ -81,6 +85,12 @@ class TogglesLayout(Widget): self._params.get_bool("RecordAudio"), icon="microphone.png", ), + toggle_item( + "Record Audio Feedback with LKAS button", + DESCRIPTIONS["RecordAudioFeedback"], + self._params.get_bool("RecordAudioFeedback"), + icon="microphone.png", + ), toggle_item( "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png" ), diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 96734d69d9..87d822bc03 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/microphone.png", true, }, + { + "RecordAudioFeedback", + tr("Record Audio Feedback with LKAS button"), + tr("Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage."), + "../assets/icons/microphone.png", + false, + }, { "IsMetric", tr("Use Metric System"), diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index e3b83573da..d88902d6bc 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -38,7 +38,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed( QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState); - pm = std::make_unique(std::vector{"userFlag"}); + pm = std::make_unique(std::vector{"bookmarkButton"}); } void Sidebar::mousePressEvent(QMouseEvent *event) { @@ -61,8 +61,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { } if (onroad && home_btn.contains(event->pos())) { MessageBuilder msg; - msg.initEvent().initUserFlag(); - pm->send("userFlag", msg); + msg.initEvent().initBookmarkButton(); + pm->send("bookmarkButton", msg); } else if (settings_btn.contains(event->pos())) { emit openSettings(); } else if (recording_audio && mic_indicator_btn.contains(event->pos())) { diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py new file mode 100644 index 0000000000..c2d81aef83 --- /dev/null +++ b/selfdrive/ui/tests/test_feedbackd.py @@ -0,0 +1,52 @@ +import pytest +import cereal.messaging as messaging +from cereal import car +from openpilot.common.params import Params +from openpilot.system.manager.process_config import managed_processes + + +class TestFeedbackd: + def setup_method(self): + self.pm = messaging.PubMaster(['carState', 'rawAudioData']) + self.sm = messaging.SubMaster(['audioFeedback']) + + def _send_lkas_button(self, pressed: bool): + msg = messaging.new_message('carState') + msg.carState.canValid = True + msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}] + self.pm.send('carState', msg) + + def _send_audio_data(self, count: int = 5): + for _ in range(count): + audio_msg = messaging.new_message('rawAudioData') + audio_msg.rawAudioData.data = bytes(1600) # 800 samples of int16 + audio_msg.rawAudioData.sampleRate = 16000 + self.pm.send('rawAudioData', audio_msg) + self.sm.update(timeout=100) + + @pytest.mark.parametrize("record_feedback", [False, True]) + def test_audio_feedback(self, record_feedback): + Params().put_bool("RecordAudioFeedback", record_feedback) + + managed_processes["feedbackd"].start() + assert self.pm.wait_for_readers_to_update('carState', timeout=5) + assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5) + + self._send_lkas_button(pressed=True) + self._send_audio_data() + self._send_lkas_button(pressed=False) + self._send_audio_data() + + if record_feedback: + assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled" + else: + assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled" + + self._send_lkas_button(pressed=True) + self._send_audio_data() + self._send_lkas_button(pressed=False) + self._send_audio_data() + + assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press" + + managed_processes["feedbackd"].stop() diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 144ab9f349..21de1ff33f 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -194,7 +194,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct return bytes_count; } -void handle_user_flag(LoggerdState *s) { +void handle_preserve_segment(LoggerdState *s) { static int prev_segment = -1; if (s->logger.segment() == prev_segment) return; @@ -222,7 +222,7 @@ void loggerd_thread() { typedef struct ServiceState { std::string name; int counter, freq; - bool encoder, user_flag, record_audio; + bool encoder, preserve_segment, record_audio; } ServiceState; std::unordered_map service_state; std::unordered_map remote_encoders; @@ -246,7 +246,7 @@ void loggerd_thread() { .counter = 0, .freq = it.decimation, .encoder = encoder, - .user_flag = it.name == "userFlag", + .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"), .record_audio = record_audio, }; } @@ -281,8 +281,8 @@ void loggerd_thread() { if (do_exit) break; ServiceState &service = service_state[sock]; - if (service.user_flag) { - handle_user_flag(&s); + if (service.preserve_segment) { + handle_preserve_segment(&s); } // drain socket diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 8f9d92e104..c6a4b12e63 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -282,15 +282,15 @@ class TestLoggerd: sent.clear_write_flag() assert sent.to_bytes() == m.as_builder().to_bytes() - def test_preserving_flagged_segments(self): - services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} + def test_preserving_bookmarked_segments(self): + services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userBookmark"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE - def test_not_preserving_unflagged_segments(self): - services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} + def test_not_preserving_nonbookmarked_segments(self): + services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() diff --git a/system/manager/process_config.py b/system/manager/process_config.py index ecd5b724cd..a3787b644e 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -106,6 +106,7 @@ procs = [ PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), PythonProcess("statsd", "system.statsd", always_run), + PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad), # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index b817ae1208..c857c9ffbe 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -19,7 +19,7 @@ const int THUMBNAIL_MARGIN = 3; static const QColor timeline_colors[] = { [(int)TimelineType::None] = QColor(111, 143, 175), [(int)TimelineType::Engaged] = QColor(0, 163, 108), - [(int)TimelineType::UserFlag] = Qt::magenta, + [(int)TimelineType::UserBookmark] = Qt::magenta, [(int)TimelineType::AlertInfo] = Qt::green, [(int)TimelineType::AlertWarning] = QColor(255, 195, 0), [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), @@ -64,7 +64,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { Pause/Resume:  space  )").arg(timeline_colors[(int)TimelineType::None].name(), timeline_colors[(int)TimelineType::Engaged].name(), - timeline_colors[(int)TimelineType::UserFlag].name(), + timeline_colors[(int)TimelineType::UserBookmark].name(), timeline_colors[(int)TimelineType::AlertInfo].name(), timeline_colors[(int)TimelineType::AlertWarning].name(), timeline_colors[(int)TimelineType::AlertCritical].name())); diff --git a/tools/replay/README.md b/tools/replay/README.md index 8b4afb0acc..7822525ec3 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -75,7 +75,7 @@ Options: --qcam load qcamera --no-hw-decoder disable HW video decoding --no-vipc do not output video - --all do output all messages including uiDebug, userFlag. + --all do output all messages including uiDebug, userBookmark. this may causes issues when used along with UI Arguments: diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 503902622c..a4f3677ff3 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -257,7 +257,7 @@ void ConsoleUI::updateTimeline() { if (entry.type == TimelineType::Engaged) { mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); - } else if (entry.type == TimelineType::UserFlag) { + } else if (entry.type == TimelineType::UserBookmark) { mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL); } else { auto color_id = Color::Green; @@ -329,7 +329,7 @@ void ConsoleUI::handleKey(char c) { } else if (c == 'd') { replay->seekToFlag(FindFlag::nextDisEngagement); } else if (c == 't') { - replay->seekToFlag(FindFlag::nextUserFlag); + replay->seekToFlag(FindFlag::nextUserBookmark); } else if (c == 'i') { replay->seekToFlag(FindFlag::nextInfo); } else if (c == 'w') { diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 38a1da292a..f950985075 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -30,7 +30,7 @@ Options: --qcam Load qcamera --no-hw-decoder Disable HW video decoding --no-vipc Do not output video - --all Output all messages including uiDebug, userFlag + --all Output all messages including uiDebug, userBookmark -h, --help Show this help message )"; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index a8e5cd9d43..7ecad82873 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -20,7 +20,7 @@ Replay::Replay(const std::string &route, std::vector allow, std::ve std::signal(SIGUSR1, interrupt_sleep_handler); if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { - block.insert(block.end(), {"uiDebug", "userFlag"}); + block.insert(block.end(), {"uiDebug", "userBookmark"}); } setupServices(allow, block); setupSegmentManager(!allow.empty() || !block.empty()); diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc index a4c2ffb700..39ea8b1bed 100644 --- a/tools/replay/timeline.cc +++ b/tools/replay/timeline.cc @@ -26,7 +26,7 @@ std::optional Timeline::find(double cur_ts, FindFlag flag) const { return entry.end_time; } } else if (entry.start_time > cur_ts) { - if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) || + if ((flag == FindFlag::nextUserBookmark && entry.type == TimelineType::UserBookmark) || (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) || (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) || (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) { @@ -66,8 +66,8 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l auto cs = reader.getRoot().getSelfdriveState(); updateEngagementStatus(cs, current_engaged_idx, seconds); updateAlertStatus(cs, current_alert_idx, seconds); - } else if (e.which == cereal::Event::Which::USER_FLAG) { - staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag}); + } else if (e.which == cereal::Event::Which::USER_BOOKMARK) { + staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserBookmark}); } } diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h index 74add9e5cc..9688b6b95e 100644 --- a/tools/replay/timeline.h +++ b/tools/replay/timeline.h @@ -7,8 +7,8 @@ #include "tools/replay/route.h" -enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; -enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical }; +enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark }; +enum class FindFlag { nextEngagement, nextDisEngagement, nextUserBookmark, nextInfo, nextWarning, nextCritical }; class Timeline { public: From 865e6fa9d84a020017984377f8e2af909b5757dc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 13:42:51 -0700 Subject: [PATCH 005/126] update release notes --- RELEASES.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 58d0d07a74..2bd540f640 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,11 @@ -Version 0.10.0 (2025-07-07) +Version 0.10.0 (2025-08-05) ======================== * New driving model * Lead car ground-truth fixes * Ported over VAE from the MLSIM stack * New training architecture described in CVPR paper * Enable live-learned steering actuation delay +* Record driving feedback using LKAS button * Opt-in audio recording for dashcam video Version 0.9.9 (2025-05-23) From c23537b4d5a5b1b3b35340aa2a6d28abb5505f1e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 14:55:30 -0700 Subject: [PATCH 006/126] lil copy updates --- selfdrive/selfdrived/alerts_offroad.json | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 7c97f5a1c2..42aca22008 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -42,7 +42,7 @@ "severity": 0 }, "Offroad_ExcessiveActuation": { - "text": "openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.", + "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.", "severity": 1, "_comment": "Set extra field to lateral or longitudinal." } diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 87d822bc03..01761295dc 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -71,7 +71,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { { "RecordAudioFeedback", tr("Record Audio Feedback with LKAS button"), - tr("Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage."), + tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."), "../assets/icons/microphone.png", false, }, From bb4f9651bad75b05e243a411b916885eca8d66dc Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 5 Aug 2025 14:57:57 -0700 Subject: [PATCH 007/126] Update RELEASES.md --- RELEASES.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 2bd540f640..92f50201fe 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,8 +2,7 @@ Version 0.10.0 (2025-08-05) ======================== * New driving model * Lead car ground-truth fixes - * Ported over VAE from the MLSIM stack - * New training architecture described in CVPR paper + * New training objective using MLSIM * Enable live-learned steering actuation delay * Record driving feedback using LKAS button * Opt-in audio recording for dashcam video From 2c654500d2b6c1ba86609d01fd14fe2abbf53bd0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 16:07:29 -0700 Subject: [PATCH 008/126] update release README --- release/README.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/release/README.md b/release/README.md index 06404be6ab..745161440d 100644 --- a/release/README.md +++ b/release/README.md @@ -5,19 +5,21 @@ **Go to `devel-staging`** - [ ] update RELEASES.md -- [ ] update `devel-staging`: `git reset --hard origin/master-ci` +- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml +- [ ] update `devel-staging`: `git reset --hard origin/__nightly` - [ ] open a pull request from `devel-staging` to `devel` -- [ ] post on Discord +- [ ] post on Discord, tag `@release crew` **Go to `devel`** - [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] before merging the pull request +- [ ] before merging the pull request, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release - [ ] fresh install with `openpilot-test.comma.ai` - [ ] drive on fresh install - [ ] no submodules or LFS - [ ] check sentry, MTBF, etc. + - [ ] stress test in production **Go to `release3`** - [ ] publish the blog post From c321fa72e2c06e5e74190508bf1507c34fd7dd6f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 16:08:14 -0700 Subject: [PATCH 009/126] one more --- release/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/release/README.md b/release/README.md index 745161440d..8216caccc8 100644 --- a/release/README.md +++ b/release/README.md @@ -4,6 +4,7 @@ ## release checklist **Go to `devel-staging`** +- [ ] make issue to track release - [ ] update RELEASES.md - [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml - [ ] update `devel-staging`: `git reset --hard origin/__nightly` From c35494c19f7f349582a9ccbffb39aefd35db9fd6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Aug 2025 16:15:07 -0700 Subject: [PATCH 010/126] Check for excessive lateral acceleration (#35921) * here? * nah card shouldn't become bloated * better * import * actually selfdrived is probably best since it already manages alerts card is car interfacing, controlsd is for calculating control input, selfdrived is rest * consistent name * add to params * ai * maybe better? * shorter * build out lockout * do * check active * descriptive * this is a terrible experience just to get lat accel * just pass sm * not iso * type * rm * math * use calibrated roll * fix * fix borkenness * cmt * compare some methods * rolling window * 1 and 2 are the same * rm it * stuff * plot * plot kf * generic implementation * adjust limits * fix from merge * clean up * revert filter to master * and here * and * run_process_on_route imps * clean up * why not * extrapolate * this doesn't generically work for angle/curvature cars Revert "extrapolate" This reverts commit 556f0c3a92b82f07ceb6422f0e39322e79a10dcd. * cmt * move * rm debug rm debug and * others use helpers * two counters might be too much to return * turn into class * clean up * cmt * kinda obvious * impossible for this not to be true, but make it explicit * clean up --- selfdrive/selfdrived/helpers.py | 53 ++++++++++++++++++++++++++++++ selfdrive/selfdrived/selfdrived.py | 28 ++++------------ 2 files changed, 60 insertions(+), 21 deletions(-) create mode 100644 selfdrive/selfdrived/helpers.py diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py new file mode 100644 index 0000000000..8b4213fcb8 --- /dev/null +++ b/selfdrive/selfdrived/helpers.py @@ -0,0 +1,53 @@ +import math +from enum import StrEnum, auto + +from cereal import car, messaging +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.locationd.helpers import Pose +from opendbc.car import ACCELERATION_DUE_TO_GRAVITY +from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX, ISO_LATERAL_ACCEL + +MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) +MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL) + + +class ExcessiveActuationType(StrEnum): + LONGITUDINAL = auto() + LATERAL = auto() + + +class ExcessiveActuationCheck: + def __init__(self): + self._excessive_counter = 0 + self._engaged_counter = 0 + + def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None: + # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc. + # longitudinal + accel_calibrated = calibrated_pose.acceleration.x + excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2) + + # lateral + yaw_rate = calibrated_pose.angular_velocity.yaw + roll = sm['liveParameters'].roll + roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) + + # Prevent false positives after overriding + excessive_lat_actuation = False + self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0 + if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER: + if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2: + excessive_lat_actuation = True + + # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements + livepose_valid = abs(CS.aEgo - accel_calibrated) < 2 + self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0 + + excessive_type = None + if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT: + if excessive_long_actuation: + excessive_type = ExcessiveActuationType.LONGITUDINAL + else: + excessive_type = ExcessiveActuationType.LATERAL + + return excessive_type diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 61b98e9886..89fa36c906 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -7,7 +7,6 @@ import cereal.messaging as messaging from cereal import car, log from msgq.visionipc import VisionIpcClient, VisionStreamType -from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.common.params import Params @@ -18,6 +17,7 @@ from openpilot.common.gps import get_gps_location_service from openpilot.selfdrive.car.car_specific import CarSpecificEvents from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.selfdrive.selfdrived.events import Events, ET +from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert @@ -29,7 +29,6 @@ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} -MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) ThermalStatus = log.DeviceState.ThermalStatus State = log.SelfdriveState.OpenpilotState @@ -43,19 +42,6 @@ SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) -def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose, counter: int) -> tuple[int, bool]: - # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc. - accel_calibrated = calibrated_pose.acceleration.x - - # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements - accel_valid = abs(CS.aEgo - accel_calibrated) < 2 - - excessive_actuation = accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2 - counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0 - - return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT - - class SelfdriveD: def __init__(self, CP=None): self.params = Params() @@ -74,6 +60,8 @@ class SelfdriveD: self.pose_calibrator = PoseCalibrator() self.calibrated_pose: Pose | None = None + self.excessive_actuation_check = ExcessiveActuationCheck() + self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None # Setup sockets self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents']) @@ -131,8 +119,6 @@ class SelfdriveD: self.experimental_mode = False self.personality = self.params.get("LongitudinalPersonality", return_default=True) self.recalibrating_seen = False - self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None - self.excessive_actuation_counter = 0 self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) @@ -252,7 +238,7 @@ class SelfdriveD: if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture: self.events.add(EventName.ldw) - # Check for excessive (longitudinal) actuation + # Check for excessive actuation if self.sm.updated['liveCalibration']: self.pose_calibrator.feed_live_calib(self.sm['liveCalibration']) if self.sm.updated['livePose']: @@ -260,9 +246,9 @@ class SelfdriveD: self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose) if self.calibrated_pose is not None: - self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrated_pose, self.excessive_actuation_counter) - if not self.excessive_actuation and excessive_actuation: - set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal") + excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose) + if not self.excessive_actuation and excessive_actuation is not None: + set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation)) self.excessive_actuation = True if self.excessive_actuation: From 96313fa4c05b0713dbf76b39ea36fcb7b9455db5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 16:29:25 -0700 Subject: [PATCH 011/126] Filename: minor refactor (#35927) * Filename * rest of refactor --- tools/lib/logreader.py | 14 +---------- tools/lib/route.py | 53 ++++++++++++++++++++++-------------------- 2 files changed, 29 insertions(+), 38 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 1075bd2f08..a2b8be8705 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -21,8 +21,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \ - ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -102,17 +101,6 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -class FileName(enum.Enum): - #TODO use the ones from route.py - RLOG = ("rlog.zst", "rlog.bz2") - QLOG = ("qlog.zst", "qlog.bz2") - QCAMERA = QCAMERA_FILENAMES - FCAMERA = CAMERA_FILENAMES - ECAMERA = ECAMERA_FILENAMES - DCAMERA = DCAMERA_FILENAMES - BOOTLOG = BOOTLOG_FILENAMES - - LogPath = str | None Source = Callable[[SegmentRange, FileName], list[LogPath]] diff --git a/tools/lib/route.py b/tools/lib/route.py index 55ea956c5f..9f71ef727e 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,5 +1,6 @@ import os import re +import enum import requests from functools import cache from urllib.parse import urlparse @@ -10,14 +11,16 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE -QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog') -QCAMERA_FILENAMES = ('qcamera.ts',) -LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog') -CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc') -DCAMERA_FILENAMES = ('dcamera.hevc',) -ECAMERA_FILENAMES = ('ecamera.hevc',) -BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog') +class FileName(enum.Enum): + #TODO use the ones from route.py + RLOG = ("rlog.zst", "rlog.bz2") + QLOG = ("qlog.zst", "qlog.bz2") + QCAMERA = ('qcamera.ts',) + FCAMERA = ('fcamera.hevc',) + ECAMERA = ('ecamera.hevc',) + DCAMERA = ('dcamera.hevc',) + BOOTLOG = ('bootlog.zst', 'bootlog.bz2') class Route: def __init__(self, name, data_dir=None): @@ -82,23 +85,23 @@ class Route: if segments.get(segment_name): segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else segments[segment_name].log_path, - url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, - url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, - url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, - url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, - url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, + url if fn in FileName.RLOG else segments[segment_name].log_path, + url if fn in FileName.QLOG else segments[segment_name].qlog_path, + url if fn in FileName.FCAMERA else segments[segment_name].camera_path, + url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, + url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, + url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, self.metadata['url'], ) else: segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else None, - url if fn in QLOG_FILENAMES else None, - url if fn in CAMERA_FILENAMES else None, - url if fn in DCAMERA_FILENAMES else None, - url if fn in ECAMERA_FILENAMES else None, - url if fn in QCAMERA_FILENAMES else None, + url if fn in FileName.RLOG else None, + url if fn in FileName.QLOG else None, + url if fn in FileName.FCAMERA else None, + url if fn in FileName.DCAMERA else None, + url if fn in FileName.ECAMERA else None, + url if fn in FileName.QCAMERA else None, self.metadata['url'], ) @@ -136,32 +139,32 @@ class Route: for segment, files in segment_files.items(): try: - log_path = next(path for path, filename in files if filename in LOG_FILENAMES) + log_path = next(path for path, filename in files if filename in FileName.RLOG) except StopIteration: log_path = None try: - qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) + qlog_path = next(path for path, filename in files if filename in FileName.QLOG) except StopIteration: qlog_path = None try: - camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) + camera_path = next(path for path, filename in files if filename in FileName.FCAMERA) except StopIteration: camera_path = None try: - dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) + dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA) except StopIteration: dcamera_path = None try: - ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) + ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA) except StopIteration: ecamera_path = None try: - qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) + qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA) except StopIteration: qcamera_path = None From d15d3c73b88cf567579723ec9e65de154ef8bedc Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 5 Aug 2025 19:35:06 -0400 Subject: [PATCH 012/126] Honda: Temporary test exception for driver regen paddle (#35929) Honda: Test exception for driver regen --- selfdrive/car/tests/test_models.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 8996ad6460..ab1124df13 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -430,7 +430,9 @@ class TestCarModelBase(unittest.TestCase): if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() - checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() + # TODO: remove this exception before closing commaai/opendbc#1100 + if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH): + checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() if self.CP.pcmCruise: From fbbb2ef5d003bb80c80bf2aa3f0021b814f1da9b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 16:57:39 -0700 Subject: [PATCH 013/126] update release checklist --- release/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/release/README.md b/release/README.md index 8216caccc8..0ceb765597 100644 --- a/release/README.md +++ b/release/README.md @@ -8,6 +8,7 @@ - [ ] update RELEASES.md - [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml - [ ] update `devel-staging`: `git reset --hard origin/__nightly` +- [ ] build new userdata partition from `release3-staging` - [ ] open a pull request from `devel-staging` to `devel` - [ ] post on Discord, tag `@release crew` From c95cac3b06d986ae713d367ff79cc353c1ce4f96 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 17:11:19 -0700 Subject: [PATCH 014/126] update to latest userdata partition (#35931) update --- system/hardware/tici/all-partitions.json | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 0befc9dd9d..8648544991 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-e73116c7481cf4b1f659431c5b3cc194077385ae42946e5cb441c8c172b7499a.img.xz", - "hash": "9c507dcbe6f26952e1b5647c27d247d5d2bdf2e58b15e124e73fa361b1fb22d7", - "hash_raw": "e73116c7481cf4b1f659431c5b3cc194077385ae42946e5cb441c8c172b7499a", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz", + "hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7", + "hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "76e68d81908fa4331d35043939b493f54f157f9897fb9c58dfce873f6f7b8fe1" + "ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-10517a0765492682fe780c7a55e553dd2829f4ca96e562a47dbfee9a720e8922.img.xz", - "hash": "bff7ffcf55313a4a13a4c20c553342d5ab5c1305f14e77b98e233b4fda78482b", - "hash_raw": "10517a0765492682fe780c7a55e553dd2829f4ca96e562a47dbfee9a720e8922", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz", + "hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484", + "hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "89fd0e51f0926cb20bec05bdba09f7d408ef15f0763509e5f2eb3a689523b22e" + "ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-d6cd68732c27595b36e4a1aa51bb41f7c7949fe4981e8b3eece48d0643e61423.img.xz", - "hash": "d1aadeda5dbcbdd0a8ee7fc71bcb2627e55dcbbba76c6b25edea02fbb22a4f5b", - "hash_raw": "d6cd68732c27595b36e4a1aa51bb41f7c7949fe4981e8b3eece48d0643e61423", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz", + "hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113", + "hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "1d24f1b9ac849566e4e99de34d6514450763dbdc5acafeda4ed6a0c3cc2f2a77" + "ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b" } ] \ No newline at end of file From 7413982f0d9a85f78f5847d9c0e1c91179c1d0fc Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Tue, 5 Aug 2025 17:35:54 -0700 Subject: [PATCH 015/126] Lower ALLOW_THROTTLE_THRESHOLD (#35928) * Lower ALLOW_THROTTLE_THRESHOLD * Bumped process_replay refs --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 2149e60078..605d956b8e 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -19,7 +19,7 @@ LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] -ALLOW_THROTTLE_THRESHOLD = 0.5 +ALLOW_THROTTLE_THRESHOLD = 0.4 MIN_ALLOW_THROTTLE_SPEED = 2.5 # Lookup table for turns diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eb178b0562..43f97e212c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8ff1b4c9c7a34589142a07579b0051acddfe7699 \ No newline at end of file +62b3e8590fe85f87494517b3177a0ccaad1e17e5 \ No newline at end of file From 8c7d53004fcae9279e0279aea66a49ec41097f3d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 18:34:35 -0700 Subject: [PATCH 016/126] Revert "Filename: minor refactor (#35927)" This reverts commit 96313fa4c05b0713dbf76b39ea36fcb7b9455db5. --- tools/lib/logreader.py | 14 ++++++++++- tools/lib/route.py | 53 ++++++++++++++++++++---------------------- 2 files changed, 38 insertions(+), 29 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index a2b8be8705..1075bd2f08 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -21,7 +21,8 @@ from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \ + ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -101,6 +102,17 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user +class FileName(enum.Enum): + #TODO use the ones from route.py + RLOG = ("rlog.zst", "rlog.bz2") + QLOG = ("qlog.zst", "qlog.bz2") + QCAMERA = QCAMERA_FILENAMES + FCAMERA = CAMERA_FILENAMES + ECAMERA = ECAMERA_FILENAMES + DCAMERA = DCAMERA_FILENAMES + BOOTLOG = BOOTLOG_FILENAMES + + LogPath = str | None Source = Callable[[SegmentRange, FileName], list[LogPath]] diff --git a/tools/lib/route.py b/tools/lib/route.py index 9f71ef727e..55ea956c5f 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,6 +1,5 @@ import os import re -import enum import requests from functools import cache from urllib.parse import urlparse @@ -11,16 +10,14 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE +QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog') +QCAMERA_FILENAMES = ('qcamera.ts',) +LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog') +CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc') +DCAMERA_FILENAMES = ('dcamera.hevc',) +ECAMERA_FILENAMES = ('ecamera.hevc',) +BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog') -class FileName(enum.Enum): - #TODO use the ones from route.py - RLOG = ("rlog.zst", "rlog.bz2") - QLOG = ("qlog.zst", "qlog.bz2") - QCAMERA = ('qcamera.ts',) - FCAMERA = ('fcamera.hevc',) - ECAMERA = ('ecamera.hevc',) - DCAMERA = ('dcamera.hevc',) - BOOTLOG = ('bootlog.zst', 'bootlog.bz2') class Route: def __init__(self, name, data_dir=None): @@ -85,23 +82,23 @@ class Route: if segments.get(segment_name): segments[segment_name] = Segment( segment_name, - url if fn in FileName.RLOG else segments[segment_name].log_path, - url if fn in FileName.QLOG else segments[segment_name].qlog_path, - url if fn in FileName.FCAMERA else segments[segment_name].camera_path, - url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, - url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, - url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, + url if fn in LOG_FILENAMES else segments[segment_name].log_path, + url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, + url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, + url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, + url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, + url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, self.metadata['url'], ) else: segments[segment_name] = Segment( segment_name, - url if fn in FileName.RLOG else None, - url if fn in FileName.QLOG else None, - url if fn in FileName.FCAMERA else None, - url if fn in FileName.DCAMERA else None, - url if fn in FileName.ECAMERA else None, - url if fn in FileName.QCAMERA else None, + url if fn in LOG_FILENAMES else None, + url if fn in QLOG_FILENAMES else None, + url if fn in CAMERA_FILENAMES else None, + url if fn in DCAMERA_FILENAMES else None, + url if fn in ECAMERA_FILENAMES else None, + url if fn in QCAMERA_FILENAMES else None, self.metadata['url'], ) @@ -139,32 +136,32 @@ class Route: for segment, files in segment_files.items(): try: - log_path = next(path for path, filename in files if filename in FileName.RLOG) + log_path = next(path for path, filename in files if filename in LOG_FILENAMES) except StopIteration: log_path = None try: - qlog_path = next(path for path, filename in files if filename in FileName.QLOG) + qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) except StopIteration: qlog_path = None try: - camera_path = next(path for path, filename in files if filename in FileName.FCAMERA) + camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) except StopIteration: camera_path = None try: - dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA) + dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) except StopIteration: dcamera_path = None try: - ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA) + ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) except StopIteration: ecamera_path = None try: - qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA) + qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) except StopIteration: qcamera_path = None From 978d1c38f108e15c31cc743a49db458d165fe5e4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Aug 2025 19:17:58 -0700 Subject: [PATCH 017/126] clip: add speed up support (#35933) --- .gitignore | 1 + tools/clip/run.py | 11 ++++++++++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index ac4021529b..acc2baaf5c 100644 --- a/.gitignore +++ b/.gitignore @@ -16,6 +16,7 @@ a.out /docs_site/ +*.mp4 *.dylib *.DSYM *.d diff --git a/tools/clip/run.py b/tools/clip/run.py index a84290f9c4..20c55e1838 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -29,7 +29,7 @@ FRAMERATE = 20 PIXEL_DEPTH = '24' RESOLUTION = '2160x1080' SECONDS_TO_WARM = 2 -PROC_WAIT_SECONDS = 30 +PROC_WAIT_SECONDS = 30*10 OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve()) REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) @@ -188,6 +188,7 @@ def clip( out: str, start: int, end: int, + speed: int, target_mb: int, title: str | None, ): @@ -212,6 +213,12 @@ def clip( if title: overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") + if speed > 1: + overlays += [ + f"setpts=PTS/{speed}", + "fps=60", + ] + ffmpeg_cmd = [ 'ffmpeg', '-y', '-video_size', RESOLUTION, @@ -289,6 +296,7 @@ def main(): p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT) p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') + p.add_argument('-x', '--speed', help='record the clip at this speed multiple', type=int, default=1) p.add_argument('-s', '--start', help='start clipping at seconds', type=int) p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) @@ -302,6 +310,7 @@ def main(): out=args.output, start=args.start, end=args.end, + speed=args.speed, target_mb=args.file_size, title=args.title, ) From e8135c5431b8514aa7068bdb11e89f4101c62fb2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 20:11:56 -0700 Subject: [PATCH 018/126] Update RELEASES.md --- RELEASES.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 92f50201fe..cc07f923ae 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,8 +1,12 @@ Version 0.10.0 (2025-08-05) ======================== * New driving model - * Lead car ground-truth fixes - * New training objective using MLSIM + * New training architecture + * Architecture outlined in CVPR paper: "Learning to Drive from a World Model" + * Longitudinal MPC replaced by E2E planning for experimental mode + * Lateral MPC in training replaced by E2E planning + * Low-speed lead car ground-truth fixes + * Enable live-learned steering actuation delay * Record driving feedback using LKAS button * Opt-in audio recording for dashcam video From 999db5b4269a2dee6a4d9ad33d822ab0d43309c4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 20:14:01 -0700 Subject: [PATCH 019/126] Update RELEASES.md --- RELEASES.