From 6253dca9eb2e936c5828de5cf96e6c988d1349a7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Aug 2023 14:33:13 -0700 Subject: [PATCH 001/410] CAN fingerprint: timing test (#29461) * test fingerprint frames (timing) * guess not needed * it checks both buses * use case list * this is safe since we call current test only in the current loop, never after * prof * test this too --- selfdrive/car/tests/test_can_fingerprint.py | 39 ++++++++++++++++++++- 1 file changed, 38 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py index 9f3f232980..7189ff542b 100755 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -3,7 +3,7 @@ from parameterized import parameterized import unittest from cereal import log, messaging -from selfdrive.car.car_helpers import can_fingerprint +from selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS @@ -24,6 +24,43 @@ class TestCanFingerprint(unittest.TestCase): self.assertEqual(car_fingerprint, car_model) self.assertEqual(finger[0], fingerprint) self.assertEqual(finger[1], fingerprint) + self.assertEqual(finger[2], {}) + + def test_timing(self): + # just pick any CAN fingerprinting car + car_model = 'CHEVROLET BOLT EUV 2022' + fingerprint = FINGERPRINTS[car_model][0] + + cases = [] + + # case 1 - one match, make sure we keep going for 100 frames + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src) + for address, length in fingerprint.items() for src in (0, 1)] + cases.append((FRAME_FINGERPRINT, car_model, can)) + + # case 2 - no matches, make sure we keep going for 100 frames + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)] # uncommon address + cases.append((FRAME_FINGERPRINT, None, can)) + + # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)] # common address + cases.append((FRAME_FINGERPRINT * 2, None, can)) + + for expected_frames, car_model, can in cases: + with self.subTest(expected_frames=expected_frames, car_model=car_model): + frames = 0 + + def test(): + nonlocal frames + frames += 1 + return can # noqa: B023 + + car_fingerprint, _ = can_fingerprint(test) + self.assertEqual(car_fingerprint, car_model) + self.assertEqual(frames, expected_frames + 2) # TODO: fix extra frames if __name__ == "__main__": From 38f15237420e911294ff12f541529d21242e51aa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Aug 2023 20:57:42 -0700 Subject: [PATCH 002/410] add Kia Niro Hybrid 2019 to legacy safety mode list (#29472) * add Kia Niro Hybrid 2019 to legacy safety mode list * list * test * update docs * space --- docs/CARS.md | 4 ++-- selfdrive/car/hyundai/interface.py | 5 +++-- selfdrive/car/hyundai/tests/test_hyundai.py | 4 ++-- selfdrive/car/hyundai/values.py | 3 +++ 4 files changed, 10 insertions(+), 6 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9ec07a3e22..a502cde3ac 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -124,8 +124,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index ed0dab54fc..3e25863f46 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -4,7 +4,8 @@ from panda import Panda from common.conversions import Conversions as CV from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ - EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons + EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \ + Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import create_button_event, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -247,7 +248,7 @@ class CarInterface(CarInterfaceBase): else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) + ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 3d2b704e55..68a7603ec4 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -5,7 +5,7 @@ from cereal import car from selfdrive.car.fw_versions import build_fw_dict from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ - PLATFORM_CODE_ECUS, get_platform_codes + UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} @@ -37,7 +37,7 @@ NO_DATES_PLATFORMS = { class TestHyundaiFingerprint(unittest.TestCase): def test_canfd_not_in_can_features(self): - can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR) + can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR) for car_model in CANFD_CAR: self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 72408a6006..5a137267ad 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1942,6 +1942,9 @@ LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_L CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc +UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV} + # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py DBC = { From 1a08c2986e5600dd4e84bfeaed26c74e679085de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Aug 2023 22:56:43 -0700 Subject: [PATCH 003/410] Revert "radard: tie radard frequency to modelV2 vol. 2 (#29240)" (#29474) * Revert "static analysis fixes" This reverts commit a1e85f3661d2a464ec452294a57e7c0462044a28. * Revert "radard: tie radard frequency to modelV2 vol. 2 (#29240)" This reverts commit 460f5c8e0b2fd2c420e211b09b70d1d79834a929. * update refs --- selfdrive/car/chrysler/radar_interface.py | 2 +- selfdrive/car/ford/radar_interface.py | 2 +- selfdrive/car/gm/radar_interface.py | 2 +- selfdrive/car/honda/radar_interface.py | 73 ++++++-------- selfdrive/car/hyundai/radar_interface.py | 2 +- selfdrive/car/interfaces.py | 8 +- selfdrive/car/tesla/radar_interface.py | 2 +- selfdrive/car/toyota/radar_interface.py | 51 +++------- selfdrive/controls/radard.py | 99 ++++++++----------- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 11 files changed, 103 insertions(+), 144 deletions(-) diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index fc795a36ca..1d0661778a 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -46,7 +46,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None or self.CP.radarUnavailable: - return None + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 39a62b9e43..78dd594627 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -51,7 +51,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None: - return None + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 0424b95a77..99fb89ceb3 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -44,7 +44,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None: - return None + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 43fe422026..58f665233b 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -1,6 +1,4 @@ #!/usr/bin/env python3 -from collections import defaultdict - from cereal import car from opendbc.can.parser import CANParser from selfdrive.car.interfaces import RadarInterfaceBase @@ -30,61 +28,50 @@ class RadarInterface(RadarInterfaceBase): else: self.rcp = _create_nidec_can_parser(CP.carFingerprint) self.trigger_msg = 0x445 - self.updated_values = defaultdict(lambda: defaultdict(list)) + self.updated_messages = set() def update(self, can_strings): # in Bosch radar and we are only steering for now, so sleep 0.05s to keep # radard at 20Hz and return no points if self.radar_off_can: - return None + return super().update(None) - addresses = self.rcp.update_strings(can_strings) - for addr in addresses: - vals_dict = self.rcp.vl_all[addr] - for sig_name, vals in vals_dict.items(): - self.updated_values[addr][sig_name].extend(vals) + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) - if self.trigger_msg not in self.updated_values: + if self.trigger_msg not in self.updated_messages: return None - radar_data = self._radar_msg_from_buffer(self.updated_values, self.rcp.can_valid) - self.updated_values.clear() + rr = self._update(self.updated_messages) + self.updated_messages.clear() + return rr - return radar_data - - def _radar_msg_from_buffer(self, updated_values, can_valid): + def _update(self, updated_messages): ret = car.RadarData.new_message() - for ii in sorted(updated_values): - msgs = updated_values[ii] - n_vals_per_addr = len(list(msgs.values())[0]) - cpts = [ - {k: v[i] for k, v in msgs.items()} - for i in range(n_vals_per_addr) - ] - - for cpt in cpts: - if ii == 0x400: - # check for radar faults - self.radar_fault = cpt['RADAR_STATE'] != 0x79 - self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69 - elif cpt['LONG_DIST'] < 255: - if ii not in self.pts or cpt['NEW_TRACK']: - self.pts[ii] = car.RadarData.RadarPoint.new_message() - self.pts[ii].trackId = self.track_id - self.track_id += 1 - self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car - self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive - self.pts[ii].vRel = cpt['REL_SPEED'] - self.pts[ii].aRel = float('nan') - self.pts[ii].yvRel = float('nan') - self.pts[ii].measured = True - else: - if ii in self.pts: - del self.pts[ii] + for ii in sorted(updated_messages): + cpt = self.rcp.vl[ii] + if ii == 0x400: + # check for radar faults + self.radar_fault = cpt['RADAR_STATE'] != 0x79 + self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69 + elif cpt['LONG_DIST'] < 255: + if ii not in self.pts or cpt['NEW_TRACK']: + self.pts[ii] = car.RadarData.RadarPoint.new_message() + self.pts[ii].trackId = self.track_id + self.track_id += 1 + self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car + self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive + self.pts[ii].vRel = cpt['REL_SPEED'] + self.pts[ii].aRel = float('nan') + self.pts[ii].yvRel = float('nan') + self.pts[ii].measured = True + else: + if ii in self.pts: + del self.pts[ii] errors = [] - if not can_valid: + if not self.rcp.can_valid: errors.append("canError") if self.radar_fault: errors.append("fault") diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 7301ad18ce..3b74a03d4b 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -30,7 +30,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.radar_off_can or (self.rcp is None): - return None + return super().update(None) vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a9966c2bb7..f30683d9a3 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,5 +1,6 @@ import yaml import os +import time from abc import abstractmethod, ABC from typing import Any, Dict, Optional, Tuple, List, Callable @@ -309,9 +310,14 @@ class RadarInterfaceBase(ABC): self.rcp = None self.pts = {} self.delay = 0 + self.radar_ts = CP.radarTimeStep + self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ def update(self, can_strings): - pass + ret = car.RadarData.new_message() + if not self.no_radar_sleep: + time.sleep(self.radar_ts) # radard runs on RI updates + return ret class CarStateBase(ABC): diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index cf76e213e0..c368c794b0 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -36,7 +36,7 @@ class RadarInterface(RadarInterfaceBase): def update(self, can_strings): if self.rcp is None: - return None + return super().update(None) values = self.rcp.update_strings(can_strings) self.updated_messages.update(values) diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 378178f5c8..56473b06a4 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -1,6 +1,4 @@ #!/usr/bin/env python3 -from collections import defaultdict - from opendbc.can.parser import CANParser from cereal import car from selfdrive.car.toyota.values import DBC, TSS2_CAR @@ -38,47 +36,34 @@ class RadarInterface(RadarInterfaceBase): self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint) self.trigger_msg = self.RADAR_B_MSGS[-1] - self.updated_values = defaultdict(lambda: defaultdict(list)) + self.updated_messages = set() def update(self, can_strings): if self.rcp is None: - return None + return super().update(None) - addresses = self.rcp.update_strings(can_strings) - for addr in addresses: - vals_dict = self.rcp.vl_all[addr] - for sig_name, vals in vals_dict.items(): - self.updated_values[addr][sig_name].extend(vals) + vls = self.rcp.update_strings(can_strings) + self.updated_messages.update(vls) - if self.trigger_msg not in self.updated_values: + if self.trigger_msg not in self.updated_messages: return None - radar_data = self._radar_msg_from_buffer(self.updated_values, self.rcp.can_valid) - self.updated_values.clear() + rr = self._update(self.updated_messages) + self.updated_messages.clear() - return radar_data + return rr - def _radar_msg_from_buffer(self, updated_values, can_valid): + def _update(self, updated_messages): ret = car.RadarData.new_message() errors = [] - if not can_valid: + if not self.rcp.can_valid: errors.append("canError") ret.errors = errors - for ii in sorted(updated_values): - if ii not in self.RADAR_A_MSGS: - continue - - radar_a_msgs = updated_values[ii] - radar_b_msgs = updated_values[ii+16] + for ii in sorted(updated_messages): + if ii in self.RADAR_A_MSGS: + cpt = self.rcp.vl[ii] - n_vals_per_addr = len(list(radar_a_msgs.values())[0]) - cpts = [ - {k: v[i] for k, v in radar_a_msgs.items()} - for i in range(n_vals_per_addr) - ] - - for index, cpt in enumerate(cpts): if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']: self.valid_cnt[ii] = 0 # reset counter if cpt['VALID'] and cpt['LONG_DIST'] < 255: @@ -86,15 +71,11 @@ class RadarInterface(RadarInterfaceBase): else: self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) - n_b_scores = len(radar_b_msgs['SCORE']) - if n_b_scores > 0: - score_index = min(index, n_b_scores - 1) - score = radar_b_msgs['SCORE'][score_index] - else: - score = None + score = self.rcp.vl[ii+16]['SCORE'] + # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST'] # radar point only valid if it's a valid measurement and score is above 50 - if cpt['VALID'] or (score and score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): + if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0): if ii not in self.pts or cpt['NEW_TRACK']: self.pts[ii] = car.RadarData.RadarPoint.new_message() self.pts[ii].trackId = self.track_id diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 303bbaaafe..cce866a093 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -8,7 +8,7 @@ import capnp from cereal import messaging, log, car from common.numpy_fast import interp from common.params import Params -from common.realtime import Ratekeeper, Priority, config_realtime_process, DT_MDL +from common.realtime import Ratekeeper, Priority, config_realtime_process from system.swaglog import cloudlog from common.kalman.simple_kalman import KF1D @@ -50,8 +50,7 @@ class KalmanParams: class Track: - def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams): - self.identifier = identifier + def __init__(self, v_lead: float, kalman_params: KalmanParams): self.cnt = 0 self.aLeadTau = _LEAD_ACCEL_TAU self.K_A = kalman_params.A @@ -64,12 +63,8 @@ class Track: self.dRel = d_rel # LONG_DIST self.yRel = y_rel # -LAT_DIST self.vRel = v_rel # REL_SPEED - self.measured = measured # measured or estimate - - self.update_vlead(v_lead) - - def update_vlead(self, v_lead: float): self.vLead = v_lead + self.measured = measured # measured or estimate # computed velocity and accelerations if self.cnt > 0: @@ -103,12 +98,11 @@ class Track: "vLead": float(self.vLead), "vLeadK": float(self.vLeadK), "aLeadK": float(self.aLeadK), - "aLeadTau": float(self.aLeadTau), "status": True, "fcw": self.is_potential_fcw(model_prob), "modelProb": model_prob, "radar": True, - "radarTrackId": self.identifier, + "aLeadTau": float(self.aLeadTau) } def potential_low_speed_lead(self, v_ego: float): @@ -164,17 +158,15 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), - "status": True, "radar": False, - "radarTrackId": -1, + "status": True } def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader, model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]: # Determine leads, this is where the essential logic happens - lead_msg_empty = any(len(c) == 0 for c in [lead_msg.x, lead_msg.y, lead_msg.v]) - if len(tracks) > 0 and ready and not lead_msg_empty and lead_msg.prob > .5: + if len(tracks) > 0 and ready and lead_msg.prob > .5: track = match_vision_to_track(v_ego, lead_msg, tracks) else: track = None @@ -182,7 +174,7 @@ def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capn lead_dict = {'status': False} if track is not None: lead_dict = track.get_RadarState(lead_msg.prob) - elif track is None and ready and not lead_msg_empty and lead_msg.prob > .5: + elif (track is None) and ready and (lead_msg.prob > .5): lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) if low_speed_override: @@ -212,14 +204,14 @@ class RadarD: self.ready = False - def update(self, sm: messaging.SubMaster, radar_data: Optional[car.RadarData]): + def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]): self.current_time = 1e-9*max(sm.logMonoTime.values()) radar_points = [] radar_errors = [] - if radar_data is not None: - radar_points = radar_data.points - radar_errors = radar_data.errors + if rr is not None: + radar_points = rr.points + radar_errors = rr.errors if sm.updated['carState']: self.v_ego = sm['carState'].vEgo @@ -227,32 +219,26 @@ class RadarD: if sm.updated['modelV2']: self.ready = True - if radar_data is not None: - ar_pts = {} - for pt in radar_points: - ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] + ar_pts = {} + for pt in radar_points: + ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] - # *** remove missing points from meta data *** - for ids in list(self.tracks.keys()): - if ids not in ar_pts: - self.tracks.pop(ids, None) + # *** remove missing points from meta data *** + for ids in list(self.tracks.keys()): + if ids not in ar_pts: + self.tracks.pop(ids, None) - # *** compute the tracks *** - for ids in ar_pts: - rpt = ar_pts[ids] + # *** compute the tracks *** + for ids in ar_pts: + rpt = ar_pts[ids] - # align v_ego by a fixed time to align it with the radar measurement - v_lead = rpt[2] + self.v_ego_hist[0] + # align v_ego by a fixed time to align it with the radar measurement + v_lead = rpt[2] + self.v_ego_hist[0] - # create the track if it doesn't exist or it's a new track - if ids not in self.tracks: - self.tracks[ids] = Track(ids, v_lead, self.kalman_params) - self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) - else: - # *** no radar points, keep existing tracks, update v_lead - for track in self.tracks.values(): - v_lead = track.vRel + self.v_ego_hist[0] - track.update_vlead(v_lead) + # create the track if it doesn't exist or it's a new track + if ids not in self.tracks: + self.tracks[ids] = Track(v_lead, self.kalman_params) + self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) # *** publish radarState *** self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0 @@ -305,33 +291,32 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi cloudlog.info("radard is importing %s", CP.carName) RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface - # setup messaging + # *** setup messaging if can_sock is None: can_sock = messaging.sub_sock('can') if sm is None: - sm = messaging.SubMaster(['modelV2', 'carState'], poll=["modelV2"]) + sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState']) # Can't check average frequency, since radar determines timing if pm is None: pm = messaging.PubMaster(['radarState', 'liveTracks']) - interface = RadarInterface(CP) + RI = RadarInterface(CP) - rk = Ratekeeper(1 / DT_MDL, print_delay_threshold=None) - radar = RadarD(DT_MDL, interface.delay) + rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) + RD = RadarD(CP.radarTimeStep, RI.delay) - while True: - sm.update() + while 1: + can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) + rr = RI.update(can_strings) - if sm.updated['modelV2']: - can_strings = messaging.drain_sock_raw(can_sock) - if len(can_strings) == 0: - radar_data = None - else: - radar_data = interface.update(can_strings) + if rr is None: + continue + + sm.update(0) - radar.update(sm, radar_data) - radar.publish(pm, -rk.remaining*1000.0) + RD.update(sm, rr) + RD.publish(pm, -rk.remaining*1000.0) - rk.monitor_time() + rk.monitor_time() def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 08e497e72d..623478c555 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -465,8 +465,8 @@ CONFIGS = [ subs=["radarState", "liveTracks"], ignore=["logMonoTime", "valid", "radarState.cumLagMs"], init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("modelV2"), - unlocked_pubs=["can"], + should_recv_callback=MessageBasedRcvCallback("can"), + main_pub="can", ), ProcessConfig( proc_name="plannerd", diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ce6c513c10..8aec881aa5 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ac3f87bad519df408a295d2e007e0de58b11690c \ No newline at end of file +72e3d7b660ee92f5adcc249112cf04c703f4bf9e \ No newline at end of file From 2bd4e71b243e8c07a8698ae91174cf269983a20b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 19 Aug 2023 02:38:36 -0400 Subject: [PATCH 004/410] Hyundai longitudinal (CAN): don't send FCA11 on non-FCA cars (#28479) * Hyundai longitudinal (CAN): don't send FCA messages to non-FCA cars * Update comments * outside * change to FCA11 only * move down * add todos * Apply suggestions from code review * add todo --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carcontroller.py | 4 +++- selfdrive/car/hyundai/hyundaican.py | 27 ++++++++++++++------------ 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 8c734583e4..6af5f572da 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -171,8 +171,10 @@ class CarController: if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: # TODO: unclear if this is needed jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 + use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), - hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override)) + hud_control.leadVisible, set_speed_in_units, stopping, + CC.cruiseControl.override, use_fca)) # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index dc5a5b6286..c0c60fba03 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -125,7 +125,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0): } return packer.make_can_msg("LFAHDA_MFC", 0, values) -def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override): +def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca): commands = [] scc11_values = { @@ -163,17 +163,19 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s } commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) - # note that some vehicles most likely have an alternate checksum/counter definition - # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 - fca11_values = { - "CR_FCA_Alive": idx % 0xF, - "PAINT1_Status": 1, - "FCA_DrvSetStatus": 1, - "FCA_Status": 1, # AEB disabled - } - fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] - fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) - commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) + # Only send FCA11 on cars where it exists on the bus + if use_fca: + # note that some vehicles most likely have an alternate checksum/counter definition + # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 + fca11_values = { + "CR_FCA_Alive": idx % 0xF, + "PAINT1_Status": 1, + "FCA_DrvSetStatus": 1, + "FCA_Status": 1, # AEB disabled + } + fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] + fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) + commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) return commands @@ -187,6 +189,7 @@ def create_acc_opt(packer): } commands.append(packer.make_can_msg("SCC13", 0, scc13_values)) + # TODO: this needs to be detected and conditionally sent on unsupported long cars fca12_values = { "FCA_DrvSetState": 2, "FCA_USM": 1, # AEB disabled From ac07c205ed70745da1400b69afb38c5ee81d1241 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 18 Aug 2023 23:47:58 -0700 Subject: [PATCH 005/410] Nissan: add alt request for engine on Rogue (#29477) * get engine * \xda should work * fix issue * Update selfdrive/car/nissan/values.py * bump ref * other ref --- selfdrive/car/nissan/values.py | 10 ++++++++++ selfdrive/car/tests/test_fw_fingerprint.py | 4 ++-- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index e1970ded48..17df968094 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -80,9 +80,14 @@ FINGERPRINTS = { ] } +# Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) +# Manufacturer specific +NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda]) + NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' @@ -99,6 +104,11 @@ FW_QUERY_CONFIG = FwQueryConfig( [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, ), + # Rogue's engine solely responds to this + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 3feb595219..6825bb3717 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -220,7 +220,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = 6.1 + total_ref_time = 6.2 brand_ref_times = { 1: { 'body': 0.1, @@ -229,7 +229,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'honda': 0.5, 'hyundai': 0.7, 'mazda': 0.2, - 'nissan': 0.3, + 'nissan': 0.4, 'subaru': 0.2, 'tesla': 0.2, 'toyota': 1.6, From f2d22075ebd3f5e17628d1cf1ea102c7ce0bbb09 Mon Sep 17 00:00:00 2001 From: pencilpusher <83676301+jakethesnake420@users.noreply.github.com> Date: Sat, 19 Aug 2023 02:07:52 -0500 Subject: [PATCH 006/410] ui/map: interactive counter fix (#29470) * use interactive_counter instead of separate zoom and pan counters * use interaction_counter instead of separate zoom and pan counters * same styling --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/maps/map.cc | 20 +++++++------------- selfdrive/ui/qt/maps/map.h | 3 +-- 2 files changed, 8 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index b596b11260..d756a777c4 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -10,7 +10,7 @@ #include "selfdrive/ui/ui.h" -const int PAN_TIMEOUT = 100; +const int INTERACTION_TIMEOUT = 100; const float MAX_ZOOM = 17; const float MIN_ZOOM = 14; @@ -193,17 +193,12 @@ void MapWindow::updateState(const UIState &s) { m_map->updateSource("carPosSource", carPosSource); } - if (pan_counter == 0) { + if (interaction_counter == 0) { if (last_position) m_map->setCoordinate(*last_position); if (last_bearing) m_map->setBearing(*last_bearing); - } else { - pan_counter--; - } - - if (zoom_counter == 0) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); } else { - zoom_counter--; + interaction_counter--; } if (sm.updated("navInstruction")) { @@ -307,15 +302,14 @@ void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); update(); - pan_counter = 0; - zoom_counter = 0; + interaction_counter = 0; } void MapWindow::mouseMoveEvent(QMouseEvent *ev) { QPointF delta = ev->localPos() - m_lastPos; if (!delta.isNull()) { - pan_counter = PAN_TIMEOUT; + interaction_counter = INTERACTION_TIMEOUT; m_map->moveBy(delta / MAP_SCALE); update(); } @@ -337,7 +331,7 @@ void MapWindow::wheelEvent(QWheelEvent *ev) { m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE); update(); - zoom_counter = PAN_TIMEOUT; + interaction_counter = INTERACTION_TIMEOUT; ev->accept(); } @@ -362,7 +356,7 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) { // TODO: figure out why gesture centerPoint doesn't work m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE}); update(); - zoom_counter = PAN_TIMEOUT; + interaction_counter = INTERACTION_TIMEOUT; } } diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 66d10a00a0..5fe79f8b15 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -53,8 +53,7 @@ private: // Panning QPointF m_lastPos; - int pan_counter = 0; - int zoom_counter = 0; + int interaction_counter = 0; // Position std::optional last_valid_nav_dest; From 9ea2cd8d0b5b697ffe7ae38a318ef44e5233ea44 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 19 Aug 2023 16:23:42 +0800 Subject: [PATCH 007/410] ui/map_instructions: center lanes (#29465) * center lanes * test * similar spacing and no need for stretchj --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/maps/map_instructions.cc | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc index 0901213c76..277e8915cd 100644 --- a/selfdrive/ui/qt/maps/map_instructions.cc +++ b/selfdrive/ui/qt/maps/map_instructions.cc @@ -10,27 +10,30 @@ const QString ICON_SUFFIX = ".png"; MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) { is_rhd = Params().getBool("IsRhdDetected"); - QHBoxLayout *main_layout = new QHBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 11); - main_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); - QWidget *right_container = new QWidget(this); - right_container->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - QVBoxLayout *layout = new QVBoxLayout(right_container); + QHBoxLayout *top_layout = new QHBoxLayout; + top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); - layout->addWidget(distance = new QLabel); + QVBoxLayout *right_layout = new QVBoxLayout; + right_layout->addWidget(distance = new QLabel); distance->setStyleSheet(R"(font-size: 90px;)"); - layout->addWidget(primary = new QLabel); + right_layout->addWidget(primary = new QLabel); primary->setStyleSheet(R"(font-size: 60px;)"); primary->setWordWrap(true); - layout->addWidget(secondary = new QLabel); + right_layout->addWidget(secondary = new QLabel); secondary->setStyleSheet(R"(font-size: 50px;)"); secondary->setWordWrap(true); - layout->addLayout(lane_layout = new QHBoxLayout); - main_layout->addWidget(right_container); + top_layout->addLayout(right_layout); + + main_layout->addLayout(top_layout); + main_layout->addLayout(lane_layout = new QHBoxLayout); + lane_layout->setAlignment(Qt::AlignHCenter); + lane_layout->setSpacing(10); setStyleSheet("color:white"); QPalette pal = palette(); From 012060ba328da69e7fd62531bd65e8d064b3f6c0 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 19 Aug 2023 08:49:16 +0000 Subject: [PATCH 008/410] fast clone instructions (#29455) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fast clone instructions * Support default ubuntu 20.04 git --------- Co-authored-by: Harald Schäfer --- tools/README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/README.md b/tools/README.md index 28c819c28b..7e229d3eaa 100644 --- a/tools/README.md +++ b/tools/README.md @@ -9,10 +9,9 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve First, clone openpilot: ``` bash cd ~ -git clone https://github.com/commaai/openpilot.git +git clone --filter=blob:none --recurse-submodules https://github.com/commaai/openpilot.git cd openpilot -git submodule update --init ``` Then, run the setup script: From 3972c85e9711c8bf5e6231e80ee7d01f99384e83 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 20 Aug 2023 11:50:08 +0100 Subject: [PATCH 009/410] agnos manifest: add alt system image (#29468) --- system/hardware/tici/agnos.json | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 90933e8fef..dcbba3cf92 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,6 +67,10 @@ "size": 10737418240, "sparse": true, "full_check": false, - "has_ab": true + "has_ab": true, + "alt": { + "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8", + "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432-skip-chunks.img.xz" + } } ] From 3861fca9409d3b4950367d32fad2a0da5da816fd Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 20 Aug 2023 20:18:52 +0100 Subject: [PATCH 010/410] agnos: alt system image --- system/hardware/tici/agnos.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index dcbba3cf92..7e8cd480be 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -70,7 +70,7 @@ "has_ab": true, "alt": { "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8", - "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432-skip-chunks.img.xz" + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz" } } ] From 1dea20e57485a79ff4e1515d892e589ed4a4c65e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 20 Aug 2023 13:05:18 -0700 Subject: [PATCH 011/410] Proc replay: field tolerance unused (#29479) field tolerance unused --- selfdrive/test/process_replay/compare_logs.py | 22 +++---------------- .../test/process_replay/process_replay.py | 1 - .../test/process_replay/test_processes.py | 2 +- 3 files changed, 4 insertions(+), 21 deletions(-) diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index a929fae6ed..a2a355805b 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -39,25 +39,12 @@ def remove_ignored_fields(msg, ignore): return msg -def get_field_tolerance(diff_field, field_tolerances): - diff_field_str = diff_field[0] - for s in diff_field[1:]: - # loop until number in field - if not isinstance(s, str): - break - diff_field_str += '.'+s - if diff_field_str in field_tolerances: - return field_tolerances[diff_field_str] - - -def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None): +def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: ignore_msgs = [] - if field_tolerances is None: - field_tolerances = {} - default_tolerance = EPSILON if tolerance is None else tolerance + tolerance = EPSILON if tolerance is None else tolerance log1, log2 = ( [m for m in log if m.which() not in ignore_msgs] @@ -88,13 +75,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non def outside_tolerance(diff): try: if diff[0] == "change": - field_tolerance = default_tolerance - if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None: - field_tolerance = tol a, b = diff[2] finite = math.isfinite(a) and math.isfinite(b) if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number): - return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b))) + return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b))) except TypeError: pass return True diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 623478c555..eb2c7dad47 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -123,7 +123,6 @@ class ProcessConfig: should_recv_callback: Optional[Callable] = None tolerance: Optional[float] = None processing_time: float = 0.001 - field_tolerances: Dict[str, float] = field(default_factory=dict) timeout: int = 30 simulation: bool = True main_pub: Optional[str] = None diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 0e099d83e2..fe80bc17a5 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -110,7 +110,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: - return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs + return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs except Exception as e: return str(e), log_msgs From 1f056f3217c431eeda73f00e7d1ec506e103e201 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 21 Aug 2023 07:05:25 +0900 Subject: [PATCH 012/410] kor translation update (#29493) --- selfdrive/ui/translations/main_ko.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 851c306a47..31190c25b9 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1120,11 +1120,11 @@ This may take up to a minute. When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - + 내비게이션에 목적지가 있으면 openpilot이 지도 정보를 모델에 입력합니다. 이는 모델에 유용한 컨텍스트를 제공하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 합니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이것은 알파 상태의 기능입니다. 특히 출구 분기점 주변에서 실수가 발생될수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 출구 이용, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 등이 포함될 수 있습니다. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - + 주행 시각화는 저속으로 주행시 도로를 향한 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다. From 5690386d8d731c9bebda536a5c71c890f6dfe98c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Aug 2023 15:13:24 -0700 Subject: [PATCH 013/410] update clone instructions (#29490) * both * Update README.md * Update README.md --- tools/README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/README.md b/tools/README.md index 7e229d3eaa..fd03a5d77e 100644 --- a/tools/README.md +++ b/tools/README.md @@ -9,7 +9,10 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve First, clone openpilot: ``` bash cd ~ -git clone --filter=blob:none --recurse-submodules https://github.com/commaai/openpilot.git +git clone --recurse-submodules https://github.com/commaai/openpilot.git + +# or do a partial clone instead for a faster clone and smaller repo size +git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git cd openpilot ``` From bc4b75822a609e6897058bc83688c84004f29093 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 20 Aug 2023 17:24:33 -0700 Subject: [PATCH 014/410] update process replay timeout (#29478) * Always dict differ * Update selfdrive_tests.yaml * bump up more --------- Co-authored-by: Adeeb Shihadeh --- .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 65e10e61ed..0aad8ba0bb 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -306,7 +306,7 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay - timeout-minutes: 20 + timeout-minutes: 30 run: | ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ coverage xml" From d61f86d3398900ef01423d24cfdf897392a8efbb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Aug 2023 18:50:58 -0700 Subject: [PATCH 015/410] replace custom clock helpers with time module (#29499) * replace custom clock stuff wtih time module * fix double * fix release * bump cereal * update type * fix one more --- cereal | 2 +- common/SConscript | 1 - common/clock.pyx | 24 ------------------- common/realtime.py | 11 ++++----- release/files_common | 1 - scripts/waste.py | 6 ++--- selfdrive/athena/athenad.py | 16 ++++++------- selfdrive/controls/controlsd.py | 7 +++--- .../controls/lib/lateral_mpc_lib/lat_mpc.py | 6 ++--- selfdrive/controls/lib/lateral_planner.py | 5 ++-- .../lib/longitudinal_mpc_lib/long_mpc.py | 8 +++---- selfdrive/debug/can_printer.py | 14 +++++------ selfdrive/debug/check_freq.py | 6 ++--- selfdrive/manager/process.py | 3 +-- selfdrive/thermald/power_monitoring.py | 6 ++--- selfdrive/thermald/thermald.py | 14 +++++------ 16 files changed, 52 insertions(+), 78 deletions(-) delete mode 100644 common/clock.pyx diff --git a/cereal b/cereal index 1ee48e0110..3cac040c5b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 1ee48e0110a46fbdd9db50ed89a38bb5a748cfcb +Subproject commit 3cac040c5b219402cb9b234d53c78a6007298534 diff --git a/common/SConscript b/common/SConscript index 5d6170611f..71894923a6 100644 --- a/common/SConscript +++ b/common/SConscript @@ -31,5 +31,4 @@ if GetOption('test'): env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython -envCython.Program('clock.so', 'clock.pyx') envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) diff --git a/common/clock.pyx b/common/clock.pyx deleted file mode 100644 index 81333565c5..0000000000 --- a/common/clock.pyx +++ /dev/null @@ -1,24 +0,0 @@ -# distutils: language = c++ -# cython: language_level = 3 -from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t - -IF UNAME_SYSNAME == "Darwin": - # Darwin doesn't have a CLOCK_BOOTTIME - CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW -ELSE: - from posix.time cimport CLOCK_BOOTTIME - -cdef double readclock(clockid_t clock_id): - cdef timespec ts - cdef double current - - clock_gettime(clock_id, &ts) - current = ts.tv_sec + (ts.tv_nsec / 1000000000.) - return current - -def monotonic_time(): - return readclock(CLOCK_MONOTONIC_RAW) - -def sec_since_boot(): - return readclock(CLOCK_BOOTTIME) - diff --git a/common/realtime.py b/common/realtime.py index 7dd2eb98a6..dd3a5fdf8f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -5,9 +5,8 @@ import time from collections import deque from typing import Optional, List, Union -from setproctitle import getproctitle # pylint: disable=no-name-in-module +from setproctitle import getproctitle -from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error from system.hardware import PC @@ -50,13 +49,13 @@ class Ratekeeper: def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None: """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative.""" self._interval = 1. / rate - self._next_frame_time = sec_since_boot() + self._interval + self._next_frame_time = time.monotonic() + self._interval self._print_delay_threshold = print_delay_threshold self._frame = 0 self._remaining = 0.0 self._process_name = getproctitle() self._dts = deque([self._interval], maxlen=100) - self._last_monitor_time = sec_since_boot() + self._last_monitor_time = time.monotonic() @property def frame(self) -> int: @@ -82,11 +81,11 @@ class Ratekeeper: # this only monitor the cumulative lag, but does not enforce a rate def monitor_time(self) -> bool: prev = self._last_monitor_time - self._last_monitor_time = sec_since_boot() + self._last_monitor_time = time.monotonic() self._dts.append(self._last_monitor_time - prev) lagged = False - remaining = self._next_frame_time - sec_since_boot() + remaining = self._next_frame_time - time.monotonic() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") diff --git a/release/files_common b/release/files_common index 8381546b03..0f43daa4a0 100644 --- a/release/files_common +++ b/release/files_common @@ -20,7 +20,6 @@ common/__init__.py common/conversions.py common/gpio.py common/realtime.py -common/clock.pyx common/timeout.py common/ffi_wrapper.py common/file_helpers.py diff --git a/scripts/waste.py b/scripts/waste.py index d3c96bf198..e72b367063 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os +import time import numpy as np -from common.realtime import sec_since_boot from multiprocessing import Process from setproctitle import setproctitle # pylint: disable=no-name-in-module @@ -12,12 +12,12 @@ def waste(core): m2 = np.zeros((200, 200)) + 1.2 i = 1 - st = sec_since_boot() + st = time.monotonic() j = 0 while 1: if (i % 100) == 0: setproctitle("%3d: %8d" % (core, i)) - lt = sec_since_boot() + lt = time.monotonic() print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) st = lt i += 1 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d7ef064072..b3a13d2279 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -34,7 +34,7 @@ from common.api import Api from common.basedir import PERSIST from common.file_helpers import CallbackReader from common.params import Params -from common.realtime import sec_since_boot, set_core_affinity +from common.realtime import set_core_affinity from system.hardware import HARDWARE, PC, AGNOS from system.loggerd.config import ROOT from system.loggerd.xattr_cache import getxattr, setxattr @@ -593,10 +593,10 @@ def log_handler(end_event: threading.Event) -> None: return log_files = [] - last_scan = 0 + last_scan = 0. while not end_event.is_set(): try: - curr_scan = sec_since_boot() + curr_scan = time.monotonic() if curr_scan - last_scan > 10: log_files = get_logs_to_send_sorted() last_scan = curr_scan @@ -652,8 +652,8 @@ def log_handler(end_event: threading.Event) -> None: def stat_handler(end_event: threading.Event) -> None: while not end_event.is_set(): - last_scan = 0 - curr_scan = sec_since_boot() + last_scan = 0. + curr_scan = time.monotonic() try: if curr_scan - last_scan > 10: stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR))) @@ -721,7 +721,7 @@ def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket. def ws_recv(ws: WebSocket, end_event: threading.Event) -> None: - last_ping = int(sec_since_boot() * 1e9) + last_ping = int(time.monotonic() * 1e9) while not end_event.is_set(): try: opcode, data = ws.recv_data(control_frame=True) @@ -730,10 +730,10 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None: data = data.decode("utf-8") recv_queue.put_nowait(data) elif opcode == ABNF.OPCODE_PING: - last_ping = int(sec_since_boot() * 1e9) + last_ping = int(time.monotonic() * 1e9) Params().put("LastAthenaPingTime", str(last_ping)) except WebSocketTimeoutException: - ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping + ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9: cloudlog.exception("athenad.ws_recv.timeout") end_event.set() diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8084b18ff6..564a0aa6ac 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,13 +1,14 @@ #!