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index cc07f923ae..545152e0f8 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,8 +3,8 @@ Version 0.10.0 (2025-08-05) * New driving model * New training architecture * Architecture outlined in CVPR paper: "Learning to Drive from a World Model" - * Longitudinal MPC replaced by E2E planning for experimental mode - * Lateral MPC in training replaced by E2E planning + * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode + * Action from lateral MPC as training objective replaced by E2E planning from worldmodel * Low-speed lead car ground-truth fixes * Enable live-learned steering actuation delay From d1e0a60408517750059ac849543fdb1aa7f5b86c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 20:37:09 -0700 Subject: [PATCH 020/126] Filename refactor: no enum (#35930) * conflict * typing * typing * no value * fix typing * whitespace * whitespace * unused * Reapply "Filename: minor refactor (#35927)" This reverts commit 8c7d53004fcae9279e0279aea66a49ec41097f3d. * unused import * done --- tools/lib/logreader.py | 28 +++++++--------------- tools/lib/route.py | 54 ++++++++++++++++++++++-------------------- 2 files changed, 36 insertions(+), 46 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 1075bd2f08..fa6e6357eb 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -21,8 +21,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import QCAMERA_FILENAMES, CAMERA_FILENAMES, DCAMERA_FILENAMES, \ - ECAMERA_FILENAMES, BOOTLOG_FILENAMES, Route, SegmentRange +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -102,19 +101,8 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -class FileName(enum.Enum): - #TODO use the ones from route.py - RLOG = ("rlog.zst", "rlog.bz2") - QLOG = ("qlog.zst", "qlog.bz2") - QCAMERA = QCAMERA_FILENAMES - FCAMERA = CAMERA_FILENAMES - ECAMERA = ECAMERA_FILENAMES - DCAMERA = DCAMERA_FILENAMES - BOOTLOG = BOOTLOG_FILENAMES - - LogPath = str | None -Source = Callable[[SegmentRange, FileName], list[LogPath]] +Source = Callable[[SegmentRange, tuple[str, ...]], list[LogPath]] InternalUnavailableException = Exception("Internal source not available") @@ -123,7 +111,7 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: +def comma_api_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: route = Route(sr.route_name) # comma api will have already checked if the file exists @@ -133,21 +121,21 @@ def comma_api_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: return [route.qlog_paths()[seg] for seg in sr.seg_idxs] -def internal_source(sr: SegmentRange, fns: FileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: +def internal_source(sr: SegmentRange, fns: tuple[str, ...], endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: if not internal_source_available(endpoint_url): raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - return eval_source([[get_internal_url(sr, seg, fn) for fn in fns.value] for seg in sr.seg_idxs]) + return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def openpilotci_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: - return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns.value] for seg in sr.seg_idxs]) +def openpilotci_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: + return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def comma_car_segments_source(sr: SegmentRange, fns: FileName) -> list[LogPath]: +def comma_car_segments_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]) diff --git a/tools/lib/route.py b/tools/lib/route.py index 55ea956c5f..dc8bb60e8f 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,6 +1,7 @@ import os import re import requests +from typing import TypeAlias from functools import cache from urllib.parse import urlparse from collections import defaultdict @@ -10,14 +11,15 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE -QLOG_FILENAMES = ('qlog.bz2', 'qlog.zst', 'qlog') -QCAMERA_FILENAMES = ('qcamera.ts',) -LOG_FILENAMES = ('rlog.bz2', 'raw_log.bz2', 'rlog.zst', 'rlog') -CAMERA_FILENAMES = ('fcamera.hevc', 'video.hevc') -DCAMERA_FILENAMES = ('dcamera.hevc',) -ECAMERA_FILENAMES = ('ecamera.hevc',) -BOOTLOG_FILENAMES = ('bootlog.zst', 'bootlog.bz2', 'bootlog') - +FileNameTuple: TypeAlias = tuple[str, ...] +class FileName: + RLOG: FileNameTuple = ("rlog.zst", "rlog.bz2") + QLOG: FileNameTuple = ("qlog.zst", "qlog.bz2") + QCAMERA: FileNameTuple = ('qcamera.ts',) + FCAMERA: FileNameTuple = ('fcamera.hevc',) + ECAMERA: FileNameTuple = ('ecamera.hevc',) + DCAMERA: FileNameTuple = ('dcamera.hevc',) + BOOTLOG: FileNameTuple = ('bootlog.zst', 'bootlog.bz2') class Route: def __init__(self, name, data_dir=None): @@ -82,23 +84,23 @@ class Route: if segments.get(segment_name): segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else segments[segment_name].log_path, - url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, - url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path, - url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path, - url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path, - url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, + url if fn in FileName.RLOG else segments[segment_name].log_path, + url if fn in FileName.QLOG else segments[segment_name].qlog_path, + url if fn in FileName.FCAMERA else segments[segment_name].camera_path, + url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path, + url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path, + url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path, self.metadata['url'], ) else: segments[segment_name] = Segment( segment_name, - url if fn in LOG_FILENAMES else None, - url if fn in QLOG_FILENAMES else None, - url if fn in CAMERA_FILENAMES else None, - url if fn in DCAMERA_FILENAMES else None, - url if fn in ECAMERA_FILENAMES else None, - url if fn in QCAMERA_FILENAMES else None, + url if fn in FileName.RLOG else None, + url if fn in FileName.QLOG else None, + url if fn in FileName.FCAMERA else None, + url if fn in FileName.DCAMERA else None, + url if fn in FileName.ECAMERA else None, + url if fn in FileName.QCAMERA else None, self.metadata['url'], ) @@ -136,32 +138,32 @@ class Route: for segment, files in segment_files.items(): try: - log_path = next(path for path, filename in files if filename in LOG_FILENAMES) + log_path = next(path for path, filename in files if filename in FileName.RLOG) except StopIteration: log_path = None try: - qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES) + qlog_path = next(path for path, filename in files if filename in FileName.QLOG) except StopIteration: qlog_path = None try: - camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES) + camera_path = next(path for path, filename in files if filename in FileName.FCAMERA) except StopIteration: camera_path = None try: - dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES) + dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA) except StopIteration: dcamera_path = None try: - ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES) + ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA) except StopIteration: ecamera_path = None try: - qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES) + qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA) except StopIteration: qcamera_path = None From 69ca699773dbacbd21d801a472ff5bb907b8b56e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 21:50:30 -0700 Subject: [PATCH 021/126] clip: fix params (#35934) fix --- common/params_pyx.pyx | 15 ++++++++++----- tools/clip/run.py | 2 +- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 1c76e75846..93c550f22a 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -102,14 +102,14 @@ cdef class Params: return cast(value) raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}") - def cpp2python(self, t, value, default, key): + def _cpp2python(self, t, value, default, key): if value is None: return None try: return CPP_2_PYTHON[t](value) except (KeyError, TypeError, ValueError): cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}") - return self.cpp2python(t, default, None, key) + return self._cpp2python(t, default, None, key) def get(self, key, bool block=False, bool return_default=False): cdef string k = self.check_key(key) @@ -126,8 +126,8 @@ cdef class Params: # it means we got an interrupt while waiting raise KeyboardInterrupt else: - return self.cpp2python(t, default_val, None, key) - return self.cpp2python(t, val, default_val, key) + return self._cpp2python(t, default_val, None, key) + return self._cpp2python(t, val, default_val, key) def get_bool(self, key, bool block=False): cdef string k = self.check_key(key) @@ -188,4 +188,9 @@ cdef class Params: cdef string k = self.check_key(key) cdef ParamKeyType t = self.p.getKeyType(k) cdef optional[string] default = self.p.getKeyDefaultValue(k) - return self.cpp2python(t, default.value(), None, key) if default.has_value() else None + return self._cpp2python(t, default.value(), None, key) if default.has_value() else None + + def cpp2python(self, key, value): + cdef string k = self.check_key(key) + cdef ParamKeyType t = self.p.getKeyType(k) + return self._cpp2python(t, value, None, key) diff --git a/tools/clip/run.py b/tools/clip/run.py index 20c55e1838..7920751447 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -130,7 +130,7 @@ def populate_car_params(lr: LogReader): for cp in entries: key, value = cp.key, cp.value try: - params.put(key, value) + params.put(key, params.cpp2python(key, value)) except UnknownKeyName: # forks of openpilot may have other Params keys configured. ignore these logger.warning(f"unknown Params key '{key}', skipping") From 5e6f9422347ef7c75faad59943f1c8a0cb1b60eb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 5 Aug 2025 22:02:10 -0700 Subject: [PATCH 022/126] gitignore .cache/ from clangd --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index acc2baaf5c..8dc8f41de5 100644 --- a/.gitignore +++ b/.gitignore @@ -13,6 +13,7 @@ venv/ model2.png a.out .hypothesis +.cache/ /docs_site/ From eca2f403414b97edb0cde3abcb756fbe194b4059 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 5 Aug 2025 23:08:09 -0700 Subject: [PATCH 023/126] selfdrive.ui.feedback: add init (#35935) add init --- selfdrive/ui/feedback/__init__.py | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 selfdrive/ui/feedback/__init__.py diff --git a/selfdrive/ui/feedback/__init__.py b/selfdrive/ui/feedback/__init__.py new file mode 100644 index 0000000000..139597f9cb --- /dev/null +++ b/selfdrive/ui/feedback/__init__.py @@ -0,0 +1,2 @@ + + From ac3d96d2fd95e3cd196204eba72fb88a2b511921 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Tue, 5 Aug 2025 23:11:19 -0700 Subject: [PATCH 024/126] Revert "selfdrive.ui.feedback: add init (#35935)" This reverts commit eca2f403414b97edb0cde3abcb756fbe194b4059. --- selfdrive/ui/feedback/__init__.py | 2 -- 1 file changed, 2 deletions(-) delete mode 100644 selfdrive/ui/feedback/__init__.py diff --git a/selfdrive/ui/feedback/__init__.py b/selfdrive/ui/feedback/__init__.py deleted file mode 100644 index 139597f9cb..0000000000 --- a/selfdrive/ui/feedback/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ - - From c236f472a9ac2fec1106c99bad1953a990b03e01 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 6 Aug 2025 20:53:57 +0200 Subject: [PATCH 025/126] update ISO_LATERAL_ACCEL import + VM changes (#35865) * refactor: move lateral methods from init to lateral.py (#2594) * Extracting lateral methods to lateral.py * cleaning * more cleaning * more cleaning * Making sure it remains where it should * Leave rate_limit where it belongs * Moving things to `car/controls/` * Moving rate limit to get a taste of the changes * clean * copy verbatim * clean up * more * now we can format --------- Co-authored-by: Shane Smiskol * Merge branch 'master' into move-common-vm-methods. dunno what happend with ci * now we need to move this import * bump opendbc --------- Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- opendbc_repo | 2 +- selfdrive/selfdrived/helpers.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 22b8df68fb..adb6001649 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c +Subproject commit adb6001649c0cc022873739187652b0014483dd3 diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py index 8b4213fcb8..f7468cbe43 100644 --- a/selfdrive/selfdrived/helpers.py +++ b/selfdrive/selfdrived/helpers.py @@ -5,7 +5,8 @@ from cereal import car, messaging from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.helpers import Pose from opendbc.car import ACCELERATION_DUE_TO_GRAVITY -from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX, ISO_LATERAL_ACCEL +from opendbc.car.lateral import ISO_LATERAL_ACCEL +from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL) MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL) From 839a7733450e964ad8568f03efffd6cfed373389 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 6 Aug 2025 16:11:07 -0400 Subject: [PATCH 026/126] enable lateral accel factor learning for Honda (#35936) enable torqued for Honda --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 3aafbd591d..71b5291dfb 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -32,7 +32,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai', 'rivian'] +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda'] def slope2rot(slope): From 52a4b52628c1390a892659f1945a2011b5d25ec1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Aug 2025 14:07:02 -0700 Subject: [PATCH 027/126] FileName clean up (#35938) two spaces! --- tools/lib/logreader.py | 11 ++++++----- tools/lib/route.py | 18 +++++++++--------- 2 files changed, 15 insertions(+), 14 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index fa6e6357eb..5915f1dde3 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -102,7 +102,8 @@ class ReadMode(enum.StrEnum): LogPath = str | None -Source = Callable[[SegmentRange, tuple[str, ...]], list[LogPath]] +LogFileName = tuple[str, ...] +Source = Callable[[SegmentRange, LogFileName], list[LogPath]] InternalUnavailableException = Exception("Internal source not available") @@ -111,7 +112,7 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: +def comma_api_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: route = Route(sr.route_name) # comma api will have already checked if the file exists @@ -121,7 +122,7 @@ def comma_api_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: return [route.qlog_paths()[seg] for seg in sr.seg_idxs] -def internal_source(sr: SegmentRange, fns: tuple[str, ...], endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: +def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: if not internal_source_available(endpoint_url): raise InternalUnavailableException @@ -131,11 +132,11 @@ def internal_source(sr: SegmentRange, fns: tuple[str, ...], endpoint_url: str = return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def openpilotci_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: +def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs]) -def comma_car_segments_source(sr: SegmentRange, fns: tuple[str, ...]) -> list[LogPath]: +def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]) diff --git a/tools/lib/route.py b/tools/lib/route.py index dc8bb60e8f..882585a151 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,7 +1,6 @@ import os import re import requests -from typing import TypeAlias from functools import cache from urllib.parse import urlparse from collections import defaultdict @@ -11,15 +10,16 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import APIError, CommaApi from openpilot.tools.lib.helpers import RE -FileNameTuple: TypeAlias = tuple[str, ...] + class FileName: - RLOG: FileNameTuple = ("rlog.zst", "rlog.bz2") - QLOG: FileNameTuple = ("qlog.zst", "qlog.bz2") - QCAMERA: FileNameTuple = ('qcamera.ts',) - FCAMERA: FileNameTuple = ('fcamera.hevc',) - ECAMERA: FileNameTuple = ('ecamera.hevc',) - DCAMERA: FileNameTuple = ('dcamera.hevc',) - BOOTLOG: FileNameTuple = ('bootlog.zst', 'bootlog.bz2') + RLOG = ("rlog.zst", "rlog.bz2") + QLOG = ("qlog.zst", "qlog.bz2") + QCAMERA = ('qcamera.ts',) + FCAMERA = ('fcamera.hevc',) + ECAMERA = ('ecamera.hevc',) + DCAMERA = ('dcamera.hevc',) + BOOTLOG = ('bootlog.zst', 'bootlog.bz2') + class Route: def __init__(self, name, data_dir=None): From 3a78eee2f9c65fb12200d01138795e419b581ce7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 6 Aug 2025 16:04:19 -0700 Subject: [PATCH 028/126] ui: emoji (#35913) * emoji * label * back * default * type * more * ico * device * clean * brew --- system/ui/lib/emoji.py | 47 +++++++++++++++++++++ system/ui/widgets/button.py | 69 ++++++++---------------------- system/ui/widgets/label.py | 83 ++++++++++++++++++++++++++++++++++++- tools/mac_setup.sh | 1 + 4 files changed, 148 insertions(+), 52 deletions(-) create mode 100644 system/ui/lib/emoji.py diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py new file mode 100644 index 0000000000..28139158a1 --- /dev/null +++ b/system/ui/lib/emoji.py @@ -0,0 +1,47 @@ +import io +import re + +from PIL import Image, ImageDraw, ImageFont +import pyray as rl + +_cache: dict[str, rl.Texture] = {} + +EMOJI_REGEX = re.compile( +"""[\U0001F600-\U0001F64F +\U0001F300-\U0001F5FF +\U0001F680-\U0001F6FF +\U0001F1E0-\U0001F1FF +\U00002700-\U000027BF +\U0001F900-\U0001F9FF +\U00002600-\U000026FF +\U00002300-\U000023FF +\U00002B00-\U00002BFF +\U0001FA70-\U0001FAFF +\U0001F700-\U0001F77F +\u2640-\u2642 +\u2600-\u2B55 +\u200d +\u23cf +\u23e9 +\u231a +\ufe0f +\u3030 +]+""", + flags=re.UNICODE +) + +def find_emoji(text): + return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)] + +def emoji_tex(emoji): + if emoji not in _cache: + img = Image.new("RGBA", (128, 128), (0, 0, 0, 0)) + draw = ImageDraw.Draw(img) + font = ImageFont.truetype("NotoColorEmoji", 109) + draw.text((0, 0), emoji, font=font, embedded_color=True) + buffer = io.BytesIO() + img.save(buffer, format="PNG") + l = buffer.tell() + buffer.seek(0) + _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l)) + return _cache[emoji] diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 04fed82b34..5113b61db2 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -6,6 +6,7 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.label import TextAlignment, Label class ButtonStyle(IntEnum): @@ -20,12 +21,6 @@ class ButtonStyle(IntEnum): FORGET_WIFI = 8 -class TextAlignment(IntEnum): - LEFT = 0 - CENTER = 1 - RIGHT = 2 - - ICON_PADDING = 15 DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) @@ -183,25 +178,19 @@ class Button(Widget): ): super().__init__() - self._text = text - self._click_callback = click_callback - self._label_font = gui_app.font(FontWeight.SEMI_BOLD) self._button_style = button_style self._border_radius = border_radius - self._font_size = font_size - self._font_weight = font_weight - self._text_color = BUTTON_TEXT_COLOR[button_style] - self._background_color = BUTTON_BACKGROUND_COLORS[button_style] - self._text_alignment = text_alignment - self._text_padding = text_padding - self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) - self._icon = icon + self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] + + self._label = Label(text, font_size, font_weight, text_alignment, text_padding, + BUTTON_TEXT_COLOR[self._button_style], icon=icon) + + self._click_callback = click_callback self._multi_touch = multi_touch self.enabled = enabled def set_text(self, text): - self._text = text - self._text_size = measure_text_cached(gui_app.font(self._font_weight), self._text, self._font_size) + self._label.set_text(text) def _handle_mouse_release(self, mouse_pos: MousePos): if self._click_callback and self.enabled: @@ -209,44 +198,20 @@ class Button(Widget): def _update_state(self): if self.enabled: - self._text_color = BUTTON_TEXT_COLOR[self._button_style] + self._label.set_text_color(BUTTON_TEXT_COLOR[self._button_style]) if self.is_pressed: self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style] else: self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style] elif self._button_style != ButtonStyle.NO_EFFECT: self._background_color = BUTTON_DISABLED_BACKGROUND_COLOR - self._text_color = BUTTON_DISABLED_TEXT_COLOR + self._label.set_text_color(BUTTON_DISABLED_TEXT_COLOR) def _render(self, _): roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2) rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) + self._label.render(self._rect) - text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) - if self._icon: - icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 - if self._text: - if self._text_alignment == TextAlignment.LEFT: - icon_x = self._rect.x + self._text_padding - text_pos.x = icon_x + self._icon.width + ICON_PADDING - elif self._text_alignment == TextAlignment.CENTER: - total_width = self._icon.width + ICON_PADDING + self._text_size.x - icon_x = self._rect.x + (self._rect.width - total_width) / 2 - text_pos.x = icon_x + self._icon.width + ICON_PADDING - else: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - icon_x = text_pos.x - ICON_PADDING - self._icon.width - else: - icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 - rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100)) - else: - if self._text_alignment == TextAlignment.LEFT: - text_pos.x = self._rect.x + self._text_padding - elif self._text_alignment == TextAlignment.CENTER: - text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 - elif self._text_alignment == TextAlignment.RIGHT: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) class ButtonRadio(Button): def __init__(self, @@ -254,11 +219,16 @@ class ButtonRadio(Button): icon, click_callback: Callable[[], None] = None, font_size: int = DEFAULT_BUTTON_FONT_SIZE, + text_alignment: TextAlignment = TextAlignment.LEFT, border_radius: int = 10, text_padding: int = 20, ): - super().__init__(text, click_callback=click_callback, font_size=font_size, border_radius=border_radius, text_padding=text_padding, icon=icon) + super().__init__(text, click_callback=click_callback, font_size=font_size, + border_radius=border_radius, text_padding=text_padding, + text_alignment=text_alignment) + self._text_padding = text_padding + self._icon = icon self.selected = False def _handle_mouse_release(self, mouse_pos: MousePos): @@ -275,10 +245,7 @@ class ButtonRadio(Button): def _render(self, _): roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2) rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color) - - text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) - text_pos.x = self._rect.x + self._text_padding - rl.draw_text_ex(self._label_font, self._text, text_pos, self._font_size, 0, self._text_color) + self._label.render(self._rect) if self._icon and self.selected: icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index e840e8586a..f73b72cc59 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -1,11 +1,21 @@ +from enum import IntEnum + import pyray as rl + from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.utils import GuiStyleContext +from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex +from openpilot.system.ui.widgets import Widget +ICON_PADDING = 15 -# TODO: This should be a Widget class +class TextAlignment(IntEnum): + LEFT = 0 + CENTER = 1 + RIGHT = 2 +# TODO: This should be a Widget class def gui_label( rect: rl.Rectangle, text: str, @@ -78,3 +88,74 @@ def gui_text_box( if font_weight != FontWeight.NORMAL: rl.gui_set_font(gui_app.font(FontWeight.NORMAL)) + + +# Non-interactive text area. Can render emojis and an optional specified icon. +class Label(Widget): + def __init__(self, + text: str, + font_size: int = DEFAULT_TEXT_SIZE, + font_weight: FontWeight = FontWeight.NORMAL, + text_alignment: TextAlignment = TextAlignment.CENTER, + text_padding: int = 20, + text_color: rl.Color = DEFAULT_TEXT_COLOR, + icon = None, + ): + + super().__init__() + self._text = text + self._font_weight = font_weight + self._font = gui_app.font(self._font_weight) + self._font_size = font_size + self._text_alignment = text_alignment + self._text_padding = text_padding + self._text_size = measure_text_cached(self._font, self._text, self._font_size) + self._text_color = text_color + self._icon = icon + self.emojis = find_emoji(self._text) + + def set_text(self, text): + self._text = text + self._text_size = measure_text_cached(self._font, self._text, self._font_size) + + def set_text_color(self, color): + self._text_color = color + + def _render(self, _): + text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) + if self._icon: + icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 + if self._text: + if self._text_alignment == TextAlignment.LEFT: + icon_x = self._rect.x + self._text_padding + text_pos.x = icon_x + self._icon.width + ICON_PADDING + elif self._text_alignment == TextAlignment.CENTER: + total_width = self._icon.width + ICON_PADDING + self._text_size.x + icon_x = self._rect.x + (self._rect.width - total_width) / 2 + text_pos.x = icon_x + self._icon.width + ICON_PADDING + else: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + icon_x = text_pos.x - ICON_PADDING - self._icon.width + else: + icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 + rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE) + else: + if self._text_alignment == TextAlignment.LEFT: + text_pos.x = self._rect.x + self._text_padding + elif self._text_alignment == TextAlignment.CENTER: + text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + elif self._text_alignment == TextAlignment.RIGHT: + text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding + + prev_index = 0 + for start, end, emoji in self.emojis: + text_before = self._text[prev_index:start] + width_before = measure_text_cached(self._font, text_before, self._font_size) + rl.draw_text_ex(self._font, text_before, text_pos, self._font_size, 0, self._text_color) + text_pos.x += width_before.x + + tex = emoji_tex(emoji) + rl.draw_texture_ex(tex, text_pos, 0.0, self._font_size / tex.height, self._text_color) + text_pos.x += self._font_size + prev_index = end + rl.draw_text_ex(self._font, self._text[prev_index:], text_pos, self._font_size, 0, self._text_color) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index d23052d0f0..2a7f83baae 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -50,6 +50,7 @@ brew "zeromq" cask "gcc-arm-embedded" brew "portaudio" brew "gcc@13" +brew "font-noto-color-emoji" EOS echo "[ ] finished brew install t=$SECONDS" From bb8a2ff65bb1a3e48258b3fb7bda76c9c1ece897 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Wed, 6 Aug 2025 16:50:26 -0700 Subject: [PATCH 029/126] Remove rerun (#35939) remove rerun --- pyproject.toml | 1 - tools/replay/README.md | 8 -- tools/replay/lib/rp_helpers.py | 109 ------------------- tools/replay/rp_visualization.py | 60 ----------- tools/rerun/README.md | 37 ------- tools/rerun/camera_reader.py | 93 ---------------- tools/rerun/run.py | 180 ------------------------------- 7 files changed, 488 deletions(-) delete mode 100644 tools/replay/lib/rp_helpers.py delete mode 100755 tools/replay/rp_visualization.py delete mode 100644 tools/rerun/README.md delete mode 100644 tools/rerun/camera_reader.py delete mode 100755 tools/rerun/run.py diff --git a/pyproject.toml b/pyproject.toml index e50b73e0dd..7103163458 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -120,7 +120,6 @@ dev = [ tools = [ "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')", - #"rerun-sdk >= 0.18", # this is pretty big, so only enable once we use it ] [project.urls] diff --git a/tools/replay/README.md b/tools/replay/README.md index 7822525ec3..72216e2cc8 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -91,14 +91,6 @@ tools/replay/replay cd selfdrive/ui && ./ui ``` -## Try Radar Point Visualization with Rerun -To visualize radar points, run rp_visualization.py while tools/replay/replay is active. - -```bash -tools/replay/replay -python3 replay/rp_visualization.py -``` - ## Work with plotjuggler If you want to use replay with plotjuggler, you can stream messages by running: diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py deleted file mode 100644 index aa20ab8e32..0000000000 --- a/tools/replay/lib/rp_helpers.py +++ /dev/null @@ -1,109 +0,0 @@ -import numpy as np -from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA - -# Color palette used for rerun AnnotationContext -rerunColorPalette = [(96, "red", (255, 0, 0)), - (100, "pink", (255, 36, 0)), - (124, "yellow", (255, 255, 0)), - (230, "vibrantpink", (255, 36, 170)), - (240, "orange", (255, 146, 0)), - (255, "white", (255, 255, 255)), - (110, "carColor", (255,0,127)), - (0, "background", (0, 0, 0))] - - -class UIParams: - lidar_x, lidar_y, lidar_zoom = 384, 960, 6 - lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 - car_hwidth = 1.7272 / 2 * lidar_zoom - car_front = 2.6924 * lidar_zoom - car_back = 1.8796 * lidar_zoom - car_color = rerunColorPalette[6][0] -UP = UIParams - - -def to_topdown_pt(y, x): - px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y - if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: - return int(px), int(py) - return -1, -1 - - -def draw_path(path, lid_overlay, lid_color=None): - x, y = np.asarray(path.x), np.asarray(path.y) - # draw lidar path point on lidar - if lid_color is not None and lid_overlay is not None: - for i in range(len(x)): - px, py = to_topdown_pt(x[i], y[i]) - if px != -1: - lid_overlay[px, py] = lid_color - - -def plot_model(m, lid_overlay): - if lid_overlay is None: - return - for lead in m.leadsV3: - if lead.prob < 0.5: - continue - x, y = lead.x[0], lead.y[0] - x_std = lead.xStd[0] - x -= RADAR_TO_CAMERA - _, py_top = to_topdown_pt(x + x_std, y) - px, py_bottom = to_topdown_pt(x - x_std, y) - lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0] - - for path in m.laneLines: - draw_path(path, lid_overlay, rerunColorPalette[2][0]) - for edge in m.roadEdges: - draw_path(edge, lid_overlay, rerunColorPalette[0][0]) - draw_path(m.position, lid_overlay, rerunColorPalette[0][0]) - - -def plot_lead(rs, lid_overlay): - for lead in [rs.leadOne, rs.leadTwo]: - if not lead.status: - continue - x = lead.dRel - px_left, py = to_topdown_pt(x, -10) - px_right, _ = to_topdown_pt(x, 10) - lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0] - - -def update_radar_points(lt, lid_overlay): - ar_pts = [] - if lt is not None: - ar_pts = {} - for track in lt: - ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] - for ids, pt in ar_pts.items(): - # negative here since radar is left positive - px, py = to_topdown_pt(pt[0], -pt[1]) - if px != -1: - if pt[-1]: - color = rerunColorPalette[4][0] - elif pt[-2]: - color = rerunColorPalette[3][0] - else: - color = rerunColorPalette[5][0] - if int(ids) == 1: - lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0] - else: - lid_overlay[px - 2:px + 2, py - 2:py + 2] = color - - -def get_blank_lid_overlay(UP): - lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') - # Draw the car. - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - - UP.car_front))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + - UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - return lid_overlay diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py deleted file mode 100755 index 25169b72ae..0000000000 --- a/tools/replay/rp_visualization.py +++ /dev/null @@ -1,60 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -import sys -import numpy as np -import rerun as rr -import cereal.messaging as messaging -from openpilot.common.basedir import BASEDIR -from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette, - get_blank_lid_overlay, - update_radar_points, plot_lead, - plot_model) -from msgq.visionipc import VisionIpcClient, VisionStreamType - -os.environ['BASEDIR'] = BASEDIR - -UP.lidar_zoom = 6 - -def visualize(addr): - sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr) - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while True: - if not vipc_client.is_connected(): - vipc_client.connect(True) - new_data = vipc_client.recv() - if new_data is None or not new_data.data.any(): - continue - - sm.update(0) - lid_overlay = get_blank_lid_overlay(UP) - if sm.recv_frame['modelV2']: - plot_model(sm['modelV2'], lid_overlay) - if sm.recv_frame['radarState']: - plot_lead(sm['radarState'], lid_overlay) - liveTracksTime = sm.logMonoTime['liveTracks'] - if sm.updated['liveTracks']: - update_radar_points(sm['liveTracks'], lid_overlay) - rr.set_time_nanos("TIMELINE", liveTracksTime) - rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) - - -def get_arg_parser(): - parser = argparse.ArgumentParser( - description="Show replay data in a UI.", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("ip_address", nargs="?", default="127.0.0.1", - help="The ip address on which to receive zmq messages.") - parser.add_argument("--frame-address", default=None, - help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") - return parser - - -if __name__ == "__main__": - args = get_arg_parser().parse_args(sys.argv[1:]) - if args.ip_address != "127.0.0.1": - os.environ["ZMQ"] = "1" - messaging.reset_context() - rr.init("RadarPoints", spawn= True) - rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) - visualize(args.ip_address) diff --git a/tools/rerun/README.md b/tools/rerun/README.md deleted file mode 100644 index 11a8d33ee1..0000000000 --- a/tools/rerun/README.md +++ /dev/null @@ -1,37 +0,0 @@ -# Rerun -Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs. - -[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer. - -## Usage -``` -usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name] - -A helper to run rerun on openpilot routes - -positional arguments: - route_or_segment_name - The route or segment name to plot (default: None) - -options: - -h, --help show this help message and exit - --demo Use the demo route instead of providing one (default: False) - --qcam Show low-res road camera (default: False) - --fcam Show driving camera (default: False) - --ecam Show wide camera (default: False) - --dcam Show driver monitoring camera (default: False) -``` - -Examples using route name to observe accelerometer and qcamera: - -`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"` - -Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)): - -`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"` - -## Cautions: -- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage - -## Demo -`./run.py --qcam --demo` diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py deleted file mode 100644 index 8366a3c1cf..0000000000 --- a/tools/rerun/camera_reader.py +++ /dev/null @@ -1,93 +0,0 @@ -import tqdm -import subprocess -import multiprocessing -from enum import StrEnum -from functools import partial -from collections import namedtuple - -from openpilot.tools.lib.framereader import ffprobe - -CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"]) - -class CameraType(StrEnum): - qcam = "qcamera" - fcam = "fcamera" - ecam = "ecamera" - dcam = "dcamera" - - -def probe_packet_info(camera_path): - args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path] - dat = subprocess.check_output(args) - dat = dat.decode().split() - return dat - - -class _FrameReader: - def __init__(self, camera_path, segment, h, w, start_time): - self.camera_path = camera_path - self.segment = segment - self.h = h - self.w = w - self.start_time = start_time - - self.ts = self._get_ts() - - def _read_stream_nv12(self): - frame_sz = self.w * self.h * 3 // 2 - proc = subprocess.Popen( - ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"], - stdin=subprocess.PIPE, - stdout=subprocess.PIPE, - stderr=subprocess.DEVNULL - ) - try: - while True: - dat = proc.stdout.read(frame_sz) - if len(dat) == 0: - break - yield dat - finally: - proc.kill() - - def _get_ts(self): - dat = probe_packet_info(self.camera_path) - try: - ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")] - except ValueError: - # pts_times aren't available. Infer timestamps from duration_times - ret = [d for d in dat if d.startswith("duration_time")] - ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)] - return ret - - def __iter__(self): - for i, frame in enumerate(self._read_stream_nv12()): - yield self.ts[i], frame - - -class CameraReader: - def __init__(self, camera_paths, start_time, seg_idxs): - self.seg_idxs = seg_idxs - self.camera_paths = camera_paths - self.start_time = start_time - - probe = ffprobe(camera_paths[0])["streams"][0] - self.h = probe["height"] - self.w = probe["width"] - - self.__frs = {} - - def _get_fr(self, i): - if i not in self.__frs: - self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time) - return self.__frs[i] - - def _run_on_segment(self, func, i): - return func(self._get_fr(i)) - - def run_across_segments(self, num_processes, func, desc=None): - with multiprocessing.Pool(num_processes) as pool: - num_segs = len(self.seg_idxs) - for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc): - continue - diff --git a/tools/rerun/run.py b/tools/rerun/run.py deleted file mode 100755 index 6ce8a37937..0000000000 --- a/tools/rerun/run.py +++ /dev/null @@ -1,180 +0,0 @@ -#!/usr/bin/env python3 - -import sys -import argparse -import multiprocessing -import rerun as rr -import rerun.blueprint as rrb -from functools import partial -from collections import defaultdict - -from cereal.services import SERVICE_LIST -from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route, SegmentRange - - -NUM_CPUS = multiprocessing.cpu_count() -DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" -RR_TIMELINE_NAME = "Timeline" -RR_WIN = "openpilot logs" - - -""" -Relevant upstream Rerun issues: -- loading videos directly: https://github.com/rerun-io/rerun/issues/6532 -""" - -class Rerunner: - def __init__(self, route, segment_range, camera_config): - self.lr = LogReader(route_or_segment_name) - - # hevc files don't have start_time. We get it from qcamera.ts - start_time = 0 - dat = probe_packet_info(route.qcamera_paths()[0]) - for d in dat: - if d.startswith("pts_time="): - start_time = float(d.split('=')[1]) - break - - qcam, fcam, ecam, dcam = camera_config - self.camera_readers = {} - if qcam: - self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs) - if fcam: - self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs) - if ecam: - self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs) - if dcam: - self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs) - - def _create_blueprint(self): - blueprint = None - service_views = [] - - for topic in sorted(SERVICE_LIST.keys()): - View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView - service_views.append(View(name=topic, origin=f"/{topic}/", visible=False)) - rr.log(topic, rr.SeriesLine(name=topic), timeless=True) - - center_view = [rrb.Vertical(*service_views, name="streams")] - if len(self.camera_readers): - center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras")) - - blueprint = rrb.Blueprint( - rrb.Horizontal( - *center_view - ), - rrb.SelectionPanel(expanded=False), - rrb.TimePanel(expanded=False), - ) - return blueprint - - @staticmethod - def _parse_msg(msg, parent_key=''): - stack = [(msg, parent_key)] - while stack: - current_msg, current_parent_key = stack.pop() - if isinstance(current_msg, list): - for index, item in enumerate(current_msg): - new_key = f"{current_parent_key}/{index}" - if isinstance(item, (int, float)): - yield new_key, item - elif isinstance(item, dict): - stack.append((item, new_key)) - elif isinstance(current_msg, dict): - for key, value in current_msg.items(): - new_key = f"{current_parent_key}/{key}" - if isinstance(value, (int, float)): - yield new_key, value - elif isinstance(value, dict): - stack.append((value, new_key)) - elif isinstance(value, list): - for index, item in enumerate(value): - if isinstance(item, (int, float)): - yield f"{new_key}/{index}", item - else: - pass # Not a plottable value - - @staticmethod - @rr.shutdown_at_exit - def _process_log_msgs(blueprint, lr): - rr.init(RR_WIN) - rr.connect() - rr.send_blueprint(blueprint) - - log_msgs = defaultdict(lambda: defaultdict(list)) - for msg in lr: - msg_type = msg.which() - - if msg_type == "thumbnail": - continue - - for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type): - log_msgs[entity_path]["times"].append(msg.logMonoTime) - log_msgs[entity_path]["data"].append(dat) - - for entity_path, log_msg in log_msgs.items(): - rr.send_columns( - entity_path, - times=[rr.TimeNanosColumn(RR_TIMELINE_NAME, log_msg["times"])], - components=[rr.components.ScalarBatch(log_msg["data"])] - ) - - return [] - - @staticmethod - @rr.shutdown_at_exit - def _process_cam_readers(blueprint, cam_type, h, w, fr): - rr.init(RR_WIN) - rr.connect() - rr.send_blueprint(blueprint) - - for ts, frame in fr: - rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9)) - rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12)) - - def load_data(self): - rr.init(RR_WIN, spawn=True) - - startup_blueprint = self._create_blueprint() - self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages") - for cam_type, cr in self.camera_readers.items(): - cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type) - - rr.send_blueprint(self._create_blueprint()) - - -if __name__ == '__main__': - parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--qcam", action="store_true", help="Show low-res road camera") - parser.add_argument("--fcam", action="store_true", help="Show driving camera") - parser.add_argument("--ecam", action="store_true", help="Show wide camera") - parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera") - parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") - args = parser.parse_args() - - if not args.demo and not args.route_or_segment_name: - parser.print_help() - sys.exit() - - camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam) - route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - - sr = SegmentRange(route_or_segment_name) - r = Route(sr.route_name) - - hevc_requested = any(camera_config[1:]) - if len(sr.seg_idxs) > 1 and hevc_requested: - print("You're requesting more than 1 segment with hevc videos, " + \ - "please be aware that might take a lot of memory " + \ - "since rerun isn't yet well supported for high resolution video logging") - response = input("Do you wish to continue? (Y/n): ") - if response.strip().lower() != "y": - sys.exit() - - rerunner = Rerunner(r, sr, camera_config) - rerunner.load_data() - From a84089c6e54b93fc0bcd7583050b0177a1aed74c Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 6 Aug 2025 16:53:16 -0700 Subject: [PATCH 030/126] EncoderInfo: encoder setting factorys (#35940) --- system/loggerd/encoder/encoder.cc | 2 +- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 14 +++---- system/loggerd/loggerd.h | 50 +++++++++++++++++------- 4 files changed, 44 insertions(+), 24 deletions(-) diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index b8f2f274d2..5575403acd 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf edata.setFrameId(extra.frame_id); edata.setTimestampSof(extra.timestamp_sof); edata.setTimestampEof(extra.timestamp_eof); - edata.setType(encoder_info.encode_type); + edata.setType(encoder_info.settings.encode_type); edata.setEncodeId(cnt++); edata.setSegmentNum(segment_num); edata.setSegmentId(idx); diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 091c2fb2dd..c61ba0e79f 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -46,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() { } void FfmpegEncoder::encoder_open() { - auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 + auto codec_id = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 ? AV_CODEC_ID_H264 : AV_CODEC_ID_FFVHUFF; const AVCodec *codec = avcodec_find_encoder(codec_id); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index e4b4c8a093..3af7673671 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -155,6 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0); assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0); + bool is_h265 = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C; + struct v4l2_format fmt_out = { .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, .fmt = { @@ -162,7 +164,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // downscales are free with v4l .width = (unsigned int)(out_width), .height = (unsigned int)(out_height), - .