/usr/bin/env python3 import os import math +import time from typing import SupportsFloat from cereal import car, log from common.numpy_fast import clip -from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL from common.profiler import Profiler from common.params import Params, put_nonblocking, put_bool_nonblocking +from common.realtime import DT_CTRL, Priority, Ratekeeper, config_realtime_process import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from common.conversions import Conversions as CV @@ -743,7 +744,7 @@ class Controls: if not self.read_only and self.initialized: # send car controls over can - now_nanos = self.can_log_mono_time if REPLAY else int(sec_since_boot() * 1e9) + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) CC.actuatorsOutput = self.last_actuators @@ -842,7 +843,7 @@ class Controls: self.CC = CC def step(self): - start_time = sec_since_boot() + start_time = time.monotonic() self.prof.checkpoint("Ratekeeper", ignore=True) self.is_metric = self.params.get_bool("IsMetric") diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 6afcb99dab..506b03031b 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 import os +import time import numpy as np from casadi import SX, vertcat, sin, cos -from common.realtime import sec_since_boot # WARNING: imports outside of constants will not trigger a rebuild from selfdrive.modeld.constants import T_IDXS @@ -182,9 +182,9 @@ class LateralMpc(): self.solver.set(N, "p", p_cp[N]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) - t = sec_since_boot() + t = time.monotonic() self.solution_status = self.solver.solve() - self.solve_time = sec_since_boot() - t + self.solve_time = time.monotonic() - t for i in range(N+1): self.x_sol[i] = self.solver.get(i, 'x') diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 38258b4b5d..41aa95223e 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,6 +1,7 @@ +import time import numpy as np -from common.realtime import sec_since_boot, DT_MDL from common.numpy_fast import interp +from common.realtime import DT_MDL from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N @@ -108,7 +109,7 @@ class LateralPlanner: # Check for infeasible MPC solution mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() - t = sec_since_boot() + t = time.monotonic() if mpc_nans or self.lat_mpc.solution_status != 0: self.reset_mpc() self.x0[3] = measured_curvature * self.v_ego diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index dadf6cba28..19cb2bac04 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import os +import time import numpy as np from cereal import log -from common.realtime import sec_since_boot from common.numpy_fast import clip from system.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild @@ -411,7 +411,7 @@ class LongitudinalMpc: self.source = 'lead1' def run(self): - # t0 = sec_since_boot() + # t0 = time.monotonic() # reset = 0 for i in range(N+1): self.solver.set(i, 'p', self.params[i]) @@ -442,14 +442,14 @@ class LongitudinalMpc: self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) - t = sec_since_boot() + t = time.monotonic() if self.solution_status != 0: if t > self.last_cloudlog_t + 5.0: self.last_cloudlog_t = t cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") self.reset() # reset = 1 - # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, \ + # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \ # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py index 3f991d4e6c..220008979d 100755 --- a/selfdrive/debug/can_printer.py +++ b/selfdrive/debug/can_printer.py @@ -1,17 +1,17 @@ #!/usr/bin/env python3 import argparse import binascii +import time from collections import defaultdict import cereal.messaging as messaging -from common.realtime import sec_since_boot def can_printer(bus, max_msg, addr, ascii_decode): logcan = messaging.sub_sock('can', addr=addr) - start = sec_since_boot() - lp = sec_since_boot() + start = time.monotonic() + lp = time.monotonic() msgs = defaultdict(list) while 1: can_recv = messaging.drain_sock(logcan, wait_for_one=True) @@ -20,17 +20,17 @@ def can_printer(bus, max_msg, addr, ascii_decode): if y.src == bus: msgs[y.address].append(y.dat) - if sec_since_boot() - lp > 0.1: + if time.monotonic() - lp > 0.1: dd = chr(27) + "[2J" - dd += f"{sec_since_boot() - start:5.2f}\n" + dd += f"{time.monotonic() - start:5.2f}\n" for addr in sorted(msgs.keys()): a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else "" x = binascii.hexlify(msgs[addr][-1]).decode('ascii') - freq = len(msgs[addr]) / (sec_since_boot() - start) + freq = len(msgs[addr]) / (time.monotonic() - start) if max_msg is None or addr < max_msg: dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a) print(dd) - lp = sec_since_boot() + lp = time.monotonic() if __name__ == "__main__": parser = argparse.ArgumentParser(description="simple CAN data viewer", diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index 6436abb4f1..7e7b05e950 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import argparse import numpy as np +import time from collections import defaultdict, deque from typing import DefaultDict, Deque, MutableSequence -from common.realtime import sec_since_boot import cereal.messaging as messaging @@ -22,7 +22,7 @@ if __name__ == "__main__": rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) - t = sec_since_boot() + t = time.monotonic() for name in socket_names: sock = messaging.sub_sock(name, poller=poller) sockets[sock] = name @@ -36,7 +36,7 @@ if __name__ == "__main__": name = msg.which() - t = sec_since_boot() + t = time.monotonic() rcv_times[name].append(msg.logMonoTime / 1e9) valids[name].append(msg.valid) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 0acb23857a..e6c2c52bec 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -15,7 +15,6 @@ import selfdrive.sentry as sentry from cereal import car from common.basedir import BASEDIR from common.params import Params -from common.realtime import sec_since_boot from system.swaglog import cloudlog from cereal import log @@ -104,7 +103,7 @@ class ManagerProcess(ABC): except Exception: pass - dt = sec_since_boot() - self.last_watchdog_time / 1e9 + dt = time.monotonic() - self.last_watchdog_time / 1e9 if dt > self.watchdog_max_dt: if self.watchdog_seen and ENABLE_WATCHDOG: diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 06e2b5e8f9..e9b07da1f6 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -1,8 +1,8 @@ +import time import threading from typing import Optional from common.params import Params, put_nonblocking -from common.realtime import sec_since_boot from system.hardware import HARDWARE from system.swaglog import cloudlog from selfdrive.statsd import statlog @@ -41,7 +41,7 @@ class PowerMonitoring: # Calculation tick def calculate(self, voltage: Optional[int], ignition: bool): try: - now = sec_since_boot() + now = time.monotonic() # If peripheralState is None, we're probably not in a car, so we don't care if voltage is None: @@ -113,7 +113,7 @@ class PowerMonitoring: if offroad_timestamp is None: return False - now = sec_since_boot() + now = time.monotonic() should_shutdown = False offroad_time = (now - offroad_timestamp) low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 931f9be88f..d2ab8ff733 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -17,7 +17,7 @@ from common.dict_helpers import strip_deprecated_keys from common.time import MIN_DATE from common.filter_simple import FirstOrderFilter from common.params import Params -from common.realtime import DT_TRML, sec_since_boot +from common.realtime import DT_TRML from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS from system.loggerd.config import get_available_percent @@ -230,7 +230,7 @@ def thermald_thread(end_event, hw_queue): if TICI: fan_controller = TiciFanController() - elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT: + elif (time.monotonic() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT: if onroad_conditions["ignition"]: onroad_conditions["ignition"] = False cloudlog.error("panda timed out onroad") @@ -273,7 +273,7 @@ def thermald_thread(end_event, hw_queue): if fan_controller is not None: msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) - is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5)) + is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: # if device is offroad and already hot without the extra onroad load, # we want to cool down first before increasing load @@ -354,10 +354,10 @@ def thermald_thread(end_event, hw_queue): if should_start: off_ts = None if started_ts is None: - started_ts = sec_since_boot() + started_ts = time.monotonic() started_seen = True if startup_blocked_ts is not None: - cloudlog.event("Startup after block", block_duration=(sec_since_boot() - startup_blocked_ts), + cloudlog.event("Startup after block", block_duration=(time.monotonic() - startup_blocked_ts), startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, startup_conditions_prev=startup_conditions_prev, error=True) startup_blocked_ts = None @@ -365,11 +365,11 @@ def thermald_thread(end_event, hw_queue): if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev): cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True) startup_conditions_prev = startup_conditions.copy() - startup_blocked_ts = sec_since_boot() + startup_blocked_ts = time.monotonic() started_ts = None if off_ts is None: - off_ts = sec_since_boot() + off_ts = time.monotonic() # Offroad power monitoring voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage From a9626f95b69af19306143fc4def02fb5769405d2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Aug 2023 20:49:55 -0700 Subject: [PATCH 016/410] add openpilot prefix to imports (#29498) * add openpilot prefix to imports * more * more * fix docs * fix linter * bump submodules * fix patched tests * update dynamic imports * debug * Revert "debug" This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b. * fix pm test --- Dockerfile.openpilot | 1 + common/api/__init__.py | 4 +- common/basedir.py | 2 +- common/kalman/simple_kalman.py | 2 +- common/kalman/tests/test_simple_kalman.py | 8 ++-- common/params.py | 3 +- common/realtime.py | 2 +- common/spinner.py | 2 +- common/tests/test_file_helpers.py | 4 +- common/tests/test_numpy_fast.py | 2 +- common/tests/test_params.py | 2 +- common/text_window.py | 2 +- common/transformations/camera.py | 2 +- common/transformations/coordinates.py | 6 +-- common/transformations/model.py | 10 ++--- common/transformations/orientation.py | 2 +- .../transformations/tests/test_coordinates.py | 2 +- .../transformations/tests/test_orientation.py | 2 +- common/transformations/transformations.pyx | 30 +++++++------- docs/conf.py | 4 +- docs/docker/Dockerfile | 1 + laika_repo | 2 +- panda | 2 +- release/files_common | 3 ++ scripts/count_cars.py | 2 +- scripts/disable-powersave.py | 2 +- scripts/pyqt_demo.py | 2 +- scripts/waste.py | 4 +- selfdrive/athena/athenad.py | 24 +++++------ selfdrive/athena/manage_athenad.py | 8 ++-- selfdrive/athena/registration.py | 14 +++---- selfdrive/athena/tests/helpers.py | 2 +- selfdrive/athena/tests/test_athenad.py | 10 ++--- selfdrive/athena/tests/test_athenad_ping.py | 10 ++--- selfdrive/athena/tests/test_registration.py | 16 ++++---- selfdrive/boardd/boardd.py | 2 +- selfdrive/boardd/pandad.py | 10 ++--- selfdrive/boardd/set_time.py | 2 +- .../boardd/tests/test_boardd_loopback.py | 12 +++--- selfdrive/boardd/tests/test_pandad.py | 12 +++--- selfdrive/car/__init__.py | 2 +- selfdrive/car/body/carcontroller.py | 10 ++--- selfdrive/car/body/carstate.py | 4 +- selfdrive/car/body/interface.py | 8 ++-- selfdrive/car/body/radar_interface.py | 2 +- selfdrive/car/body/values.py | 6 +-- selfdrive/car/car_helpers.py | 20 +++++----- selfdrive/car/chrysler/carcontroller.py | 8 ++-- selfdrive/car/chrysler/carstate.py | 6 +-- selfdrive/car/chrysler/chryslercan.py | 2 +- selfdrive/car/chrysler/interface.py | 6 +-- selfdrive/car/chrysler/radar_interface.py | 4 +- selfdrive/car/chrysler/values.py | 6 +-- selfdrive/car/disable_ecu.py | 4 +- selfdrive/car/docs.py | 8 ++-- selfdrive/car/docs_definitions.py | 2 +- selfdrive/car/ecu_addrs.py | 8 ++-- selfdrive/car/fingerprints.py | 2 +- selfdrive/car/ford/carcontroller.py | 8 ++-- selfdrive/car/ford/carstate.py | 8 ++-- selfdrive/car/ford/fordcan.py | 2 +- selfdrive/car/ford/interface.py | 10 ++--- selfdrive/car/ford/radar_interface.py | 8 ++-- selfdrive/car/ford/values.py | 6 +-- selfdrive/car/fw_versions.py | 16 ++++---- selfdrive/car/gm/carcontroller.py | 12 +++--- selfdrive/car/gm/carstate.py | 8 ++-- selfdrive/car/gm/gmcan.py | 4 +- selfdrive/car/gm/interface.py | 12 +++--- selfdrive/car/gm/radar_interface.py | 6 +-- selfdrive/car/gm/tests/test_gm.py | 2 +- selfdrive/car/gm/values.py | 4 +- selfdrive/car/honda/carcontroller.py | 12 +++--- selfdrive/car/honda/carstate.py | 12 +++--- selfdrive/car/honda/hondacan.py | 4 +- selfdrive/car/honda/interface.py | 12 +++--- selfdrive/car/honda/radar_interface.py | 4 +- selfdrive/car/honda/tests/test_honda.py | 2 +- selfdrive/car/honda/values.py | 8 ++-- selfdrive/car/hyundai/carcontroller.py | 14 +++---- selfdrive/car/hyundai/carstate.py | 9 +++-- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/hyundaicanfd.py | 6 +-- selfdrive/car/hyundai/interface.py | 14 +++---- selfdrive/car/hyundai/radar_interface.py | 4 +- .../car/hyundai/tests/print_platform_codes.py | 2 +- selfdrive/car/hyundai/tests/test_hyundai.py | 4 +- selfdrive/car/hyundai/values.py | 8 ++-- selfdrive/car/interfaces.py | 20 +++++----- selfdrive/car/isotp_parallel_query.py | 4 +- selfdrive/car/mazda/carcontroller.py | 6 +-- selfdrive/car/mazda/carstate.py | 6 +-- selfdrive/car/mazda/interface.py | 8 ++-- selfdrive/car/mazda/mazdacan.py | 2 +- selfdrive/car/mazda/radar_interface.py | 2 +- selfdrive/car/mazda/values.py | 6 +-- selfdrive/car/mock/interface.py | 6 +-- selfdrive/car/mock/radar_interface.py | 2 +- selfdrive/car/mock/values.py | 2 +- selfdrive/car/nissan/carcontroller.py | 6 +-- selfdrive/car/nissan/carstate.py | 6 +-- selfdrive/car/nissan/interface.py | 6 +-- selfdrive/car/nissan/nissancan.py | 2 +- selfdrive/car/nissan/radar_interface.py | 2 +- selfdrive/car/nissan/values.py | 6 +-- selfdrive/car/subaru/carcontroller.py | 8 ++-- selfdrive/car/subaru/carstate.py | 8 ++-- selfdrive/car/subaru/interface.py | 6 +-- selfdrive/car/subaru/radar_interface.py | 2 +- selfdrive/car/subaru/subarucan.py | 2 +- selfdrive/car/subaru/values.py | 6 +-- selfdrive/car/tesla/carcontroller.py | 8 ++-- selfdrive/car/tesla/carstate.py | 6 +-- selfdrive/car/tesla/interface.py | 6 +-- selfdrive/car/tesla/radar_interface.py | 4 +- selfdrive/car/tesla/teslacan.py | 4 +- selfdrive/car/tesla/values.py | 6 +-- selfdrive/car/tests/routes.py | 24 +++++------ selfdrive/car/tests/test_can_fingerprint.py | 4 +- selfdrive/car/tests/test_car_interfaces.py | 12 +++--- selfdrive/car/tests/test_docs.py | 14 +++---- selfdrive/car/tests/test_fingerprints.py | 2 +- selfdrive/car/tests/test_fw_fingerprint.py | 11 ++--- selfdrive/car/tests/test_lateral_limits.py | 10 ++--- selfdrive/car/tests/test_models.py | 22 +++++----- selfdrive/car/toyota/carcontroller.py | 8 ++-- selfdrive/car/toyota/carstate.py | 13 +++--- selfdrive/car/toyota/interface.py | 8 ++-- selfdrive/car/toyota/radar_interface.py | 4 +- selfdrive/car/toyota/tests/test_toyota.py | 2 +- selfdrive/car/toyota/values.py | 8 ++-- selfdrive/car/vin.py | 6 +-- selfdrive/car/volkswagen/carcontroller.py | 12 +++--- selfdrive/car/volkswagen/carstate.py | 6 +-- selfdrive/car/volkswagen/interface.py | 8 ++-- selfdrive/car/volkswagen/radar_interface.py | 2 +- selfdrive/car/volkswagen/values.py | 6 +-- selfdrive/controls/controlsd.py | 40 +++++++++---------- selfdrive/controls/lib/alertmanager.py | 6 +-- selfdrive/controls/lib/desire_helper.py | 4 +- selfdrive/controls/lib/drive_helpers.py | 8 ++-- selfdrive/controls/lib/events.py | 8 ++-- selfdrive/controls/lib/latcontrol.py | 4 +- selfdrive/controls/lib/latcontrol_angle.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 4 +- selfdrive/controls/lib/latcontrol_torque.py | 8 ++-- .../controls/lib/lateral_mpc_lib/lat_mpc.py | 6 +-- selfdrive/controls/lib/lateral_planner.py | 14 +++---- selfdrive/controls/lib/longcontrol.py | 10 ++--- .../lib/longitudinal_mpc_lib/long_mpc.py | 14 +++---- .../controls/lib/longitudinal_planner.py | 24 +++++------ selfdrive/controls/lib/pid.py | 2 +- .../controls/lib/tests/test_alertmanager.py | 4 +- .../controls/lib/tests/test_latcontrol.py | 16 ++++---- .../controls/lib/tests/test_vehicle_model.py | 6 +-- selfdrive/controls/plannerd.py | 12 +++--- selfdrive/controls/radard.py | 10 ++--- selfdrive/controls/tests/test_alerts.py | 10 ++--- selfdrive/controls/tests/test_cruise_speed.py | 8 ++-- .../controls/tests/test_following_distance.py | 6 +-- selfdrive/controls/tests/test_lateral_mpc.py | 6 +-- selfdrive/controls/tests/test_startup.py | 14 +++---- .../controls/tests/test_state_machine.py | 8 ++-- selfdrive/debug/can_print_changes.py | 4 +- .../debug/check_can_parser_performance.py | 6 +-- selfdrive/debug/count_events.py | 4 +- selfdrive/debug/cpu_usage_stat.py | 2 +- selfdrive/debug/cycle_alerts.py | 10 ++--- selfdrive/debug/dump_car_info.py | 2 +- selfdrive/debug/filter_log_message.py | 4 +- selfdrive/debug/fingerprint_from_route.py | 4 +- .../debug/internal/fuzz_fw_fingerprint.py | 10 ++--- selfdrive/debug/internal/qlog_size.py | 4 +- selfdrive/debug/live_cpu_and_temp.py | 2 +- selfdrive/debug/print_docs_diff.py | 4 +- selfdrive/debug/run_process_on_route.py | 8 ++-- selfdrive/debug/sensor_data_to_hist.py | 4 +- selfdrive/debug/set_car_params.py | 6 +-- selfdrive/debug/show_matching_cars.py | 2 +- selfdrive/debug/test_car_model.py | 6 +-- selfdrive/debug/test_fw_query_on_routes.py | 8 ++-- selfdrive/debug/toyota_eps_factor.py | 6 +-- selfdrive/debug/uiview.py | 4 +- selfdrive/locationd/calibrationd.py | 10 ++--- selfdrive/locationd/laikad.py | 10 ++--- selfdrive/locationd/models/car_kf.py | 6 +-- selfdrive/locationd/models/gnss_kf.py | 4 +- selfdrive/locationd/models/lane_kf.py | 2 +- selfdrive/locationd/models/live_kf.py | 2 +- selfdrive/locationd/models/loc_kf.py | 4 +- selfdrive/locationd/paramsd.py | 12 +++--- .../locationd/test/_test_locationd_lib.py | 2 +- selfdrive/locationd/test/test_calibrationd.py | 4 +- selfdrive/locationd/test/test_laikad.py | 10 ++--- selfdrive/locationd/test/test_locationd.py | 6 +-- selfdrive/locationd/torqued.py | 10 ++--- selfdrive/manager/build.py | 12 +++--- selfdrive/manager/manager.py | 24 +++++------ selfdrive/manager/process.py | 11 +++-- selfdrive/manager/process_config.py | 6 +-- selfdrive/manager/test/test_manager.py | 10 ++--- selfdrive/modeld/modeld.cc | 2 +- selfdrive/modeld/tests/test_modeld.py | 8 ++-- selfdrive/modeld/tests/timing/benchmark.py | 2 +- selfdrive/monitoring/dmonitoringd.py | 8 ++-- selfdrive/monitoring/driver_monitor.py | 10 ++--- selfdrive/monitoring/test_monitoring.py | 6 +-- selfdrive/navd/helpers.py | 6 +-- selfdrive/navd/map_renderer.py | 4 +- selfdrive/navd/navd.py | 12 +++--- selfdrive/navd/set_destination.py | 2 +- selfdrive/navd/tests/test_map_renderer.py | 2 +- selfdrive/rtshield.py | 2 +- selfdrive/sentry.py | 10 ++--- selfdrive/statsd.py | 12 +++--- selfdrive/test/ciui.py | 2 +- selfdrive/test/helpers.py | 8 ++-- .../test/longitudinal_maneuvers/maneuver.py | 2 +- .../test/longitudinal_maneuvers/plant.py | 14 +++---- .../test_longitudinal.py | 6 +-- selfdrive/test/process_replay/README.md | 10 ++--- selfdrive/test/process_replay/__init__.py | 2 +- selfdrive/test/process_replay/compare_logs.py | 2 +- selfdrive/test/process_replay/helpers.py | 2 +- selfdrive/test/process_replay/migration.py | 2 +- selfdrive/test/process_replay/model_replay.py | 28 ++++++------- .../test/process_replay/process_replay.py | 20 +++++----- selfdrive/test/process_replay/regen.py | 12 +++--- selfdrive/test/process_replay/regen_all.py | 8 ++-- selfdrive/test/process_replay/test_debayer.py | 16 ++++---- selfdrive/test/process_replay/test_fuzzy.py | 6 +-- .../test/process_replay/test_processes.py | 16 ++++---- selfdrive/test/process_replay/vision_meta.py | 4 +- selfdrive/test/profiling/profiler.py | 24 +++++------ selfdrive/test/test_onroad.py | 16 ++++---- selfdrive/test/test_time_to_onroad.py | 6 +-- selfdrive/test/test_updated.py | 4 +- selfdrive/test/test_valgrind_replay.py | 6 +-- selfdrive/test/update_ci_routes.py | 6 +-- selfdrive/thermald/fan_controller.py | 8 ++-- selfdrive/thermald/power_monitoring.py | 8 ++-- .../thermald/tests/test_fan_controller.py | 2 +- .../thermald/tests/test_power_monitoring.py | 32 +++++++-------- selfdrive/thermald/thermald.py | 26 ++++++------ selfdrive/tombstoned.py | 10 ++--- selfdrive/ui/qt/python_helpers.py | 4 +- selfdrive/ui/tests/cycle_offroad_alerts.py | 6 +-- selfdrive/ui/tests/test_soundd.py | 6 +-- selfdrive/ui/tests/test_translations.py | 2 +- selfdrive/ui/translations/create_badges.py | 6 +-- selfdrive/ui/update_translations.py | 4 +- selfdrive/updated.py | 16 ++++---- system/camerad/snapshot/snapshot.py | 10 ++--- .../test/get_thumbnails_for_segment.py | 6 +-- system/camerad/test/test_camerad.py | 4 +- system/camerad/test/test_exposure.py | 4 +- system/hardware/__init__.py | 6 +-- system/hardware/pc/hardware.py | 2 +- system/hardware/tici/agnos.py | 2 +- system/hardware/tici/hardware.py | 10 ++--- system/hardware/tici/power_draw_test.py | 6 +-- system/hardware/tici/power_monitor.py | 4 +- system/hardware/tici/precise_power_measure.py | 2 +- .../tici/tests/compare_casync_manifest.py | 2 +- system/hardware/tici/tests/test_amplifier.py | 6 +-- system/hardware/tici/tests/test_casync.py | 2 +- system/hardware/tici/tests/test_hardware.py | 4 +- system/hardware/tici/tests/test_power_draw.py | 10 ++--- system/loggerd/config.py | 2 +- system/loggerd/deleter.py | 8 ++-- system/loggerd/tests/fill.py | 4 +- system/loggerd/tests/loggerd_tests_common.py | 6 +-- system/loggerd/tests/test_deleter.py | 6 +-- system/loggerd/tests/test_encoder.py | 12 +++--- system/loggerd/tests/test_loggerd.py | 20 +++++----- system/loggerd/tests/test_uploader.py | 6 +-- system/loggerd/tools/mark_all_uploaded.py | 4 +- system/loggerd/tools/mark_unuploaded.py | 2 +- system/loggerd/uploader.py | 14 +++---- system/logmessaged.py | 4 +- system/micd.py | 6 +-- system/sensord/pigeond.py | 10 ++--- system/sensord/rawgps/rawgpsd.py | 10 ++--- system/sensord/rawgps/test_rawgps.py | 8 ++-- system/sensord/tests/test_pigeond.py | 10 ++--- system/sensord/tests/test_sensord.py | 6 +-- system/sensord/tests/ttff_test.py | 2 +- system/swaglog.py | 4 +- system/tests/test_logmessaged.py | 4 +- system/timezoned.py | 6 +-- system/ubloxd/tests/test_ublox_processing.py | 6 +-- system/ubloxd/tests/ubloxd.py | 2 +- system/version.py | 6 +-- tools/bodyteleop/web.py | 4 +- tools/cabana/dbc/generate_dbc_json.py | 2 +- tools/camerastream/receive.py | 2 +- tools/gpstest/rpc_server.py | 4 +- tools/gpstest/test_gps.py | 8 ++-- tools/gpstest/test_gps_qcom.py | 6 +-- tools/gpstest/test_laikad.py | 10 ++--- tools/joystick/joystickd.py | 8 ++-- tools/latencylogger/latency_logger.py | 2 +- tools/lib/README.md | 8 ++-- tools/lib/auth.py | 4 +- tools/lib/auth_config.py | 4 +- tools/lib/bootlog.py | 6 +-- tools/lib/cache.py | 2 +- tools/lib/filereader.py | 2 +- tools/lib/framereader.py | 8 ++-- tools/lib/logreader.py | 4 +- tools/lib/route.py | 6 +-- tools/lib/tests/test_caching.py | 2 +- tools/lib/tests/test_readers.py | 4 +- tools/lib/tests/test_route_library.py | 2 +- tools/lib/url_file.py | 2 +- tools/plotjuggler/juggle.py | 12 +++--- tools/plotjuggler/test_plotjuggler.py | 6 +-- tools/replay/can_replay.py | 8 ++-- tools/replay/lib/ui_helpers.py | 4 +- tools/replay/ui.py | 6 +-- tools/replay/unlog_ci_segment.py | 6 +-- tools/scripts/fetch_image_from_route.py | 4 +- tools/scripts/save_ubloxraw_stream.py | 6 +-- tools/scripts/setup_ssh_keys.py | 2 +- tools/sim/Dockerfile.sim | 3 +- tools/sim/bridge.py | 18 ++++----- tools/sim/lib/can.py | 4 +- tools/sim/tests/test_carla_integration.py | 8 ++-- tools/tuning/measure_steering_accuracy.py | 2 +- tools/webcam/front_mount_helper.py | 2 +- tools/webcam/warp_vis.py | 2 +- tools/zookeeper/check_consumption.py | 2 +- tools/zookeeper/disable.py | 2 +- tools/zookeeper/enable_and_wait.py | 2 +- tools/zookeeper/ignition.py | 2 +- tools/zookeeper/power_monitor.py | 6 +-- tools/zookeeper/test_zookeeper.py | 2 +- 337 files changed, 1154 insertions(+), 1143 deletions(-) diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 51907b7a44..3541be92b0 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -10,6 +10,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./laika ${OPENPILOT_PATH}/laika diff --git a/common/api/__init__.py b/common/api/__init__.py index c1fa635bd6..0eb8aa7627 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -2,8 +2,8 @@ import jwt import os import requests from datetime import datetime, timedelta -from common.basedir import PERSIST -from system.version import get_version +from openpilot.common.basedir import PERSIST +from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') diff --git a/common/basedir.py b/common/basedir.py index 371b54d3ef..b4486f9f08 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,7 +1,7 @@ import os from pathlib import Path -from system.hardware import PC +from openpilot.system.hardware import PC BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py index 33289e4f50..31ad76c5b2 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -1,3 +1,3 @@ # pylint: skip-file -from common.kalman.simple_kalman_impl import KF1D as KF1D +from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D assert KF1D diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py index 96b2527655..32cc79fc3d 100644 --- a/common/kalman/tests/test_simple_kalman.py +++ b/common/kalman/tests/test_simple_kalman.py @@ -3,8 +3,8 @@ import random import timeit import numpy as np -from common.kalman.simple_kalman import KF1D -from common.kalman.simple_kalman_old import KF1D as KF1D_old +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old class TestSimpleKalman(unittest.TestCase): @@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase): setup = """ import numpy as np -from common.kalman.simple_kalman import KF1D -from common.kalman.simple_kalman_old import KF1D as KF1D_old +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old dt = 0.01 x0_0 = 0.0 diff --git a/common/params.py b/common/params.py index b6be424d41..bc1422dd81 100644 --- a/common/params.py +++ b/common/params.py @@ -1,4 +1,5 @@ -from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ + put_bool_nonblocking # pylint: disable=no-name-in-module, import-error assert Params assert ParamKeyType assert UnknownKeyName diff --git a/common/realtime.py b/common/realtime.py index dd3a5fdf8f..7549a7ef52 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -7,7 +7,7 @@ from typing import Optional, List, Union from setproctitle import getproctitle -from system.hardware import PC +from openpilot.system.hardware import PC # time step for each process diff --git a/common/spinner.py b/common/spinner.py index 34fd720ee9..43d4bb2cc2 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -1,6 +1,6 @@ import os import subprocess -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR class Spinner(): diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index d39e66de13..e36df57a32 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -2,8 +2,8 @@ import os import unittest from uuid import uuid4 -from common.file_helpers import atomic_write_on_fs_tmp -from common.file_helpers import atomic_write_in_dir +from openpilot.common.file_helpers import atomic_write_on_fs_tmp +from openpilot.common.file_helpers import atomic_write_in_dir class TestFileHelpers(unittest.TestCase): diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py index 2fb8a1cef3..de7bb972e7 100644 --- a/common/tests/test_numpy_fast.py +++ b/common/tests/test_numpy_fast.py @@ -1,7 +1,7 @@ import numpy as np import unittest -from common.numpy_fast import interp +from openpilot.common.numpy_fast import interp class InterpTest(unittest.TestCase): diff --git a/common/tests/test_params.py b/common/tests/test_params.py index d432218c8a..72fa4e3f72 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -6,7 +6,7 @@ import shutil import uuid import unittest -from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking class TestParams(unittest.TestCase): def setUp(self): diff --git a/common/text_window.py b/common/text_window.py index bea3a149f8..d2762ebf7d 100755 --- a/common/text_window.py +++ b/common/text_window.py @@ -2,7 +2,7 @@ import os import time import subprocess -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR class TextWindow: diff --git a/common/transformations/camera.py b/common/transformations/camera.py index eaed0e7afe..c643cb5702 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -1,6 +1,6 @@ import numpy as np -import common.transformations.orientation as orient +import openpilot.common.transformations.orientation as orient ## -- hardcoded hardware params -- eon_f_focal_length = 910.0 diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py index 46cc0ded0d..7e7b56522a 100644 --- a/common/transformations/coordinates.py +++ b/common/transformations/coordinates.py @@ -1,8 +1,8 @@ # pylint: skip-file -from common.transformations.orientation import numpy_wrap -from common.transformations.transformations import (ecef2geodetic_single, +from openpilot.common.transformations.orientation import numpy_wrap +from openpilot.common.transformations.transformations import (ecef2geodetic_single, geodetic2ecef_single) -from common.transformations.transformations import LocalCoord as LocalCoord_single +from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single class LocalCoord(LocalCoord_single): diff --git a/common/transformations/model.py b/common/transformations/model.py index 811a17eafe..114f8eae38 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -1,6 +1,6 @@ import numpy as np -from common.transformations.camera import (FULL_FRAME_SIZE, +from openpilot.common.transformations.camera import (FULL_FRAME_SIZE, get_view_frame_from_calib_frame) # segnet @@ -61,8 +61,8 @@ medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(b ### This function mimics the update_calibration logic in modeld.cc ### Manually verified to give similar results to xx.uncommon.utils.transform_img def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): - from common.transformations.orientation import rot_from_euler - from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics + from openpilot.common.transformations.orientation import rot_from_euler + from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics if tici and wide_cam: intrinsics = tici_ecam_intrinsics @@ -85,8 +85,8 @@ def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): ### This is old, just for debugging def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True): - from common.transformations.orientation import rot_from_euler - from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics + from openpilot.common.transformations.orientation import rot_from_euler + from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics def get_view_frame_from_road_frame(roll, pitch, yaw, height): diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py index 134442b624..657a86a574 100644 --- a/common/transformations/orientation.py +++ b/common/transformations/orientation.py @@ -2,7 +2,7 @@ import numpy as np from typing import Callable -from common.transformations.transformations import (ecef_euler_from_ned_single, +from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single, euler2quat_single, euler2rot_single, ned_euler_from_ecef_single, diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index dc70faed0b..7ae79403bd 100755 --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -3,7 +3,7 @@ import numpy as np import unittest -import common.transformations.coordinates as coord +import openpilot.common.transformations.coordinates as coord geodetic_positions = np.array([[37.7610403, -122.4778699, 115], [27.4840915, -68.5867592, 2380], diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py index 50978e1a63..f77827d2f9 100755 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -3,7 +3,7 @@ import numpy as np import unittest -from common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ +from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ ned_euler_from_ecef diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx index ce80d90d29..c5cb9e0056 100644 --- a/common/transformations/transformations.pyx +++ b/common/transformations/transformations.pyx @@ -1,20 +1,20 @@ # distutils: language = c++ # cython: language_level = 3 -from common.transformations.transformations cimport Matrix3, Vector3, Quaternion -from common.transformations.transformations cimport ECEF, NED, Geodetic - -from common.transformations.transformations cimport euler2quat as euler2quat_c -from common.transformations.transformations cimport quat2euler as quat2euler_c -from common.transformations.transformations cimport quat2rot as quat2rot_c -from common.transformations.transformations cimport rot2quat as rot2quat_c -from common.transformations.transformations cimport euler2rot as euler2rot_c -from common.transformations.transformations cimport rot2euler as rot2euler_c -from common.transformations.transformations cimport rot_matrix as rot_matrix_c -from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c -from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c -from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c -from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c -from common.transformations.transformations cimport LocalCoord_c +from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion +from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic + +from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c +from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c +from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c +from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c +from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c +from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c +from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c +from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c +from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c +from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c +from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c +from openpilot.common.transformations.transformations cimport LocalCoord_c import cython diff --git a/docs/conf.py b/docs/conf.py index beb5924496..a4ed00c919 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -17,8 +17,8 @@ import os import sys from os.path import exists -from common.basedir import BASEDIR -from system.version import get_version +from openpilot.common.basedir import BASEDIR +from openpilot.system.version import get_version sys.path.insert(0, os.path.abspath('.')) sys.path.insert(0, os.path.abspath('..')) diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 63564a6fff..209fba010f 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons diff --git a/laika_repo b/laika_repo index ef21c612f4..65901a1e6c 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit ef21c612f4b0d68c790b4b1a6d637cd5fce7732e +Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253 diff --git a/panda b/panda index aed103d537..57ec466a91 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit aed103d5372d1e5b3fb686d2aa8f111081b37fd0 +Subproject commit 57ec466a91d1e2d51b43d54417091a50f0c9dc78 diff --git a/release/files_common b/release/files_common index 0f43daa4a0..023fd9e3af 100644 --- a/release/files_common +++ b/release/files_common @@ -15,6 +15,9 @@ docs/INTEGRATION.md docs/LIMITATIONS.md site_scons/site_tools/cython.py +openpilot/__init__.py +openpilot/** + common/.gitignore common/__init__.py common/conversions.py diff --git a/scripts/count_cars.py b/scripts/count_cars.py index 25bad2c9b4..8c0892bb82 100755 --- a/scripts/count_cars.py +++ b/scripts/count_cars.py @@ -2,7 +2,7 @@ from collections import Counter from pprint import pprint -from selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs import get_all_car_info if __name__ == "__main__": cars = get_all_car_info() diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py index 93688504f3..367b4108b0 100755 --- a/scripts/disable-powersave.py +++ b/scripts/disable-powersave.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE if __name__ == "__main__": HARDWARE.set_power_save(False) diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py index 43716fbeb2..b73d7dfad7 100755 --- a/scripts/pyqt_demo.py +++ b/scripts/pyqt_demo.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from PyQt5.QtWidgets import QApplication, QLabel # pylint: disable=no-name-in-module, import-error -from selfdrive.ui.qt.python_helpers import set_main_window +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window if __name__ == "__main__": diff --git a/scripts/waste.py b/scripts/waste.py index e72b367063..0764ff77c3 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -3,10 +3,10 @@ import os import time import numpy as np from multiprocessing import Process -from setproctitle import setproctitle # pylint: disable=no-name-in-module +from setproctitle import setproctitle def waste(core): - os.sched_setaffinity(0, [core,]) # pylint: disable=no-member + os.sched_setaffinity(0, [core,]) m1 = np.zeros((200, 200)) + 0.8 m2 = np.zeros((200, 200)) + 1.2 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index b3a13d2279..15088f69b1 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -30,17 +30,17 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from common.api import Api -from common.basedir import PERSIST -from common.file_helpers import CallbackReader -from common.params import Params -from common.realtime import set_core_affinity -from system.hardware import HARDWARE, PC, AGNOS -from system.loggerd.config import ROOT -from system.