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, + .pixelformat = is_h265 ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, .field = V4L2_FIELD_ANY, .colorspace = V4L2_COLORSPACE_DEFAULT, } @@ -205,8 +207,10 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // shared ctrls { struct v4l2_control ctrls[] = { + { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.settings.bitrate}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_info.settings.gop_size - encoder_info.settings.b_frames - 1}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_info.settings.b_frames}, { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE}, - { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1}, @@ -216,13 +220,11 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei } } - if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) { + if (is_h265) { struct v4l2_control ctrls[] = { { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, }; for (auto ctrl : ctrls) { util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed"); @@ -231,8 +233,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei struct v4l2_control ctrls[] = { { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH}, { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0}, { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0}, diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 5dfb178fd5..55898b0ac2 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -13,10 +13,7 @@ #include "system/loggerd/logger.h" constexpr int MAIN_FPS = 20; -const int MAIN_BITRATE = 1e7; -const int LIVESTREAM_BITRATE = 1e6; -const int QCAM_BITRATE = 256000; - +const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS : cereal::EncodeIndex::Type::FULL_H_E_V_C; #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead #define INIT_ENCODE_FUNCTIONS(encode_type) \ @@ -29,6 +26,31 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) constexpr char PRESERVE_ATTR_NAME[] = "user.preserve"; constexpr char PRESERVE_ATTR_VALUE = '1'; + +struct EncoderSettings { + cereal::EncodeIndex::Type encode_type; + int bitrate; + int gop_size; + int b_frames = 0; // we don't use b frames + + static EncoderSettings MainEncoderSettings() { + //static EncoderSettings MainEncoderSettings(int in_width) { + //if (in_width <= 1344) { + // return EncoderSettings{.bitrate = 5'000'000, .gop_size = 20}; + //} else { + return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30}; + //} + } + + static EncoderSettings QcamEncoderSettings() { + return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 256'000, .gop_size = 15}; + } + + static EncoderSettings StreamEncoderSettings() { + return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 1'000'000, .gop_size = 15}; + } +}; + class EncoderInfo { public: const char *publish_name; @@ -39,9 +61,8 @@ public: int frame_width = -1; int frame_height = -1; int fps = MAIN_FPS; - int bitrate = MAIN_BITRATE; - cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS - : cereal::EncodeIndex::Type::FULL_H_E_V_C; + EncoderSettings settings; + ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)(); @@ -59,12 +80,14 @@ const EncoderInfo main_road_encoder_info = { .publish_name = "roadEncodeData", .thumbnail_name = "thumbnail", .filename = "fcamera.hevc", + .settings = EncoderSettings::MainEncoderSettings(), INIT_ENCODE_FUNCTIONS(RoadEncode), }; const EncoderInfo main_wide_road_encoder_info = { .publish_name = "wideRoadEncodeData", .filename = "ecamera.hevc", + .settings = EncoderSettings::MainEncoderSettings(), INIT_ENCODE_FUNCTIONS(WideRoadEncode), }; @@ -72,39 +95,36 @@ const EncoderInfo main_driver_encoder_info = { .publish_name = "driverEncodeData", .filename = "dcamera.hevc", .record = Params().getBool("RecordFront"), + .settings = EncoderSettings::MainEncoderSettings(), INIT_ENCODE_FUNCTIONS(DriverEncode), }; const EncoderInfo stream_road_encoder_info = { .publish_name = "livestreamRoadEncodeData", //.thumbnail_name = "thumbnail", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, - .bitrate = LIVESTREAM_BITRATE, + .settings = EncoderSettings::StreamEncoderSettings(), INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), }; const EncoderInfo stream_wide_road_encoder_info = { .publish_name = "livestreamWideRoadEncodeData", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, - .bitrate = LIVESTREAM_BITRATE, + .settings = EncoderSettings::StreamEncoderSettings(), INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), }; const EncoderInfo stream_driver_encoder_info = { .publish_name = "livestreamDriverEncodeData", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, - .bitrate = LIVESTREAM_BITRATE, + .settings = EncoderSettings::StreamEncoderSettings(), INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), }; const EncoderInfo qcam_encoder_info = { .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .bitrate = QCAM_BITRATE, - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .settings = EncoderSettings::QcamEncoderSettings(), .frame_width = 526, .frame_height = 330, .include_audio = Params().getBool("RecordAudio"), From a51477d40dece8158c3fcbf3fb5cf4b2f9affdf3 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 6 Aug 2025 18:07:06 -0700 Subject: [PATCH 031/126] ui: use Label in keyboard (#35941) better --- system/ui/widgets/keyboard.py | 14 +++++++------- system/ui/widgets/label.py | 5 +++-- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 388d7e2664..dee424a2d3 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.inputbox import InputBox -from openpilot.system.ui.widgets.label import gui_label +from openpilot.system.ui.widgets.label import Label, TextAlignment KEY_FONT_SIZE = 96 DOUBLE_CLICK_THRESHOLD = 0.5 # seconds @@ -62,8 +62,8 @@ class Keyboard(Widget): self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase" self._caps_lock = False self._last_shift_press_time = 0 - self._title = "" - self._sub_title = "" + self._title = Label("", 90, FontWeight.BOLD, TextAlignment.LEFT) + self._sub_title = Label("", 55, FontWeight.NORMAL, TextAlignment.LEFT) self._max_text_size = max_text_size self._min_text_size = min_text_size @@ -115,8 +115,8 @@ class Keyboard(Widget): self._backspace_pressed = False def set_title(self, title: str, sub_title: str = ""): - self._title = title - self._sub_title = sub_title + self._title.set_text(title) + self._sub_title.set_text(sub_title) def _eye_button_callback(self): self._password_mode = not self._password_mode @@ -133,8 +133,8 @@ class Keyboard(Widget): def _render(self, rect: rl.Rectangle): rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN) - gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), self._title, 90, font_weight=FontWeight.BOLD) - gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), self._sub_title, 55, font_weight=FontWeight.NORMAL) + self._title.render(rl.Rectangle(rect.x, rect.y, rect.width, 95)) + self._sub_title.render(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60)) self._cancel_button.render(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125)) # Draw input box and password toggle diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index f73b72cc59..2b0b017698 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -112,10 +112,11 @@ class Label(Widget): self._text_size = measure_text_cached(self._font, self._text, self._font_size) self._text_color = text_color self._icon = icon - self.emojis = find_emoji(self._text) + self._emojis = find_emoji(self._text) def set_text(self, text): self._text = text + self._emojis = find_emoji(self._text) self._text_size = measure_text_cached(self._font, self._text, self._font_size) def set_text_color(self, color): @@ -148,7 +149,7 @@ class Label(Widget): text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding prev_index = 0 - for start, end, emoji in self.emojis: + for start, end, emoji in self._emojis: text_before = self._text[prev_index:start] width_before = measure_text_cached(self._font, text_before, self._font_size) rl.draw_text_ex(self._font, text_before, text_pos, self._font_size, 0, self._text_color) From 62bbf6db8d900aba6129e9255c88c6f885a2d774 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 6 Aug 2025 20:11:30 -0700 Subject: [PATCH 032/126] ui: use label in confirm dialog (#35943) forget --- system/ui/widgets/confirm_dialog.py | 16 ++++++---------- system/ui/widgets/network.py | 2 +- 2 files changed, 7 insertions(+), 11 deletions(-) diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index f0d638131d..1021b5452b 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -2,7 +2,7 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import DialogResult from openpilot.system.ui.widgets.button import gui_button, ButtonStyle, Button -from openpilot.system.ui.widgets.label import gui_text_box +from openpilot.system.ui.widgets.label import gui_text_box, Label from openpilot.system.ui.widgets import Widget DIALOG_WIDTH = 1520 @@ -15,12 +15,15 @@ BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) class ConfirmDialog(Widget): def __init__(self, text: str, confirm_text: str, cancel_text: str = "Cancel"): super().__init__() - self.text = text + self._label = Label(text, 70, FontWeight.BOLD) self._cancel_button = Button(cancel_text, self._cancel_button_callback) self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY) self._dialog_result = DialogResult.NO_ACTION self._cancel_text = cancel_text + def set_text(self, text): + self._label.set_text(text) + def reset(self): self._dialog_result = DialogResult.NO_ACTION @@ -46,14 +49,7 @@ class ConfirmDialog(Widget): rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR) text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y, dialog_rect.width - 2 * MARGIN, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) - gui_text_box( - text_rect, - self.text, - font_size=70, - alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, - font_weight=FontWeight.BOLD, - ) + self._label.render(text_rect) if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): self._dialog_result = DialogResult.CONFIRM diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0eda418c17..b2cbcb7e5b 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -99,7 +99,7 @@ class WifiManagerUI(Widget): self.keyboard.reset() gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result)) case StateShowForgetConfirm(network): - self._confirm_dialog.text = f'Forget Wi-Fi Network "{network.ssid}"?' + self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?') self._confirm_dialog.reset() gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result)) case _: From 8b90c210f85b6c85adc290ebbdf8a0cf9e3918b4 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 6 Aug 2025 21:17:10 -0700 Subject: [PATCH 033/126] encoderd: more efficient compression for low res frames (#35924) * shein says inline * Update system/loggerd/loggerd.h Co-authored-by: Shane Smiskol * Revert "Update system/loggerd/loggerd.h" This reverts commit 3602523cefdeb2a46d77946f7f2cc7fc21bd5a4f. * Revert "shein says inline" This reverts commit d3c079e137c5d98068501df636975c5fbf8810ee. * EncoderSettings * getter * update test_encoder * def --------- Co-authored-by: Comma Device Co-authored-by: Shane Smiskol --- system/loggerd/encoder/encoder.cc | 2 +- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 9 ++++---- system/loggerd/loggerd.h | 29 ++++++++++++------------ system/loggerd/tests/test_encoder.py | 24 +++++++++++--------- 5 files changed, 34 insertions(+), 32 deletions(-) diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 5575403acd..06922b0cd0 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf edata.setFrameId(extra.frame_id); edata.setTimestampSof(extra.timestamp_sof); edata.setTimestampEof(extra.timestamp_eof); - edata.setType(encoder_info.settings.encode_type); + edata.setType(encoder_info.get_settings(in_width).encode_type); edata.setEncodeId(cnt++); edata.setSegmentNum(segment_num); edata.setSegmentId(idx); diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index c61ba0e79f..4d6be47182 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -46,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() { } void FfmpegEncoder::encoder_open() { - auto codec_id = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 + auto codec_id = encoder_info.get_settings(in_width).encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 ? AV_CODEC_ID_H264 : AV_CODEC_ID_FFVHUFF; const AVCodec *codec = avcodec_find_encoder(codec_id); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 3af7673671..6ee3af13b0 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -155,7 +155,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0); assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0); - bool is_h265 = encoder_info.settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C; + EncoderSettings encoder_settings = encoder_info.get_settings(in_width); + bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C; struct v4l2_format fmt_out = { .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, @@ -207,9 +208,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei // shared ctrls { struct v4l2_control ctrls[] = { - { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.settings.bitrate}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_info.settings.gop_size - encoder_info.settings.b_frames - 1}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_info.settings.b_frames}, + { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_settings.bitrate}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_settings.gop_size - encoder_settings.b_frames - 1}, + { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_settings.b_frames}, { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR}, { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE}, diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 55898b0ac2..967caec867 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -33,13 +33,12 @@ struct EncoderSettings { int gop_size; int b_frames = 0; // we don't use b frames - static EncoderSettings MainEncoderSettings() { - //static EncoderSettings MainEncoderSettings(int in_width) { - //if (in_width <= 1344) { - // return EncoderSettings{.bitrate = 5'000'000, .gop_size = 20}; - //} else { - return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30}; - //} + static EncoderSettings MainEncoderSettings(int in_width) { + if (in_width <= 1344) { + return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 5'000'000, .gop_size = 20}; + } else { + return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30}; + } } static EncoderSettings QcamEncoderSettings() { @@ -61,7 +60,7 @@ public: int frame_width = -1; int frame_height = -1; int fps = MAIN_FPS; - EncoderSettings settings; + std::function get_settings; ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); @@ -80,14 +79,14 @@ const EncoderInfo main_road_encoder_info = { .publish_name = "roadEncodeData", .thumbnail_name = "thumbnail", .filename = "fcamera.hevc", - .settings = EncoderSettings::MainEncoderSettings(), + .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);}, INIT_ENCODE_FUNCTIONS(RoadEncode), }; const EncoderInfo main_wide_road_encoder_info = { .publish_name = "wideRoadEncodeData", .filename = "ecamera.hevc", - .settings = EncoderSettings::MainEncoderSettings(), + .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);}, INIT_ENCODE_FUNCTIONS(WideRoadEncode), }; @@ -95,7 +94,7 @@ const EncoderInfo main_driver_encoder_info = { .publish_name = "driverEncodeData", .filename = "dcamera.hevc", .record = Params().getBool("RecordFront"), - .settings = EncoderSettings::MainEncoderSettings(), + .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);}, INIT_ENCODE_FUNCTIONS(DriverEncode), }; @@ -103,28 +102,28 @@ const EncoderInfo stream_road_encoder_info = { .publish_name = "livestreamRoadEncodeData", //.thumbnail_name = "thumbnail", .record = false, - .settings = EncoderSettings::StreamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), }; const EncoderInfo stream_wide_road_encoder_info = { .publish_name = "livestreamWideRoadEncodeData", .record = false, - .settings = EncoderSettings::StreamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), }; const EncoderInfo stream_driver_encoder_info = { .publish_name = "livestreamDriverEncodeData", .record = false, - .settings = EncoderSettings::StreamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();}, INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), }; const EncoderInfo qcam_encoder_info = { .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .settings = EncoderSettings::QcamEncoderSettings(), + .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();}, .frame_width = 526, .frame_height = 330, .include_audio = Params().getBool("RecordAudio"), diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index b24bfbe168..e4dabd3df9 100644 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -19,11 +19,12 @@ from openpilot.system.hardware.hw import Paths SEGMENT_LENGTH = 2 FULL_SIZE = 2507572 +def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE CAMERAS = [ - ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"), - ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"), - ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"), - ("qcamera.ts", 20, 130000, None), + ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"), + ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"), + ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"), + ("qcamera.ts", 20, lambda x: 130000, None), ] # we check frame count, so we don't have to be too strict on size @@ -76,7 +77,7 @@ class TestEncoder: # check each camera file size counts = [] first_frames = [] - for camera, fps, size, encode_idx_name in CAMERAS: + for camera, fps, size_lambda, encode_idx_name in CAMERAS: if not record_front and "dcamera" in camera: continue @@ -86,14 +87,14 @@ class TestEncoder: assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing" # TODO: this ffprobe call is really slow - # check frame count - cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}" + # get width and check frame count + cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}" if TICI: cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd expected_frames = fps * SEGMENT_LENGTH - probe = subprocess.check_output(cmd, shell=True, encoding='utf8') - frame_count = int(probe.split('\n')[0].strip()) + probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',') + frame_width, frame_count = int(probe[0]), int(probe[1]) counts.append(frame_count) assert frame_count == expected_frames, \ @@ -101,8 +102,9 @@ class TestEncoder: # sanity check file size file_size = os.path.getsize(file_path) - assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \ - f"{file_path} size {file_size} isn't close to target size {size}" + target_size = size_lambda(frame_width) + assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \ + f"{file_path} size {file_size} isn't close to target size {target_size}" # Check encodeIdx if encode_idx_name is not None: From 6cf710d4cbe1f7b4431f615cfefb919210463fba Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Aug 2025 22:00:12 -0700 Subject: [PATCH 034/126] Widget: add enabled property (#35944) * add enabled * sort * rename * rest * rm that --- system/ui/lib/application.py | 6 ++-- system/ui/setup.py | 15 +++++----- system/ui/widgets/__init__.py | 52 ++++++++++++++++++++--------------- system/ui/widgets/button.py | 2 -- system/ui/widgets/keyboard.py | 4 +-- system/ui/widgets/network.py | 6 ++-- system/ui/widgets/toggle.py | 3 -- 7 files changed, 46 insertions(+), 42 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 30672fba06..718bf036fa 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -19,7 +19,7 @@ FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions MOUSE_THREAD_RATE = 140 # touch controller runs at 140Hz -MAX_TOUCH_SLOT = 2 +MAX_TOUCH_SLOTS = 2 ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1" SHOW_FPS = os.getenv("SHOW_FPS") == "1" @@ -69,7 +69,7 @@ class MouseEvent(NamedTuple): class MouseState: def __init__(self): self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list - self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOT + self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS self._rk = Ratekeeper(MOUSE_THREAD_RATE) self._lock = threading.Lock() @@ -100,7 +100,7 @@ class MouseState: self._rk.keep_time() def _handle_mouse_event(self): - for slot in range(MAX_TOUCH_SLOT): + for slot in range(MAX_TOUCH_SLOTS): mouse_pos = rl.get_touch_position(slot) ev = MouseEvent( MousePos(mouse_pos.x, mouse_pos.y), diff --git a/system/ui/setup.py b/system/ui/setup.py index 2392449f96..2dcefcedb7 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -65,14 +65,15 @@ class Setup(Widget): self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback, - button_style=ButtonStyle.PRIMARY, enabled=False) + button_style=ButtonStyle.PRIMARY) + self._software_selection_continue_button.set_enabled(False) self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback) self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot) self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY) self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback) self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, - button_style=ButtonStyle.PRIMARY, enabled=False) - + button_style=ButtonStyle.PRIMARY) + self._network_setup_continue_button.set_enabled(False) try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -196,7 +197,7 @@ class Setup(Widget): # Check network connectivity status continue_enabled = self.network_connected.is_set() - self._network_setup_continue_button.enabled = continue_enabled + self._network_setup_continue_button.set_enabled(continue_enabled) continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet" self._network_setup_continue_button.set_text(continue_text) self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) @@ -208,20 +209,20 @@ class Setup(Widget): radio_height = 230 radio_spacing = 30 - self._software_selection_continue_button.enabled = False + self._software_selection_continue_button.set_enabled(False) openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height) self._software_selection_openpilot_button.render(openpilot_rect) if self._software_selection_openpilot_button.selected: - self._software_selection_continue_button.enabled = True + self._software_selection_continue_button.set_enabled(True) self._software_selection_custom_software_button.selected = False custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height) self._software_selection_custom_software_button.render(custom_rect) if self._software_selection_custom_software_button.selected: - self._software_selection_continue_button.enabled = True + self._software_selection_continue_button.set_enabled(True) self._software_selection_openpilot_button.selected = False button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 2d619cbd11..a2c34799f5 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -2,7 +2,7 @@ import abc import pyray as rl from enum import IntEnum from collections.abc import Callable -from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOT +from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS class DialogResult(IntEnum): @@ -15,34 +15,16 @@ class Widget(abc.ABC): def __init__(self): self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) - self._is_pressed = [False] * MAX_TOUCH_SLOT - self._multi_touch = False + self._is_pressed = [False] * MAX_TOUCH_SLOTS + self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None - - def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: - """Set a callback to determine if the widget can be clicked.""" - self._touch_valid_callback = touch_callback - - def _touch_valid(self) -> bool: - """Check if the widget can be touched.""" - return self._touch_valid_callback() if self._touch_valid_callback else True - - @property - def is_visible(self) -> bool: - return self._is_visible() if callable(self._is_visible) else self._is_visible - - @property - def is_pressed(self) -> bool: - return any(self._is_pressed) + self._multi_touch = False @property def rect(self) -> rl.Rectangle: return self._rect - def set_visible(self, visible: bool | Callable[[], bool]) -> None: - self._is_visible = visible - def set_rect(self, rect: rl.Rectangle) -> None: changed = (self._rect.x != rect.x or self._rect.y != rect.y or self._rect.width != rect.width or self._rect.height != rect.height) @@ -54,6 +36,32 @@ class Widget(abc.ABC): """Can be used like size hint in QT""" self._parent_rect = parent_rect + @property + def is_pressed(self) -> bool: + return any(self._is_pressed) + + @property + def enabled(self) -> bool: + return self._enabled() if callable(self._enabled) else self._enabled + + def set_enabled(self, enabled: bool | Callable[[], bool]) -> None: + self._enabled = enabled + + @property + def is_visible(self) -> bool: + return self._is_visible() if callable(self._is_visible) else self._is_visible + + def set_visible(self, visible: bool | Callable[[], bool]) -> None: + self._is_visible = visible + + def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None: + """Set a callback to determine if the widget can be clicked.""" + self._touch_valid_callback = touch_callback + + def _touch_valid(self) -> bool: + """Check if the widget can be touched.""" + return self._touch_valid_callback() if self._touch_valid_callback else True + def set_position(self, x: float, y: float) -> None: changed = (self._rect.x != x or self._rect.y != y) self._rect.x, self._rect.y = x, y diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 5113b61db2..41af8e51ca 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -172,7 +172,6 @@ class Button(Widget): border_radius: int = 10, text_alignment: TextAlignment = TextAlignment.CENTER, text_padding: int = 20, - enabled: bool = True, icon = None, multi_touch: bool = False, ): @@ -187,7 +186,6 @@ class Button(Widget): self._click_callback = click_callback self._multi_touch = multi_touch - self.enabled = enabled def set_text(self, text): self._label.set_text(text) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index dee424a2d3..25843d1ce8 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -187,10 +187,10 @@ class Keyboard(Widget): if key in self._key_icons: if key == SHIFT_ACTIVE_KEY and self._caps_lock: key = CAPS_LOCK_KEY - self._all_keys[key].enabled = is_enabled + self._all_keys[key].set_enabled(is_enabled) self._all_keys[key].render(key_rect) else: - self._all_keys[key].enabled = is_enabled + self._all_keys[key].set_enabled(is_enabled) self._all_keys[key].render(key_rect) return self._render_return_status diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index b2cbcb7e5b..35912a35fd 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -150,14 +150,14 @@ class WifiManagerUI(Widget): match self.state: case StateConnecting(network=connecting): if connecting.ssid == network.ssid: - self._networks_buttons[network.ssid].enabled = False + self._networks_buttons[network.ssid].set_enabled(False) status_text = "CONNECTING..." case StateForgetting(network=forgetting): if forgetting.ssid == network.ssid: - self._networks_buttons[network.ssid].enabled = False + self._networks_buttons[network.ssid].set_enabled(False) status_text = "FORGETTING..." case _: - self._networks_buttons[network.ssid].enabled = True + self._networks_buttons[network.ssid].set_enabled(True) self._networks_buttons[network.ssid].render(ssid_rect) diff --git a/system/ui/widgets/toggle.py b/system/ui/widgets/toggle.py index 3f7f463916..eba5ef9e58 100644 --- a/system/ui/widgets/toggle.py +++ b/system/ui/widgets/toggle.py @@ -38,9 +38,6 @@ class Toggle(Widget): self._state = state self._target = 1.0 if state else 0.0 - def set_enabled(self, enabled: bool): - self._enabled = enabled - def is_enabled(self): return self._enabled From ed0346980cf31f985eca071e56ff16c75499ae4c Mon Sep 17 00:00:00 2001 From: Brett Sanderson Date: Thu, 7 Aug 2025 14:47:50 -0400 Subject: [PATCH 035/126] Update plotjuggler README.md (#35946) Update README.md Real example using segment range. Remove segment count as its not a parameter. --- tools/plotjuggler/README.md | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index 794c292e68..62905a252d 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -13,14 +13,13 @@ Once you've [set up the openpilot environment](../README.md), this command will ``` $ ./juggle.py -h usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] - [route_or_segment_name] [segment_count] + [route_or_segment_name] A helper to run PlotJuggler on openpilot routes positional arguments: route_or_segment_name The route or segment name to plot (cabana share URL accepted) (default: None) - segment_count The number of segments to plot (default: None) optional arguments: -h, --help show this help message and exit @@ -34,16 +33,20 @@ optional arguments: ``` -Examples using route name: +Example using route name: `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"` -Examples using segment range: +Examples using segment: `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"` `./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs` +Example using segment range: + +`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"` + ## Streaming Explore live data from your car! Follow these steps to stream from your comma device to your laptop: From f04bb6b9fa8b6ab5dcddbc0b7283a38d3a83d604 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 13:43:27 -0700 Subject: [PATCH 036/126] ui: reduce network selection lag (#35945) lag --- system/ui/lib/wifi_manager.py | 9 ++------- system/ui/widgets/network.py | 3 +-- 2 files changed, 3 insertions(+), 9 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index acdab3b411..50b26acc43 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -441,20 +441,19 @@ class WifiManager: settings_iface.on_connection_removed(self._on_connection_removed) def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): - if 'LastScan' in changed: + if interface == NM_WIRELESS_IFACE and 'LastScan' in changed: asyncio.create_task(self._refresh_networks()) elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: new_ap_path = changed["ActiveAccessPoint"].value if self.active_ap_path != new_ap_path: self.active_ap_path = new_ap_path - asyncio.create_task(self._refresh_networks()) def _on_state_changed(self, new_state: int, old_state: int, reason: int): if new_state == NMDeviceState.ACTIVATED: if self.callbacks.activated: self.callbacks.activated() - asyncio.create_task(self._refresh_networks()) self._current_connection_ssid = None + asyncio.create_task(self._refresh_networks()) elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): for network in self.networks: network.is_connected = False @@ -487,9 +486,6 @@ class WifiManager: if self.callbacks.forgotten: self.callbacks.forgotten(ssid) - - # Update network list to reflect the removed saved connection - asyncio.create_task(self._refresh_networks()) break async def _add_saved_connection(self, path: str) -> None: @@ -498,7 +494,6 @@ class WifiManager: settings = await self._get_connection_settings(path) if ssid := self._extract_ssid(settings): self.saved_connections[ssid] = path - await self._refresh_networks() except DBusError as e: cloudlog.error(f"Failed to add connection {path}: {e}") diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 35912a35fd..4eac1214c2 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -187,8 +187,7 @@ class WifiManagerUI(Widget): def _forget_networks_buttons_callback(self, network): if self.scroll_panel.is_touch_valid(): - if isinstance(self.state, StateIdle): - self.state = StateShowForgetConfirm(network) + self.state = StateShowForgetConfirm(network) def _draw_status_icon(self, rect, network: NetworkInfo): """Draw the status icon based on network's connection state""" From f13ec6cb27ca7cf711e9e939808a3a5f0c52021b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 14:22:34 -0700 Subject: [PATCH 037/126] wifi manager: correctly handle emoji ssid --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 50b26acc43..5d0f84bc86 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -500,7 +500,7 @@ class WifiManager: def _extract_ssid(self, settings: dict) -> str | None: """Extract SSID from connection settings.""" ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value - return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None + return bytes(ssid_variant).decode('utf-8') if ssid_variant else None async def _add_match_rule(self, rule): """Add a match rule on the bus.""" From a800c129b003f6efceb9274cc885a4ddaff2641d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 14:33:40 -0700 Subject: [PATCH 038/126] run setup and reset at 20FPS for now --- system/ui/reset.py | 2 +- system/ui/setup.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/reset.py b/system/ui/reset.py index e3f9e7b2d5..b1bf5a6b6a 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -125,7 +125,7 @@ def main(): elif sys.argv[1] == "--format": mode = ResetMode.FORMAT - gui_app.init_window("System Reset") + gui_app.init_window("System Reset", 20) reset = Reset(mode) if mode == ResetMode.FORMAT: diff --git a/system/ui/setup.py b/system/ui/setup.py index 2dcefcedb7..41462d4483 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -333,7 +333,7 @@ class Setup(Widget): def main(): try: - gui_app.init_window("Setup") + gui_app.init_window("Setup", 20) setup = Setup() for _ in gui_app.render(): setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) From 7bfac9d0507c4465a21a2b1e30545060ba7ae8bc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Aug 2025 16:28:16 -0700 Subject: [PATCH 039/126] raylib ui: improve is_pressed (#35950) * stash * clean up exp * come on * fix * ? * maybe better * fix * same order * clean up --- selfdrive/ui/layouts/sidebar.py | 2 +- selfdrive/ui/onroad/exp_button.py | 2 +- selfdrive/ui/widgets/exp_mode_button.py | 16 ++++------------ system/ui/widgets/__init__.py | 18 ++++++++++++++++++ 4 files changed, 24 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index 82d499716d..6af947a104 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -146,7 +146,7 @@ class Sidebar(Widget): def _draw_buttons(self, rect: rl.Rectangle): mouse_pos = rl.get_mouse_position() - mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) + mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) # Settings button settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN) diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py index e6748e4e09..27f5763077 100644 --- a/selfdrive/ui/onroad/exp_button.py +++ b/selfdrive/ui/onroad/exp_button.py @@ -50,7 +50,7 @@ class ExpButton(Widget): center_y = int(self._rect.y + self._rect.height // 2) mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect) - mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed + mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255 texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py index be50c59d06..88664e0fad 100644 --- a/selfdrive/ui/widgets/exp_mode_button.py +++ b/selfdrive/ui/widgets/exp_mode_button.py @@ -14,7 +14,6 @@ class ExperimentalModeButton(Widget): self.params = Params() self.experimental_mode = self.params.get_bool("ExperimentalMode") - self.is_pressed = False self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width) self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width) @@ -32,19 +31,12 @@ class ExperimentalModeButton(Widget): rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height), start_color, end_color) - def _handle_interaction(self, rect): - mouse_pos = rl.get_mouse_position() - mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect) - - self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT) - return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT) + def _handle_mouse_release(self, mouse_pos): + self.experimental_mode = not self.experimental_mode + # TODO: Opening settings for ExperimentalMode + self.params.put_bool("ExperimentalMode", self.experimental_mode) def _render(self, rect): - if self._handle_interaction(rect): - self.experimental_mode = not self.experimental_mode - # TODO: Opening settings for ExperimentalMode - self.params.put_bool("ExperimentalMode", self.experimental_mode) - rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255)) rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index a2c34799f5..dc87216031 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -16,6 +16,8 @@ class Widget(abc.ABC): self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) self._is_pressed = [False] * MAX_TOUCH_SLOTS + # if current mouse/touch down started within the widget's rectangle + self._tracking_is_pressed = [False] * MAX_TOUCH_SLOTS self._enabled: bool | Callable[[], bool] = True self._is_visible: bool | Callable[[], bool] = True self._touch_valid_callback: Callable[[], bool] | None = None @@ -83,17 +85,33 @@ class Widget(abc.ABC): for mouse_event in gui_app.mouse_events: if not self._multi_touch and mouse_event.slot != 0: continue + + # Ignores touches/presses that start outside our rect + # Allows touch to leave the rect and come back in focus if mouse did not release if mouse_event.left_pressed and self._touch_valid(): if rl.check_collision_point_rec(mouse_event.pos, self._rect): self._is_pressed[mouse_event.slot] = True + self._tracking_is_pressed[mouse_event.slot] = True + # Callback such as scroll panel signifies user is scrolling elif not self._touch_valid(): self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False elif mouse_event.left_released: if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): self._handle_mouse_release(mouse_event.pos) self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False + + # Mouse/touch is still within our rect + elif rl.check_collision_point_rec(mouse_event.pos, self._rect): + if self._tracking_is_pressed[mouse_event.slot]: + self._is_pressed[mouse_event.slot] = True + + # Mouse/touch left our rect but may come back into focus later + elif not rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed[mouse_event.slot] = False return ret From 0e9de8f1b171d31d16884378df4d778c8751d956 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 23:08:42 -0700 Subject: [PATCH 040/126] ui: support text wrapping in Label (#35952) * lb * t * Revert "t" This reverts commit a9b8e2b9faa5e9d1b189c1dc2ed1aa876e4df476. * tr * Revert "tr" This reverts commit 8de8719ded0fed2b0e5469230e83c13714f88319. * better * much better --- system/ui/widgets/label.py | 75 +++++++++++++++++++++++--------------- 1 file changed, 45 insertions(+), 30 deletions(-) diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py index 2b0b017698..2da9a9f8df 100644 --- a/system/ui/widgets/label.py +++ b/system/ui/widgets/label.py @@ -1,4 +1,5 @@ from enum import IntEnum +from itertools import zip_longest import pyray as rl @@ -6,6 +7,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEX from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.utils import GuiStyleContext from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex +from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.widgets import Widget ICON_PADDING = 15 @@ -103,60 +105,73 @@ class Label(Widget): ): super().