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.statsd import STATS_DIR -from system.swaglog import SWAGLOG_DIR, cloudlog -from system.version import get_commit, get_origin, get_short_branch, get_version +from openpilot.common.api import Api +from openpilot.common.basedir import PERSIST +from openpilot.common.file_helpers import CallbackReader +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware import HARDWARE, PC, AGNOS +from openpilot.system.loggerd.config import ROOT +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.selfdrive.statsd import STATS_DIR +from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog +from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version # TODO: use socket constant when mypy recognizes this as a valid attribute @@ -552,7 +552,7 @@ def getNetworks(): @dispatcher.add_method def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: - from system.camerad.snapshot.snapshot import jpeg_write, snapshot + from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: def b64jpeg(x): diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 59ca2430ce..877d8aca03 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -3,10 +3,10 @@ import time from multiprocessing import Process -from common.params import Params -from selfdrive.manager.process import launcher -from system.swaglog import cloudlog -from system.version import get_version, is_dirty +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process import launcher +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 32bc92059c..0ab69371c2 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -6,13 +6,13 @@ from pathlib import Path from typing import Optional from datetime import datetime, timedelta -from common.api import api_get -from common.params import Params -from common.spinner import Spinner -from common.basedir import PERSIST -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.hardware import HARDWARE, PC -from system.swaglog import cloudlog +from openpilot.common.api import api_get +from openpilot.common.params import Params +from openpilot.common.spinner import Spinner +from openpilot.common.basedir import PERSIST +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 5087012bcd..34edeb2de5 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -6,7 +6,7 @@ import time from functools import wraps from multiprocessing import Process -from common.timeout import Timeout +from openpilot.common.timeout import Timeout class MockResponse: diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 7ce6932f2a..f32df74217 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -18,10 +18,10 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException -from system import swaglog -from selfdrive.athena import athenad -from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server +from openpilot.system import swaglog +from openpilot.selfdrive.athena import athenad +from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher +from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server from cereal import messaging @@ -351,7 +351,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(athenad.upload_queue.qsize(), 1) self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) - @mock.patch('selfdrive.athena.athenad.create_connection') + @mock.patch('openpilot.selfdrive.athena.athenad.create_connection') def test_startLocalProxy(self, mock_create_connection): end_event = threading.Event() diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index e1fa00a76f..3ec7cb115c 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -6,11 +6,11 @@ import unittest from typing import Callable, cast, Optional from unittest.mock import MagicMock -from common.params import Params -from common.timeout import Timeout -from selfdrive.athena import athenad -from selfdrive.manager.helpers import write_onroad_params -from system.hardware import TICI +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.athena import athenad +from openpilot.selfdrive.manager.helpers import write_onroad_params +from openpilot.system.hardware import TICI def wifi_radio(on: bool) -> None: diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py index 7a38477305..195fca2df9 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/selfdrive/athena/tests/test_registration.py @@ -7,9 +7,9 @@ from Crypto.PublicKey import RSA from pathlib import Path from unittest import mock -from common.params import Params -from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from selfdrive.athena.tests.helpers import MockResponse +from openpilot.common.params import Params +from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.selfdrive.athena.tests.helpers import MockResponse class TestRegistration(unittest.TestCase): @@ -23,7 +23,7 @@ class TestRegistration(unittest.TestCase): os.mkdir(os.path.join(self.persist.name, "comma")) self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa")) self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub")) - self.persist_patcher = mock.patch("selfdrive.athena.registration.PERSIST", self.persist.name) + self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name) self.persist_patcher.start() def tearDown(self): @@ -44,7 +44,7 @@ class TestRegistration(unittest.TestCase): self.params.put("HardwareSerial", "serial") self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" self.params.put("DongleId", dongle) self.assertEqual(register(), dongle) @@ -52,7 +52,7 @@ class TestRegistration(unittest.TestCase): def test_no_keys(self): # missing pubkey - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = register() self.assertEqual(m.call_count, 0) self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) @@ -61,7 +61,7 @@ class TestRegistration(unittest.TestCase): def test_missing_cache(self): # keys exist but no dongle id self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) self.assertEqual(register(), dongle) @@ -75,7 +75,7 @@ class TestRegistration(unittest.TestCase): def test_unregistered(self): # keys exist, but unregistered self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: m.return_value = MockResponse(None, 402) dongle = register() self.assertEqual(m.call_count, 1) diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py index 527f1f4f52..702c46565f 100644 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/boardd/boardd.py @@ -1,7 +1,7 @@ # pylint: skip-file # Cython, now uses scons to build -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp assert can_list_to_can_capnp def can_capnp_to_can_list(can, src_filter=None): diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index be2ed3c4cc..ce9137a30b 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -9,11 +9,11 @@ from typing import List, NoReturn from functools import cmp_to_key from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.boardd.set_time import set_time +from openpilot.system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 93453dcd97..fe17f64e82 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -3,7 +3,7 @@ import os import datetime from panda import Panda -from common.time import MIN_DATE +from openpilot.common.time import MIN_DATE def set_time(logger): sys_time = datetime.datetime.today() diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 74393c6eb1..dfce0e3710 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -9,12 +9,12 @@ from pprint import pprint import cereal.messaging as messaging from cereal import car, log -from common.params import Params -from common.timeout import Timeout -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car import make_can_msg -from system.hardware import TICI -from selfdrive.test.helpers import phone_only, with_processes +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car import make_can_msg +from openpilot.system.hardware import TICI +from openpilot.selfdrive.test.helpers import phone_only, with_processes class TestBoardd(unittest.TestCase): diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 1d49446bf5..970af385d8 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -5,13 +5,13 @@ import unittest import cereal.messaging as messaging from cereal import log -from common.gpio import gpio_set, gpio_init -from common.params import Params +from openpilot.common.gpio import gpio_set, gpio_init +from openpilot.common.params import Params from panda import Panda, PandaDFU, PandaProtocolMismatch -from selfdrive.test.helpers import phone_only -from selfdrive.manager.process_config import managed_processes -from system.hardware import HARDWARE -from system.hardware.tici.pins import GPIO +from openpilot.selfdrive.test.helpers import phone_only +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.tici.pins import GPIO HERE = os.path.dirname(os.path.realpath(__file__)) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 156161c796..c5f4a41520 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -5,7 +5,7 @@ from typing import Dict, Optional import capnp from cereal import car -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp # kg of standard extra cargo to count for drive, gas, etc... diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 4993b1865f..1dad8e796a 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,11 +1,11 @@ import numpy as np -from common.params import Params -from common.realtime import DT_CTRL +from openpilot.common.params import Params +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car.body import bodycan -from selfdrive.car.body.values import SPEED_FROM_RPM -from selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.car.body import bodycan +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.selfdrive.controls.lib.pid import PIDController MAX_TORQUE = 500 diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py index a1ef17360f..fca9bcc627 100644 --- a/selfdrive/car/body/carstate.py +++ b/selfdrive/car/body/carstate.py @@ -1,7 +1,7 @@ from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.body.values import DBC +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.body.values import DBC STARTUP_TICKS = 100 diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 4d583badae..bf33eea38f 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import math from cereal import car -from common.realtime import DT_CTRL -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py index b2f7651136..b461fcd5f8 100644 --- a/selfdrive/car/body/radar_interface.py +++ b/selfdrive/car/body/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 4fef966374..56d9723818 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -1,9 +1,9 @@ from typing import Dict from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 652862de47..81a8c7eacd 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -2,16 +2,16 @@ import os from typing import Callable, Dict, List, Optional, Tuple from cereal import car -from common.params import Params -from common.basedir import BASEDIR -from system.version import is_comma_remote, is_tested_branch -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars -from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.system.version import is_comma_remote, is_tested_branch +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN +from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing +from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car import gen_empty_fingerprint FRAME_FINGERPRINT = 100 # 1s @@ -44,7 +44,7 @@ def get_one_can(logcan): def load_interfaces(brand_names): ret = {} for brand_name in brand_names: - path = f'selfdrive.car.{brand_name}' + path = f'openpilot.selfdrive.car.{brand_name}' CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'): diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index b418179e0e..a568f927b8 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,8 +1,8 @@ from opendbc.can.packer import CANPacker -from common.realtime import DT_CTRL -from selfdrive.car import apply_meas_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons -from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_meas_steer_torque_limits +from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags class CarController: diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 7b250ddf9b..eb1cf7e7d5 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -1,9 +1,9 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS class CarState(CarStateBase): diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 10ed73e9f2..96439f35d8 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.chrysler.values import RAM_CARS +from openpilot.selfdrive.car.chrysler.values import RAM_CARS GearShifter = car.CarState.GearShifter VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index a3c0b0c7a1..a87759910b 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import get_safety_config -from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags +from openpilot.selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index 1d0661778a..d982958422 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.chrysler.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.chrysler.values import DBC RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 172d3a08cc..657ada2706 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -5,9 +5,9 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 36ebe12fa8..1a1252327f 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,5 +1,5 @@ -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 02075a5e11..8475a69d8a 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -8,10 +8,10 @@ from natsort import natsorted from typing import Dict, List from cereal import car -from common.basedir import BASEDIR -from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType -from selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr def get_all_footnotes() -> Dict[Enum, int]: diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2220205e8f..3319ba31c8 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -6,7 +6,7 @@ from enum import Enum from typing import Dict, List, Optional, Tuple, Union from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 25938f0d3c..cff1df79a5 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -5,10 +5,10 @@ from typing import Optional, Set import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE -from selfdrive.car import make_can_msg -from selfdrive.car.fw_query_definitions import EcuAddrBusType -from selfdrive.boardd.boardd import can_list_to_can_capnp -from system.swaglog import cloudlog +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.system.swaglog import cloudlog def make_tester_present_msg(addr, bus, subaddr=None): diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 09ed30cc19..1d627e4b37 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,4 +1,4 @@ -from selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.interfaces import get_interface_attr FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index dd30bc57e1..86008c6352 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,10 +1,10 @@ from cereal import car -from common.numpy_fast import clip +from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 824d929930..5c787b787a 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -1,10 +1,10 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index a49d7ad85d..e0086ecbb5 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car import CanBusBase +from openpilot.selfdrive.car import CanBusBase HUDControl = car.CarControl.HUDControl diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 990d14de93..755d7d1d00 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,11 +1,11 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import get_safety_config -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu +from openpilot.selfdrive.car.interfaces import CarInterfaceBase TransmissionType = car.CarParams.TransmissionType GearShifter = car.CarState.GearShifter diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 78dd594627..a166fc20dd 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -2,10 +2,10 @@ from math import cos, sin from cereal import car from opendbc.can.parser import CANParser -from common.conversions import Conversions as CV -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import DBC, RADAR -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import DBC, RADAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 01d1ae7b8a..5d99db945e 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,10 +4,10 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 7fa47da998..45c4967cb8 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -6,13 +6,13 @@ import capnp import panda.python.uds as uds from cereal import car -from common.params import Params -from selfdrive.car.ecu_addrs import get_ecu_addrs -from selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] @@ -338,7 +338,7 @@ if __name__ == "__main__": import time import argparse import cereal.messaging as messaging - from selfdrive.car.vin import get_vin + from openpilot.selfdrive.car.vin import get_vin parser = argparse.ArgumentParser(description='Get firmware version of ECUs') parser.add_argument('--scan', action='store_true') diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 1b2424afaf..f51cb75372 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import interp -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.gm import gmcan -from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.gm import gmcan +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 43cdee18d4..8585e9f205 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -1,11 +1,11 @@ import copy from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import mean +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 0de2066678..bd1e29ce3b 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,5 +1,5 @@ -from selfdrive.car import make_can_msg -from selfdrive.car.gm.values import CAR +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.gm.values import CAR def create_buttons(packer, bus, idx, button): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 8e139947a6..511da405d8 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -3,12 +3,12 @@ from cereal import car from math import fabs, exp from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import create_button_event, get_safety_config -from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG -from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD -from selfdrive.controls.lib.drive_helpers import get_friction +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG +from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus +from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from openpilot.selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 99fb89ceb3..b893babd31 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import math from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.gm.values import DBC, CanBus -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.gm.values import DBC, CanBus +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase RADAR_HEADER_MSG = 1120 SLOT_1_MSG = RADAR_HEADER_MSG + 1 diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py index 1fc8a25611..fce5fea720 100755 --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -2,7 +2,7 @@ from parameterized import parameterized import unittest -from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET +from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index cfe518650a..d12c21dc23 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -5,8 +5,8 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 347c16c86f..056b47c4b3 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -1,13 +1,13 @@ from collections import namedtuple from cereal import car -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import create_gas_interceptor_command -from selfdrive.car.honda import hondacan -from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams -from selfdrive.controls.lib.drive_helpers import rate_limit +from openpilot.selfdrive.car import create_gas_interceptor_command +from openpilot.selfdrive.car.honda import hondacan +from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index d6d2b18a0a..03aedb31d2 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -1,13 +1,15 @@ from collections import defaultdict from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import interp +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus -from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus +from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ + HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \ + HONDA_BOSCH_RADARLESS +from openpilot.selfdrive.car.interfaces import CarStateBase TransmissionType = car.CarParams.TransmissionType diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 1fe0a13767..a8cbad78ce 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ -from common.conversions import Conversions as CV -from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams # CAN bus layout with relay # 0 = ACC-CAN - radar side diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 1025eb6212..3b87009a24 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -1,13 +1,13 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from common.numpy_fast import interp -from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car import create_button_event, get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu ButtonType = car.CarState.ButtonEvent.Type diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 58f665233b..8090f8e03e 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.honda.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.honda.values import DBC def _create_nidec_can_parser(car_fingerprint): diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py index 7a8c86fb0a..da64b8f70b 100755 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -2,7 +2,7 @@ import re import unittest -from selfdrive.car.honda.values import FW_VERSIONS +from openpilot.selfdrive.car.honda.values import FW_VERSIONS HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index b149fd2a02..403745bd42 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -3,11 +3,11 @@ from enum import Enum, IntFlag from typing import Dict, List, Optional, Union from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 6af5f572da..1ff211e860 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,12 +1,12 @@ from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import clip -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance -from selfdrive.car.hyundai import hyundaicanfd, hyundaican -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 2e3801c319..ee35bf6663 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -3,12 +3,13 @@ import copy import math from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams -from selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \ + CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from openpilot.selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 CLUSTER_SAMPLE_RATE = 20 # frames diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index c0c60fba03..64fc241273 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR +from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index e78e02ae50..7aca5b850c 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,6 +1,6 @@ -from common.numpy_fast import clip -from selfdrive.car import CanBusBase -from selfdrive.car.hyundai.values import HyundaiFlags +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.car import CanBusBase +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags class CanBus(CanBusBase): diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 3e25863f46..b4cf10d0ed 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,15 +1,15 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \ Buttons -from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR -from selfdrive.car import create_button_event, get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR +from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 3b74a03d4b..e1cae9ffaf 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -3,8 +3,8 @@ import math from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.hyundai.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.hyundai.values import DBC RADAR_START_ADDR = 0x500 RADAR_MSG_COUNT = 32 diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py index 1bc8a4e366..6fe4582f54 100755 --- a/selfdrive/car/hyundai/tests/print_platform_codes.py +++ b/selfdrive/car/hyundai/tests/print_platform_codes.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 68a7603ec4..b61b09a897 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,8 +2,8 @@ import unittest from cereal import car -from selfdrive.car.fw_versions import build_fw_dict -from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ +from openpilot.selfdrive.car.fw_versions import build_fw_dict +from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5a137267ad..dc90fbfba7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -6,10 +6,10 @@ from typing import Dict, List, Optional, Set, Tuple, Union from cereal import car from panda.python import uds -from common.conversions import Conversions as CV -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f30683d9a3..53b3e381f6 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -5,15 +5,15 @@ from abc import abstractmethod, ABC from typing import Any, Dict, Optional, Tuple, List, Callable from cereal import car -from common.basedir import BASEDIR -from common.conversions import Conversions as CV -from common.kalman.simple_kalman import KF1D -from common.numpy_fast import clip -from common.realtime import DT_CTRL -from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction -from selfdrive.controls.lib.events import Events -from selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.common.basedir import BASEDIR +from openpilot.common.conversions import Conversions as CV +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -441,7 +441,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): try: brand_name = car_folder.split('/')[-1] - brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]) + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr]) if hasattr(brand_values, attr) or not ignore_none: attr_data = getattr(brand_values, attr, None) else: diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 93033126a0..adbc598ea6 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -3,8 +3,8 @@ from collections import defaultdict from functools import partial import cereal.messaging as messaging -from system.swaglog import cloudlog -from selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index cb401a8abd..320ad19bb4 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,8 +1,8 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.mazda import mazdacan -from selfdrive.car.mazda.values import CarControllerParams, Buttons +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.mazda import mazdacan +from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index d782e59dee..1f7846ca06 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -1,9 +1,9 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 class CarState(CarStateBase): def __init__(self, CP): diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index cb89c4c448..7ac93d9dee 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.mazda.values import CAR, LKAS_LIMITS -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index 58a505f917..e350c5587f 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,4 +1,4 @@ -from selfdrive.car.mazda.values import GEN1, Buttons +from openpilot.selfdrive.car.mazda.values import GEN1, Buttons def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py index b2f7651136..b461fcd5f8 100755 --- a/selfdrive/car/mazda/radar_interface.py +++ b/selfdrive/car/mazda/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index fbdf8961af..0230be2297 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -2,9 +2,9 @@ from dataclasses import dataclass, field from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 7986adb8f1..d36f972a87 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from system.swaglog import cloudlog +from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase # mocked car interface to work with chffrplus diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py index b2f7651136..b461fcd5f8 100755 --- a/selfdrive/car/mock/radar_interface.py +++ b/selfdrive/car/mock/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index dfc7902e41..8426041b32 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -1,6 +1,6 @@ from typing import Dict, List, Optional, Union -from selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.docs_definitions import CarInfo class CAR: diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 2c628b102d..2da518bbf1 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -1,8 +1,8 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.nissan import nissancan -from selfdrive.car.nissan.values import CAR, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.nissan import nissancan +from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index f17e2d8dc4..b2ba9ce290 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -2,10 +2,10 @@ import copy from collections import deque from cereal import car from opendbc.can.can_define import CANDefine -from selfdrive.car.interfaces import CarStateBase -from common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams +from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams TORQUE_SAMPLES = 12 diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 423a1bf8de..3d6b6cb70c 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.nissan.values import CAR +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index 89754775b1..49dcd6fe93 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.nissan.values import CAR +from openpilot.selfdrive.car.nissan.values import CAR # TODO: add this checksum to the CANPacker nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff) diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py index b2f7651136..b461fcd5f8 100644 --- a/selfdrive/car/nissan/radar_interface.py +++ b/selfdrive/car/nissan/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 17df968094..db69132a76 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -4,9 +4,9 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 80634bf261..3aba25fe8d 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,8 +1,8 @@ -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.subaru import subarucan +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags class CarController: diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 84c1285af1..66c4c6386e 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -1,11 +1,11 @@ import copy from cereal import car from opendbc.can.can_define import CANDefine -from common.conversions import Conversions as CV -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags -from selfdrive.car import CanSignalRateCalculator +from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags +from openpilot.selfdrive.car import CanSignalRateCalculator class CarState(CarStateBase): diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index eab39420cc..b206a816ac 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py index b2f7651136..b461fcd5f8 100644 --- a/selfdrive/car/subaru/radar_interface.py +++ b/selfdrive/car/subaru/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index df2718c764..caa1451842 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.subaru.values import CanBus +from openpilot.selfdrive.car.subaru.values import CanBus VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index dc25f31f73..8cb3a904b2 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -4,9 +4,9 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index aeaaba88e7..95a248a614 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -1,8 +1,8 @@ -from common.numpy_fast import clip +from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.tesla.teslacan import TeslaCAN -from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams class CarController: diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 61a6526f07..2cb4f09d79 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -1,9 +1,9 @@ import copy from collections import deque from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 209f00873a..e06139729c 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car.tesla.values import CANBUS, CAR -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.tesla.values import CANBUS, CAR +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index c368c794b0..b3e7c7fcb1 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.tesla.values import DBC, CANBUS -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase RADAR_MSGS_A = list(range(0x310, 0x36E, 3)) RADAR_MSGS_B = list(range(0x311, 0x36F, 3)) diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index a491c030f8..6bb27b995f 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -1,7 +1,7 @@ import crcmod -from common.conversions import Conversions as CV -from selfdrive.car.tesla.values import CANBUS, CarControllerParams +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams class TeslaCAN: diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 3333455d1b..15283ae4b2 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -3,9 +3,9 @@ from collections import namedtuple from typing import Dict, List, Union from cereal import car -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 857ba8e4f4..9c56f578b9 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -1,18 +1,18 @@ #!/usr/bin/env python3 from typing import NamedTuple, Optional -from selfdrive.car.chrysler.values import CAR as CHRYSLER -from selfdrive.car.gm.values import CAR as GM -from selfdrive.car.ford.values import CAR as FORD -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.nissan.values import CAR as NISSAN -from selfdrive.car.mazda.values import CAR as MAZDA -from selfdrive.car.subaru.values import CAR as SUBARU -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN -from selfdrive.car.tesla.values import CAR as TESLA -from selfdrive.car.body.values import CAR as COMMA +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN +from openpilot.selfdrive.car.tesla.values import CAR as TESLA +from openpilot.selfdrive.car.body.values import CAR as COMMA # TODO: add routes for these cars non_tested_cars = [ diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py index 7189ff542b..406ccd07f0 100755 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -3,8 +3,8 @@ from parameterized import parameterized import unittest from cereal import log, messaging -from selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint -from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS +from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint +from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS class TestCanFingerprint(unittest.TestCase): diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 3945fbb987..a447fc21b6 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -7,12 +7,12 @@ import importlib from parameterized import parameterized from cereal import car -from common.realtime import DT_CTRL -from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator def get_fuzzy_car_interface_args(draw: DrawType) -> dict: diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 6e4a58149c..d9d67fe87d 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -4,13 +4,13 @@ import os import re import unittest -from common.basedir import BASEDIR -from selfdrive.car.car_helpers import interfaces, get_interface_attr -from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info -from selfdrive.car.docs_definitions import Cable, Column, PartType, Star -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.debug.dump_car_info import dump_car_info -from selfdrive.debug.print_docs_diff import print_car_info_diff +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info +from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.debug.dump_car_info import dump_car_info +from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff class TestCarDocs(unittest.TestCase): diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py index a0baec68d6..61e9a4d165 100755 --- a/selfdrive/car/tests/test_fingerprints.py +++ b/selfdrive/car/tests/test_fingerprints.py @@ -3,7 +3,7 @@ import os import sys from typing import Dict, List -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR # messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can) # (addr, len) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 6825bb3717..3280dea7dc 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -7,11 +7,12 @@ from parameterized import parameterized import threading from cereal import car -from common.params import Params -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus -from selfdrive.car.vin import get_vin +from openpilot.common.params import Params +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ + match_fw_to_car, get_fw_versions, get_present_ecus +from openpilot.selfdrive.car.vin import get_vin CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 9e9043d236..9de6063f3d 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -6,11 +6,11 @@ import sys from typing import DefaultDict, Dict import unittest -from common.realtime import DT_CTRL -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.interfaces import get_torque_params -from selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.interfaces import get_torque_params +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU CAR_MODELS = all_known_cars() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index c40d8bb505..0147725291 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -9,17 +9,17 @@ from typing import List, Optional, Tuple from parameterized import parameterized_class from cereal import log, car -from common.basedir import BASEDIR -from common.realtime import DT_CTRL -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from selfdrive.car.gm.values import CAR as GM -from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from tools.lib.route import Route, SegmentName, RouteName +from openpilot.common.basedir import BASEDIR +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index d2558b5b29..c625c2e493 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.numpy_fast import clip, interp -from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ +from openpilot.common.numpy_fast import clip, interp +from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ create_gas_interceptor_command, make_can_msg -from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ +from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command -from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ +from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \ UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 8a75ab4277..7eefe43dd9 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -1,14 +1,15 @@ import copy from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import mean -from common.filter_simple import FirstOrderFilter -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ + TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR SteerControlType = car.CarParams.SteerControlType diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6be01c1c0e..c78479a97e 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,11 +1,11 @@ #!/usr/bin/env python3 from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ +from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase EventName = car.CarEvent.EventName SteerControlType = car.CarParams.SteerControlType diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 56473b06a4..fae6eecaf6 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.toyota.values import DBC, TSS2_CAR -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase def _create_radar_can_parser(car_fingerprint): diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index 46e3fc2d27..e877db3eb8 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -2,7 +2,7 @@ from cereal import car import unittest -from selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ad6a2c639c..7d62528748 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -4,10 +4,10 @@ from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu MIN_ACC_SPEED = 19. * CV.MPH_TO_MS diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index cf1c25e851..28edf157ae 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -3,9 +3,9 @@ import re import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.car.fw_query_definitions import StdQueries -from system.swaglog import cloudlog +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.selfdrive.car.fw_query_definitions import StdQueries +from openpilot.system.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index ddcf80f006..e7a7f2a998 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car from opendbc.can.packer import CANPacker -from common.numpy_fast import clip -from common.conversions import Conversions as CV -from common.realtime import DT_CTRL -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.volkswagen import mqbcan, pqcan -from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.common.numpy_fast import clip +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 35f7e8bf67..cbe8918d48 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -1,9 +1,9 @@ import numpy as np from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ +from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ CarControllerParams diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 66b6239cb3..d5377453c1 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,9 +1,9 @@ from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py index b2f7651136..b461fcd5f8 100644 --- a/selfdrive/car/volkswagen/radar_interface.py +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index bc129f79cc..3ffc09a43d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -6,10 +6,10 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu NetworkLocation = car.CarParams.NetworkLocation diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 564a0aa6ac..8094030731 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -5,29 +5,29 @@ import time from typing import SupportsFloat from cereal import car, log -from common.numpy_fast import clip -from common.profiler import Profiler -from common.params import Params, put_nonblocking, put_bool_nonblocking -from common.realtime import DT_CTRL, Priority, Ratekeeper, config_realtime_process +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.profiler import Profiler +from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from system.swaglog import cloudlog -from system.version import is_release_branch, get_short_branch -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature -from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED -from selfdrive.controls.lib.longcontrol import LongControl -from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD -from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.events import Events, ET -from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert -from selfdrive.controls.lib.vehicle_model import VehicleModel -from system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import is_release_branch, get_short_branch +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can +from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED +from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index f32e838333..6abcf4cbba 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -5,9 +5,9 @@ from collections import defaultdict from dataclasses import dataclass from typing import List, Dict, Optional -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.events import Alert +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 4652b41c1c..d538035070 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,6 +1,6 @@ from cereal import log -from common.conversions import Conversions as CV -from common.realtime import DT_MDL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_MDL LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index ab65da2e1d..00916ddf78 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,10 +1,10 @@ import math from cereal import car, log -from common.conversions import Conversions as CV -from common.numpy_fast import clip, interp -from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import T_IDXS # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 0230a5775c..7c30effce5 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -5,10 +5,10 @@ from typing import Dict, Union, Callable, List, Optional from cereal import log, car import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.realtime import DT_CTRL -from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER -from system.version import get_short_branch +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from openpilot.system.version import get_short_branch AlertSize = log.ControlsState.AlertSize AlertStatus = log.ControlsState.AlertStatus diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index d38959c560..30e1918442 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -1,7 +1,7 @@ from abc import abstractmethod, ABC -from common.numpy_fast import clip -from common.realtime import DT_CTRL +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 9ed140d38e..b13d41e51c 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -1,7 +1,7 @@ import math from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.latcontrol import LatControl STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 6696d2e304..c41130af95 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -1,8 +1,8 @@ import math from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl -from selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController class LatControlPID(LatControl): diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 6550b19227..2c77630632 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -1,10 +1,10 @@ import math from cereal import log -from common.numpy_fast import interp -from selfdrive.controls.lib.latcontrol import LatControl -from selfdrive.controls.lib.pid import PIDController -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 506b03031b..5e6f884df4 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -5,12 +5,12 @@ import numpy as np from casadi import SX, vertcat, sin, cos # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.modeld.constants import T_IDXS if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython + from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 41aa95223e..92786f73d8 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,12 +1,12 @@ import time import numpy as np -from common.numpy_fast import interp -from common.realtime import DT_MDL -from system.swaglog import cloudlog -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error -from selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.common.realtime import DT_MDL +from openpilot.common.numpy_fast import interp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e8095813f2..61c150aadc 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,9 +1,9 @@ from cereal import car -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL -from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone -from selfdrive.controls.lib.pid import PIDController -from selfdrive.modeld.constants import T_IDXS +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.modeld.constants import T_IDXS LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 19cb2bac04..eaa782efee 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -3,17 +3,17 @@ import os import time import numpy as np from cereal import log -from common.numpy_fast import clip -from system.swaglog import cloudlog +from openpilot.common.numpy_fast import clip +from openpilot.system.