__init__() - self._text = text self._font_weight = font_weight self._font = gui_app.font(self._font_weight) self._font_size = font_size self._text_alignment = text_alignment self._text_padding = text_padding - self._text_size = measure_text_cached(self._font, self._text, self._font_size) self._text_color = text_color self._icon = icon - self._emojis = find_emoji(self._text) + self.set_text(text) def set_text(self, text): - self._text = text - self._emojis = find_emoji(self._text) - self._text_size = measure_text_cached(self._font, self._text, self._font_size) + self._text_raw = text + self._update_text(self._text_raw) def set_text_color(self, color): self._text_color = color + def _update_layout_rects(self): + self._update_text(self._text_raw) + + def _update_text(self, text): + self._emojis = [] + self._text_size = [] + self._text = wrap_text(self._font, text, self._font_size, self._rect.width - (self._text_padding*2)) + for t in self._text: + self._emojis.append(find_emoji(t)) + self._text_size.append(measure_text_cached(self._font, t, self._font_size)) + def _render(self, _): - text_pos = rl.Vector2(0, self._rect.y + (self._rect.height - self._text_size.y) // 2) + text = self._text[0] if self._text else None + text_size = self._text_size[0] if self._text_size else rl.Vector2(0.0, 0.0) + text_pos = rl.Vector2(0, (self._rect.y + (self._rect.height - (text_size.y)) // 2)) + if self._icon: icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2 - if self._text: + if text: if self._text_alignment == TextAlignment.LEFT: icon_x = self._rect.x + self._text_padding - text_pos.x = icon_x + self._icon.width + ICON_PADDING + text_pos.x = self._icon.width + ICON_PADDING elif self._text_alignment == TextAlignment.CENTER: - total_width = self._icon.width + ICON_PADDING + self._text_size.x + total_width = self._icon.width + ICON_PADDING + text_size.x icon_x = self._rect.x + (self._rect.width - total_width) / 2 - text_pos.x = icon_x + self._icon.width + ICON_PADDING + text_pos.x = self._icon.width + ICON_PADDING else: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - icon_x = text_pos.x - ICON_PADDING - self._icon.width + icon_x = (self._rect.x + self._rect.width - text_size.x - self._text_padding) - ICON_PADDING - self._icon.width else: icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2 rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE) - else: + + for text, text_size, emojis in zip_longest(self._text, self._text_size, self._emojis, fillvalue=[]): + line_pos = rl.Vector2(text_pos.x, text_pos.y) if self._text_alignment == TextAlignment.LEFT: - text_pos.x = self._rect.x + self._text_padding + line_pos.x += self._rect.x + self._text_padding elif self._text_alignment == TextAlignment.CENTER: - text_pos.x = self._rect.x + (self._rect.width - self._text_size.x) // 2 + line_pos.x += self._rect.x + (self._rect.width - text_size.x) // 2 elif self._text_alignment == TextAlignment.RIGHT: - text_pos.x = self._rect.x + self._rect.width - self._text_size.x - self._text_padding - - prev_index = 0 - for start, end, emoji in self._emojis: - text_before = self._text[prev_index:start] - width_before = measure_text_cached(self._font, text_before, self._font_size) - rl.draw_text_ex(self._font, text_before, text_pos, self._font_size, 0, self._text_color) - text_pos.x += width_before.x - - tex = emoji_tex(emoji) - rl.draw_texture_ex(tex, text_pos, 0.0, self._font_size / tex.height, self._text_color) - text_pos.x += self._font_size - prev_index = end - rl.draw_text_ex(self._font, self._text[prev_index:], text_pos, self._font_size, 0, self._text_color) + line_pos.x += self._rect.x + self._rect.width - text_size.x - self._text_padding + + prev_index = 0 + for start, end, emoji in emojis: + text_before = text[prev_index:start] + width_before = measure_text_cached(self._font, text_before, self._font_size) + rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, 0, self._text_color) + line_pos.x += width_before.x + + tex = emoji_tex(emoji) + rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height, self._text_color) + line_pos.x += self._font_size + prev_index = end + rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color) + text_pos.y += text_size.y or self._font_size From 1555c0b5fe5dc297efee313253a0951b3c1e089b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 7 Aug 2025 23:19:48 -0700 Subject: [PATCH 041/126] ui: custom software warning (#35953) cu --- system/ui/setup.py | 38 ++++++++++++++++++++++++++++++++------ 1 file changed, 32 insertions(+), 6 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 41462d4483..6c95a72feb 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio from openpilot.system.ui.widgets.keyboard import Keyboard -from openpilot.system.ui.widgets.label import gui_label, gui_text_box +from openpilot.system.ui.widgets.label import gui_label, gui_text_box, Label, TextAlignment from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper NetworkType = log.DeviceState.NetworkType @@ -35,9 +35,10 @@ class SetupState(IntEnum): GETTING_STARTED = 1 NETWORK_SETUP = 2 SOFTWARE_SELECTION = 3 - CUSTOM_URL = 4 + CUSTOM_SOFTWARE = 4 DOWNLOADING = 5 DOWNLOAD_FAILED = 6 + CUSTOM_SOFTWARE_WARNING = 7 class Setup(Widget): @@ -74,6 +75,14 @@ class Setup(Widget): self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, button_style=ButtonStyle.PRIMARY) self._network_setup_continue_button.set_enabled(False) + self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback) + self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback) + self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255), + text_padding=60) + self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma," + + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai " + + "to restore your device to a factory state later.", + 85, text_alignment=TextAlignment.LEFT, text_padding=60) try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -92,8 +101,10 @@ class Setup(Widget): self.render_network_setup(rect) elif self.state == SetupState.SOFTWARE_SELECTION: self.render_software_selection(rect) - elif self.state == SetupState.CUSTOM_URL: - self.render_custom_url() + elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING: + self.render_custom_software_warning(rect) + elif self.state == SetupState.CUSTOM_SOFTWARE: + self.render_custom_software() elif self.state == SetupState.DOWNLOADING: self.render_downloading(rect) elif self.state == SetupState.DOWNLOAD_FAILED: @@ -102,6 +113,12 @@ class Setup(Widget): def _low_voltage_continue_button_callback(self): self.state = SetupState.GETTING_STARTED + def _custom_software_warning_back_button_callback(self): + self.state = SetupState.SOFTWARE_SELECTION + + def _custom_software_warning_continue_button_callback(self): + self.state = SetupState.CUSTOM_SOFTWARE + def _getting_started_button_callback(self): self.state = SetupState.NETWORK_SETUP self.stop_network_check_thread.clear() @@ -116,7 +133,7 @@ class Setup(Widget): if self._software_selection_openpilot_button.selected: self.download(OPENPILOT_URL) else: - self.state = SetupState.CUSTOM_URL + self.state = SetupState.CUSTOM_SOFTWARE_WARNING def _download_failed_startover_button_callback(self): self.state = SetupState.GETTING_STARTED @@ -251,7 +268,16 @@ class Setup(Widget): self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) - def render_custom_url(self): + def render_custom_software_warning(self, rect: rl.Rectangle): + self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE)) + self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3)) + + button_width = (rect.width - MARGIN * 3) / 2 + button_y = rect.height - MARGIN - BUTTON_HEIGHT + self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) + self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)) + + def render_custom_software(self): def handle_keyboard_result(result): # Enter pressed if result == 1: From 5117a8c3a6e0db398f4ecb5709c361e1b06506a0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 00:34:53 -0700 Subject: [PATCH 042/126] ui: test raylib ui (#35949) * add raylib ui * test * this is better for now * rm rm * finalize it * need this? * ? * shite shite * try * ? * huh * simp * ? * wtf is going on * ??????????????? * lock * stash * no 2 packages * Revert "stash" This reverts commit 9efb0d9bda6a6309e7a567634d1921bf1cd0fb59. * debug * noo * debug * ? * and * yeah yeah * init one * 2 * i wonder * oooh * make sure * fix dat * try this * see if wifiman * forgot * ? * ??? * fuck this we can rewrite it later --- .github/workflows/selfdrive_tests.yaml | 7 ++++--- selfdrive/ui/tests/test_raylib_ui.py | 8 ++++++++ system/manager/process_config.py | 1 + 3 files changed, 13 insertions(+), 3 deletions(-) create mode 100644 selfdrive/ui/tests/test_raylib_ui.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1684a0af46..fdad7b681a 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -159,10 +159,11 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests - timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} + timeout-minutes: 5 run: | - ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \ - MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ + ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ + $PYTEST --collect-only -m 'not slow' &> /dev/null && \ + PYTHONTRACEMALLOC=1 MAX_EXAMPLES=1 $PYTEST -m 'not slow' -k test_raylib_ui && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ chmod -R 777 /tmp/comma_download_cache" diff --git a/selfdrive/ui/tests/test_raylib_ui.py b/selfdrive/ui/tests/test_raylib_ui.py new file mode 100644 index 0000000000..3f23301972 --- /dev/null +++ b/selfdrive/ui/tests/test_raylib_ui.py @@ -0,0 +1,8 @@ +import time +from openpilot.selfdrive.test.helpers import with_processes + + +@with_processes(["raylib_ui"]) +def test_raylib_ui(): + """Test initialization of the UI widgets is successful.""" + time.sleep(1) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index a3787b644e..5758512f2b 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -81,6 +81,7 @@ procs = [ PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), + PythonProcess("raylib_ui", "selfdrive.ui.ui", always_run, enabled=False, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad), NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), From a79a5e5a16bde9cb7f0a6fedfcf48b1a7167c453 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 00:31:40 -0700 Subject: [PATCH 043/126] revert i thought i pushed! --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fdad7b681a..c4dfebd997 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -159,7 +159,7 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests - timeout-minutes: 5 + timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ $PYTEST --collect-only -m 'not slow' &> /dev/null && \ From fd32fcd20d5fcad846dd0a2cc91d51b924bb6320 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 01:09:03 -0700 Subject: [PATCH 044/126] raylib ui: only process mouse events when enabled (#35948) --- system/ui/widgets/__init__.py | 61 ++++++++++++++++++----------------- 1 file changed, 31 insertions(+), 30 deletions(-) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index dc87216031..d45f48ac38 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -82,36 +82,37 @@ class Widget(abc.ABC): ret = self._render(self._rect) # Keep track of whether mouse down started within the widget's rectangle - for mouse_event in gui_app.mouse_events: - if not self._multi_touch and mouse_event.slot != 0: - continue - - # Ignores touches/presses that start outside our rect - # Allows touch to leave the rect and come back in focus if mouse did not release - if mouse_event.left_pressed and self._touch_valid(): - if rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._is_pressed[mouse_event.slot] = True - self._tracking_is_pressed[mouse_event.slot] = True - - # Callback such as scroll panel signifies user is scrolling - elif not self._touch_valid(): - self._is_pressed[mouse_event.slot] = False - self._tracking_is_pressed[mouse_event.slot] = False - - elif mouse_event.left_released: - if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._handle_mouse_release(mouse_event.pos) - self._is_pressed[mouse_event.slot] = False - self._tracking_is_pressed[mouse_event.slot] = False - - # Mouse/touch is still within our rect - elif rl.check_collision_point_rec(mouse_event.pos, self._rect): - if self._tracking_is_pressed[mouse_event.slot]: - self._is_pressed[mouse_event.slot] = True - - # Mouse/touch left our rect but may come back into focus later - elif not rl.check_collision_point_rec(mouse_event.pos, self._rect): - self._is_pressed[mouse_event.slot] = False + if self.enabled: + for mouse_event in gui_app.mouse_events: + if not self._multi_touch and mouse_event.slot != 0: + continue + + # Ignores touches/presses that start outside our rect + # Allows touch to leave the rect and come back in focus if mouse did not release + if mouse_event.left_pressed and self._touch_valid(): + if rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed[mouse_event.slot] = True + self._tracking_is_pressed[mouse_event.slot] = True + + # Callback such as scroll panel signifies user is scrolling + elif not self._touch_valid(): + self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False + + elif mouse_event.left_released: + if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._handle_mouse_release(mouse_event.pos) + self._is_pressed[mouse_event.slot] = False + self._tracking_is_pressed[mouse_event.slot] = False + + # Mouse/touch is still within our rect + elif rl.check_collision_point_rec(mouse_event.pos, self._rect): + if self._tracking_is_pressed[mouse_event.slot]: + self._is_pressed[mouse_event.slot] = True + + # Mouse/touch left our rect but may come back into focus later + elif not rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed[mouse_event.slot] = False return ret From e596704644e45be4345e23aa866b8bfa4e7107bb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 16:00:00 -0700 Subject: [PATCH 045/126] ui: remove `gui_label` usages from setup (#35955) clean --- system/ui/setup.py | 58 +++++++++++++++++++++++++--------------------- 1 file changed, 31 insertions(+), 27 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 6c95a72feb..8ff6b67000 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -13,7 +13,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio from openpilot.system.ui.widgets.keyboard import Keyboard -from openpilot.system.ui.widgets.label import gui_label, gui_text_box, Label, TextAlignment +from openpilot.system.ui.widgets.label import Label, TextAlignment from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper NetworkType = log.DeviceState.NetworkType @@ -60,21 +60,38 @@ class Setup(Widget): self.selected_radio = None self.warning = gui_app.texture("icons/warning.png", 150, 150) self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100) + + self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, TextAlignment.LEFT, text_color=rl.Color(255, 89, 79, 255)) + self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE, + text_alignment=TextAlignment.LEFT) self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback) self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown) + self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0) + self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.", + BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT) + self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80) self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback, button_style=ButtonStyle.PRIMARY) self._software_selection_continue_button.set_enabled(False) self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback) + self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot) self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY) + self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._download_failed_url_label = Label("", 64, FontWeight.NORMAL, TextAlignment.LEFT) + self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=TextAlignment.LEFT) + self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback) self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback, button_style=ButtonStyle.PRIMARY) self._network_setup_continue_button.set_enabled(False) + self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) + self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback) self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback) self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255), @@ -83,6 +100,7 @@ class Setup(Widget): + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai " + "to restore your device to a factory state later.", 85, text_alignment=TextAlignment.LEFT, text_padding=60) + self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM) try: with open("/sys/class/hwmon/hwmon1/in1_input") as f: @@ -148,27 +166,19 @@ class Setup(Widget): def render_low_voltage(self, rect: rl.Rectangle): rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE) - title_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE) - gui_label(title_rect, "WARNING: Low Voltage", TITLE_FONT_SIZE, rl.Color(255, 89, 79, 255), FontWeight.MEDIUM) - - body_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100 + TITLE_FONT_SIZE + 25, rect.width - 500 - 150, BODY_FONT_SIZE * 3) - gui_text_box(body_rect, "Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE) + self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE)) + self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * 3)) button_width = (rect.width - MARGIN * 3) / 2 button_y = rect.height - MARGIN - BUTTON_HEIGHT - self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)) def render_getting_started(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE) - gui_label(title_rect, "Getting Started", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) - - desc_rect = rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE + 90, rect.width - 500, BODY_FONT_SIZE * 3) - gui_text_box(desc_rect, "Before we get on the road, let's finish installation and cover some details.", BODY_FONT_SIZE) + self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE)) + self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE, rect.width - 500, BODY_FONT_SIZE * 3)) btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height) - self._getting_started_button.render(btn_rect) triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height)) rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE) @@ -198,8 +208,7 @@ class Setup(Widget): self.network_check_thread.join() def render_network_setup(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) - gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)) wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN + 25, rect.width - MARGIN * 2, rect.height - TITLE_FONT_SIZE - 25 - BUTTON_HEIGHT - MARGIN * 3) @@ -220,8 +229,7 @@ class Setup(Widget): self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_software_selection(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE) - gui_label(title_rect, "Choose Software to Use", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) + self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)) radio_height = 230 radio_spacing = 30 @@ -249,19 +257,15 @@ class Setup(Widget): self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_downloading(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE) - gui_label(title_rect, "Downloading...", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE)) def render_download_failed(self, rect: rl.Rectangle): - title_rect = rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE) - gui_label(title_rect, "Download Failed", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM) - - url_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64) - gui_label(url_rect, self.failed_url, 64, font_weight=FontWeight.NORMAL) + self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE)) + self._download_failed_url_label.set_text(self.failed_url) + self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64)) - error_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67 + 64 + 48, - rect.width - 117 - 100, rect.height - 185 + TITLE_FONT_SIZE + 67 + 64 + 48 - BUTTON_HEIGHT - MARGIN * 2) - gui_text_box(error_rect, self.failed_reason, BODY_FONT_SIZE) + self._download_failed_body_label.set_text(self.failed_reason) + self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height)) button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2 button_y = rect.height - BUTTON_HEIGHT - MARGIN From 4bb5986c14aa66516524330201c48980b36de558 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 19:57:20 -0700 Subject: [PATCH 046/126] setup: fix url for urllib (#35958) fix --- system/ui/setup.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 8ff6b67000..d675e868ff 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -4,6 +4,7 @@ import re import threading import time import urllib.request +from urllib.parse import urlparse from enum import IntEnum import pyray as rl @@ -303,7 +304,9 @@ class Setup(Widget): if re.match("^([^/.]+)/([^/]+)$", url): url = f"https://installer.comma.ai/{url}" - self.download_url = url + parsed = urlparse(url, scheme='https') + self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl() + self.state = SetupState.DOWNLOADING self.download_thread = threading.Thread(target=self._download_thread, daemon=True) From 83f6843a4803b3c66cd0e9bbd55e6bc0e4d0b1ac Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 20:07:33 -0700 Subject: [PATCH 047/126] ci: run all unit tests (#35959) * more please * back --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index c4dfebd997..fb082ae407 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -163,7 +163,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ $PYTEST --collect-only -m 'not slow' &> /dev/null && \ - PYTHONTRACEMALLOC=1 MAX_EXAMPLES=1 $PYTEST -m 'not slow' -k test_raylib_ui && \ + MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ chmod -R 777 /tmp/comma_download_cache" From 63d8c6c7f76200fe47e82caf53d21458b0d8cf54 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 8 Aug 2025 22:50:35 -0700 Subject: [PATCH 048/126] ui: adapt InputBox to new touch api (#35962) new --- system/ui/widgets/inputbox.py | 50 +++++++++++++++-------------------- 1 file changed, 22 insertions(+), 28 deletions(-) diff --git a/system/ui/widgets/inputbox.py b/system/ui/widgets/inputbox.py index 65428479bf..239d63037e 100644 --- a/system/ui/widgets/inputbox.py +++ b/system/ui/widgets/inputbox.py @@ -1,6 +1,6 @@ import pyray as rl import time -from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.application import gui_app, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.widgets import Widget @@ -107,9 +107,6 @@ class InputBox(Widget): self._visible_width = rect.width self._font_size = font_size - # Handle mouse input - self._handle_mouse_input(rect, font_size) - # Draw input box rl.draw_rectangle_rec(rect, color) @@ -169,30 +166,27 @@ class InputBox(Widget): return masked_text - def _handle_mouse_input(self, rect, font_size): - """Handle mouse clicks to position cursor.""" - mouse_pos = rl.get_mouse_position() - if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(mouse_pos, rect): - # Calculate cursor position from click - if len(self._input_text) > 0: - font = gui_app.font() - display_text = self._get_display_text() - - # Find the closest character position to the click - relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset - best_pos = 0 - min_distance = float('inf') - - for i in range(len(self._input_text) + 1): - char_width = measure_text_cached(font, display_text[:i], font_size).x - distance = abs(relative_x - char_width) - if distance < min_distance: - min_distance = distance - best_pos = i - - self.set_cursor_position(best_pos) - else: - self.set_cursor_position(0) + def _handle_mouse_release(self, mouse_pos: MousePos): + # Calculate cursor position from click + if len(self._input_text) > 0: + font = gui_app.font() + display_text = self._get_display_text() + + # Find the closest character position to the click + relative_x = mouse_pos.x - (self._rect.x + 10) + self._text_offset + best_pos = 0 + min_distance = float('inf') + + for i in range(len(self._input_text) + 1): + char_width = measure_text_cached(font, display_text[:i], self._font_size).x + distance = abs(relative_x - char_width) + if distance < min_distance: + min_distance = distance + best_pos = i + + self.set_cursor_position(best_pos) + else: + self.set_cursor_position(0) def _handle_keyboard_input(self): # Handle navigation keys From e0f51bdbb604f1806bdda04e36458071e8e59a18 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Aug 2025 23:42:54 -0700 Subject: [PATCH 049/126] Reapply "LogReader: wrap events to cache which() (#35882)" (#35909) * Reapply "LogReader: wrap events to cache which() (#35882)" This reverts commit ba2dced54ce2a4fec33565e13f15b610cc8a8b00. * fix lr * speed up * clean up * more * should be fast * clean up * only supports Event * rmrmr * bye * simple * gix --- tools/lib/logreader.py | 42 ++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 40 insertions(+), 2 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 5915f1dde3..cc84c8b52e 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -49,8 +49,46 @@ def decompress_stream(data: bytes): return decompressed_data + +class CachedEventReader: + __slots__ = ('_evt', '_enum') + + def __init__(self, evt: capnp._DynamicStructReader, _enum: str | None = None): + """All capnp attribute accesses are expensive, and which() is often called multiple times""" + self._evt = evt + self._enum: str | None = _enum + + # fast pickle support + def __reduce__(self): + return CachedEventReader._reducer, (self._evt.as_builder().to_bytes(), self._enum) + + @staticmethod + def _reducer(data: bytes, _enum: str | None = None): + with capnp_log.Event.from_bytes(data) as evt: + return CachedEventReader(evt, _enum) + + def __repr__(self): + return self._evt.__repr__() + + def __str__(self): + return self._evt.__str__() + + def __dir__(self): + return dir(self._evt) + + def which(self) -> str: + if self._enum is None: + self._enum = self._evt.which() + return self._enum + + def __getattr__(self, name: str): + if name.startswith("__") and name.endswith("__"): + return getattr(self, name) + return getattr(self._evt, name) + + class _LogFileReader: - def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): + def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -75,7 +113,7 @@ class _LogFileReader: self._ents = [] try: for e in ents: - self._ents.append(e) + self._ents.append(CachedEventReader(e)) except capnp.KjException: warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) From 5339a89e8160f02d1e41193c466bff7d89b8e630 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sat, 9 Aug 2025 12:19:52 -0700 Subject: [PATCH 050/126] [bot] Update Python packages (#35964) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 3 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 118 ++++++++++++++++++++++++-------------------------- 5 files changed, 62 insertions(+), 65 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d6107b726b..a0a4fd6bd7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 313 Supported Cars +# 314 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index adb6001649..cea3fb692e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit adb6001649c0cc022873739187652b0014483dd3 +Subproject commit cea3fb692eb629b873e86450a786bcd2121352e9 diff --git a/panda b/panda index c2723b2f6b..5b0f1a2eca 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c2723b2f6bcce7e2d97f685db1ec2472a8dd28f5 +Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec diff --git a/tinygrad_repo b/tinygrad_repo index 06af9f9236..14f99ff1a1 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 06af9f9236b33419f89ef3b3a5ba4cce0adecc2d +Subproject commit 14f99ff1a16aeb20e9e7b7bf4101002bc9fef737 diff --git a/uv.lock b/uv.lock index dc016a0d3f..f1749bd9b2 100644 --- a/uv.lock +++ b/uv.lock @@ -166,7 +166,7 @@ wheels = [ [[package]] name = "azure-identity" -version = "1.23.1" +version = "1.24.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = 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"2025-07-15T19:16:40.184Z" }, + { url = "https://files.pythonhosted.org/packages/a9/74/17428cb429e8d52f6d0d69ed685f4760a545cb0156594963a9337b53b6c9/azure_identity-1.24.0-py3-none-any.whl", hash = "sha256:9e04997cde0ab02ed66422c74748548e620b7b29361c72ce622acab0267ff7c4", size = 187890, upload-time = "2025-08-07T22:27:38.033Z" }, ] [[package]] @@ -263,37 +263,33 @@ wheels = [ [[package]] name = "charset-normalizer" -version = "3.4.2" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/e4/33/89c2ced2b67d1c2a61c19c6751aa8902d46ce3dacb23600a283619f5a12d/charset_normalizer-3.4.2.tar.gz", hash = "sha256:5baececa9ecba31eff645232d59845c07aa030f0c81ee70184a90d35099a0e63", size = 126367, upload-time = "2025-05-02T08:34:42.01Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/05/85/4c40d00dcc6284a1c1ad5de5e0996b06f39d8232f1031cd23c2f5c07ee86/charset_normalizer-3.4.2-cp311-cp311-macosx_10_9_universal2.whl", hash = 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14 ++++++++++++-- selfdrive/ui/translations/main_pt-BR.ts | 14 ++++++++++++-- selfdrive/ui/translations/main_th.ts | 12 +++++++++++- selfdrive/ui/translations/main_tr.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHS.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHT.ts | 12 +++++++++++- 11 files changed, 124 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 7d3d9edd05..eac3b561f7 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp تأخير التحديث - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1157,6 +1157,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 3489b4860e..b91c0e23ce 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -499,7 +499,7 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Update pausieren - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1139,6 +1139,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 5807accb92..79b10f316f 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -503,7 +503,7 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para Posponer Actualización - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1143,6 +1143,16 @@ Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index ba1eb93b30..a4effb2a45 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Reporter la mise à jour - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1135,6 +1135,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index fea6e51c07..8d0b2cb75b 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -501,8 +501,8 @@ Firehoseモードを有効にすると学習データを最大限アップロー また後で更新する - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. - openpilotが過剰な%1の作動を検出しました。ソフトウェアの不具合の可能性があります。https://comma.ai/support からサポートへご連絡下さい。 + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. + @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。 + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index aaefdb92b0..3cffab10b2 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -501,8 +501,8 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 업데이트 일시 중지 - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. - 오픈파일럿은 과도한 %1 작동을 감지했습니다. 소프트웨어 버그 때문일 수 있습니다. https://comma.ai/support 에 문의하여 지원받으세요. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. + @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 운전 중에 마이크 오디오를 녹음하고 저장하십시오. 오디오는 comma connect의 대시캠 비디오에 포함됩니다. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 976fc711db..e16872c758 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -503,8 +503,8 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Adiar Atualização - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. - O openpilot detectou uma atuação excessiva de %1. Isso pode ser causado por uma falha no software. Por favor, entre em contato com o suporte em https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. + @@ -1143,6 +1143,16 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 3821b3b806..87cb8bc2e2 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -497,7 +497,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp เลื่อนการอัปเดต - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1132,6 +1132,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 6cafb1dffc..6112698e31 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -494,7 +494,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Güncellemeyi sessize al - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1129,6 +1129,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 5e5b9da311..a1d1602373 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -501,7 +501,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 暂停更新 - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。 + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 630dbf2a08..a094dd4182 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -501,7 +501,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 暫停更新 - openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support. + openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. @@ -1138,6 +1138,16 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. 在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。 + + Record Audio Feedback with LKAS button + + + + Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. + +Note that this feature is only compatible with select cars. + + WiFiPromptWidget From 2d8030de0b5171fa5827a33be5a3033eb55e5d04 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 9 Aug 2025 15:00:36 -0700 Subject: [PATCH 052/126] ui: move watch3 to raylib (#35967) * move to py * cleaner * clean that up --- selfdrive/ui/SConscript | 4 ---- selfdrive/ui/onroad/cameraview.py | 20 +++++++------------ selfdrive/ui/watch3.cc | 33 ------------------------------- selfdrive/ui/watch3.py | 17 ++++++++++++++++ 4 files changed, 24 insertions(+), 50 deletions(-) delete mode 100644 selfdrive/ui/watch3.cc create mode 100755 selfdrive/ui/watch3.py diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 9d59e2bd48..f1ef0402c5 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -102,7 +102,3 @@ if GetOption('extras'): f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs) # keep installers small assert f[0].get_size() < 1900*1e3, f[0].get_size() - -# build watch3 -if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc']) diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index cc2c6b4fe7..ca031e2f17 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -141,6 +141,9 @@ class CameraView(Widget): self.client = None + def __del__(self): + self.close() + def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray: if not self.frame: return np.eye(3) @@ -337,16 +340,7 @@ class CameraView(Widget): if __name__ == "__main__": - gui_app.init_window("watch3") - road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) - driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) - wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD) - try: - for _ in gui_app.render(): - road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2)) - driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) - wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) - finally: - road_camera_view.close() - driver_camera_view.close() - wide_road_camera_view.close() + gui_app.init_window("camera view") + road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + for _ in gui_app.render(): + road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc deleted file mode 100644 index 258e2a7bd6..0000000000 --- a/selfdrive/ui/watch3.cc +++ /dev/null @@ -1,33 +0,0 @@ -#include -#include - -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/cameraview.h" - -int main(int argc, char *argv[]) { - initApp(argc, argv); - - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - QVBoxLayout *layout = new QVBoxLayout(&w); - layout->setMargin(0); - layout->setSpacing(0); - - { - QHBoxLayout *hlayout = new QHBoxLayout(); - layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD)); - } - - { - QHBoxLayout *hlayout = new QHBoxLayout(); - layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD)); - } - - return a.exec(); -} diff --git a/selfdrive/ui/watch3.py b/selfdrive/ui/watch3.py new file mode 100755 index 0000000000..bb64cdc4d5 --- /dev/null +++ b/selfdrive/ui/watch3.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import pyray as rl + +from msgq.visionipc import VisionStreamType +from openpilot.system.ui.lib.application import gui_app +from openpilot.selfdrive.ui.onroad.cameraview import CameraView + + +if __name__ == "__main__": + gui_app.init_window("watch3") + road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) + wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD) + for _ in gui_app.render(): + road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2)) + driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) + wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) From 1c46640ea6ac2e3f9d0388b405280f0d67183138 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 9 Aug 2025 15:04:26 -0700 Subject: [PATCH 053/126] Remove more Qt, part 2 (#35968) --- selfdrive/ui/SConscript | 8 +- selfdrive/ui/qt/python_helpers.py | 23 -- selfdrive/ui/qt/setup/setup.cc | 541 ------------------------------ selfdrive/ui/qt/setup/setup.h | 38 --- 4 files changed, 1 insertion(+), 609 deletions(-) delete mode 100644 selfdrive/ui/qt/python_helpers.py delete mode 100644 selfdrive/ui/qt/setup/setup.cc delete mode 100644 selfdrive/ui/qt/setup/setup.h diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index f1ef0402c5..ba9fa8b7a6 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -63,14 +63,8 @@ if GetOption('extras'): qt_src.remove("main.cc") # replaced by test_runner qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) - qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - - # setup - qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], - LIBS=qt_libs + ['curl', 'common']) - + # build installers if arch != "Darwin": - # build installers raylib_env = env.Clone() raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/'] raylib_env['LINKFLAGS'].append('-Wl,-strip-debug') diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py deleted file mode 100644 index 1f6d43f309..0000000000 --- a/selfdrive/ui/qt/python_helpers.py +++ /dev/null @@ -1,23 +0,0 @@ -import os -import platform -from cffi import FFI - -import sip - -from openpilot.common.basedir import BASEDIR - -def suffix(): - return ".dylib" if platform.system() == "Darwin" else ".so" - - -def get_ffi(): - lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix()) - - ffi = FFI() - ffi.cdef("void set_main_window(void *w);") - return ffi, ffi.dlopen(lib) - - -def set_main_window(widget): - ffi, lib = get_ffi() - lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget))) diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc deleted file mode 100644 index 38955bf59d..0000000000 --- a/selfdrive/ui/qt/setup/setup.cc +++ /dev/null @@ -1,541 +0,0 @@ -#include "selfdrive/ui/qt/setup/setup.h" - -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/network/networking.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/input.h" - -const std::string USER_AGENT = "AGNOSSetup-"; -const QString OPENPILOT_URL = "https://openpilot.comma.ai"; - -bool is_elf(char *fname) { - FILE *fp = fopen(fname, "rb"); - if (fp == NULL) { - return false; - } - char buf[4]; - size_t n = fread(buf, 1, 4, fp); - fclose(fp); - return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F'; -} - -void Setup::download(QString url) { - // autocomplete incomplete urls - if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) { - url.prepend("https://installer.comma.ai/"); - } - - CURL *curl = curl_easy_init(); - if (!curl) { - emit finished(url, tr("Something went wrong. Reboot the device.")); - return; - } - - auto version = util::read_file("/VERSION"); - - struct curl_slist *list = NULL; - std::string header = "X-openpilot-serial: " + Hardware::get_serial(); - list = curl_slist_append(list, header.c_str()); - - char tmpfile[] = "/tmp/installer_XXXXXX"; - FILE *fp = fdopen(mkstemp(tmpfile), "wb"); - - curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str()); - curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL); - curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp); - curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L); - curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); - curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str()); - curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list); - curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L); - - int ret = curl_easy_perform(curl); - long res_status = 0; - curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status); - - if (ret != CURLE_OK || res_status != 200) { - emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); - } else if (!is_elf(tmpfile)) { - emit finished(url, tr("No custom software found at this URL.")); - } else { - rename(tmpfile, "/tmp/installer"); - - FILE *fp_url = fopen("/tmp/installer_url", "w"); - fprintf(fp_url, "%s", url.toStdString().c_str()); - fclose(fp_url); - - emit finished(url); - } - - curl_slist_free_all(list); - curl_easy_cleanup(curl); - fclose(fp); -} - -QWidget * Setup::low_voltage() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 0, 55, 55); - main_layout->setSpacing(0); - - // inner text layout: warning icon, title, and body - QVBoxLayout *inner_layout = new QVBoxLayout(); - inner_layout->setContentsMargins(110, 144, 365, 0); - main_layout->addLayout(inner_layout); - - QLabel *triangle = new QLabel(); - triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png")); - inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); - inner_layout->addSpacing(80); - - QLabel *title = new QLabel(tr("WARNING: Low Voltage")); - title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); - inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - inner_layout->addSpacing(25); - - QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk.")); - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 80px; font-weight: 300;"); - inner_layout->addWidget(body); - - inner_layout->addStretch(); - - // power off + continue buttons - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *poweroff = new QPushButton(tr("Power off")); - poweroff->setObjectName("navBtn"); - blayout->addWidget(poweroff); - QObject::connect(poweroff, &QPushButton::clicked, this, [=]() { - Hardware::poweroff(); - }); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - blayout->addWidget(cont); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); - - return widget; -} - -QWidget * Setup::custom_software_warning() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 0, 55, 55); - main_layout->setSpacing(0); - - QVBoxLayout *inner_layout = new QVBoxLayout(); - inner_layout->setContentsMargins(110, 110, 300, 0); - main_layout->addLayout(inner_layout); - - QLabel *title = new QLabel(tr("WARNING: Custom Software")); - title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); - inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - inner_layout->addSpacing(25); - - QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later.")); - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 65px; font-weight: 300;"); - inner_layout->addWidget(body); - - inner_layout->addStretch(); - - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - blayout->addWidget(back); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - blayout->addWidget(cont); - QObject::connect(cont, &QPushButton::clicked, this, [=]() { - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); - if (!url.isEmpty()) { - QTimer::singleShot(1000, this, [=]() { - download(url); - }); - } else { - setCurrentWidget(software_selection_widget); - } - }); - - return widget; -} - -QWidget * Setup::getting_started() { - QWidget *widget = new QWidget(); - - QHBoxLayout *main_layout = new QHBoxLayout(widget); - main_layout->setMargin(0); - - QVBoxLayout *vlayout = new QVBoxLayout(); - vlayout->setContentsMargins(165, 280, 100, 0); - main_layout->addLayout(vlayout); - - QLabel *title = new QLabel(tr("Getting Started")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - vlayout->addSpacing(90); - QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details.")); - desc->setWordWrap(true); - desc->setStyleSheet("font-size: 80px; font-weight: 300;"); - vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft); - - vlayout->addStretch(); - - QPushButton *btn = new QPushButton(); - btn->setIcon(QIcon(":/images/button_continue_triangle.svg")); - btn->setIconSize(QSize(54, 106)); - btn->setFixedSize(310, 1080); - btn->setProperty("primary", true); - btn->setStyleSheet("border: none;"); - main_layout->addWidget(btn, 0, Qt::AlignRight); - QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage); - - return widget; -} - -QWidget * Setup::network_setup() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - - // title - QLabel *title = new QLabel(tr("Connect to Wi-Fi")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(25); - - // wifi widget - Networking *networking = new Networking(this, false); - networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}"); - main_layout->addWidget(networking, 