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import index_function -from selfdrive.car.interfaces import ACCEL_MIN -from selfdrive.controls.radard import _LEAD_ACCEL_TAU +from openpilot.selfdrive.modeld.constants import index_function +from openpilot.selfdrive.car.interfaces import ACCEL_MIN +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython + from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython from casadi import SX, vertcat diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 5765272928..c1e782fa5c 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -1,21 +1,21 @@ #!/usr/bin/env python3 import math import numpy as np -from common.numpy_fast import clip, interp -from common.params import Params +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params from cereal import log import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.filter_simple import FirstOrderFilter -from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS -from selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX -from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error -from system.swaglog import cloudlog +from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error +from openpilot.system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index 965158131b..f4ec7e5996 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -1,7 +1,7 @@ import numpy as np from numbers import Number -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp class PIDController(): diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py index 6c1b6fc4a2..dbd42858a0 100755 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -2,8 +2,8 @@ import random import unittest -from selfdrive.controls.lib.events import Alert, EVENTS -from selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.controls.lib.events import Alert, EVENTS +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager class TestAlertManager(unittest.TestCase): diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index b504b3d125..4ff7ef7c93 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -4,14 +4,14 @@ import unittest from parameterized import parameterized from cereal import car, log -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.nissan.values import CAR as NISSAN -from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel class TestLatControl(unittest.TestCase): diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index 03d97a7e3f..fc8ef2fb56 100755 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -5,9 +5,9 @@ import unittest import numpy as np from control import StateSpace -from selfdrive.car.honda.interface import CarInterface -from selfdrive.car.honda.values import CAR -from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.car.honda.values import CAR +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices class TestVehicleModel(unittest.TestCase): diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 7e61efcf45..2b23a0440e 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -2,12 +2,12 @@ import os import numpy as np from cereal import car -from common.params import Params -from common.realtime import Priority, config_realtime_process -from system.swaglog import cloudlog -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.lib.lateral_planner import LateralPlanner +from openpilot.common.params import Params +from openpilot.common.realtime import Priority, config_realtime_process +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging def cumtrapz(x, t): diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index cce866a093..8a21fdd8ab 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -6,12 +6,12 @@ from typing import Optional, Dict, Any import capnp from cereal import messaging, log, car -from common.numpy_fast import interp -from common.params import Params -from common.realtime import Ratekeeper, Priority, config_realtime_process -from system.swaglog import cloudlog +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process +from openpilot.system.swaglog import cloudlog -from common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index c0d70b3b6f..7b4fba0dce 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -8,11 +8,11 @@ from PIL import Image, ImageDraw, ImageFont from cereal import log, car from cereal.messaging import SubMaster -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.events import Alert, EVENTS, ET -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.test.process_replay.process_replay import CONFIGS +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS AlertSize = log.ControlsState.AlertSize diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 6d11c30ab2..c7221cfcfa 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -4,11 +4,11 @@ import unittest from parameterized import parameterized_class from cereal import log -from common.params import Params -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT from cereal import car -from common.conversions import Conversions as CV -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 9ee7bdfb3b..be949764c5 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import unittest -from common.params import Params +from openpilot.common.params import Params from cereal import log -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index b569da09b4..8c09f46b60 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -1,8 +1,8 @@ import unittest import numpy as np -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0., diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 18c8e79026..72a5b4b48f 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -5,13 +5,13 @@ from parameterized import parameterized from cereal import log, car import cereal.messaging as messaging -from common.params import Params -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error -from selfdrive.car.fingerprints import _FINGERPRINTS -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.mazda.values import CAR as MAZDA -from selfdrive.controls.lib.events import EVENT_NAME -from selfdrive.test.helpers import with_processes +from openpilot.common.params import Params +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error +from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.controls.lib.events import EVENT_NAME +from openpilot.selfdrive.test.helpers import with_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index d5f468f214..bdeed9fb7a 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -2,10 +2,10 @@ import unittest from cereal import car, log -from common.realtime import DT_CTRL -from selfdrive.car.car_helpers import interfaces -from selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME -from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME +from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ AudibleAlert, EVENTS State = log.ControlsState.OpenpilotState diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ff98c20e60..ea1160d60b 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -5,8 +5,8 @@ import time from collections import defaultdict import cereal.messaging as messaging -from selfdrive.debug.can_table import can_table -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.selfdrive.debug.can_table import can_table +from openpilot.tools.lib.logreader import logreader_from_route_or_segment RED = '\033[91m' CLEAR = '\033[0m' diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index 4b430e013f..c4b688ce29 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -4,9 +4,9 @@ import time from tqdm import tqdm from cereal import car -from selfdrive.car.tests.routes import CarTestRoute -from selfdrive.car.tests.test_models import TestCarModelBase -from tools.plotjuggler.juggle import DEMO_ROUTE +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModelBase +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE N_RUNS = 10 diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a81d797b89..a8af5e6fe9 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -8,8 +8,8 @@ from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import service_list -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": r = Route(sys.argv[1]) diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index b3294c8728..9050fbb064 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -24,7 +24,7 @@ import argparse import re from collections import defaultdict -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes # Do statistics every 5 seconds PRINT_INTERVAL = 5 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 71c7b34be5..5037208643 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -4,11 +4,11 @@ import random from cereal import car, log import cereal.messaging as messaging -from common.realtime import DT_CTRL -from selfdrive.car.honda.interface import CarInterface -from selfdrive.controls.lib.events import ET, Events -from selfdrive.controls.lib.alertmanager import AlertManager -from selfdrive.manager.process_config import managed_processes +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.controls.lib.events import ET, Events +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.manager.process_config import managed_processes EventName = car.CarEvent.EventName diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py index c9a21c2848..6af328926b 100755 --- a/selfdrive/debug/dump_car_info.py +++ b/selfdrive/debug/dump_car_info.py @@ -2,7 +2,7 @@ import argparse import pickle -from selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs import get_all_car_info def dump_car_info(path): diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 8d9ce8e6a2..20cef0fcc0 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -4,8 +4,8 @@ import argparse import json import cereal.messaging as messaging -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index b3598b105c..c2bff7c638 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import sys -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator def get_fingerprint(lr): diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py index 8209bbf4ce..aedb3ada1d 100755 --- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py @@ -5,11 +5,11 @@ from collections import defaultdict from tqdm import tqdm -from selfdrive.car.fw_versions import match_fw_to_car_fuzzy -from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS -from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS -from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS -from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import match_fw_to_car_fuzzy +from openpilot.selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS +from openpilot.selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS +from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS +from openpilot.selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS FWS = {} diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index be9ab5b17e..9b7f369525 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -6,8 +6,8 @@ from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import service_list -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route MIN_SIZE = 0.5 # Percent size of total to show as separate entry diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py index c35afc474b..06f1be0b00 100755 --- a/selfdrive/debug/live_cpu_and_temp.py +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -4,7 +4,7 @@ import capnp from collections import defaultdict from cereal.messaging import SubMaster -from common.numpy_fast import mean +from openpilot.common.numpy_fast import mean from typing import Optional, Dict def cputime_total(ct): diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 1cb6c3cdda..8fb6277d3b 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -4,8 +4,8 @@ from collections import defaultdict import difflib import pickle -from selfdrive.car.docs import get_all_car_info -from selfdrive.car.docs_definitions import Column +from openpilot.selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" STAR_ICON = '' diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index c7a1434975..c7b6250d3f 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -2,10 +2,10 @@ import argparse -from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from tools.lib.logreader import MultiLogIterator -from tools.lib.route import Route -from tools.lib.helpers import save_log +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process +from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py index ceed4b0ec3..73f98b285c 100755 --- a/selfdrive/debug/sensor_data_to_hist.py +++ b/selfdrive/debug/sensor_data_to_hist.py @@ -10,8 +10,8 @@ import sys import numpy as np from collections import defaultdict -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route import matplotlib.pyplot as plt diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index 24258db9f2..6060dfbc36 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -2,9 +2,9 @@ import sys from cereal import car -from common.params import Params -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.common.params import Params +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": CP = None diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py index a97c41f128..19144ead7e 100755 --- a/selfdrive/debug/show_matching_cars.py +++ b/selfdrive/debug/show_matching_cars.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars import cereal.messaging as messaging diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index 3f7a1a167b..66fe2ea65f 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -4,9 +4,9 @@ import sys from typing import List import unittest -from selfdrive.car.tests.routes import CarTestRoute -from selfdrive.car.tests.test_models import TestCarModel -from tools.lib.route import SegmentName +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModel +from openpilot.tools.lib.route import SegmentName def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite: diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 51cd426315..83e173244e 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -6,10 +6,10 @@ import argparse import os import traceback from tqdm import tqdm -from tools.lib.logreader import LogReader -from tools.lib.route import Route -from selfdrive.car.car_helpers import interface_names -from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car NO_API = "NO_API" in os.environ diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index 0a459bb719..e1156c05aa 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -3,10 +3,10 @@ import sys import numpy as np import matplotlib.pyplot as plt from sklearn import linear_model # pylint: disable=import-error -from selfdrive.car.toyota.values import STEER_THRESHOLD +from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator MIN_SAMPLES = 30 * 100 diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py index 93d901f7c9..f4440a912c 100755 --- a/selfdrive/debug/uiview.py +++ b/selfdrive/debug/uiview.py @@ -2,8 +2,8 @@ import time from cereal import car, log, messaging -from common.params import Params -from selfdrive.manager.process_config import managed_processes +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes if __name__ == "__main__": CP = car.CarParams(notCar=True) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 7f8fd03b98..6469ece402 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -14,11 +14,11 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.params import Params, put_nonblocking -from common.realtime import set_realtime_priority -from common.transformations.orientation import rot_from_euler, euler_from_rot -from system.swaglog import cloudlog +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params, put_nonblocking +from openpilot.common.realtime import set_realtime_priority +from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot +from openpilot.system.swaglog import cloudlog MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index e4a408d130..2073813363 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -11,7 +11,7 @@ from typing import List, Optional, Dict, Any import numpy as np from cereal import log, messaging -from common.params import Params, put_nonblocking +from openpilot.common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed @@ -20,10 +20,10 @@ from laika.gps_time import GPSTime from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func -from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind -from selfdrive.locationd.models.gnss_kf import GNSSKalman -from selfdrive.locationd.models.gnss_kf import States as GStates -from system.swaglog import cloudlog +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind +from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman +from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates +from openpilot.system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemerisV3' diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index a5abf8514a..6c02257a1f 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -5,9 +5,9 @@ from typing import Any, Dict import numpy as np -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from selfdrive.locationd.models.constants import ObservationKind -from system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.system.