1); - - main_layout->addSpacing(35); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(); - cont->setObjectName("navBtn"); - cont->setProperty("primary", true); - cont->setEnabled(false); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); - blayout->addWidget(cont); - - // setup timer for testing internet connection - HttpRequest *request = new HttpRequest(this, false, 2500); - QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) { - cont->setEnabled(success); - if (success) { - const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI; - cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi")); - } else { - cont->setText(tr("Waiting for internet")); - } - repaint(); - }); - request->sendRequest(OPENPILOT_URL); - QTimer *timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, [=]() { - if (!request->active() && cont->isVisible()) { - request->sendRequest(OPENPILOT_URL); - } - }); - timer->start(1000); - - return widget; -} - -QWidget * radio_button(QString title, QButtonGroup *group) { - QPushButton *btn = new QPushButton(title); - btn->setCheckable(true); - group->addButton(btn); - btn->setStyleSheet(R"( - QPushButton { - height: 230; - padding-left: 100px; - padding-right: 100px; - text-align: left; - font-size: 80px; - font-weight: 400; - border-radius: 10px; - background-color: #4F4F4F; - } - QPushButton:checked { - background-color: #465BEA; - } - )"); - - // checkmark icon - QPixmap pix(":/icons/circled_check.svg"); - btn->setIcon(pix); - btn->setIconSize(QSize(0, 0)); - btn->setLayoutDirection(Qt::RightToLeft); - QObject::connect(btn, &QPushButton::toggled, [=](bool checked) { - btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0)); - }); - return btn; -} - -QWidget * Setup::software_selection() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - main_layout->setSpacing(0); - - // title - QLabel *title = new QLabel(tr("Choose Software to Install")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(50); - - // openpilot + custom radio buttons - QButtonGroup *group = new QButtonGroup(widget); - group->setExclusive(true); - - QWidget *openpilot = radio_button(tr("openpilot"), group); - main_layout->addWidget(openpilot); - - main_layout->addSpacing(30); - - QWidget *custom = radio_button(tr("Custom Software"), group); - main_layout->addWidget(custom); - - main_layout->addStretch(); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - cont->setEnabled(false); - cont->setProperty("primary", true); - blayout->addWidget(cont); - - QObject::connect(cont, &QPushButton::clicked, [=]() { - if (group->checkedButton() != openpilot) { - QTimer::singleShot(0, [=]() { - setCurrentWidget(custom_software_warning_widget); - }); - } else { - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QTimer::singleShot(1000, this, [=]() { - download(OPENPILOT_URL); - }); - } - }); - - connect(group, QOverload::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) { - btn->setChecked(true); - cont->setEnabled(true); - }); - - return widget; -} - -QWidget * Setup::downloading() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - QLabel *txt = new QLabel(tr("Downloading...")); - txt->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(txt, 0, Qt::AlignCenter); - return widget; -} - -QWidget * Setup::download_failed(QLabel *url, QLabel *body) { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 185, 55, 55); - main_layout->setSpacing(0); - - QLabel *title = new QLabel(tr("Download Failed")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - main_layout->addSpacing(67); - - url->setWordWrap(true); - url->setAlignment(Qt::AlignTop | Qt::AlignLeft); - url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;"); - main_layout->addWidget(url); - - main_layout->addSpacing(48); - - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); - main_layout->addWidget(body); - - main_layout->addStretch(); - - // reboot + start over buttons - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *reboot = new QPushButton(tr("Reboot device")); - reboot->setObjectName("navBtn"); - blayout->addWidget(reboot); - QObject::connect(reboot, &QPushButton::clicked, this, [=]() { - Hardware::reboot(); - }); - - QPushButton *restart = new QPushButton(tr("Start over")); - restart->setObjectName("navBtn"); - restart->setProperty("primary", true); - blayout->addWidget(restart); - QObject::connect(restart, &QPushButton::clicked, this, [=]() { - setCurrentIndex(1); - }); - - widget->setStyleSheet(R"( - QLabel { - margin-left: 117; - } - )"); - return widget; -} - -void Setup::prevPage() { - setCurrentIndex(currentIndex() - 1); -} - -void Setup::nextPage() { - setCurrentIndex(currentIndex() + 1); -} - -Setup::Setup(QWidget *parent) : QStackedWidget(parent) { - if (std::getenv("MULTILANG")) { - selectLanguage(); - } - - std::stringstream buffer; - buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf(); - float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.; - if (voltage < 7) { - addWidget(low_voltage()); - } - - addWidget(getting_started()); - addWidget(network_setup()); - software_selection_widget = software_selection(); - addWidget(software_selection_widget); - custom_software_warning_widget = custom_software_warning(); - addWidget(custom_software_warning_widget); - downloading_widget = downloading(); - addWidget(downloading_widget); - - QLabel *url_label = new QLabel(); - QLabel *body_label = new QLabel(); - failed_widget = download_failed(url_label, body_label); - addWidget(failed_widget); - - QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) { - qDebug() << "finished" << url << error; - if (error.isEmpty()) { - // hide setup on success - QTimer::singleShot(3000, this, &QWidget::hide); - } else { - url_label->setText(url); - body_label->setText(error); - setCurrentWidget(failed_widget); - } - }); - - // TODO: revisit pressed bg color - setStyleSheet(R"( - * { - color: white; - font-family: Inter; - } - Setup { - background-color: black; - } - QPushButton#navBtn { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled { - color: #808080; - background-color: #333333; - } - QPushButton#navBtn:pressed { - background-color: #444444; - } - QPushButton[primary='true'], #navBtn[primary='true'] { - background-color: #465BEA; - } - QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] { - background-color: #3049F4; - } - )"); -} - -void Setup::selectLanguage() { - QMap langs = getSupportedLanguages(); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this); - if (!selection.isEmpty()) { - QString selectedLang = langs[selection]; - Params().put("LanguageSetting", selectedLang.toStdString()); - if (translator.load(":/" + selectedLang)) { - qApp->installTranslator(&translator); - } - } -} - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - Setup setup; - setMainWindow(&setup); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h deleted file mode 100644 index 986956c902..0000000000 --- a/selfdrive/ui/qt/setup/setup.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -class Setup : public QStackedWidget { - Q_OBJECT - -public: - explicit Setup(QWidget *parent = 0); - -private: - void selectLanguage(); - QWidget *low_voltage(); - QWidget *custom_software_warning(); - QWidget *getting_started(); - QWidget *network_setup(); - QWidget *software_selection(); - QWidget *downloading(); - QWidget *download_failed(QLabel *url, QLabel *body); - - QWidget *failed_widget; - QWidget *downloading_widget; - QWidget *custom_software_warning_widget; - QWidget *software_selection_widget; - QTranslator translator; - -signals: - void finished(const QString &url, const QString &error = ""); - -public slots: - void nextPage(); - void prevPage(); - void download(QString url); -}; From 430079113c7174b149dc7c2981654ade48688ce9 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 9 Aug 2025 20:57:04 -0400 Subject: [PATCH 054/126] Revert "Honda: Temporary test exception for driver regen paddle" (#35969) Revert "Honda: Temporary test exception for driver regen paddle (#35929)" This reverts commit d15d3c73b88cf567579723ec9e65de154ef8bedc. --- selfdrive/car/tests/test_models.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ab1124df13..8996ad6460 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -430,9 +430,7 @@ class TestCarModelBase(unittest.TestCase): if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() - # TODO: remove this exception before closing commaai/opendbc#1100 - if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH): - checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() + checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() if self.CP.pcmCruise: From e97ae0758927cc8ad384e320b6f4b702d407d051 Mon Sep 17 00:00:00 2001 From: royjr Date: Sun, 10 Aug 2025 12:49:52 -0400 Subject: [PATCH 055/126] macOS: fix font-noto-color-emoji (#35972) Update mac_setup.sh --- tools/mac_setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 2a7f83baae..19ef77e01c 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -50,7 +50,7 @@ brew "zeromq" cask "gcc-arm-embedded" brew "portaudio" brew "gcc@13" -brew "font-noto-color-emoji" +cask "font-noto-color-emoji" EOS echo "[ ] finished brew install t=$SECONDS" From 0bbceb8539915e637aa2fa7156cbd09e1bdafa1b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 10 Aug 2025 19:41:13 -0700 Subject: [PATCH 056/126] wifi_manager: wait for wifi device (#35974) wait --- system/ui/lib/wifi_manager.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 5d0f84bc86..178bbec43e 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -101,8 +101,8 @@ class WifiManager: """Connect to the DBus system bus.""" try: self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect() - if not await self._find_wifi_device(): - raise ValueError("No Wi-Fi device found") + while not await self._find_wifi_device(): + await asyncio.sleep(1) await self._setup_signals(self.device_path) self.active_ap_path = await self.get_active_access_point() From a11a8591e45a2133bc806faaa1ba984cf6de9675 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 11 Aug 2025 13:14:48 -0700 Subject: [PATCH 057/126] bump version to 0.10.1 --- RELEASES.md | 3 +++ common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 545152e0f8..388ddae28b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.10.1 (2025-09-08) +======================== + Version 0.10.0 (2025-08-05) ======================== * New driving model diff --git a/common/version.h b/common/version.h index af827e20a6..669f303211 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.10.0" +#define COMMA_VERSION "0.10.1" From c78b302b93dde0508ec2bc7eda2d02de344109c4 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 11 Aug 2025 14:07:01 -0700 Subject: [PATCH 058/126] =?UTF-8?q?Space=20Lab=203=20=F0=9F=9B=B0=EF=B8=8F?= =?UTF-8?q?=F0=9F=9B=B0=EF=B8=8F=F0=9F=9B=B0=EF=B8=8F=20(#35905)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * c147a591-1f86-4ea4-b2b7-391eff1178b5/400 * 6d6639ee-643e-4f72-bd1c-dda546383854/400 --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 187a3b2ecf..0e30c93027 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29 +oid sha256:2c15e7a5c54362273399947b2bb98ec11c3050bc0ed9be3ff154a198d7f857b1 size 15583374 From 455a6a586a1f70691c801b9ca5d5c5ae9b70b044 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 11 Aug 2025 14:25:29 -0700 Subject: [PATCH 059/126] Misc PID refactors (#35844) * Misc PID refactors * dead * finish rename * unused import * whitespace * typo * fix fan controller * pid_log * whitespace * integral clipping in pid * update ref * cleaner * rm print * update ref * revert fan changes * forgot this --- common/pid.py | 25 +++++++------------- selfdrive/controls/controlsd.py | 8 +++---- selfdrive/controls/lib/latcontrol.py | 6 ++--- selfdrive/controls/lib/latcontrol_angle.py | 9 +++---- selfdrive/controls/lib/latcontrol_pid.py | 26 ++++++++++----------- selfdrive/controls/lib/latcontrol_torque.py | 6 ++--- selfdrive/test/process_replay/ref_commit | 2 +- tools/tuning/measure_steering_accuracy.py | 4 ++-- 8 files changed, 39 insertions(+), 47 deletions(-) diff --git a/common/pid.py b/common/pid.py index f2ab935f45..721a7c9d65 100644 --- a/common/pid.py +++ b/common/pid.py @@ -17,7 +17,6 @@ class PIDController: self.pos_limit = pos_limit self.neg_limit = neg_limit - self.i_unwind_rate = 0.3 / rate self.i_rate = 1.0 / rate self.speed = 0.0 @@ -35,10 +34,6 @@ class PIDController: def k_d(self): return np.interp(self.speed, self._k_d[0], self._k_d[1]) - @property - def error_integral(self): - return self.i/self.k_i - def reset(self): self.p = 0.0 self.i = 0.0 @@ -46,25 +41,21 @@ class PIDController: self.f = 0.0 self.control = 0 - def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False): + def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False): self.speed = speed - self.p = float(error) * self.k_p self.f = feedforward * self.k_f self.d = error_rate * self.k_d - if override: - self.i -= self.i_unwind_rate * float(np.sign(self.i)) - else: - if not freeze_integrator: - self.i = self.i + error * self.k_i * self.i_rate + if not freeze_integrator: + i = self.i + error * self.k_i * self.i_rate - # Clip i to prevent exceeding control limits - control_no_i = self.p + self.d + self.f - control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit) - self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i) + # Don't allow windup if already clipping + test_control = self.p + i + self.d + self.f + i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit + i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit + self.i = np.clip(i, i_lowerbound, i_upperbound) control = self.p + self.i + self.d + self.f - self.control = np.clip(control, self.neg_limit, self.pos_limit) return self.control diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index dd7968b732..029d16e59e 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -40,7 +40,7 @@ class Controls: 'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState') self.pm = messaging.PubMaster(['carControl', 'controlsState']) - self.steer_limited_by_controls = False + self.steer_limited_by_safety = False self.curvature = 0.0 self.desired_curvature = 0.0 @@ -120,7 +120,7 @@ class Controls: actuators.curvature = self.desired_curvature steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, - self.steer_limited_by_controls, self.desired_curvature, + self.steer_limited_by_safety, self.desired_curvature, curvature_limited) # TODO what if not available actuators.torque = float(steer) actuators.steeringAngleDeg = float(steeringAngleDeg) @@ -167,10 +167,10 @@ class Controls: if self.sm['selfdriveState'].active: CO = self.sm['carOutput'] if self.CP.steerControlType == car.CarParams.SteerControlType.angle: - self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ + self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ STEER_ANGLE_SATURATION_THRESHOLD else: - self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2 + self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2 # TODO: both controlsState and carControl valids should be set by # sm.all_checks(), but this creates a circular dependency diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index d67a4aa959..2a8b873e2e 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -15,15 +15,15 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited): pass def reset(self): self.sat_count = 0. - def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited): + def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited): # Saturated only if control output is not being limited by car torque/angle rate limits - if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed: + if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed: self.sat_count += self.sat_count_rate else: self.sat_count -= self.sat_count_rate diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 807161735c..ac35151487 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -3,6 +3,7 @@ import math from cereal import log from openpilot.selfdrive.controls.lib.latcontrol import LatControl +# TODO This is speed dependent STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees @@ -10,9 +11,9 @@ class LatControlAngle(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) self.sat_check_min_speed = 5. - self.use_steer_limited_by_controls = CP.brand == "tesla" + self.use_steer_limited_by_safety = CP.brand == "tesla" - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: @@ -23,9 +24,9 @@ class LatControlAngle(LatControl): angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) angle_steers_des += params.angleOffsetDeg - if self.use_steer_limited_by_controls: + if self.use_steer_limited_by_safety: # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation - angle_control_saturated = steer_limited_by_controls + angle_control_saturated = steer_limited_by_safety else: # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota) # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque # TODO: this can be improved diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 4e4e0772fe..00a083509f 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -13,11 +13,7 @@ class LatControlPID(LatControl): k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) self.get_steer_feedforward = CI.get_steer_feedforward_function() - def reset(self): - super().reset() - self.pid.reset() - - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) @@ -29,20 +25,24 @@ class LatControlPID(LatControl): pid_log.steeringAngleDesiredDeg = angle_steers_des pid_log.angleError = error if not active: - output_steer = 0.0 + output_torque = 0.0 pid_log.active = False - self.pid.reset() + else: # offset does not contribute to resistive torque - steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo) + ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo) + freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 + + output_torque = self.pid.update(error, + feedforward=ff, + speed=CS.vEgo, + freeze_integrator=freeze_integrator) - output_steer = self.pid.update(error, override=CS.steeringPressed, - feedforward=steer_feedforward, speed=CS.vEgo) pid_log.active = True pid_log.p = float(self.pid.p) pid_log.i = float(self.pid.i) pid_log.f = float(self.pid.f) - pid_log.output = float(output_steer) - pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited)) + pid_log.output = float(output_torque) + pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited)) - return output_steer, angle_steers_des, pid_log + return output_torque, angle_steers_des, pid_log diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 991ac3439b..c368a5da43 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -37,7 +37,7 @@ class LatControlTorque(LatControl): self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited): pid_log = log.ControlsState.LateralTorqueState.new_message() if not active: output_torque = 0.0 @@ -66,7 +66,7 @@ class LatControlTorque(LatControl): gravity_adjusted=True) ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) - freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5 + freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, feedforward=ff, speed=CS.vEgo, @@ -80,7 +80,7 @@ class LatControlTorque(LatControl): pid_log.output = float(-output_torque) pid_log.actualLateralAccel = float(actual_lateral_accel) pid_log.desiredLateralAccel = float(desired_lateral_accel) - pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited)) + pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited)) # TODO left is positive in this convention return -output_torque, 0.0, pid_log diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 43f97e212c..54ff189358 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -62b3e8590fe85f87494517b3177a0ccaad1e17e5 \ No newline at end of file +543bd2347fa35f8300478a3893fdd0a03a7c1fe6 \ No newline at end of file diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index a2f437819f..7e4e975742 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -49,7 +49,7 @@ class SteeringAccuracyTool: active = sm['controlsState'].active steer = sm['carOutput'].actuatorsOutput.torque standstill = sm['carState'].standstill - steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2 + steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2 overriding = sm['carState'].steeringPressed changing_lanes = sm['modelV2'].meta.laneChangeState != 0 model_points = sm['modelV2'].position.y @@ -77,7 +77,7 @@ class SteeringAccuracyTool: self.speed_group_stats[group][angle_abs]["steer"] += abs(steer) if len(model_points): self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0]) - if steer_limited_by_controls: + if steer_limited_by_safety: self.speed_group_stats[group][angle_abs]["limited"] += 1 if control_state.saturated: self.speed_group_stats[group][angle_abs]["saturated"] += 1 From 13d4c6a167dd8181875098295629355dc61679ec Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Mon, 11 Aug 2025 16:26:07 -0700 Subject: [PATCH 060/126] ui: replace "Hotspot" with link icon (#35978) replace "Hotspot" with link icon --- selfdrive/assets/icons/link.png | 3 +++ selfdrive/ui/qt/sidebar.cc | 8 +++++++- selfdrive/ui/qt/sidebar.h | 2 +- 3 files changed, 11 insertions(+), 2 deletions(-) create mode 100644 selfdrive/assets/icons/link.png diff --git a/selfdrive/assets/icons/link.png b/selfdrive/assets/icons/link.png new file mode 100644 index 0000000000..8a795c05b8 --- /dev/null +++ b/selfdrive/assets/icons/link.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206 +size 5713 diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index d88902d6bc..e9c6a2f7c0 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -29,6 +29,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed( flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size()); settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30)); + link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60)); connect(this, &Sidebar::valueChanged, [=] { update(); }); @@ -150,7 +151,12 @@ void Sidebar::paintEvent(QPaintEvent *event) { p.setFont(InterFont(35)); p.setPen(QColor(0xff, 0xff, 0xff)); const QRect r = QRect(58, 247, width() - 100, 50); - p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type); + + if (net_type == "Hotspot") { + p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img); + } else { + p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type); + } // metrics drawMetric(p, temp_status.first, temp_status.second, 338); diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index f05a4ab201..6a2b7b6951 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -37,7 +37,7 @@ protected: void mouseReleaseEvent(QMouseEvent *event) override; void drawMetric(QPainter &p, const QPair &label, QColor c, int y); - QPixmap home_img, flag_img, settings_img, mic_img; + QPixmap home_img, flag_img, settings_img, mic_img, link_img; bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed; const QMap network_type = { {cereal::DeviceState::NetworkType::NONE, tr("--")}, From 10cc87b80b5f7422ca6ea378a08f5bb0fe06b4ab Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 11 Aug 2025 17:06:11 -0700 Subject: [PATCH 061/126] raylib: rm some common colors (#35979) common colors --- selfdrive/ui/layouts/settings/settings.py | 2 +- selfdrive/ui/layouts/sidebar.py | 6 +++--- selfdrive/ui/onroad/hud_renderer.py | 4 ++-- selfdrive/ui/widgets/exp_mode_button.py | 6 +++--- selfdrive/ui/widgets/prime.py | 2 +- system/ui/widgets/button.py | 2 +- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index a322f21e80..674e5005f4 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255) CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255) CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255) TEXT_NORMAL = rl.Color(128, 128, 128, 255) -TEXT_SELECTED = rl.Color(255, 255, 255, 255) +TEXT_SELECTED = rl.WHITE class PanelType(IntEnum): diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index 6af947a104..cdbfa4c04c 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType # Color scheme class Colors: SIDEBAR_BG = rl.Color(57, 57, 57, 255) - WHITE = rl.Color(255, 255, 255, 255) + WHITE = rl.WHITE WHITE_DIM = rl.Color(255, 255, 255, 85) GRAY = rl.Color(84, 84, 84, 255) # Status colors - GOOD = rl.Color(255, 255, 255, 255) + GOOD = rl.WHITE WARNING = rl.Color(218, 202, 37, 255) DANGER = rl.Color(201, 34, 49, 255) # UI elements METRIC_BORDER = rl.Color(255, 255, 255, 85) - BUTTON_NORMAL = rl.Color(255, 255, 255, 255) + BUTTON_NORMAL = rl.WHITE BUTTON_PRESSED = rl.Color(255, 255, 255, 166) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index 4ae713d9db..536d993389 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -34,7 +34,7 @@ class FontSizes: @dataclass(frozen=True) class Colors: - white: rl.Color = rl.Color(255, 255, 255, 255) + white: rl.Color = rl.WHITE disengaged: rl.Color = rl.Color(145, 155, 149, 255) override: rl.Color = rl.Color(145, 155, 149, 255) # Added engaged: rl.Color = rl.Color(128, 216, 166, 255) @@ -47,7 +47,7 @@ class Colors: white_translucent: rl.Color = rl.Color(255, 255, 255, 200) border_translucent: rl.Color = rl.Color(255, 255, 255, 75) header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114) - header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0) + header_gradient_end: rl.Color = rl.BLANK UI_CONFIG = UIConfig() diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py index 88664e0fad..9618768957 100644 --- a/selfdrive/ui/widgets/exp_mode_button.py +++ b/selfdrive/ui/widgets/exp_mode_button.py @@ -37,7 +37,7 @@ class ExperimentalModeButton(Widget): self.params.put_bool("ExperimentalMode", self.experimental_mode) def _render(self, rect): - rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255)) + rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE) rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) self._draw_gradient_background(rect) @@ -53,7 +53,7 @@ class ExperimentalModeButton(Widget): text_x = rect.x + self.horizontal_padding text_y = rect.y + rect.height / 2 - 45 // 2 # Center vertically - rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255)) + rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK) # Draw icon (right aligned) icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width @@ -63,4 +63,4 @@ class ExperimentalModeButton(Widget): # Draw current mode icon current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height) - rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255)) + rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE) diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py index 86234ee149..6b601f6dff 100644 --- a/selfdrive/ui/widgets/prime.py +++ b/selfdrive/ui/widgets/prime.py @@ -36,7 +36,7 @@ class PrimeWidget(Widget): font = gui_app.font(FontWeight.LIGHT) wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w))) text_size = measure_text_cached(font, wrapped_text, 56) - rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255)) + rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE) # Features section features_y = desc_y + text_size.y + 50 diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 41af8e51ca..a5dab19789 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -32,7 +32,7 @@ BUTTON_TEXT_COLOR = { ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255), ButtonStyle.DANGER: rl.Color(228, 228, 228, 255), ButtonStyle.TRANSPARENT: rl.BLACK, - ButtonStyle.ACTION: rl.Color(0, 0, 0, 255), + ButtonStyle.ACTION: rl.BLACK, ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255), ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255), ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255), From cd087a561e559d762e7919ace8aaab8138b2667a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 11 Aug 2025 17:42:03 -0700 Subject: [PATCH 062/126] Simple plan (#35980) * squash * double * proper merge * better organization --- selfdrive/modeld/parse_model_outputs.py | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index b89de27594..9e1c048735 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -94,15 +94,21 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: + self.parse_mdn('lead', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + else: + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'lat_planner_solution' in outs: - 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"2164d501-7d2c-467d-b132-be4f85db4164/60" This reverts commit 1f4b98ed7d63971507dff94e5ac20223ee15e067. * 9a836aee-dec6-4f26-8d7e-6db4bb9c8176 * no replace ln * Revert "no replace ln" This reverts commit fb5173ced84bb8a07a4e06a5bec43d115404973b. * opset_version 17 * rebase * 5f255b73-2e54-46bc-8f80-82c5838165a3/400 * a423dec7-7dcc-4523-aaae-a4012d56b9b5/400 --------- Co-authored-by: Bruce Wayne --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 0e30c93027..267fc92a3f 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2c15e7a5c54362273399947b2bb98ec11c3050bc0ed9be3ff154a198d7f857b1 +oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57 size 15583374 From 3d6dfc864dd8778fbdac7b3a09bbfff8ab86c78f Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Wed, 13 Aug 2025 11:43:35 -0700 Subject: [PATCH 065/126] clip: terminate processes in clip() instead of in main() (#35984) * terminate processes in clip() instead of in main() * context manager for proc --- common/run.py | 15 ++++++++ tools/clip/run.py | 87 ++++++++++++++++++----------------------------- 2 files changed, 49 insertions(+), 53 deletions(-) diff --git a/common/run.py b/common/run.py index 06deb6388d..75395ead1f 100644 --- a/common/run.py +++ b/common/run.py @@ -1,4 +1,6 @@ import subprocess +from contextlib import contextmanager +from subprocess import Popen, PIPE, TimeoutExpired def run_cmd(cmd: list[str], cwd=None, env=None) -> str: @@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st except subprocess.CalledProcessError: return default + +@contextmanager +def managed_proc(cmd: list[str], env: dict[str, str]): + proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE) + try: + yield proc + finally: + if proc.poll() is None: + proc.terminate() + try: + proc.wait(timeout=5) + except TimeoutExpired: + proc.kill() diff --git a/tools/clip/run.py b/tools/clip/run.py index 7920751447..8fa0e8eda3 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 -import atexit import logging import os import platform @@ -11,13 +10,14 @@ from argparse import ArgumentParser, ArgumentTypeError from collections.abc import Sequence from pathlib import Path from random import randint -from subprocess import Popen, PIPE +from subprocess import Popen from typing import Literal from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, UnknownKeyName from openpilot.common.prefix import OpenpilotPrefix +from openpilot.common.run import managed_proc from openpilot.tools.lib.route import Route from openpilot.tools.lib.logreader import LogReader @@ -38,22 +38,23 @@ UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) logger = logging.getLogger('clip.py') -def check_for_failure(proc: Popen): - exit_code = proc.poll() - if exit_code is not None and exit_code != 0: - cmd = str(proc.args) - if isinstance(proc.args, str): - cmd = proc.args - elif isinstance(proc.args, Sequence): - cmd = str(proc.args[0]) - msg = f'{cmd} failed, exit code {exit_code}' - logger.error(msg) - stdout, stderr = proc.communicate() - if stdout: - logger.error(stdout.decode()) - if stderr: - logger.error(stderr.decode()) - raise ChildProcessError(msg) +def check_for_failure(procs: list[Popen]): + for proc in procs: + exit_code = proc.poll() + if exit_code is not None and exit_code != 0: + cmd = str(proc.args) + if isinstance(proc.args, str): + cmd = proc.args + elif isinstance(proc.args, Sequence): + cmd = str(proc.args[0]) + msg = f'{cmd} failed, exit code {exit_code}' + logger.error(msg) + stdout, stderr = proc.communicate() + if stdout: + logger.error(stdout.decode()) + if stderr: + logger.error(stderr.decode()) + raise ChildProcessError(msg) def escape_ffmpeg_text(value: str): @@ -137,10 +138,6 @@ def populate_car_params(lr: LogReader): logger.debug('persisted CarParams') -def start_proc(args: list[str], env: dict[str, str]): - return Popen(args, env=env, stdout=PIPE, stderr=PIPE) - - def validate_env(parser: ArgumentParser): if platform.system() not in ['Linux']: parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n') @@ -176,8 +173,7 @@ def wait_for_frames(procs: list[Popen]): while no_frames_drawn: sm.update() no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0. - for proc in procs: - check_for_failure(proc) + check_for_failure(procs) def clip( @@ -253,35 +249,22 @@ def clip( with OpenpilotPrefix(prefix, shared_download_cache=True): populate_car_params(lr) - env = os.environ.copy() env['DISPLAY'] = display - xvfb_proc = start_proc(xvfb_cmd, env) - atexit.register(lambda: xvfb_proc.terminate()) - ui_proc = start_proc(ui_cmd, env) - atexit.register(lambda: ui_proc.terminate()) - replay_proc = start_proc(replay_cmd, env) - atexit.register(lambda: replay_proc.terminate()) - procs = [replay_proc, ui_proc, xvfb_proc] - - logger.info('waiting for replay to begin (loading segments, may take a while)...') - wait_for_frames(procs) - - logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...') - time.sleep(SECONDS_TO_WARM) - for proc in procs: - check_for_failure(proc) - - ffmpeg_proc = start_proc(ffmpeg_cmd, env) - procs.append(ffmpeg_proc) - atexit.register(lambda: ffmpeg_proc.terminate()) - - logger.info(f'recording in progress ({duration}s)...') - ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) - for proc in procs: - check_for_failure(proc) - logger.info(f'recording complete: {Path(out).resolve()}') + with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc: + procs = [xvfb_proc, ui_proc, replay_proc] + logger.info('waiting for replay to begin (loading segments, may take a while)...') + wait_for_frames(procs) + logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...') + time.sleep(SECONDS_TO_WARM) + check_for_failure(procs) + with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc: + procs.append(ffmpeg_proc) + logger.info(f'recording in progress ({duration}s)...') + ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) + check_for_failure(procs) + logger.info(f'recording complete: {Path(out).resolve()}') def main(): @@ -319,9 +302,7 @@ def main(): logger.exception('interrupted by user', exc_info=e) except Exception as e: logger.exception('encountered error', exc_info=e) - finally: - atexit._run_exitfuncs() - sys.exit(exit_code) + sys.exit(exit_code) if __name__ == '__main__': From be934b3881ba136dbb32a4a9114cc92dfa5d0359 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 13 Aug 2025 11:43:50 -0700 Subject: [PATCH 066/126] fancontroller: remove weird minus (#35983) * fancontroller: remove weird minus * another minus --- system/hardware/fan_controller.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py index 7d5bec0509..4c7adc0a3e 100755 --- a/system/hardware/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -21,16 +21,16 @@ class TiciFanController(BaseFanController): self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW)) def update(self, cur_temp: float, ignition: bool) -> int: - self.controller.neg_limit = -(100 if ignition else 30) - self.controller.pos_limit = -(30 if ignition else 0) + self.controller.pos_limit = 100 if ignition else 30 + self.controller.neg_limit = 30 if ignition else 0 if ignition != self.last_ignition: self.controller.reset() - error = 75 - cur_temp - fan_pwr_out = -int(self.controller.update( + error = cur_temp - 75 + fan_pwr_out = int(self.controller.update( error=error, - feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100]) + feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100]) )) self.last_ignition = ignition From a2a385336e2e8e2d9ea468e9fd075ea94b1826d2 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Wed, 13 Aug 2025 19:20:58 -0300 Subject: [PATCH 067/126] Multilang: update pt-BR translation (#35971) Multilang: update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index e16872c758..403faf226f 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -504,7 +504,7 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. - + openpilot detectou atuação excessiva de %1 na sua última condução. Entre em contato com o suporte em https://comma.ai/support e compartilhe o Dongle ID do seu dispositivo para solução de problemas. @@ -1145,13 +1145,15 @@ Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo a Record Audio Feedback with LKAS button - + Gravar feedback de áudio com o botão LKAS Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. Note that this feature is only compatible with select cars. - + Pressione o botão LKAS para gravar e compartilhar feedback de direção com a equipe do openpilot. Quando esta opção estiver desativada, o botão funcionará como um botão de marcador. O evento será destacado no comma connect e o segmento será preservado no armazenamento do seu dispositivo. + +Observe que este recurso é compatível apenas com alguns modelos de carros. From 3f830827b2e69fb25054018a5592b5c270ddba08 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 13 Aug 2025 16:07:12 -0700 Subject: [PATCH 068/126] setup: new flow (#35960) * start * remove * path * fix * prepare * url * format * better * better * consist * check * not real * ref * simpler * fix * fix * more * more * path * clean * line * progress * fast * no * ori * flag * remove * install * line * wait time * wait install * Revert "wait time" This reverts commit 14f750971c3d19b93e4609e9344cb3a8ce9175f4. * move * fix * install * universal service resources * fix * safer * this is stupid * time * cleaner * comment --- selfdrive/ui/installer/installer.cc | 46 +++++++++++++++------ system/ui/setup.py | 64 +++++++++++++++++++++++------ 2 files changed, 84 insertions(+), 26 deletions(-) diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 7326e089ab..a9b84b5c06 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "? #define GIT_SSH_URL "git@github.com:commaai/openpilot.git" #define CONTINUE_PATH "/data/continue.sh" -const std::string CACHE_PATH = "/data/openpilot.cache"; +const std::string INSTALL_PATH = "/data/openpilot"; +const std::string VALID_CACHE_PATH = "/data/.openpilot_cache"; -#define INSTALL_PATH "/data/openpilot" #define TMP_INSTALL_PATH "/data/tmppilot" +const int FONT_SIZE = 120; + extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start"); extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end"); extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start"); @@ -41,6 +43,16 @@ void run(const char* cmd) { assert(err == 0); } +void finishInstall() { + BeginDrawing(); + ClearBackground(BLACK); + const char *m = "Finishing install..."; + int text_width = MeasureText(m, FONT_SIZE); + DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE); + EndDrawing(); + util::sleep_for(60 * 1000); +} + void renderProgress(int progress) { BeginDrawing(); ClearBackground(BLACK); @@ -62,11 +74,11 @@ int doInstall() { } // cleanup previous install attempts - run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH); + run("rm -rf " TMP_INSTALL_PATH); // do the install - if (util::file_exists(CACHE_PATH)) { - return cachedFetch(CACHE_PATH); + if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) { + return cachedFetch(INSTALL_PATH); } else { return freshClone(); } @@ -135,7 +147,9 @@ void cloneFinished(int exitCode) { run("git submodule update --init"); // move into place - run("mv " TMP_INSTALL_PATH " " INSTALL_PATH); + run(("rm -f " + VALID_CACHE_PATH).c_str()); + run(("rm -rf " + INSTALL_PATH).c_str()); + run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str()); #ifdef INTERNAL run("mkdir -p /data/params/d/"); @@ -153,9 +167,9 @@ void cloneFinished(int exitCode) { param << value; param.close(); } - run("cd " INSTALL_PATH " && " + run(("cd " + INSTALL_PATH + " && " "git remote set-url origin --push " GIT_SSH_URL " && " - "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\""); + "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str()); #endif // write continue.sh @@ -171,16 +185,22 @@ void cloneFinished(int exitCode) { run("mv /data/continue.sh.new " CONTINUE_PATH); // wait for the installed software's UI to take over - util::sleep_for(60 * 1000); + finishInstall(); } int main(int argc, char *argv[]) { InitWindow(2160, 1080, "Installer"); - font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0); + font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0); SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR); - renderProgress(0); - int result = doInstall(); - cloneFinished(result); + + if (util::file_exists(CONTINUE_PATH)) { + finishInstall(); + } else { + renderProgress(0); + int result = doInstall(); + cloneFinished(result); + } + CloseWindow(); UnloadFont(font); return 0; diff --git a/system/ui/setup.py b/system/ui/setup.py index d675e868ff..72718b5d6d 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -6,9 +6,12 @@ import time import urllib.request from urllib.parse import urlparse from enum import IntEnum +import shutil + import pyray as rl from cereal import log +from openpilot.common.run import run_cmd from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget @@ -30,6 +33,19 @@ BUTTON_SPACING = 50 OPENPILOT_URL = "https://openpilot.comma.ai" USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}" +CONTINUE_PATH = "/data/continue.sh" +TMP_CONTINUE_PATH = "/data/continue.sh.new" +INSTALL_PATH = "/data/openpilot" +VALID_CACHE_PATH = "/data/.openpilot_cache" +INSTALLER_SOURCE_PATH = "/usr/comma/installer" +INSTALLER_DESTINATION_PATH = "/tmp/installer" +INSTALLER_URL_PATH = "/tmp/installer_url" + +CONTINUE = """#!/usr/bin/env bash + +cd /data/openpilot +exec ./launch_openpilot.sh +""" class SetupState(IntEnum): LOW_VOLTAGE = 0 @@ -136,21 +152,19 @@ class Setup(Widget): self.state = SetupState.SOFTWARE_SELECTION def _custom_software_warning_continue_button_callback(self): - self.state = SetupState.CUSTOM_SOFTWARE - - def _getting_started_button_callback(self): self.state = SetupState.NETWORK_SETUP self.stop_network_check_thread.clear() self.start_network_check() + def _getting_started_button_callback(self): + self.state = SetupState.SOFTWARE_SELECTION + def _software_selection_back_button_callback(self): - self.state = SetupState.NETWORK_SETUP - self.stop_network_check_thread.clear() - self.start_network_check() + self.state = SetupState.GETTING_STARTED def _software_selection_continue_button_callback(self): if self._software_selection_openpilot_button.selected: - self.download(OPENPILOT_URL) + self.use_openpilot() else: self.state = SetupState.CUSTOM_SOFTWARE_WARNING @@ -158,11 +172,14 @@ class Setup(Widget): self.state = SetupState.GETTING_STARTED def _network_setup_back_button_callback(self): - self.state = SetupState.GETTING_STARTED + self.state = SetupState.SOFTWARE_SELECTION def _network_setup_continue_button_callback(self): - self.state = SetupState.SOFTWARE_SELECTION self.stop_network_check_thread.set() + if self._software_selection_openpilot_button.selected: + self.download(OPENPILOT_URL) + else: + self.state = SetupState.CUSTOM_SOFTWARE def render_low_voltage(self, rect: rl.Rectangle): rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE) @@ -299,6 +316,23 @@ class Setup(Widget): self.keyboard.set_title("Enter URL", "for Custom Software") gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result) + def use_openpilot(self): + if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH): + os.remove(VALID_CACHE_PATH) + with open(TMP_CONTINUE_PATH, "w") as f: + f.write(CONTINUE) + run_cmd(["chmod", "+x", TMP_CONTINUE_PATH]) + shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH) + shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH) + + # give time for installer UI to take over + time.sleep(1) + gui_app.request_close() + else: + self.state = SetupState.NETWORK_SETUP + self.stop_network_check_thread.clear() + self.start_network_check() + def download(self, url: str): # autocomplete incomplete URLs if re.match("^([^/.]+)/([^/]+)$", url): @@ -316,7 +350,7 @@ class Setup(Widget): try: import tempfile - _, tmpfile = tempfile.mkstemp(prefix="installer_") + fd, tmpfile = tempfile.mkstemp(prefix="installer_") headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()} req = urllib.request.Request(self.download_url, headers=headers) @@ -346,12 +380,16 @@ class Setup(Widget): self.download_failed(self.download_url, "No custom software found at this URL.") return - os.rename(tmpfile, "/tmp/installer") - os.chmod("/tmp/installer", 0o755) + # AGNOS might try to execute the installer before this process exits. + # Therefore, important to close the fd before renaming the installer. + os.close(fd) + os.rename(tmpfile, INSTALLER_DESTINATION_PATH) - with open("/tmp/installer_url", "w") as f: + with open(INSTALLER_URL_PATH, "w") as f: f.write(self.download_url) + # give time for installer UI to take over + time.sleep(5) gui_app.request_close() except Exception: From 56a89eb4fb39aed92ecec771b0771d685ff9d42c Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Wed, 13 Aug 2025 18:32:10 -0700 Subject: [PATCH 069/126] [bot] Update translations (#35975) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 105 ---------------------- selfdrive/ui/translations/main_de.ts | 105 ---------------------- selfdrive/ui/translations/main_es.ts | 107 ----------------------- selfdrive/ui/translations/main_fr.ts | 105 ---------------------- selfdrive/ui/translations/main_ja.ts | 107 ----------------------- selfdrive/ui/translations/main_ko.ts | 107 ----------------------- selfdrive/ui/translations/main_pt-BR.ts | 107 ----------------------- selfdrive/ui/translations/main_th.ts | 105 ---------------------- selfdrive/ui/translations/main_tr.ts | 105 ---------------------- selfdrive/ui/translations/main_zh-CHS.ts | 107 ----------------------- selfdrive/ui/translations/main_zh-CHT.ts | 107 ----------------------- 11 files changed, 1167 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index eac3b561f7..ff2e7ab05c 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -700,111 +700,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp خرطوم الحريق - - Setup - - WARNING: Low Voltage - تحذير: الجهد منخفض - - - Power your device in a car with a harness or proceed at your own risk. - شغل جهازك في السيارة عن طريق شرطان التوصيل، أو تابع على مسؤوليتك. - - - Power off - إيقاف التشغيل - - - Continue - متابعة - - - Getting Started - البدء - - - Before we get on the road, let’s finish installation and cover some details. - قبل أن ننطلق في الطريق، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل. - - - Connect to Wi-Fi - الاتصال بشبكة الواي فاي - - - Back - السابق - - - Continue without Wi-Fi - المتابعة بدون شبكة الواي فاي - - - Waiting for internet - بانتظار الاتصال بالإنترنت - - - Enter URL - أدخل رابط URL - - - for Custom Software - للبرامج المخصصة - - - Downloading... - يتم الآن التنزيل... - - - Download Failed - فشل التنزيل - - - Ensure the entered URL is valid, and the device’s internet connection is good. - تأكد من أن رابط URL الذي أدخلته صالح، وأن اتصال الجهاز بالإنترنت جيد. - - - Reboot device - إعادة التشغيل - - - Start over - البدء من جديد - - - Something went wrong. Reboot the device. - حدث خطأ ما. أعد التشغيل الجهاز. - - - No custom software found at this URL. - لم يتم العثور على برنامج خاص لعنوان URL ها. - - - Select a language - اختر لغة - - - Choose Software to Install - اختر البرنامج للتثبيت - - - openpilot - openpilot - - - Custom Software - البرمجيات المخصصة - - - WARNING: Custom Software - - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - - - SetupWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index b91c0e23ce..52fe55720d 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -680,111 +680,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Firehose - - Setup - - WARNING: Low Voltage - Warnung: Batteriespannung niedrig - - - Power your device in a car with a harness or proceed at your own risk. - Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort. - - - Power off - Ausschalten - - - Continue - Fortsetzen - - - Getting Started - Loslegen - - - Before we get on the road, let’s finish installation and cover some details. - Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen. - - - Connect to Wi-Fi - Mit WLAN verbinden - - - Back - Zurück - - - Continue without Wi-Fi - Ohne WLAN fortsetzen - - - Waiting for internet - Auf Internet warten - - - Enter URL - URL eingeben - - - for Custom Software - für spezifische Software - - - Downloading... - Herunterladen... - - - Download Failed - Herunterladen fehlgeschlagen - - - Ensure the entered URL is valid, and the device’s internet connection is good. - Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat. - - - Reboot device - Gerät neustarten - - - Start over - Von neuem beginnen - - - No custom software found at this URL. - Keine benutzerdefinierte Software unter dieser URL gefunden. - - - Something went wrong. Reboot the device. - Etwas ist schiefgelaufen. Starte das Gerät neu. - - - Select a language - Sprache wählen - - - Choose Software to Install - Wähle die zu installierende Software - - - openpilot - openpilot - - - Custom Software - Benutzerdefinierte Software - - - WARNING: Custom Software - - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - - - SetupWidget diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 79b10f316f..145eb7ae67 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -684,113 +684,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para Firehose - - Setup - - Something went wrong. Reboot the device. - Algo ha ido mal. Reinicie el dispositivo. - - - Ensure the entered URL is valid, and the device’s internet connection is good. - Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión. - - - No custom software found at this URL. - No encontramos software personalizado en esta URL. - - - WARNING: Low Voltage - ALERTA: Voltaje bajo - - - Power your device in a car with a harness or proceed at your own risk. - Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo. - - - Power off - Apagar - - - Continue - Continuar - - - Getting Started - Comenzando - - - Before we get on the road, let’s finish installation and cover some details. - Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles. - - - Connect to Wi-Fi - Conectarse al Wi-Fi - - - Back - Volver - - - Continue without Wi-Fi - Continuar sin Wi-Fi - - - Waiting for internet - Esperando conexión a internet - - - Choose Software to Install - Elija el software a instalar - - - openpilot - openpilot - - - Custom Software - Software personalizado - - - Enter URL - Insertar URL - - - for Custom Software - para Software personalizado - - - Downloading... - Descargando... - - - Download Failed - Descarga fallida - - - Reboot device - Reiniciar Dispositivo - - - Start over - Comenzar de nuevo - - - Select a language - Seleccione un idioma - - - WARNING: Custom Software - ADVERTENCIA: Software personalizado - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - Tenga cuidado al instalar software de terceros. El software de terceros no ha sido probado por comma y puede causar daños a su dispositivo y/o vehículo. - -Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo a un estado de fábrica más tarde. - - SetupWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index a4effb2a45..297d936139 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -678,111 +678,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Setup - - Something went wrong. Reboot the device. - Un problème est survenu. Redémarrez l'appareil. - - - Ensure the entered URL is valid, and the device’s internet connection is good. - Assurez-vous que l'URL saisie est valide et que la connexion internet de l'appareil est bonne. - - - No custom software found at this URL. - Aucun logiciel personnalisé trouvé à cette URL. - - - WARNING: Low Voltage - ATTENTION : Tension faible - - - Power your device in a car with a harness or proceed at your own risk. - Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls. - - - Power off - Éteindre - - - Continue - Continuer - - - Getting Started - Commencer - - - Before we get on the road, let’s finish installation and cover some details. - Avant de prendre la route, terminons l'installation et passons en revue quelques détails. - - - Connect to Wi-Fi - Se connecter au Wi-Fi - - - Back - Retour - - - Enter URL - Entrer l'URL - - - for Custom Software - pour logiciel personnalisé - - - Continue without Wi-Fi - Continuer sans Wi-Fi - - - Waiting for internet - En attente d'internet - - - Downloading... - Téléchargement... - - - Download Failed - Échec du téléchargement - - - Reboot device - Redémarrer l'appareil - - - Start over - Recommencer - - - Select a language - Choisir une langue - - - Choose Software to Install - Choisir le logiciel à installer - - - openpilot - openpilot - - - Custom Software - Logiciel personnalisé - - - WARNING: Custom Software - - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - - - SetupWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 8d0b2cb75b..7bb5c5364f 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -679,113 +679,6 @@ Firehoseモードを有効にすると学習データを最大限アップロー データ学習 - - Setup - - WARNING: Low Voltage - 警告：電圧低下 - - - Power your device in a car with a harness or proceed at your own risk. - ハーネスを使って車でデバイスに電源を供給するか、自己責任でこのまま継続して下さい。 - - - Power off - 電源を切る - - - Continue - 続ける - - - Getting Started - はじめに - - - Before we get on the road, let’s finish installation and cover some details. - 出発する前に、インストールを完了させて少し詳細を確認しましょう。 - - - Connect to Wi-Fi - Wi-Fiに接続 - - - Back - 戻る - - - Continue without Wi-Fi - Wi-Fiに接続せずに続行 - - - Waiting for internet - インターネット接続を待機中 - - - Enter URL - URLの入力 - - - for Custom Software - カスタムソフトウェア - - - Downloading... - ダウンロード中... - - - Download Failed - ダウンロードに失敗しました - - - Ensure the entered URL is valid, and the device’s internet connection is good. - 入力されたURLが正しいかどうか、インターネットに正常に接続できているかを確認してください。 - - - Reboot device - デバイスを再起動 - - - Start over - やり直す - - - No custom software found at this URL. - このURLはカスタムソフトウェアではありません。 - - - Something went wrong. Reboot the device. - 何かの問題が発生しました。デバイスを再起動してください。 - - - Select a language - 言語を選択 - - - Choose Software to Install - インストールするソフトウェアを選択してください。 - - - openpilot - openpilot - - - Custom Software - カスタムソフトウェア - - - WARNING: Custom Software - 警告: カスタムソフトウェア - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - サードパーティ製ソフトウェアをインストールする際は注意してください。サードパーティ製ソフトウェアはcommaによってテストされておらず、あなたのデバイスや車両に損害を与える可能性があります。 - -続行したい場合は、後でデバイスを工場出荷時の状態に戻すために https://flash.comma.ai を使用してください。 - - SetupWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 3cffab10b2..807996f182 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -679,113 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 파이어호스 - - Setup - - WARNING: Low Voltage - 경고: 전압이 낮습니다 - - - Power your device in a car with a harness or proceed at your own risk. - 장치를 하네스를 통해 차량 전원에 연결하세요. USB 전원에서는 예상치 못한 문제가 생길 수 있습니다. - - - Power off - 전원 끄기 - - - Continue - 계속 - - - Getting Started - 시작하기 - - - Before we get on the road, let’s finish installation and cover some details. - 출발 전 설정을 완료하고 세부 사항을 살펴봅니다. - - - Connect to Wi-Fi - Wi-Fi 연결 - - - Back - 뒤로 - - - Continue without Wi-Fi - Wi-Fi 연결 없이 진행 - - - Waiting for internet - 인터넷 연결 대기 중 - - - Enter URL - URL 입력 - - - for Custom Software - 커스텀 소프트웨어 - - - Downloading... - 다운로드 중... - - - Download Failed - 다운로드 실패 - - - Ensure the entered URL is valid, and the device’s internet connection is good. - 입력된 URL이 유효하고 인터넷 연결이 원활한지 확인하세요. - - - Reboot device - 장치 재부팅 - - - Start over - 다시 시작 - - - Something went wrong. Reboot the device. - 문제가 발생했습니다. 장치를 재부팅하세요. - - - No custom software found at this URL. - 이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다. - - - Select a language - 언어를 선택하세요 - - - Choose Software to Install - 설치할 소프트웨어 선택 - - - openpilot - 오픈파일럿 - - - Custom Software - 커스텀 소프트웨어 - - - WARNING: Custom Software - 경고: 커스텀 소프트웨어 - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - 타사 소프트웨어를 설치할 때는 주의하십시오. 타사 소프트웨어는 comma에 의해 테스트되지 않았으며 장치나 차량에 손상을 줄 수 있습니다. - -진행하려면 https://flash.comma.ai를 사용하여 나중에 장치를 공장 초기화하세요. - - SetupWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 403faf226f..7f41588e8f 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -684,113 +684,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Firehose - - Setup - - WARNING: Low Voltage - ALERTA: Baixa Voltagem - - - Power your device in a car with a harness or proceed at your own risk. - Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco. - - - Power off - Desligar - - - Continue - Continuar - - - Getting Started - Começando - - - Before we get on the road, let’s finish installation and cover some details. - Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes. - - - Connect to Wi-Fi - Conectar ao Wi-Fi - - - Back - Voltar - - - Continue without Wi-Fi - Continuar sem Wi-Fi - - - Waiting for internet - Esperando pela internet - - - Enter URL - Preencher URL - - - for Custom Software - para o Software Customizado - - - Downloading... - Baixando... - - - Download Failed - Download Falhou - - - Ensure the entered URL is valid, and the device’s internet connection is good. - Garanta que a URL inserida é valida, e uma boa conexão à internet. - - - Reboot device - Reiniciar Dispositivo - - - Start over - Inicializar - - - No custom software found at this URL. - Não há software personalizado nesta URL. - - - Something went wrong. Reboot the device. - Algo deu errado. Reinicie o dispositivo. - - - Select a language - Selecione o Idioma - - - Choose Software to Install - Escolha o Software a ser Instalado - - - openpilot - openpilot - - - Custom Software - Software Customizado - - - WARNING: Custom Software - AVISO: Software Personalizado - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - Tenha cuidado ao instalar software de terceiros. Softwares de terceiros não foram testados pela comma e podem causar danos ao seu dispositivo e/ou veículo. - -Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo ao estado de fábrica mais tarde. - - SetupWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 87cb8bc2e2..34824c2680 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -675,111 +675,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp สายยางดับเพลิง - - Setup - - WARNING: Low Voltage - คำเตือน: แรงดันแบตเตอรี่ต่ำ - - - Power your device in a car with a harness or proceed at your own risk. - โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง - - - Power off - ปิดเครื่อง - - - Continue - ดำเนินการต่อ - - - Getting Started - เริ่มกันเลย - - - Before we get on the road, let’s finish installation and cover some details. - ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า - - - Connect to Wi-Fi - เชื่อมต่อ Wi-Fi - - - Back - ย้อนกลับ - - - Continue without Wi-Fi - ดำเนินการต่อโดยไม่ใช้ Wi-Fi - - - Waiting for internet - กำลังรอสัญญาณอินเตอร์เน็ต - - - Enter URL - ป้อน URL - - - for Custom Software - สำหรับซอฟต์แวร์ที่กำหนดเอง - - - Downloading... - กำลังดาวน์โหลด... - - - Download Failed - ดาวน์โหลดล้มเหลว - - - Ensure the entered URL is valid, and the device’s internet connection is good. - ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่ - - - Reboot device - รีบูตอุปกรณ์ - - - Start over - เริ่มต้นใหม่ - - - Something went wrong. Reboot the device. - มีบางอย่างผิดพลาด รีบูตอุปกรณ์ - - - No custom software found at this URL. - ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้ - - - Select a language - เลือกภาษา - - - Choose Software to Install - เลือกซอฟต์แวร์ที่จะติดตั้ง - - - openpilot - openpilot - - - Custom Software - ซอฟต์แวร์ที่กำหนดเอง - - - WARNING: Custom Software - - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - - - SetupWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 6112698e31..db6c4283a8 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -672,111 +672,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp - - Setup - - WARNING: Low Voltage - UYARI: Düşük voltaj - - - Power your device in a car with a harness or proceed at your own risk. - Cihazınızı emniyet kemeri olan bir arabada çalıştırın veya riski kabul ederek devam edin. - - - Power off - Sistemi kapat - - - Continue - Devam et - - - Getting Started - Başlarken - - - Before we get on the road, let’s finish installation and cover some details. - Yola çıkmadan önce kurulumu bitirin ve bazı detayları gözden geçirin.. - - - Connect to Wi-Fi - Wi-Fi ile bağlan - - - Back - Geri - - - Continue without Wi-Fi - Wi-Fi bağlantısı olmadan devam edin - - - Waiting for internet - İnternet bağlantısı bekleniyor. - - - Enter URL - URL girin - - - for Custom Software - özel yazılım için - - - Downloading... - İndiriliyor... - - - Download Failed - İndirme başarısız. - - - Ensure the entered URL is valid, and the device’s internet connection is good. - Girilen URL nin geçerli olduğundan ve cihazın internet bağlantısının olduğunu kontrol edin - - - Reboot device - Cihazı yeniden başlat - - - Start over - Zacznij od początku - - - Something went wrong. Reboot the device. - - - - No custom software found at this URL. - - - - Select a language - Dil seçin - - - Choose Software to Install - - - - openpilot - openpilot - - - Custom Software - - - - WARNING: Custom Software - - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - - - SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index a1d1602373..fc4247d6a7 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -679,113 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose - - Setup - - WARNING: Low Voltage - 警告：低电压 - - - Power your device in a car with a harness or proceed at your own risk. - 请使用car harness线束为您的设备供电，或自行承担风险。 - - - Power off - 关机 - - - Continue - 继续 - - - Getting Started - 开始设置 - - - Before we get on the road, let’s finish installation and cover some details. - 开始旅程之前，让我们完成安装并介绍一些细节。 - - - Connect to Wi-Fi - 连接到WiFi - - - Back - 返回 - - - Continue without Wi-Fi - 不连接WiFi并继续 - - - Waiting for internet - 等待网络连接 - - - Enter URL - 输入网址 - - - for Custom Software - 以下载自定义软件 - - - Downloading... - 正在下载…… - - - Download Failed - 下载失败 - - - Ensure the entered URL is valid, and the device’s internet connection is good. - 请确保互联网连接良好且输入的URL有效。 - - - Reboot device - 重启设备 - - - Start over - 重来 - - - No custom software found at this URL. - 在此网址找不到自定义软件。 - - - Something went wrong. Reboot the device. - 发生了一些错误。请重新启动您的设备。 - - - Select a language - 选择语言 - - - Choose Software to Install - 选择要安装的软件 - - - openpilot - openpilot - - - Custom Software - 定制软件 - - - WARNING: Custom Software - 警告：自定义软件 - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - 请谨慎安装第三方软件。第三方软件未经 comma 测试，可能会损害您的设备和车辆。 - -如果您决定继续，后续可通过 https://flash.comma.ai 将设备恢复到出厂状态。 - - SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index a094dd4182..bf1a739313 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -679,113 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose - - Setup - - WARNING: Low Voltage - 警告：電壓過低 - - - Power your device in a car with a harness or proceed at your own risk. - 請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。 - - - Power off - 關機 - - - Continue - 繼續 - - - Getting Started - 入門 - - - Before we get on the road, let’s finish installation and cover some details. - 在我們上路之前，讓我們完成安裝並介紹一些細節。 - - - Connect to Wi-Fi - 連接到無線網路 - - - Back - 回上頁 - - - Continue without Wi-Fi - 在沒有 Wi-Fi 的情況下繼續 - - - Waiting for internet - 連接至網路中 - - - Enter URL - 輸入網址 - - - for Custom Software - 訂製的軟體 - - - Downloading... - 下載中… - - - Download Failed - 下載失敗 - - - Ensure the entered URL is valid, and the device’s internet connection is good. - 請確定您輸入的是有效的安裝網址，並且確定裝置的網路連線狀態良好。 - - - Reboot device - 重新啟動 - - - Start over - 重新開始 - - - No custom software found at this URL. - 在此網址找不到自訂軟體。 - - - Something went wrong. Reboot the device. - 發生了一些錯誤。請重新啟動您的裝置。 - - - Select a language - 選擇語言 - - - Choose Software to Install - 選擇要安裝的軟體 - - - openpilot - openpilot - - - Custom Software - 自訂軟體 - - - WARNING: Custom Software - 警告：自訂軟體 - - - Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. - -If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - 請謹慎安裝第三方軟體。第三方軟體未經 comma 測試，可能會損壞您的裝置及車輛。 - -若您仍要繼續，日後可使用 https://flash.comma.ai 將您的裝置恢復至出廠狀態。 - - SetupWidget From 741ea44abaaa0824982e9fe522ac207c4c742483 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 13 Aug 2025 23:25:09 -0700 Subject: [PATCH 070/126] AGNOS 12.7 (#35988) * agnos12.7 * prod --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++---- system/hardware/tici/all-partitions.json | 36 ++++++++++++------------ 3 files changed, 25 insertions(+), 25 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 0ed1395b37..e1a0da9b67 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.6" + export AGNOS_VERSION="12.7" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7d99793a59..0900c51d10 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,17 +67,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz", - "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1", - "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", + "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz", + "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b", + "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f", + "ondevice_hash": "af2a42284ecfddc9d8aa50fde0e2093ba18cf1dd2242a7a3fbe05f78f6ec0228", "alt": { - "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", - "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img", + "hash": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", + "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img", "size": 5368709120 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 8648544991..5d1bcc65a7 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -350,51 +350,51 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz", - "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1", - "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", + "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz", + "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b", + "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f", + "ondevice_hash": "af2a42284ecfddc9d8aa50fde0e2093ba18cf1dd2242a7a3fbe05f78f6ec0228", "alt": { - "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643", - "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img", + "hash": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", + "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img", "size": 5368709120 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz", - "hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7", - "hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12.img.xz", + "hash": "59e1bb2606b65293721dd89bcdc8d0c5cae47718c213eb40f235149aa5a408ae", + "hash_raw": "ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1" + "ondevice_hash": "40b5e666ec137a863178b51a7947e3bb76fe9259584d84e6a66361fabced3da5" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz", - "hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484", - "hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33.img.xz", + "hash": "e555a29c3ccb547ed840085c052cd1c6126c32d5c6dafe1712f593ae631be190", + "hash_raw": "2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0" + "ondevice_hash": "f5bc368dbe52ac7800634f74b1fd764fc3b6e68337984f40fd59222b1276d9f2" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz", - "hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113", - "hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b.img.xz", + "hash": "f5dfbe1dcba25b9a1920259bc89f52b5e406519539ff0112d5469fff3f1b6dba", + "hash_raw": "6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b" + "ondevice_hash": "b8f447f0ea40faae7292d3a0dc380d194caab6ec3f5007eda5661f2aa4d2f4ab" } ] \ No newline at end of file From 349c0ec66237dad81176532788558217397d231e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 14 Aug 2025 10:30:42 -0400 Subject: [PATCH 071/126] Honda: Add several new cars to release (#35989) * bump opendbc * regen CARS.md * update RELEASES.md --- RELEASES.md | 4 ++++ docs/CARS.md | 9 +++++++-- opendbc_repo | 2 +- 3 files changed, 12 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 388ddae28b..2fadae9238 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -13,6 +13,10 @@ Version 0.10.0 (2025-08-05) * Enable live-learned steering actuation delay * Record driving feedback using LKAS button * Opt-in audio recording for dashcam video +* Acura MDX 2025 support thanks to vanillagorillaa and MVL! +* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL! +* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL! +* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL! Version 0.9.9 (2025-05-23) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index a0a4fd6bd7..fcb87236c8 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,12 +4,13 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 314 Supported Cars +# 319 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Acura|MDX 2025|All except Type S|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -72,8 +73,9 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|GV80 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| -|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| @@ -84,7 +86,9 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|CR-V 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|CR-V Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| @@ -95,6 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| diff --git a/opendbc_repo b/opendbc_repo index 040c6123fe..fa210c3fd8 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 040c6123fe524f138ae5490b93e229dd5de5e151 +Subproject commit fa210c3fd81273a06691b2c355814560804a072e From f2c806f8a0e420ba9cee95c0671cf7d78637d64a Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 14 Aug 2025 11:39:02 -0400 Subject: [PATCH 072/126] bump opendbc for fingerprint updates (#35990) bump opendbc --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index fa210c3fd8..3024c6fccb 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit fa210c3fd81273a06691b2c355814560804a072e +Subproject commit 3024c6fccbaea8f7b4760a3c295e7c8fb8e8b4a6 From a6d0a88b1ebb321fef8c5c6e96290123f60d9d4a Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 15 Aug 2025 01:27:44 +0800 Subject: [PATCH 073/126] Multilang: update chs/cht translations (#35981) --- selfdrive/ui/translations/main_zh-CHS.ts | 12 +++++++----- selfdrive/ui/translations/main_zh-CHT.ts | 12 +++++++----- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index fc4247d6a7..667d81ddd4 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -494,15 +494,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Acknowledge Excessive Actuation - + 确认过度作动 Snooze Update - 暂停更新 + 推迟更新 openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. - + openpilot 在您上一次驾驶中，检测到过度的 %1 作动。请访问 https://comma.ai/support 联系客服，并提供您设备的 Dongle ID 以便进行故障排查。 @@ -1033,13 +1033,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record Audio Feedback with LKAS button - + 使用“车道保持”按钮录制音频反馈 Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. Note that this feature is only compatible with select cars. - + 按下“车道保持”按钮，即可录制并分享驾驶反馈给 openpilot 团队。当此开关禁用时，该按钮将用作书签按钮。该事件将在 comma connect 中高亮显示，且对应的视频片段将被保留在您的设备存储空间中。 + +请注意，此功能仅兼容部分车型。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index bf1a739313..a0f1997a00 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -494,15 +494,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Acknowledge Excessive Actuation - + 確認過度作動 Snooze Update - 暫停更新 + 延後更新 openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting. - + openpilot 在您上次的駕駛中，偵測到過度的 %1 作動。請至 https://comma.ai/support 聯絡客服，並提供您裝置的 Dongle ID 以進行故障排除。 @@ -1033,13 +1033,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Record Audio Feedback with LKAS button - + 使用「車道維持」按鈕錄製音訊回饋 Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage. Note that this feature is only compatible with select cars. - + 按下「車道維持」按鈕，即可錄製並分享駕駛回饋給 openpilot 團隊。當此開關停用時，該按鈕的功能將轉為書籤按鈕。該事件將會在 comma connect 中被標註，且對應的路段影像將保留在您的裝置儲存空間中。 + +請注意，此功能僅與特定車款相容。 From aa91a02db8278bb52eba64b47390ed5c341363db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 14 Aug 2025 18:26:19 -0700 Subject: [PATCH 074/126] LogReader sourcing: check comma API source before CI source (#35992) sort --- tools/lib/logreader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index cc84c8b52e..6b0d9fa527 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -298,7 +298,7 @@ class LogReader: def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG, sources: list[Source] = None, sort_by_time=False, only_union_types=False): if sources is None: - sources = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source] + sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source] self.default_mode = default_mode self.sources = sources From daef43f620edb431428fd8498eaf99be824a0dd1 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 14 Aug 2025 18:54:56 -0700 Subject: [PATCH 075/126] ci: show all tests durations (#35995) show --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fb082ae407..2d94a39260 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -27,7 +27,7 @@ env: RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical + PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical jobs: build_release: From 1eef956cadd30aa4fd5aca154ec7074f16a849df Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 14 Aug 2025 19:19:37 -0700 Subject: [PATCH 076/126] LogReader sourcing: return dict (#35994) * new return type * fix test * why not --- tools/lib/logreader.py | 33 ++++++++++++++++--------------- tools/lib/tests/test_logreader.py | 6 +++--- 2 files changed, 20 insertions(+), 19 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 6b0d9fa527..d15e473c41 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -141,7 +141,7 @@ class ReadMode(enum.StrEnum): LogPath = str | None LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, LogFileName], list[LogPath]] +Source = Callable[[SegmentRange, LogFileName], dict[int, LogPath]] InternalUnavailableException = Exception("Internal source not available") @@ -150,52 +150,53 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: +def comma_api_source(sr: SegmentRange, fns: LogFileName) -> dict[int, LogPath]: route = Route(sr.route_name) # comma api will have already checked if the file exists if fns == FileName.RLOG: - return [route.log_paths()[seg] for seg in sr.seg_idxs] + return {seg: route.log_paths()[seg] for seg in sr.seg_idxs} else: - return [route.qlog_paths()[seg] for seg in sr.seg_idxs] + return {seg: route.qlog_paths()[seg] for seg in sr.seg_idxs} -def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]: +def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]: if not internal_source_available(endpoint_url): raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs]) + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs}) -def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: - return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs]) +def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> dict[int, LogPath]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs}) -def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]: - return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]) +def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> dict[int, LogPath]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs}) def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: list[list[str] | str]) -> list[LogPath]: +def eval_source(files: dict[int, list[str] | str]) -> dict[int, LogPath]: # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: list[LogPath] = [] + valid_files: dict[int, LogPath] = {} - for urls in files: + for seg_idx, urls in files.items(): if isinstance(urls, str): urls = [urls] + # Add first valid file URL or None for url in urls: if file_exists(url): - valid_files.append(url) + valid_files[seg_idx] = url break else: - valid_files.append(None) + valid_files[seg_idx] = None return valid_files @@ -227,7 +228,7 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) assert len(files) == len(valid_files) or len(valid_files) == 0, f"Source {source.__name__} returned unexpected number of files" # Build a dict of valid files - for idx, f in enumerate(files): + for idx, f in files.items(): if valid_files.get(idx) is None: valid_files[idx] = f diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 11bdd33ccf..7a70ad6aab 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -36,12 +36,12 @@ def setup_source_scenario(mocker, is_internal=False): comma_api_source_mock.__name__ = comma_api_source_mock._mock_name if is_internal: - internal_source_mock.return_value = [QLOG_FILE] + internal_source_mock.return_value = {3: QLOG_FILE} else: internal_source_mock.side_effect = InternalUnavailableException - openpilotci_source_mock.return_value = [None] - comma_api_source_mock.return_value = [QLOG_FILE] + openpilotci_source_mock.return_value = {3: None} + comma_api_source_mock.return_value = {3: QLOG_FILE} yield From 8ec61991ee35bb0cda07c02a518c469e6502a31c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 14 Aug 2025 19:28:37 -0700 Subject: [PATCH 077/126] LogReader sourcing: remove redundant file existence checks (#35991) * speed up sourcing but avoiding checking for existence of collected files already from previous sources * clean up * been meaning to make them return dicts * no longer true * no longer true * clean up * more * more * revert --- tools/lib/logreader.py | 31 ++++++++++++++++--------------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index d15e473c41..bedafb8566 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -141,7 +141,7 @@ class ReadMode(enum.StrEnum): LogPath = str | None LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, LogFileName], dict[int, LogPath]] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, LogPath]] InternalUnavailableException = Exception("Internal source not available") @@ -150,32 +150,32 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, fns: LogFileName) -> dict[int, LogPath]: +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: route = Route(sr.route_name) # comma api will have already checked if the file exists if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in sr.seg_idxs} + return {seg: route.log_paths()[seg] for seg in seg_idxs} else: - return {seg: route.qlog_paths()[seg] for seg in sr.seg_idxs} + return {seg: route.qlog_paths()[seg] for seg in seg_idxs} -def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]: +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]: if not internal_source_available(endpoint_url): raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs}) + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) -def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> dict[int, LogPath]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs}) +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) -def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> dict[int, LogPath]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs}) +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) def direct_source(file_or_url: str) -> list[str]: @@ -205,8 +205,9 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) exceptions = {} sr = SegmentRange(identifier) - mode = default_mode if sr.selector is None else ReadMode(sr.selector) + needed_seg_idxs = sr.seg_idxs + mode = default_mode if sr.selector is None else ReadMode(sr.selector) if mode == ReadMode.QLOG: try_fns = [FileName.QLOG] else: @@ -222,16 +223,16 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) for fn in try_fns: for source in sources: try: - files = source(sr, fn) - - # Check every source returns an expected number of files - assert len(files) == len(valid_files) or len(valid_files) == 0, f"Source {source.__name__} returned unexpected number of files" + files = source(sr, needed_seg_idxs, fn) # Build a dict of valid files for idx, f in files.items(): if valid_files.get(idx) is None: valid_files[idx] = f + # Don't check for segment files that have already been found + needed_seg_idxs = [idx for idx in needed_seg_idxs if valid_files.get(idx) is None] + # We've found all files, return them if all(f is not None for f in valid_files.values()): return cast(list[str], list(valid_files.values())) From 7c6bc7031205409a8ee93b590b6971f87ffde7e2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 14 Aug 2025 20:14:12 -0700 Subject: [PATCH 078/126] params: fix default boolean params (#35997) * fix * update test --- system/manager/manager.py | 2 +- system/manager/test/test_manager.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/system/manager/manager.py b/system/manager/manager.py index bd8e552dd3..36055d8635 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -40,7 +40,7 @@ def manager_init() -> None: # set unset params to their default value for k in params.all_keys(): default_value = params.get_default_value(k) - if default_value and params.get(k) is None: + if default_value is not None and params.get(k) is None: params.put(k, default_value) # Create folders needed for msgq diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py index 5e55648283..34d07c6724 100644 --- a/system/manager/test/test_manager.py +++ b/system/manager/test/test_manager.py @@ -46,9 +46,10 @@ class TestManager: manager.main() for k in params.all_keys(): default_value = params.get_default_value(k) - if default_value: + if default_value is not None: assert params.get(k) == default_value assert params.get("OpenpilotEnabledToggle") + assert params.get("RouteCount") == 0 @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad") def test_clean_exit(self, subtests): From 385ad9e8397122da8eff77279db6e84365a35693 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 14 Aug 2025 21:38:27 -0700 Subject: [PATCH 079/126] updated: connectivity check with new setup (#35998) * default * fix --- common/params_keys.h | 4 ++-- system/updated/updated.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/common/params_keys.h b/common/params_keys.h index 3d7281bf93..c54600462c 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -73,9 +73,9 @@ inline static std::unordered_map keys = { {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}}, {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}}, {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}}, - {"LastUpdateRouteCount", {PERSISTENT, INT}}, + {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}}, {"LastUpdateTime", {PERSISTENT, TIME}}, - {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}}, + {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}}, {"LiveDelay", {PERSISTENT, BYTES}}, {"LiveParameters", {PERSISTENT, JSON}}, {"LiveParametersV2", {PERSISTENT, BYTES}}, diff --git a/system/updated/updated.py b/system/updated/updated.py index 1fd9e8b717..72f9de7d01 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -283,8 +283,8 @@ class Updater: self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad) self.params.put("LastUpdateRouteCount", last_route_count) else: - last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad - last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count + last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True) + last_route_count = self.params.get("LastUpdateRouteCount", return_default=True) if exception is None: self.params.remove("LastUpdateException") From b54d5997de76a34123f8a0b979f926314564443d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 14 Aug 2025 21:59:25 -0700 Subject: [PATCH 080/126] Update RELEASES.md --- RELEASES.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 2fadae9238..e1c64efad4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -5,11 +5,10 @@ Version 0.10.0 (2025-08-05) ======================== * New driving model * New training architecture - * Architecture outlined in CVPR paper: "Learning to Drive from a World Model" - * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode - * Action from lateral MPC as training objective replaced by E2E planning from worldmodel + * Described in our CVPR paper: "Learning to Drive from a World Model" + * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode + * Action from lateral MPC as training objective replaced by E2E planning from World Model * Low-speed lead car ground-truth fixes - * Enable live-learned steering actuation delay * Record driving feedback using LKAS button * Opt-in audio recording for dashcam video From 4536719353fc9eeb4b9c57692cd72766a2f86397 Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 16 Aug 2025 00:02:38 +0800 Subject: [PATCH 081/126] longitudinal_planner: Convert self.mode to a local variable in update() (#35999) Make 'mode' variable local --- selfdrive/controls/lib/longitudinal_planner.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 605d956b8e..34fc85f8a5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mode == 'acc': + if mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -163,7 +163,7 @@ class LongitudinalPlanner: output_a_target_e2e = sm['modelV2'].action.desiredAcceleration output_should_stop_e2e = sm['modelV2'].action.shouldStop - if self.mode == 'acc': + if mode == 'acc': output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc else: From 5417efaa1dd83c3126176d87d40f32c1e750c44a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 15 Aug 2025 11:12:18 -0700 Subject: [PATCH 082/126] bump opendbc (#36001) --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 3024c6fccb..18f8c0e757 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3024c6fccbaea8f7b4760a3c295e7c8fb8e8b4a6 +Subproject commit 18f8c0e757906c779a16b70817b2c0fb5020f406 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 54ff189358..dd1f0b6a06 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -543bd2347fa35f8300478a3893fdd0a03a7c1fe6 \ No newline at end of file +4536719353fc9eeb4b9c57692cd72766a2f86397 \ No newline at end of file From 1805a47139238a9e8c7212f740f2d46321536ab6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 15 Aug 2025 11:13:45 -0700 Subject: [PATCH 083/126] USB takes forever to come up... --- selfdrive/pandad/pandad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index b33ffb6473..4e49813f5d 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -87,7 +87,7 @@ def main() -> None: # TODO: remove this in the next AGNOS # wait until USB is up before counting - if time.monotonic() < 35.: + if time.monotonic() < 60.: no_internal_panda_count = 0 # Handle missing internal panda From ab44c9a4ff905db21c77c5328323653767650275 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 15 Aug 2025 11:39:56 -0700 Subject: [PATCH 084/126] Torque controller: refactor calculations to be in accel space (#35790) * clean up * little confusing but works * clean up * fix * pid outputs torque again, fix windup above max torque * clean up * fix * fix * typo * fix conflicts * fix PID * cleanups * seems correct * updte * inverse * whitespace * move * small cleanup * more cleanup * update ref --------- Co-authored-by: Bruce Wayne --- common/pid.py | 7 +++-- opendbc_repo | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 28 +++++++++++-------- selfdrive/controls/lib/tests/__init__.py | 0 .../{lib => }/tests/test_latcontrol.py | 4 ++- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 26 insertions(+), 17 deletions(-) delete mode 100644 selfdrive/controls/lib/tests/__init__.py rename selfdrive/controls/{lib => }/tests/test_latcontrol.py (88%) diff --git a/common/pid.py b/common/pid.py index 721a7c9d65..99142280ca 100644 --- a/common/pid.py +++ b/common/pid.py @@ -14,8 +14,7 @@ class PIDController: if isinstance(self._k_d, Number): self._k_d = [[0], [self._k_d]] - self.pos_limit = pos_limit - self.neg_limit = neg_limit + self.set_limits(pos_limit, neg_limit) self.i_rate = 1.0 / rate self.speed = 0.0 @@ -41,6 +40,10 @@ class PIDController: self.f = 0.0 self.control = 0 + def set_limits(self, pos_limit, neg_limit): + self.pos_limit = pos_limit + self.neg_limit = neg_limit + def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False): self.speed = speed self.p = float(error) * self.k_p diff --git a/opendbc_repo b/opendbc_repo index 18f8c0e757..74bfaa2c75 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 18f8c0e757906c779a16b70817b2c0fb5020f406 +Subproject commit 74bfaa2c750f2eca584dd6b58c1b862ba59d29d8 diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index c368a5da43..dffe85c473 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -3,7 +3,6 @@ import numpy as np from cereal import log from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction -from opendbc.car.interfaces import LatControlInputs from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.common.pid import PIDController @@ -27,15 +26,22 @@ class LatControlTorque(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) self.torque_params = CP.lateralTuning.torque.as_builder() - self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, - k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) self.torque_from_lateral_accel = CI.torque_from_lateral_accel() + self.lateral_accel_from_torque = CI.lateral_accel_from_torque() + self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, + k_f=self.torque_params.kf) + self.update_limits() self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelFactor = latAccelFactor self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction + self.update_limits() + + def update_limits(self): + self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params), + self.lateral_accel_from_torque(-self.steer_max, self.torque_params)) def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited): pid_log = log.ControlsState.LateralTorqueState.new_message() @@ -57,27 +63,25 @@ class LatControlTorque(LatControl): setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation - torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - gravity_adjusted=False) - torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - gravity_adjusted=False) - pid_log.error = float(torque_from_setpoint - torque_from_measurement) - ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - gravity_adjusted=True) + + # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly + pid_log.error = float(setpoint - measurement) + ff = gravity_adjusted_lateral_accel ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 - output_torque = self.pid.update(pid_log.error, + output_lataccel = self.pid.update(pid_log.error, feedforward=ff, speed=CS.vEgo, freeze_integrator=freeze_integrator) + output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params) pid_log.active = True pid_log.p = float(self.pid.p) pid_log.i = float(self.pid.i) pid_log.d = float(self.pid.d) pid_log.f = float(self.pid.f) - pid_log.output = float(-output_torque) + pid_log.output = float(-output_torque) # TODO: log lat accel? pid_log.actualLateralAccel = float(actual_lateral_accel) pid_log.desiredLateralAccel = float(desired_lateral_accel) pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited)) diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py similarity index 88% rename from selfdrive/controls/lib/tests/test_latcontrol.py rename to selfdrive/controls/tests/test_latcontrol.py index f32e20b1e5..0ce06dc996 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/tests/test_latcontrol.py @@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces from opendbc.car.honda.values import CAR as HONDA from opendbc.car.toyota.values import CAR as TOYOTA from opendbc.car.nissan.values import CAR as NISSAN +from opendbc.car.gm.values import CAR as GM from opendbc.car.vehicle_model import VehicleModel from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque @@ -13,7 +14,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle class TestLatControl: - @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)]) + @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), + (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)]) def test_saturation(self, car_name, controller): CarInterface = interfaces[car_name] CP = CarInterface.get_non_essential_params(car_name) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dd1f0b6a06..a4297096c0 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4536719353fc9eeb4b9c57692cd72766a2f86397 \ No newline at end of file +6d3219bca9f66a229b38a5382d301a92b0147edb \ No newline at end of file From 372682d4a90530615368ca68cf2cb5cb2f63d99b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 15 Aug 2025 14:46:20 -0700 Subject: [PATCH 085/126] updated: branch migration (#35993) * release * Update system/updated/updated.py Co-authored-by: Adeeb Shihadeh --------- Co-authored-by: Adeeb Shihadeh --- Jenkinsfile | 2 +- system/updated/updated.py | 3 +++ system/version.py | 2 +- 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index a14bf59299..0905abd6da 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -167,7 +167,7 @@ node { env.GIT_COMMIT = checkout(scm).GIT_COMMIT def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging', - 'testing-closet*', 'hotfix-*'] + 'release-tici', 'testing-closet*', 'hotfix-*'] def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) { diff --git a/system/updated/updated.py b/system/updated/updated.py index 72f9de7d01..11928bc24c 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -242,6 +242,9 @@ class Updater: b: str | None = self.params.get("UpdaterTargetBranch") if b is None: b = self.get_branch(BASEDIR) + b = { + ("tici", "release3"): "release-tici" + }.get((HARDWARE.get_device_type(), b), b) return b @property diff --git a/system/version.py b/system/version.py index cd0e2d7f38..5e4fcf5c33 100755 --- a/system/version.py +++ b/system/version.py @@ -10,7 +10,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date -RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] +RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] BUILD_METADATA_FILENAME = "build.json" From 6a67f9e56fd1fbcfbb1ff1701df2a2b02f9805a8 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 15 Aug 2025 23:10:47 -0700 Subject: [PATCH 086/126] setup: custom software warning (#36003) * warn * msg * label * space * Revert "space" This reverts commit ae9b8ad1149612c5741ae3b091740170238473ed. --- system/ui/setup.py | 28 +++++++++++++++++++++++----- 1 file changed, 23 insertions(+), 5 deletions(-) diff --git a/system/ui/setup.py b/system/ui/setup.py index 72718b5d6d..800ca7662c 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -13,6 +13,7 @@ import pyray as rl from cereal import log from openpilot.common.run import run_cmd from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio @@ -109,14 +110,21 @@ class Setup(Widget): self._network_setup_continue_button.set_enabled(False) self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT) - self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback) + self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback, + button_style=ButtonStyle.PRIMARY) + self._custom_software_warning_continue_button.set_enabled(False) self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback) self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255), text_padding=60) - self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma," - + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai " + self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n" + + "⚠️ It has not been tested by comma.\n\n" + + "⚠️ It may not comply with relevant safety standards.\n\n" + + "⚠️ It may cause damage to your device and/or vehicle.\n\n" + + "If you'd like to proceed, use https://flash.comma.ai " + "to restore your device to a factory state later.", 85, text_alignment=TextAlignment.LEFT, text_padding=60) + self._custom_software_warning_body_scroll_panel = GuiScrollPanel() + self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM) try: @@ -291,13 +299,23 @@ class Setup(Widget): self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT)) def render_custom_software_warning(self, rect: rl.Rectangle): - self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE)) - self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3)) + warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500) + offset = self._custom_software_warning_body_scroll_panel.handle_scroll(rect, warn_rect) button_width = (rect.width - MARGIN * 3) / 2 button_y = rect.height - MARGIN - BUTTON_HEIGHT + + rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE)) + y_offset = rect.y + offset.y + self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE)) + self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200 , rect.width - 50, BODY_FONT_SIZE * 3)) + rl.end_scissor_mode() + self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT)) self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)) + if offset.y < (rect.height - warn_rect.height): + self._custom_software_warning_continue_button.set_enabled(True) + self._custom_software_warning_continue_button.set_text("Continue") def render_custom_software(self): def handle_keyboard_result(result): From ceb557058c5a7e7fd4de8c2dc5608e32c8773eac Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 17 Aug 2025 10:18:30 -0700 Subject: [PATCH 087/126] Steam Powered model (#36000) * f3e67f3e-6079-48cf-92a4-dee5eebd1d73/360 * f3e67f3e-6079-48cf-92a4-dee5eebd1d73/400 * No more action head: a8f96b93-bde2-4e28-a732-4df21ebba968/400 --- selfdrive/modeld/modeld.py | 11 ----------- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- 3 files changed, 4 insertions(+), 15 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 707b221bb9..8bc8bf01ab 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -102,15 +102,12 @@ class ModelState: self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32) - self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32) self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP) # policy inputs self.numpy_inputs = { 'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), - 'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32), - 'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32), 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), } @@ -143,7 +140,6 @@ class ModelState: self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params'] imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} if TICI and not USBGPU: @@ -169,11 +165,6 @@ class ModelState: self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - # TODO model only uses last value now - self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] - self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] - combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) @@ -292,7 +283,6 @@ def main(demo=False): frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS - lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -325,7 +315,6 @@ def main(demo=False): inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'lateral_control_params': lateral_control_params, } mt1 = time.perf_counter() diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 267fc92a3f..867a0d3b9b 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57 -size 15583374 +oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251 +size 12343523 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 18f63358db..ce0dc927e7 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b -size 46265993 +oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef +size 46271991 From 63fa250f291c26ce933969fb821b26e9915d6524 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 17 Aug 2025 11:53:20 -0700 Subject: [PATCH 088/126] Add note around excessive actuation check (#36010) * Add note around excessive actuation check * Update selfdrived.py --- selfdrive/selfdrived/selfdrived.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 89fa36c906..cf22040e84 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -238,7 +238,10 @@ class SelfdriveD: if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture: self.events.add(EventName.ldw) - # Check for excessive actuation + # ****************************************************************************************** + # NOTE: To fork maintainers. + # Disabling or nerfing safety features will get you and your users banned from our servers. + # We recommend that you do not change these numbers from the defaults. if self.sm.updated['liveCalibration']: self.pose_calibrator.feed_live_calib(self.sm['liveCalibration']) if self.sm.updated['livePose']: @@ -253,6 +256,7 @@ class SelfdriveD: if self.excessive_actuation: self.events.add(EventName.excessiveActuation) + # ****************************************************************************************** # Handle lane change if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: From ef9e430992220cc981249c93ba838deb7637b1e4 Mon Sep 17 00:00:00 2001 From: Muhammed Jaseem Pallikkal <64106637+jasseeeem@users.noreply.github.com> Date: Mon, 18 Aug 2025 02:21:12 +0530 Subject: [PATCH 089/126] Fixed development environment link in CONTRIBUTING.md (#36011) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Fixed development environment link in CONTRIBUTING.md This is my first PR to openpilot 🎉 excited to contribute! * Using absolute path for tools --- docs/CONTRIBUTING.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 1950db8a05..f8c27b8815 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ### Getting Started -* Setup your [development environment](../tools/) +* Setup your [development environment](/tools/) * Join our [Discord](https://discord.comma.ai) * Docs are at https://docs.comma.ai and https://blog.comma.ai From 3d879dd1ae9e22fd2d1d3a02a7c8a9da7b5e37de Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sun, 17 Aug 2025 17:53:50 -0700 Subject: [PATCH 090/126] [bot] Update Python packages (#36012) * Update Python packages * add psa --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- opendbc_repo | 2 +- .../test/process_replay/test_processes.py | 2 +- tinygrad_repo | 2 +- uv.lock | 242 +++++++++--------- 4 files changed, 124 insertions(+), 124 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 74bfaa2c75..b2f34136c0 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 74bfaa2c750f2eca584dd6b58c1b862ba59d29d8 +Subproject commit b2f34136c0e58a76d4b4197003a852e72e48767e diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 54e7039a4e..5868ca4c1c 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -61,7 +61,7 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "body"] +excluded_interfaces = ["mock", "body", "psa"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") diff --git a/tinygrad_repo b/tinygrad_repo index d2bb1bcb97..c30a113b2a 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59 +Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1 diff --git a/uv.lock b/uv.lock index 3b1baa3ee3..7cfaceed97 100644 --- a/uv.lock +++ b/uv.lock @@ -415,31 +415,31 @@ wheels = [ [[package]] name = "cython" -version = "3.1.2" -source = { registry = "https://pypi.org/simple" } -sdist = { url = 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a/launch_env.sh b/launch_env.sh index e1a0da9b67..4c011c6ac0 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.7" + export AGNOS_VERSION="12.8" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 0900c51d10..941a4956bf 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,17 +67,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz", - "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b", - "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", + "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz", + "hash": 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a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -350,17 +350,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz", - "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b", - "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", + "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz", + "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126", + "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "af2a42284ecfddc9d8aa50fde0e2093ba18cf1dd2242a7a3fbe05f78f6ec0228", + "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7", "alt": { - "hash": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", - "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img", + "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087", + "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img", "size": 5368709120 } }, From dfc66d780745bd2c393130d26162ed00452e6006 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 18 Aug 2025 18:52:05 -0700 Subject: [PATCH 092/126] [bot] Update Python packages (#36014) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index b2f34136c0..4b203ff5d1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b2f34136c0e58a76d4b4197003a852e72e48767e +Subproject commit 4b203ff5d1ad867de127de6b27382ba73e6e31a7 From 4d55671b17d44c66954ee1f471189fb748b4b8ff Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Aug 2025 18:57:16 -0700 Subject: [PATCH 093/126] feedbackd: temp disable LKAS button as feedback (#36017) * feedbackd: temp disable LKAS button as feedback * disable that * mark --- RELEASES.md | 2 +- selfdrive/ui/feedback/feedbackd.py | 3 ++- selfdrive/ui/tests/test_feedbackd.py | 1 + 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index e1c64efad4..cb7274e827 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.10.1 (2025-09-08) ======================== +* Record driving feedback using LKAS button Version 0.10.0 (2025-08-05) ======================== @@ -10,7 +11,6 @@ Version 0.10.0 (2025-08-05) * Action from lateral MPC as training objective replaced by E2E planning from World Model * Low-speed lead car ground-truth fixes * Enable live-learned steering actuation delay -* Record driving feedback using LKAS button * Opt-in audio recording for dashcam video * Acura MDX 2025 support thanks to vanillagorillaa and MVL! * Honda Accord 2023-25 support thanks to vanillagorillaa and MVL! diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py index b02e5d97a7..2d131a0d5e 100755 --- a/selfdrive/ui/feedback/feedbackd.py +++ b/selfdrive/ui/feedback/feedbackd.py @@ -22,7 +22,8 @@ def main(): sm.update() should_send_bookmark = False - if sm.updated['carState'] and sm['carState'].canValid: + # TODO: https://github.com/commaai/openpilot/issues/36015 + if False and sm.updated['carState'] and sm['carState'].canValid: for be in sm['carState'].buttonEvents: if be.type == ButtonType.lkas: if be.pressed: diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py index c2d81aef83..6b7ec44863 100644 --- a/selfdrive/ui/tests/test_feedbackd.py +++ b/selfdrive/ui/tests/test_feedbackd.py @@ -5,6 +5,7 @@ from openpilot.common.params import Params from openpilot.system.manager.process_config import managed_processes +@pytest.mark.skip("tmp disabled") class TestFeedbackd: def setup_method(self): self.pm = messaging.PubMaster(['carState', 'rawAudioData']) From f55f3bb7cdda25e2bc7949917a37212d2725d890 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Aug 2025 19:33:34 -0700 Subject: [PATCH 094/126] setup is a noun! --- docs/CONTRIBUTING.md | 2 +- docs/how-to/turn-the-speed-blue.md | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index f8c27b8815..154734b7fc 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ### Getting Started -* Setup your [development environment](/tools/) +* Set up your [development environment](/tools/) * Join our [Discord](https://discord.comma.ai) * Docs are at https://docs.comma.ai and https://blog.comma.ai diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index 64f4475dfa..13b3b03e80 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -1,11 +1,11 @@ # Turn the speed blue *A getting started guide for openpilot development* -In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. +In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI. And if you have a comma 3/3X, we'll deploy the change to your device for testing. -## 1. Setup your development environment +## 1. Set up your development environment Run this to clone openpilot and install all the dependencies: ```bash From 2148e2dff2c915f79c93fe4a975bd631e4aa2f1f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Aug 2025 19:48:08 -0700 Subject: [PATCH 095/126] build_devel: clean submodules --- release/build_devel.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/release/build_devel.sh b/release/build_devel.sh index 05dcaafcaa..c4ef280258 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -30,6 +30,7 @@ git reset --hard __nightly git checkout __nightly git reset --hard origin/devel git clean -xdff +git submodule foreach --recursive git clean -xdff git lfs uninstall # remove everything except .git From 2cec2587be926bd4ef42dc8f92177324c05e997a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Aug 2025 09:18:14 -0700 Subject: [PATCH 096/126] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 5b0f1a2eca..3dc2138623 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec +Subproject commit 3dc21386239e3073a623156b75901aa302340d6c From c085b8af19438956c15592828bd082803f43dfaf Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 19 Aug 2025 09:18:32 -0700 Subject: [PATCH 097/126] feedbackd: remove lkas toggle for this release (#36018) remove lkas toggle for this release --- selfdrive/ui/layouts/settings/toggles.py | 10 ---------- selfdrive/ui/qt/offroad/settings.cc | 7 ------- 2 files changed, 17 deletions(-) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index ff0564a61a..58afcec5ef 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -23,10 +23,6 @@ DESCRIPTIONS = { 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "IsMetric": "Display speed in km/h instead of mph.", "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.", - "RecordAudioFeedback": ( - "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " + - "The event will be highlighted in comma connect and the segment will be preserved on your device's storage." - ), } @@ -85,12 +81,6 @@ class TogglesLayout(Widget): self._params.get_bool("RecordAudio"), icon="microphone.png", ), - toggle_item( - "Record Audio Feedback with LKAS button", - DESCRIPTIONS["RecordAudioFeedback"], - self._params.get_bool("RecordAudioFeedback"), - icon="microphone.png", - ), toggle_item( "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png" ), diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 01761295dc..96734d69d9 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -68,13 +68,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/microphone.png", true, }, - { - "RecordAudioFeedback", - tr("Record Audio Feedback with LKAS button"), - tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."), - "../assets/icons/microphone.png", - false, - }, { "IsMetric", tr("Use Metric System"), From 803b54ebdb7ca851c1b246bb150b5b72ccb3ad39 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:09:09 -0700 Subject: [PATCH 098/126] model parser: use check missing for mhp checks (#36020) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/parse_model_outputs.py | 35 ++++++++++++++----------- 2 files changed, 20 insertions(+), 17 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8bc8bf01ab..33da8f02b3 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,7 +116,7 @@ class ModelState: self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.parser = Parser() + self.parser = Parser(ignore_missing=('desired_curvature',)) with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9e1c048735..5812e0b32e 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,9 +22,10 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - if name not in outs and not self.ignore_missing: + missing = name not in outs + if missing and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return name not in outs + return missing def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -84,6 +85,13 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) + def is_mhp(self, outs, name, shape): + if self.check_missing(outs, name): + return False + if outs[name].shape[1] == 2 * shape: + return False + return True + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -94,23 +102,18 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: - self.parse_mdn('lead', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - else: - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) + lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) + self.parse_mdn( + 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + ) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: - self.parse_mdn('plan', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - else: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'desired_curvature' in outs: - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 51314fa9fef0350ed389932c39a30d746e73137f Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:09:59 -0700 Subject: [PATCH 099/126] Revert "model parser: use check missing for mhp checks" (#36022) Revert "model parser: use check missing for mhp checks (#36020)" This reverts commit 803b54ebdb7ca851c1b246bb150b5b72ccb3ad39. --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/parse_model_outputs.py | 35 +++++++++++-------------- 2 files changed, 17 insertions(+), 20 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 33da8f02b3..8bc8bf01ab 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,7 +116,7 @@ class ModelState: self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.parser = Parser(ignore_missing=('desired_curvature',)) + self.parser = Parser() with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..9e1c048735 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,10 +22,9 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - missing = name not in outs - if missing and not self.ignore_missing: + if name not in outs and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return missing + return name not in outs def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -85,13 +84,6 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) - def is_mhp(self, outs, name, shape): - if self.check_missing(outs, name): - return False - if outs[name].shape[1] == 2 * shape: - return False - return True - def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -102,18 +94,23 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) - lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: + self.parse_mdn('lead', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + else: + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) - plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: + self.parse_mdn('plan', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + else: + self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 3d24225cc151732ab8d1501f24e8da3f027b3a64 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:19:00 -0700 Subject: [PATCH 100/126] model parser: use check missing for mhp checks (#36023) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove * forgot this --- selfdrive/modeld/parse_model_outputs.py | 35 ++++++++++++++----------- 1 file changed, 19 insertions(+), 16 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9e1c048735..5812e0b32e 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,9 +22,10 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - if name not in outs and not self.ignore_missing: + missing = name not in outs + if missing and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return name not in outs + return missing def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -84,6 +85,13 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) + def is_mhp(self, outs, name, shape): + if self.check_missing(outs, name): + return False + if outs[name].shape[1] == 2 * shape: + return False + return True + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -94,23 +102,18 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: - self.parse_mdn('lead', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - else: - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) + lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) + self.parse_mdn( + 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + ) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: - self.parse_mdn('plan', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - else: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'desired_curvature' in outs: - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 560c503871b100fa5b2d5c05369d10c40813518a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Aug 2025 11:19:58 -0700 Subject: [PATCH 101/126] new release flow (#36021) * new release flow * Update README.md --- release/README.md | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/release/README.md b/release/README.md index 0ceb765597..266d881d3c 100644 --- a/release/README.md +++ b/release/README.md @@ -3,33 +3,33 @@ ``` ## release checklist -**Go to `devel-staging`** -- [ ] make issue to track release +**Go to staging** +- [ ] make a GitHub issue to track release +- [ ] create release master branch - [ ] update RELEASES.md -- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml -- [ ] update `devel-staging`: `git reset --hard origin/__nightly` +- [ ] bump version on master: `common/version.h` and `RELEASES.md` - [ ] build new userdata partition from `release3-staging` -- [ ] open a pull request from `devel-staging` to `devel` - [ ] post on Discord, tag `@release crew` -**Go to `devel`** -- [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] before merging the pull request, test the following: +Updates to staging: +- [ ] either rebase on master or cherry-pick changes +- [ ] run this to update: `BRANCH=devel-staging release/build_devel.sh` + +**Go to release** +- [ ] before going to release, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release - [ ] fresh install with `openpilot-test.comma.ai` - [ ] drive on fresh install - [ ] no submodules or LFS - [ ] check sentry, MTBF, etc. - - [ ] stress test in production - -**Go to `release3`** + - [ ] stress test passes in production - [ ] publish the blog post - [ ] `git reset --hard origin/release3-staging` - [ ] tag the release: `git tag v0.X.X && git push origin v0.X.X` - [ ] create GitHub release - [ ] final test install on `openpilot.comma.ai` - [ ] update factory provisioning -- [ ] close out milestone +- [ ] close out milestone and issue - [ ] post on Discord, X, etc. ``` From d097a0c201d407f61ccdb18058919d05dccea3ac Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 11:35:22 -0700 Subject: [PATCH 102/126] model parser: fix lead mhp out shape (#36024) * model parser: fix lead mhp out shape * fix for real --- selfdrive/modeld/parse_model_outputs.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..038f51ca9c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -104,16 +104,15 @@ class Parser: self.parse_binary_crossentropy('lead_prob', outs) lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \ + (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 09aa21390dda71c49cf82df9fd9455f927f0db3c Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 19 Aug 2025 15:38:55 -0400 Subject: [PATCH 103/126] Honda: Adding support for Honda City (#36026) * bump opendbc * release notes * regen CARS.md * bump opendbc correctly this time --- RELEASES.md | 1 + docs/CARS.md | 6 ++++-- opendbc_repo | 2 +- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index cb7274e827..dacf0eaa17 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.10.1 (2025-09-08) ======================== * Record driving feedback using LKAS button +* Honda City 2023 support thanks to drFritz! Version 0.10.0 (2025-08-05) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index fcb87236c8..7269f25737 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 319 Supported Cars +# 321 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -76,10 +76,12 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|City (Brazil only) 2023|All|openpilot available[1](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 4b203ff5d1..43006b9a41 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4b203ff5d1ad867de127de6b27382ba73e6e31a7 +Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0 From 6005b12f940b96f14ccf87fb14c37a9c2fca8948 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 15:04:17 -0700 Subject: [PATCH 104/126] format logreader --- tools/lib/logreader.py | 2 ++ tools/lib/route.py | 7 +++---- tools/lib/url_file.py | 18 ++++++++++-------- 3 files changed, 15 insertions(+), 12 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index bedafb8566..833f9825bb 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -40,6 +40,7 @@ def save_log(dest, log_msgs, compress=True): with open(dest, "wb") as f: f.write(dat) + def decompress_stream(data: bytes): dctx = zstd.ZstdDecompressor() decompressed_data = b"" @@ -353,6 +354,7 @@ class LogReader: def time_series(self): return msgs_to_time_series(self) + if __name__ == "__main__": import codecs diff --git a/tools/lib/route.py b/tools/lib/route.py index 882585a151..1fc26fb996 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -231,7 +231,6 @@ class RouteName: def __str__(self) -> str: return self._canonical_name - class SegmentName: # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances # of this class instead of manually constructing a segment name (use canonical_name prop instead) @@ -252,7 +251,7 @@ class SegmentName: @property def canonical_name(self) -> str: return self._canonical_name - #TODO should only use one name + # TODO should only use one name @property def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}" @@ -283,7 +282,7 @@ class SegmentName: @staticmethod def from_file_name(file_name): # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2 - dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1] + dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1] return SegmentName(dongle_id + "|" + route_name + "--" + segment_num) @staticmethod @@ -304,6 +303,7 @@ class SegmentName: dongle_id, route_name, segment_num = prefix.split("/") return SegmentName(dongle_id + "|" + route_name + "--" + segment_num) + @cache def get_max_seg_number_cached(sr: 'SegmentRange') -> int: try: @@ -365,4 +365,3 @@ class SegmentRange: def __repr__(self) -> str: return self.__str__() - diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 204726363d..e80ba1399d 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -9,12 +9,14 @@ from urllib3.util import Timeout from openpilot.common.file_helpers import atomic_write_in_dir from openpilot.system.hardware.hw import Paths + # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K logging.getLogger("urllib3").setLevel(logging.WARNING) + def hash_256(link: str) -> str: return sha256((link.split("?")[0]).encode('utf-8')).hexdigest() @@ -24,7 +26,7 @@ class URLFileException(Exception): class URLFile: - _pool_manager: PoolManager|None = None + _pool_manager: PoolManager | None = None @staticmethod def reset() -> None: @@ -33,16 +35,16 @@ class URLFile: @staticmethod def pool_manager() -> PoolManager: if URLFile._pool_manager is None: - socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),] + socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)] retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504]) URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries) return URLFile._pool_manager - def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None): + def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None): self._url = url self._timeout = Timeout(connect=timeout, read=timeout) self._pos = 0 - self._length: int|None = None + self._length: int | None = None self._debug = debug # True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0")) @@ -58,7 +60,7 @@ class URLFile: def __exit__(self, exc_type, exc_value, traceback) -> None: pass - def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse: + def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse: return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers) def get_length_online(self) -> int: @@ -85,7 +87,7 @@ class URLFile: file_length.write(str(self._length)) return self._length - def read(self, ll: int|None=None) -> bytes: + def read(self, ll: int | None = None) -> bytes: if self._force_download: return self.read_aux(ll=ll) @@ -117,7 +119,7 @@ class URLFile: self._pos = file_end return response - def read_aux(self, ll: int|None=None) -> bytes: + def read_aux(self, ll: int | None = None) -> bytes: download_range = False headers = {} if self._pos != 0 or ll is not None: @@ -152,7 +154,7 @@ class URLFile: self._pos += len(ret) return ret - def seek(self, pos:int) -> None: + def seek(self, pos: int) -> None: self._pos = pos @property From 927548621be1be0c2c9063868b93d1f5020904de Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 15:37:39 -0700 Subject: [PATCH 105/126] update to latest userdata partition (#36027) bump --- system/hardware/tici/all-partitions.json | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index e49f93a066..5891e2748a 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12.img.xz", - "hash": "59e1bb2606b65293721dd89bcdc8d0c5cae47718c213eb40f235149aa5a408ae", - "hash_raw": "ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz", + "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac", + "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "40b5e666ec137a863178b51a7947e3bb76fe9259584d84e6a66361fabced3da5" + "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33.img.xz", - "hash": "e555a29c3ccb547ed840085c052cd1c6126c32d5c6dafe1712f593ae631be190", - "hash_raw": "2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz", + "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116", + "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "f5bc368dbe52ac7800634f74b1fd764fc3b6e68337984f40fd59222b1276d9f2" + "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b.img.xz", - "hash": "f5dfbe1dcba25b9a1920259bc89f52b5e406519539ff0112d5469fff3f1b6dba", - "hash_raw": "6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz", + "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9", + "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "b8f447f0ea40faae7292d3a0dc380d194caab6ec3f5007eda5661f2aa4d2f4ab" + "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507" } ] \ No newline at end of file From 5ec9aee2166ec2fefd15128360e4ca26180e6afb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 15:39:44 -0700 Subject: [PATCH 106/126] File sourcing: simplify return type (#36028) * rm str | none pattern * clean up * more clean up * stash * Revert "stash" This reverts commit 3e2472160cc97e9d11922137757d9ef942a0312d. * fix da prints * fix cmt --- tools/lib/logreader.py | 43 +++++++++++++++++++----------------------- 1 file changed, 19 insertions(+), 24 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 833f9825bb..50e3b9dc7a 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -140,9 +140,8 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogPath = str | None LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, LogPath]] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] InternalUnavailableException = Exception("Internal source not available") @@ -151,17 +150,17 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: route = Route(sr.route_name) # comma api will have already checked if the file exists if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs} + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs} + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]: +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: if not internal_source_available(endpoint_url): raise InternalUnavailableException @@ -171,11 +170,11 @@ def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, end return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) @@ -183,21 +182,19 @@ def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, LogPath]: +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, LogPath] = {} + valid_files: dict[int, str] = {} for seg_idx, urls in files.items(): if isinstance(urls, str): urls = [urls] - # Add first valid file URL or None + # Add first valid file URL for url in urls: if file_exists(url): valid_files[seg_idx] = url break - else: - valid_files[seg_idx] = None return valid_files @@ -220,37 +217,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None. # This function only returns when we've sourced all files, or throws an exception - valid_files: dict[int, LogPath] = {} + valid_files: dict[int, str] = {} for fn in try_fns: for source in sources: try: files = source(sr, needed_seg_idxs, fn) # Build a dict of valid files - for idx, f in files.items(): - if valid_files.get(idx) is None: - valid_files[idx] = f + valid_files |= files # Don't check for segment files that have already been found - needed_seg_idxs = [idx for idx in needed_seg_idxs if valid_files.get(idx) is None] + needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files] # We've found all files, return them - if all(f is not None for f in valid_files.values()): + if len(needed_seg_idxs) == 0: return cast(list[str], list(valid_files.values())) except Exception as e: exceptions[source.__name__] = e if fn == try_fns[0]: - missing_logs = list(valid_files.values()).count(None) + missing_logs = len(needed_seg_idxs) if mode == ReadMode.AUTO: - cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...") + cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...") elif mode == ReadMode.AUTO_INTERACTIVE: - if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y": + if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y": break - missing_logs = list(valid_files.values()).count(None) - raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " + + missing_logs = len(needed_seg_idxs) + raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " + "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" + "Exceptions for sources:\n - " + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()])) From 18b7ddef8fb8e6e0f1dbb2f8a7799e423d0bd208 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 19 Aug 2025 16:25:13 -0700 Subject: [PATCH 107/126] File sourcing: Not all files are logs (#36025) * Not all files are logs * more refactor * linting ok * fix tests * import exception * whoops forgot to git add * fix --------- Co-authored-by: Shane Smiskol --- tools/lib/file_sources.py | 57 +++++++++++++++++++++++++++++ tools/lib/logreader.py | 61 +++---------------------------- tools/lib/tests/test_logreader.py | 5 ++- 3 files changed, 65 insertions(+), 58 deletions(-) create mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py new file mode 100755 index 0000000000..cb7bf15114 --- /dev/null +++ b/tools/lib/file_sources.py @@ -0,0 +1,57 @@ +from collections.abc import Callable + +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName + +# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) +FileNames = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 50e3b9dc7a..8d84cdbd5d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,16 +12,15 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Callable, Iterable, Iterator +from collections.abc import Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source +from openpilot.tools.lib.route import SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -140,65 +139,15 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files - - +# TODO this should apply to camera files as well def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 7a70ad6aab..6e508967b9 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,7 +10,8 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode +from openpilot.tools.lib.log_sources import comma_api_source, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -90,7 +91,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From dd5f5fdb98fed20d37cde4b9c786146814b00b58 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 17:11:29 -0700 Subject: [PATCH 108/126] ci: show all unit test failures (#36029) * testci * fix * Revert "testci" This reverts commit b62a0aacb604fc0fd39c6e50a726b686979b9880. --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2d94a39260..fa462166b0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -162,7 +162,7 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - $PYTEST --collect-only -m 'not slow' &> /dev/null && \ + $PYTEST --collect-only -m 'not slow' && \ MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ From 3570022b9a7e90c98a0188d5b7f7f2e14710af61 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 17:11:53 -0700 Subject: [PATCH 109/126] Revert "File sourcing: Not all files are logs (#36025)" This reverts commit 18b7ddef8fb8e6e0f1dbb2f8a7799e423d0bd208. --- tools/lib/file_sources.py | 57 ----------------------------- tools/lib/logreader.py | 61 ++++++++++++++++++++++++++++--- tools/lib/tests/test_logreader.py | 5 +-- 3 files changed, 58 insertions(+), 65 deletions(-) delete mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py deleted file mode 100755 index cb7bf15114..0000000000 --- a/tools/lib/file_sources.py +++ /dev/null @@ -1,57 +0,0 @@ -from collections.abc import Callable - -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName - -# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) -FileNames = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 8d84cdbd5d..50e3b9dc7a 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,15 +12,16 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Iterable, Iterator +from collections.abc import Callable, Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source -from openpilot.tools.lib.route import SegmentRange, FileName +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -139,15 +140,65 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user +LogFileName = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + class LogsUnavailable(Exception): pass +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -# TODO this should apply to camera files as well +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files + + def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 6e508967b9..7a70ad6aab 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,8 +10,7 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode -from openpilot.tools.lib.log_sources import comma_api_source, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -91,7 +90,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From 22e79479d257bc3fca5692a82dc9b570db23c044 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:39:27 -0700 Subject: [PATCH 110/126] unit tests: add comment (#36030) * remove collection * test * back * wtf it actually saves 10s?! * ah that makes sense * rm * ? * ugh * qq * bc --- .github/workflows/selfdrive_tests.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fa462166b0..aad772757d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -162,7 +162,8 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - $PYTEST --collect-only -m 'not slow' && \ + # Pre-compile Python bytecode so each pytest worker doesn't need to + $PYTEST --collect-only -m 'not slow' -qq && \ MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ From 60c34a083791e96b0a244dc56decb1423e080da0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:58:47 -0700 Subject: [PATCH 111/126] LogReader: run source test (#36031) run "slow" test --- tools/lib/tests/test_logreader.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 7a70ad6aab..a9f7b2352d 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -40,7 +40,7 @@ def setup_source_scenario(mocker, is_internal=False): else: internal_source_mock.side_effect = InternalUnavailableException - openpilotci_source_mock.return_value = {3: None} + openpilotci_source_mock.return_value = {} comma_api_source_mock.return_value = {3: QLOG_FILE} yield @@ -208,13 +208,12 @@ class TestLogReader: assert qlog_len == log_len @pytest.mark.parametrize("is_internal", [True, False]) - @pytest.mark.slow def test_auto_source_scenarios(self, mocker, is_internal): lr = LogReader(QLOG_FILE) qlog_len = len(list(lr)) with setup_source_scenario(mocker, is_internal=is_internal): - lr = LogReader(f"{TEST_ROUTE}/0/q") + lr = LogReader(f"{TEST_ROUTE}/3/q") log_len = len(list(lr)) assert qlog_len == log_len From 870d19f33de194679e060b49f7a970c3cfaa3836 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:59:50 -0700 Subject: [PATCH 112/126] Reapply "File sourcing: Not all files are logs (#36025)" This reverts commit 3570022b9a7e90c98a0188d5b7f7f2e14710af61. Fix test --- tools/lib/file_sources.py | 57 +++++++++++++++++++++++++++++ tools/lib/logreader.py | 61 +++---------------------------- tools/lib/tests/test_logreader.py | 5 ++- 3 files changed, 65 insertions(+), 58 deletions(-) create mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py new file mode 100755 index 0000000000..cb7bf15114 --- /dev/null +++ b/tools/lib/file_sources.py @@ -0,0 +1,57 @@ +from collections.abc import Callable + +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName + +# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) +FileNames = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 50e3b9dc7a..8d84cdbd5d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,16 +12,15 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Callable, Iterable, Iterator +from collections.abc import Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source +from openpilot.tools.lib.route import SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -140,65 +139,15 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files - - +# TODO this should apply to camera files as well def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index a9f7b2352d..8d0870171f 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,7 +10,8 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode +from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -90,7 +91,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From d0069c136b4302c6978717abc6e3859efeea3a93 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:19:56 -0700 Subject: [PATCH 113/126] raylib: fix experimental mode path gradient (#36033) * fix! * this is enough to fix the broken colors * clean up * fix * use last colors -- need this so we don't have to always pass perfect gradient * clean up * clean up * clean up --- selfdrive/ui/onroad/model_renderer.py | 16 ++++++++-------- system/ui/lib/shader_polygon.py | 4 ++++ 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 4439141a40..684f2a8453 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -187,9 +187,9 @@ class ModelRenderer(Widget): self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False ) - self._update_experimental_gradient(self._rect.height) + self._update_experimental_gradient() - def _update_experimental_gradient(self, height): + def _update_experimental_gradient(self): """Pre-calculate experimental mode gradient colors""" if not self._experimental_mode: return @@ -201,14 +201,14 @@ class ModelRenderer(Widget): i = 0 while i < max_len: - track_idx = max_len - i - 1 # flip idx to start from bottom right - track_y = self._path.projected_points[track_idx][1] - if track_y < 0 or track_y > height: + # Some points are out of frame + track_y = self._path.projected_points[i][1] + if track_y < self._rect.y or track_y > self._rect.height: i += 1 continue - # Calculate color based on acceleration - lin_grad_point = (height - track_y) / height + # Calculate color based on acceleration (0 is bottom, 1 is top) + lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height # speed up: 120, slow down: 0 path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) @@ -280,7 +280,7 @@ class ModelRenderer(Widget): if self._experimental_mode: # Draw with acceleration coloring - if len(self._exp_gradient['colors']) > 2: + if len(self._exp_gradient['colors']) > 1: draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient) else: draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30)) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index cfde81c554..39bc0d5aa4 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) { float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0); if (gradientColorCount <= 1) return gradientColors[0]; + + // handle t before first / after last stop + if (t <= gradientStops[0]) return gradientColors[0]; + if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1]; for (int i = 0; i < gradientColorCount - 1; i++) { if (t >= gradientStops[i] && t <= gradientStops[i+1]) { float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]); From 63441c048cb59178778aa670e17973324d2ed0d9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 22:30:48 -0700 Subject: [PATCH 114/126] test_onroad: relax first fid assertion (#36032) * fid * test * Revert "test" This reverts commit 38e6635dd0b0b9fb9c08bcc3a74b9283207b0c2f. * r * Revert "r" This reverts commit 4037a321f89af137a645345a0fffb73da6071c72. --- selfdrive/test/test_onroad.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 935da99c10..0149653c84 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -333,20 +333,18 @@ class TestOnroad: assert np.all(eof_sof_diff > 0) assert np.all(eof_sof_diff < 50*1e6) - first_fid = {c: min(self.ts[c]['frameId']) for c in cams} + first_fid = {min(self.ts[c]['frameId']) for c in cams} + assert len(first_fid) == 1, "Cameras don't start on same frame ID" if cam.endswith('CameraState'): # camerad guarantees that all cams start on frame ID 0 # (note loggerd also needs to start up fast enough to catch it) - assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0" - else: - # encoder guarantees all cams start on the same frame ID - assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID" + assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high" # we don't do a full segment rotation, so these might not match exactly - last_fid = {c: max(self.ts[c]['frameId']) for c in cams} - assert max(last_fid.values()) - min(last_fid.values()) < 10 + last_fid = {max(self.ts[c]['frameId']) for c in cams} + assert max(last_fid) - min(last_fid) < 10 - start, end = min(first_fid.values()), min(last_fid.values()) + start, end = min(first_fid), min(last_fid) for i in range(end-start): ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams} diff = (max(ts.values()) - min(ts.values())) From 8320934d91b78ddea2c4d714dc29e3d4c72dd196 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:33:07 -0700 Subject: [PATCH 115/126] raylib: cleanup experimental mode gradient color calculations (#36035) * dfebug * simplify * come on man --- selfdrive/ui/onroad/model_renderer.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 684f2a8453..f81b0be66c 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -211,12 +211,11 @@ class ModelRenderer(Widget): lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height # speed up: 120, slow down: 0 - path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) - path_hue = int(path_hue * 100 + 0.5) / 100 + path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120) saturation = min(abs(self._acceleration_x[i] * 1.5), 1) - lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62) - alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0) + lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62]) + alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0]) # Use HSL to RGB conversion color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha) @@ -409,13 +408,6 @@ class ModelRenderer(Widget): return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32) - @staticmethod - def _map_val(x, x0, x1, y0, y1): - x = np.clip(x, x0, x1) - ra = x1 - x0 - rb = y1 - y0 - return (x - x0) * rb / ra + y0 if ra != 0 else y0 - @staticmethod def _hsla_to_color(h, s, l, a): rgb = colorsys.hls_to_rgb(h, l, s) From 2ff707d82f53b01811ad184fbfc873c664188cc3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:37:55 -0700 Subject: [PATCH 116/126] Fix gradient point ignore --- selfdrive/ui/onroad/model_renderer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index f81b0be66c..932773755d 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -201,9 +201,9 @@ class ModelRenderer(Widget): i = 0 while i < max_len: - # Some points are out of frame + # Some points (screen space) are out of frame (rect space) track_y = self._path.projected_points[i][1] - if track_y < self._rect.y or track_y > self._rect.height: + if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height): i += 1 continue From 154f65533554e7b55b6d9abdf22d57e5035b1bc5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Aug 2025 15:44:13 -0700 Subject: [PATCH 117/126] update release checklist --- release/README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/release/README.md b/release/README.md index 266d881d3c..170a2d65ca 100644 --- a/release/README.md +++ b/release/README.md @@ -3,7 +3,7 @@ ``` ## release checklist -**Go to staging** +### Go to staging - [ ] make a GitHub issue to track release - [ ] create release master branch - [ ] update RELEASES.md @@ -11,11 +11,12 @@ - [ ] build new userdata partition from `release3-staging` - [ ] post on Discord, tag `@release crew` -Updates to staging: -- [ ] either rebase on master or cherry-pick changes -- [ ] run this to update: `BRANCH=devel-staging release/build_devel.sh` +Updating staging: +1. either rebase on master or cherry-pick changes +2. run this to update: `BRANCH=devel-staging release/build_devel.sh` +3. build new userdata partition from `release3-staging` -**Go to release** +### Go to release - [ ] before going to release, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release From b4cc4ea8e2dc0c7cae0fe5407b868a71dc1c1af9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Aug 2025 15:44:23 -0700 Subject: [PATCH 118/126] Update README.md --- release/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release/README.md b/release/README.md index 170a2d65ca..fb651fa05a 100644 --- a/release/README.md +++ b/release/README.md @@ -14,7 +14,7 @@ Updating staging: 1. either rebase on master or cherry-pick changes 2. run this to update: `BRANCH=devel-staging release/build_devel.sh` -3. build new userdata partition from `release3-staging` +3. build new userdata partition from `release3-staging` ### Go to release - [ ] before going to release, test the following: From cd9ec6b240abd6e2a2aa4afc29840180a332147f Mon Sep 17 00:00:00 2001 From: "kostas.pats" <35031825+kostas1507@users.noreply.github.com> Date: Wed, 20 Aug 2025 22:45:05 +0000 Subject: [PATCH 119/126] Compressed vipc name pick (#36036) * add custom vipc server name argument * Update compressed_vipc.py * add custom vipc server name argument + fixes * Update compressed_vipc.py --- tools/camerastream/compressed_vipc.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index b25b8b0cb7..4dc74272ea 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): class CompressedVipc: - def __init__(self, addr, vision_streams, nvidia=False, debug=False): + def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False): print("getting frame sizes") os.environ["ZMQ"] = "1" messaging.reset_context() @@ -117,7 +117,7 @@ class CompressedVipc: os.environ.pop("ZMQ") messaging.reset_context() - self.vipc_server = VisionIpcServer("camerad") + self.vipc_server = VisionIpcServer(server_name) for vst in vision_streams: ed = sm[ENCODE_SOCKETS[vst]] self.vipc_server.create_buffers(vst, 4, ed.width, ed.height) @@ -144,6 +144,7 @@ if __name__ == "__main__": parser.add_argument("addr", help="Address of comma three") parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg") parser.add_argument("--cams", default="0,1,2", help="Cameras to decode") + parser.add_argument("--server", default="camerad", help="choose vipc server name") parser.add_argument("--silent", action="store_true", help="Suppress debug output") args = parser.parse_args() @@ -154,7 +155,7 @@ if __name__ == "__main__": ] vsts = [vision_streams[int(x)] for x in args.cams.split(",")] - cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent)) + cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent)) # register exit handler signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill()) From cea3572b7416fd7589a85e9572fb620976e7b163 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Aug 2025 16:54:15 -0700 Subject: [PATCH 120/126] raylib: fix mouse scale for Widgets (#36040) fix mouse scale for mousestate --- system/ui/lib/application.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 718bf036fa..3f433e1fcb 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -67,7 +67,8 @@ class MouseEvent(NamedTuple): class MouseState: - def __init__(self): + def __init__(self, scale: float = 1.0): + self._scale = scale self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS @@ -102,8 +103,10 @@ class MouseState: def _handle_mouse_event(self): for slot in range(MAX_TOUCH_SLOTS): mouse_pos = rl.get_touch_position(slot) + x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x + y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y ev = MouseEvent( - MousePos(mouse_pos.x, mouse_pos.y), + MousePos(x, y), slot, rl.is_mouse_button_pressed(slot), rl.is_mouse_button_released(slot), @@ -133,7 +136,7 @@ class GuiApplication: self._trace_log_callback = None self._modal_overlay = ModalOverlay() - self._mouse = MouseState() + self._mouse = MouseState(self._scale) self._mouse_events: list[MouseEvent] = [] # Debug variables From c0a74f7a20da6375d710b92037bbf6143fe3822a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Aug 2025 01:55:01 -0700 Subject: [PATCH 121/126] raylib: change default tethering password --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 178bbec43e..4cb741bc95 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 TETHERING_IP_ADDRESS = "192.168.43.1" -DEFAULT_TETHERING_PASSWORD = "12345678" +DEFAULT_TETHERING_PASSWORD = "swagswagcomma" # NetworkManager device states From ae3b74245f0685e70e5e76c193e99f7f175c1db0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 09:08:40 -0700 Subject: [PATCH 122/126] sgo is just o now! --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index dcf645ff61..f3af58f85b 100644 --- a/README.md +++ b/README.md @@ -56,7 +56,6 @@ We have detailed instructions for [how to install the harness and device in a ca | `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | -| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. | To start developing openpilot ------ From ef2bb7f2fc07f4b94709cee752386be815eea8aa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 20:06:12 -0700 Subject: [PATCH 123/126] release: build orphaned branch (#36047) --- .github/workflows/release.yaml | 2 +- .github/workflows/selfdrive_tests.yaml | 2 +- release/{build_devel.sh => build_stripped.sh} | 23 ++++++++----------- 3 files changed, 11 insertions(+), 16 deletions(-) rename release/{build_devel.sh => build_stripped.sh} (83%) diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 4065b0ef3e..0f4ce6cb3a 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -39,4 +39,4 @@ jobs: git config --global --add safe.directory '*' git lfs pull - name: Push master-ci - run: BRANCH=__nightly release/build_devel.sh + run: BRANCH=__nightly release/build_stripped.sh diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index aad772757d..cdafbbfede 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -52,7 +52,7 @@ jobs: command: git lfs pull - name: Build devel timeout-minutes: 1 - run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh + run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh - uses: ./.github/workflows/setup-with-retry - name: Build openpilot and run checks timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache diff --git a/release/build_devel.sh b/release/build_stripped.sh similarity index 83% rename from release/build_devel.sh rename to release/build_stripped.sh index c4ef280258..6f1a568c25 100755 --- a/release/build_devel.sh +++ b/release/build_stripped.sh @@ -17,29 +17,23 @@ rm -rf $TARGET_DIR mkdir -p $TARGET_DIR cd $TARGET_DIR cp -r $SOURCE_DIR/.git $TARGET_DIR -pre-commit uninstall || true -echo "[-] bringing __nightly and devel in sync T=$SECONDS" +echo "[-] setting up stripped branch sync T=$SECONDS" cd $TARGET_DIR -git fetch --depth 1 origin __nightly -git fetch --depth 1 origin devel - -git checkout -f --track origin/__nightly -git reset --hard __nightly -git checkout __nightly -git reset --hard origin/devel -git clean -xdff -git submodule foreach --recursive git clean -xdff -git lfs uninstall +# tmp branch +git checkout --orphan tmp # remove everything except .git echo "[-] erasing old openpilot T=$SECONDS" +git submodule deinit -f --all +git rm -rf --cached . find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; -# reset source tree +# cleanup before the copy cd $SOURCE_DIR git clean -xdff +git submodule foreach --recursive git clean -xdff # do the files copy echo "[-] copying files T=$SECONDS" @@ -48,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ # in the directory cd $TARGET_DIR +rm -rf .git/modules/ rm -f panda/board/obj/panda.bin.signed # include source commit hash and build date in commit @@ -86,7 +81,7 @@ fi if [ ! -z "$BRANCH" ]; then echo "[-] Pushing to $BRANCH T=$SECONDS" - git push -f origin __nightly:$BRANCH + git push -f origin tmp:$BRANCH fi echo "[-] done T=$SECONDS, ready at $TARGET_DIR" From 7ed8abb66c9b3fbbf93e35545cfac56f8d4013b5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 20:11:50 -0700 Subject: [PATCH 124/126] camerad: garbage collect CL files (#36046) --- system/camerad/sensors/ar0231_cl.h | 34 ----------------- system/camerad/sensors/os04c10_cl.h | 58 ----------------------------- system/camerad/sensors/ox03c10_cl.h | 47 ----------------------- 3 files changed, 139 deletions(-) delete mode 100644 system/camerad/sensors/ar0231_cl.h delete mode 100644 system/camerad/sensors/os04c10_cl.h delete mode 100644 system/camerad/sensors/ox03c10_cl.h diff --git a/system/camerad/sensors/ar0231_cl.h b/system/camerad/sensors/ar0231_cl.h deleted file mode 100644 index c79242543b..0000000000 --- a/system/camerad/sensors/ar0231_cl.h +++ /dev/null @@ -1,34 +0,0 @@ -#if SENSOR_ID == 1 - -#define VIGNETTE_PROFILE_8DT0MM - -#define BIT_DEPTH 12 -#define PV_MAX 4096 -#define BLACK_LVL 168 - -float4 normalize_pv(int4 parsed, float vignette_factor) { - float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL); - return clamp(pv*vignette_factor, 0.0, 1.0); -} - -float3 color_correct(float3 rgb) { - float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673); - corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455); - corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782); - return corrected; -} - -float3 apply_gamma(float3 rgb, int expo_time) { - // tone mapping params - const float gamma_k = 0.75; - const float gamma_b = 0.125; - const float mp = 0.01; // ideally midpoint should be adaptive - const float rk = 9 - 100*mp; - - // poly approximation for s curve - return (rgb > mp) ? - ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) : - ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b); -} - -#endif diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h deleted file mode 100644 index 3b5cf88839..0000000000 --- a/system/camerad/sensors/os04c10_cl.h +++ /dev/null @@ -1,58 +0,0 @@ -#if SENSOR_ID == 3 - -#define BGGR -#define VIGNETTE_PROFILE_4DT6MM - -#define BIT_DEPTH 12 -#define PV_MAX10 1023 -#define PV_MAX12 4095 -#define PV_MAX16 65536 // gamma curve is calibrated to 16bit -#define BLACK_LVL 48 - -float combine_dual_pvs(float lv, float sv, int expo_time) { - float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL))); - float svd = sv * fmin(expo_time, 8.0) / 8; - - if (expo_time > 64) { - if (lv < PV_MAX10 - BLACK_LVL) { - return lv / (PV_MAX16 - BLACK_LVL); - } else { - return (svc / 64) / (PV_MAX16 - BLACK_LVL); - } - } else { - if (lv > 32) { - return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL); - } else { - return svd / (PV_MAX16 - BLACK_LVL); - } - } -} - -float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) { - float4 pl = convert_float4(parsed - BLACK_LVL); - float4 ps = convert_float4(short_parsed - BLACK_LVL); - float4 pv; - pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time); - pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time); - pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time); - pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time); - return clamp(pv*vignette_factor, 0.0, 1.0); -} - -float4 normalize_pv(int4 parsed, float vignette_factor) { - float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL); - return clamp(pv*vignette_factor, 0.0, 1.0); -} - -float3 color_correct(float3 rgb) { - float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219); - corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146); - corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468); - return corrected; -} - -float3 apply_gamma(float3 rgb, int expo_time) { - return (10 * rgb) / (1 + 9 * rgb); -} - -#endif diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h deleted file mode 100644 index c8cec7cf8a..0000000000 --- a/system/camerad/sensors/ox03c10_cl.h +++ /dev/null @@ -1,47 +0,0 @@ -#if SENSOR_ID == 2 - -#define VIGNETTE_PROFILE_8DT0MM - -#define BIT_DEPTH 12 -#define BLACK_LVL 64 - -float ox_lut_func(int x) { - if (x < 512) { - return x * 5.94873e-8; - } else if (512 <= x && x < 768) { - return 3.0458e-05 + (x-512) * 1.19913e-7; - } else if (768 <= x && x < 1536) { - return 6.1154e-05 + (x-768) * 2.38493e-7; - } else if (1536 <= x && x < 1792) { - return 0.0002448 + (x-1536) * 9.56930e-7; - } else if (1792 <= x && x < 2048) { - return 0.00048977 + (x-1792) * 1.91441e-6; - } else if (2048 <= x && x < 2304) { - return 0.00097984 + (x-2048) * 3.82937e-6; - } else if (2304 <= x && x < 2560) { - return 0.0019601 + (x-2304) * 7.659055e-6; - } else if (2560 <= x && x < 2816) { - return 0.0039207 + (x-2560) * 1.525e-5; - } else { - return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421; - } -} - -float4 normalize_pv(int4 parsed, float vignette_factor) { - // PWL - float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)}; - return clamp(pv*vignette_factor*256.0, 0.0, 1.0); -} - -float3 color_correct(float3 rgb) { - float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474); - corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248); - corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722); - return corrected; -} - -float3 apply_gamma(float3 rgb, int expo_time) { - return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089; -} - -#endif From 2b46e1450ab9ce42aae7f531924c00db7453c7a8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 23 Aug 2025 00:49:19 -0700 Subject: [PATCH 125/126] raylib: simplify network state (#36049) * wtf * we never disabled unsupported networks * dont be a hero * i hate mypy * fix --- system/ui/widgets/network.py | 126 +++++++++++++++-------------------- 1 file changed, 55 insertions(+), 71 deletions(-) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 4eac1214c2..0bb759a919 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,17 +1,17 @@ -from dataclasses import dataclass +from enum import IntEnum from functools import partial from threading import Lock -from typing import Literal +from typing import cast import pyray as rl from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment +from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog from openpilot.system.ui.widgets.keyboard import Keyboard -from openpilot.system.ui.widgets.label import gui_label +from openpilot.system.ui.widgets.label import TextAlignment, gui_label NM_DEVICE_STATE_NEED_AUTH = 60 MIN_PASSWORD_LENGTH = 8 @@ -27,43 +27,20 @@ STRENGTH_ICONS = [ ] -@dataclass -class StateIdle: - action: Literal["idle"] = "idle" - - -@dataclass -class StateConnecting: - network: NetworkInfo - action: Literal["connecting"] = "connecting" - - -@dataclass -class StateNeedsAuth: - network: NetworkInfo - retry: bool - action: Literal["needs_auth"] = "needs_auth" - - -@dataclass -class StateShowForgetConfirm: - network: NetworkInfo - action: Literal["show_forget_confirm"] = "show_forget_confirm" - - -@dataclass -class StateForgetting: - network: NetworkInfo - action: Literal["forgetting"] = "forgetting" - - -UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting +class UIState(IntEnum): + IDLE = 0 + CONNECTING = 1 + NEEDS_AUTH = 2 + SHOW_FORGET_CONFIRM = 3 + FORGETTING = 4 class WifiManagerUI(Widget): def __init__(self, wifi_manager: WifiManagerWrapper): super().__init__() - self.state: UIState = StateIdle() + self.state: UIState = UIState.IDLE + self._state_network: NetworkInfo | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING + self._password_retry: bool = False # for NEEDS_AUTH self.btn_width: int = 200 self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) @@ -93,17 +70,16 @@ class WifiManagerUI(Widget): gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) return - match self.state: - case StateNeedsAuth(network, retry): - self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}") - self.keyboard.reset() - gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result)) - case StateShowForgetConfirm(network): - self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?') - self._confirm_dialog.reset() - gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result)) - case _: - self._draw_network_list(rect) + if self.state == UIState.NEEDS_AUTH and self._state_network: + self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}") + self.keyboard.reset() + gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result)) + elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: + self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?') + self._confirm_dialog.reset() + gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) + else: + self._draw_network_list(rect) def _on_password_entered(self, network: NetworkInfo, result: int): if result == 1: @@ -113,13 +89,13 @@ class WifiManagerUI(Widget): if len(password) >= MIN_PASSWORD_LENGTH: self.connect_to_network(network, password) elif result == 0: - self.state = StateIdle() + self.state = UIState.IDLE def on_forgot_confirm_finished(self, network, result: int): if result == 1: self.forget_network(network) elif result == 0: - self.state = StateIdle() + self.state = UIState.IDLE def _draw_network_list(self, rect: rl.Rectangle): content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) @@ -147,17 +123,18 @@ class WifiManagerUI(Widget): security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) status_text = "" - match self.state: - case StateConnecting(network=connecting): - if connecting.ssid == network.ssid: - self._networks_buttons[network.ssid].set_enabled(False) - status_text = "CONNECTING..." - case StateForgetting(network=forgetting): - if forgetting.ssid == network.ssid: - self._networks_buttons[network.ssid].set_enabled(False) - status_text = "FORGETTING..." - case _: - self._networks_buttons[network.ssid].set_enabled(True) + if self.state == UIState.CONNECTING and self._state_network: + if self._state_network.ssid == network.ssid: + self._networks_buttons[network.ssid].set_enabled(False) + status_text = "CONNECTING..." + elif self.state == UIState.FORGETTING and self._state_network: + if self._state_network.ssid == network.ssid: + self._networks_buttons[network.ssid].set_enabled(False) + status_text = "FORGETTING..." + elif network.security_type == SecurityType.UNSUPPORTED: + self._networks_buttons[network.ssid].set_enabled(False) + else: + self._networks_buttons[network.ssid].set_enabled(True) self._networks_buttons[network.ssid].render(ssid_rect) @@ -181,13 +158,16 @@ class WifiManagerUI(Widget): def _networks_buttons_callback(self, network): if self.scroll_panel.is_touch_valid(): if not network.is_saved and network.security_type != SecurityType.OPEN: - self.state = StateNeedsAuth(network, False) + self.state = UIState.NEEDS_AUTH + self._state_network = network + self._password_retry = False elif not network.is_connected: self.connect_to_network(network) def _forget_networks_buttons_callback(self, network): if self.scroll_panel.is_touch_valid(): - self.state = StateShowForgetConfirm(network) + self.state = UIState.SHOW_FORGET_CONFIRM + self._state_network = network def _draw_status_icon(self, rect, network: NetworkInfo): """Draw the status icon based on network's connection state""" @@ -212,14 +192,16 @@ class WifiManagerUI(Widget): rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE) def connect_to_network(self, network: NetworkInfo, password=''): - self.state = StateConnecting(network) + self.state = UIState.CONNECTING + self._state_network = network if network.is_saved and not password: self.wifi_manager.activate_connection(network.ssid) else: self.wifi_manager.connect_to_network(network.ssid, password) def forget_network(self, network: NetworkInfo): - self.state = StateForgetting(network) + self.state = UIState.FORGETTING + self._state_network = network network.is_saved = False self.wifi_manager.forget_connection(network.ssid) @@ -236,22 +218,24 @@ class WifiManagerUI(Widget): with self._lock: network = next((n for n in self._networks if n.ssid == ssid), None) if network: - self.state = StateNeedsAuth(network, True) + self.state = UIState.NEEDS_AUTH + self._state_network = network + self._password_retry = True def _on_activated(self): with self._lock: - if isinstance(self.state, StateConnecting): - self.state = StateIdle() + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE def _on_forgotten(self, ssid): with self._lock: - if isinstance(self.state, StateForgetting): - self.state = StateIdle() + if self.state == UIState.FORGETTING: + self.state = UIState.IDLE def _on_connection_failed(self, ssid: str, error: str): with self._lock: - if isinstance(self.state, StateConnecting): - self.state = StateIdle() + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE def main(): From dd7de180ea9ee95b1440788f6e018dc2cb82540f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 23 Aug 2025 04:56:00 -0700 Subject: [PATCH 126/126] raylib: cache API token (#36050) * cache with time * safety * rm * clean up --- selfdrive/ui/lib/prime_state.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index b6c0d88469..da2ff899dd 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -2,12 +2,15 @@ from enum import IntEnum import os import threading import time +from functools import lru_cache from openpilot.common.api import Api, api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID +TOKEN_EXPIRY_HOURS = 2 + class PrimeType(IntEnum): UNKNOWN = -2, @@ -20,6 +23,12 @@ class PrimeType(IntEnum): PURPLE = 5, +@lru_cache(maxsize=1) +def get_token(dongle_id: str, t: int): + print('getting token') + return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) + + class PrimeState: FETCH_INTERVAL = 5.0 # seconds between API calls API_TIMEOUT = 10.0 # seconds for API requests @@ -49,13 +58,15 @@ class PrimeState: return try: - identity_token = Api(dongle_id).get_token() + identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) if response.status_code == 200: data = response.json() is_paired = data.get("is_paired", False) prime_type = data.get("prime_type", 0) self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED) + elif response.status_code == 401: + get_token.cache_clear() except Exception as e: cloudlog.error(f"Failed to fetch prime status: {e}")