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index 0d661dc321..f98434c909 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -4,8 +4,8 @@ from typing import List import numpy as np -from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr if __name__ == '__main__': # Generating sympy import sympy as sp diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py index 4d38fa8e09..e8fa999956 100755 --- a/selfdrive/locationd/models/lane_kf.py +++ b/selfdrive/locationd/models/lane_kf.py @@ -3,7 +3,7 @@ import sys import numpy as np import sympy as sp -from selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.constants import ObservationKind from rednose.helpers.ekf_sym import gen_code, EKF_sym diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index dc439c23f6..c4933a6129 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -4,7 +4,7 @@ import sys import os import numpy as np -from selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.constants import ObservationKind import sympy as sp import inspect diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index d865509e95..8bd317bd58 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -9,8 +9,8 @@ from rednose.helpers.ekf_sym import EKF_sym, gen_code from rednose.helpers.lst_sq_computer import LstSqComputer from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate -from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 1644ceaf92..55ad62145e 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,12 +7,12 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from common.params import Params, put_nonblocking -from common.realtime import config_realtime_process, DT_MDL -from common.numpy_fast import clip -from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from selfdrive.locationd.models.constants import GENERATED_DIR -from system.swaglog import cloudlog +from openpilot.common.params import Params, put_nonblocking +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py index 97207908e7..bf4fcbdbe9 100755 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -10,7 +10,7 @@ from cffi import FFI import cereal.messaging as messaging from cereal import log -from common.ffi_wrapper import suffix +from openpilot.common.ffi_wrapper import suffix SENSOR_DECIMATION = 1 VISION_DECIMATION = 1 diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index e3e8c3ca7c..a5eedaf99a 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -6,8 +6,8 @@ import numpy as np import cereal.messaging as messaging from cereal import log -from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ +from openpilot.common.params import Params +from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index c90095cdca..58c650e26c 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -2,7 +2,7 @@ import time import unittest from cereal import log -from common.params import Params +from openpilot.common.params import Params from datetime import datetime from unittest import mock @@ -13,11 +13,11 @@ from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader +from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader -from selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 96233f5320..6c6ac33431 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -7,10 +7,10 @@ import capnp import cereal.messaging as messaging from cereal.services import service_list -from common.params import Params -from common.transformations.coordinates import ecef2geodetic +from openpilot.common.params import Params +from openpilot.common.transformations.coordinates import ecef2geodetic -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 2bac2a8988..ddb95e944c 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -7,11 +7,11 @@ from collections import deque, defaultdict import cereal.messaging as messaging from cereal import car, log -from common.params import Params -from common.realtime import config_realtime_process, DT_MDL -from common.filter_simple import FirstOrderFilter -from system.swaglog import cloudlog -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 26003cd1de..c877e6ed97 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -5,12 +5,12 @@ import textwrap from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) -from common.basedir import BASEDIR -from common.spinner import Spinner -from common.text_window import TextWindow -from system.hardware import AGNOS -from system.swaglog import cloudlog, add_file_handler -from system.version import is_dirty +from openpilot.common.basedir import BASEDIR +from openpilot.common.spinner import Spinner +from openpilot.common.text_window import TextWindow +from openpilot.system.hardware import AGNOS +from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index e9a1b2cb5b..a739437de7 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -9,18 +9,18 @@ from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging -import selfdrive.sentry as sentry -from common.basedir import BASEDIR -from common.params import Params, ParamKeyType -from common.text_window import TextWindow -from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE, PC -from selfdrive.manager.helpers import unblock_stdout, write_onroad_params -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from system.swaglog import cloudlog, add_file_handler -from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ +import openpilot.selfdrive.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params, ParamKeyType +from openpilot.common.text_window import TextWindow +from openpilot.selfdrive.boardd.set_time import set_time +from openpilot.system.hardware import HARDWARE, PC +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.process import ensure_running +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ get_normalized_origin, terms_version, training_version, \ is_tested_branch, is_release_branch diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index e6c2c52bec..8328f1cee9 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -10,13 +10,12 @@ from multiprocessing import Process from setproctitle import setproctitle # pylint: disable=no-name-in-module +from cereal import car, log import cereal.messaging as messaging -import selfdrive.sentry as sentry -from cereal import car -from common.basedir import BASEDIR -from common.params import Params -from system.swaglog import cloudlog -from cereal import log +import openpilot.selfdrive.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7cd1ed9489..936dff883b 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -1,9 +1,9 @@ import os from cereal import car -from common.params import Params -from system.hardware import PC, TICI -from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.common.params import Params +from openpilot.system.hardware import PC, TICI +from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 39bda1e156..8ae872d3df 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,11 +5,11 @@ import time import unittest from cereal import car -from common.params import Params -import selfdrive.manager.manager as manager -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from system.hardware import HARDWARE +from openpilot.common.params import Params +import openpilot.selfdrive.manager.manager as manager +from openpilot.selfdrive.manager.process import ensure_running +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index f19138b179..d1769c4bec 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -23,7 +23,7 @@ ExitHandler do_exit; mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { /* import numpy as np - from common.transformations.model import medmodel_frame_from_calib_frame + from openpilot.common.transformations.model import medmodel_frame_from_calib_frame medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) */ diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 758948811e..c3d3b3daa1 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -6,10 +6,10 @@ import random import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import tici_f_frame_size -from common.realtime import DT_MDL -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.vision_meta import meta_from_camera_state +from openpilot.common.transformations.camera import tici_f_frame_size +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index f4fddaab40..1463342a6a 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -7,7 +7,7 @@ import time import numpy as np import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes N = int(os.getenv("N", "5")) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 836ed9cc4f..c7cff88f3e 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -4,10 +4,10 @@ import gc import cereal.messaging as messaging from cereal import car from cereal import log -from common.params import Params, put_bool_nonblocking -from common.realtime import set_realtime_priority -from selfdrive.controls.lib.events import Events -from selfdrive.monitoring.driver_monitor import DriverStatus +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus def dmonitoringd_thread(sm=None, pm=None): diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 97407e25eb..ab82da301f 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -1,11 +1,11 @@ from math import atan2 from cereal import car -from common.numpy_fast import interp -from common.realtime import DT_DMON -from common.filter_simple import FirstOrderFilter -from common.stat_live import RunningStatFilter -from common.transformations.camera import tici_d_frame_size +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_DMON +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.stat_live import RunningStatFilter +from openpilot.common.transformations.camera import tici_d_frame_size EventName = car.CarEvent.EventName diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 98d3f43f12..b1011fb306 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -3,9 +3,9 @@ import unittest import numpy as np from cereal import car, log -from common.realtime import DT_DMON -from selfdrive.controls.lib.events import Events -from selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS +from openpilot.common.realtime import DT_DMON +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS EventName = car.CarEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index 5957816334..55c3f88a9a 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -4,9 +4,9 @@ import json import math from typing import Any, Dict, List, Optional, Tuple, Union, cast -from common.conversions import Conversions -from common.numpy_fast import clip -from common.params import Params +from openpilot.common.conversions import Conversions +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params DIRECTIONS = ('left', 'right', 'straight') MODIFIABLE_DIRECTIONS = ('left', 'right') diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 57d5e0593c..8d525ac73e 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -7,8 +7,8 @@ import numpy as np import polyline from cffi import FFI -from common.ffi_wrapper import suffix -from common.basedir import BASEDIR +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR HEIGHT = WIDTH = SIZE = 256 METERS_PER_PIXEL = 2 diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 3a8897e8e2..6a6a0846b7 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -9,15 +9,15 @@ import numpy as np import cereal.messaging as messaging from cereal import log -from common.api import Api -from common.params import Params -from common.realtime import Ratekeeper -from common.transformations.coordinates import ecef2geodetic -from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper +from openpilot.common.transformations.coordinates import ecef2geodetic +from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from system.swaglog import cloudlog +from openpilot.system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py index e6158dbdee..811aa576d1 100755 --- a/selfdrive/navd/set_destination.py +++ b/selfdrive/navd/set_destination.py @@ -2,7 +2,7 @@ import json import sys -from common.params import Params +from openpilot.common.params import Params if __name__ == "__main__": params = Params() diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index e3eda8bdef..1c3d8acd7f 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -8,7 +8,7 @@ import cereal.messaging as messaging from typing import Any from cereal.visionipc import VisionIpcClient, VisionStreamType -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes LLK_DECIMATION = 10 CACHE_PATH = "/data/mbgl-cache-navd.db" diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py index 45571fe2db..68dc4989cd 100755 --- a/selfdrive/rtshield.py +++ b/selfdrive/rtshield.py @@ -3,7 +3,7 @@ import os import time from typing import NoReturn -from common.realtime import set_core_affinity, set_realtime_priority +from openpilot.common.realtime import set_core_affinity, set_realtime_priority # RT shield - ensure CPU 3 always remains available for RT processes # runs as SCHED_FIFO with minimum priority to ensure kthreads don't diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index aa409ea394..02d9d17550 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -3,11 +3,11 @@ import sentry_sdk from enum import Enum from sentry_sdk.integrations.threading import ThreadingIntegration -from common.params import Params -from selfdrive.athena.registration import is_registered_device -from system.hardware import HARDWARE, PC -from system.swaglog import cloudlog -from system.version import get_branch, get_commit, get_origin, get_version, \ +from openpilot.common.params import Params +from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index a444a62312..8acf406515 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -7,13 +7,13 @@ from collections import defaultdict from datetime import datetime, timezone from typing import NoReturn, Union, List, Dict -from common.params import Params +from openpilot.common.params import Params from cereal.messaging import SubMaster -from system.swaglog import cloudlog -from system.hardware import HARDWARE -from common.file_helpers import atomic_write_in_dir -from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware import HARDWARE +from openpilot.common.file_helpers import atomic_write_in_dir +from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty +from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py index 291f9f6e44..ba55f3af24 100755 --- a/selfdrive/test/ciui.py +++ b/selfdrive/test/ciui.py @@ -7,7 +7,7 @@ signal.signal(signal.SIGTERM, signal.SIG_DFL) from PyQt5.QtCore import QTimer # pylint: disable=no-name-in-module, import-error from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel # pylint: disable=no-name-in-module, import-error -from selfdrive.ui.qt.python_helpers import set_main_window +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window class Window(QWidget): def __init__(self, parent=None): diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index f7dab576f3..f5ba67b407 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -3,10 +3,10 @@ import time from functools import wraps import cereal.messaging as messaging -from common.params import Params -from selfdrive.manager.process_config import managed_processes -from system.hardware import PC -from system.version import training_version, terms_version +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import PC +from openpilot.system.version import training_version, terms_version def set_params_enabled(): diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 00ddfe627e..000225ab77 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -1,5 +1,5 @@ import numpy as np -from selfdrive.test.longitudinal_maneuvers.plant import Plant +from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant class Maneuver: diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 541f7d8747..9373eb6d89 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -4,11 +4,11 @@ import numpy as np from cereal import log import cereal.messaging as messaging -from common.realtime import Ratekeeper, DT_MDL -from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.radard import _LEAD_ACCEL_TAU +from openpilot.common.realtime import Ratekeeper, DT_MDL +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU class Plant: @@ -46,8 +46,8 @@ class Plant: time.sleep(1) self.sm = messaging.SubMaster(['longitudinalPlan']) - from selfdrive.car.honda.values import CAR - from selfdrive.car.honda.interface import CarInterface + from openpilot.selfdrive.car.honda.values import CAR + from openpilot.selfdrive.car.honda.interface import CarInterface self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index bc477ca9fe..a3b307ccba 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -4,9 +4,9 @@ import os from parameterized import parameterized_class import unittest -from common.params import Params -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver # TODO: make new FCW tests diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index d1743ac539..1174dbab83 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -62,8 +62,8 @@ def replay_process( Example usage: ```py -from selfdrive.test.process_replay import replay_process_with_name -from tools.lib.logreader import LogReader +from openpilot.selfdrive.test.process_replay import replay_process_with_name +from openpilot.tools.lib.logreader import LogReader lr = LogReader(...) @@ -91,7 +91,7 @@ Supported processes: Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files. ```py -from selfdrive.test.process_replay import get_custom_params_from_lr +from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr previous_segment_lr = LogReader(...) current_segment_lr = LogReader(...) @@ -104,7 +104,7 @@ output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_ Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values. ```py -from tools.lib.framereader import FrameReader +from openpilot.tools.lib.framereader import FrameReader frs = { 'roadCameraState': FrameReader(...), @@ -125,4 +125,4 @@ output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_outp # entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process print(output_store['radard']['out']) # radard stdout print(output_store['radard']['err']) # radard stderr -``` \ No newline at end of file +``` diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py index a872c310d7..b994277186 100644 --- a/selfdrive/test/process_replay/__init__.py +++ b/selfdrive/test/process_replay/__init__.py @@ -1,2 +1,2 @@ -from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index a2a355805b..7de0a25761 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -6,7 +6,7 @@ import numbers import dictdiffer from collections import Counter -from tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py index 5cf1acfa59..0af8ff6c76 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/selfdrive/test/process_replay/helpers.py @@ -4,7 +4,7 @@ import uuid from typing import List, Optional -from common.params import Params +from openpilot.common.params import Params class OpenpilotPrefix(object): def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index eb2aba8799..4560a66b97 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,7 +1,7 @@ from collections import defaultdict from cereal import messaging -from selfdrive.test.process_replay.vision_meta import meta_from_encode_index +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index def migrate_all(lr, old_logtime=False, camera_states=False): diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 56bb3e1b3e..f576e07a40 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -6,18 +6,18 @@ from collections import defaultdict from typing import Any import cereal.messaging as messaging -from common.params import Params -from common.spinner import Spinner -from system.hardware import PC -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.test.process_replay.compare_logs import compare_logs -from selfdrive.test.process_replay.test_processes import format_diff -from selfdrive.test.process_replay.process_replay import get_process_config, replay_process -from system.version import get_commit -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.common.params import Params +from openpilot.common.spinner import Spinner +from openpilot.system.hardware import PC +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs +from openpilot.selfdrive.test.process_replay.test_processes import format_diff +from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 @@ -161,7 +161,7 @@ if __name__ == "__main__": import requests import threading import http.server - from selfdrive.test.openpilotci import upload_bytes + from openpilot.selfdrive.test.openpilotci import upload_bytes os.environ['MAPS_HOST'] = 'http://localhost:5000' class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): @@ -244,7 +244,7 @@ if __name__ == "__main__": # upload new refs if (update or failed) and not PC: - from selfdrive.test.openpilotci import upload_file + from openpilot.selfdrive.test.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index eb2c7dad47..9256b6015c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -16,17 +16,17 @@ import cereal.messaging as messaging from cereal import car from cereal.services import service_list from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name -from common.params import Params -from common.timeout import Timeout -from common.realtime import DT_CTRL +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE -from selfdrive.car.car_helpers import get_car, interfaces -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket -from selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams -from selfdrive.test.process_replay.migration import migrate_all -from selfdrive.test.process_replay.capture import ProcessOutputCapture -from tools.lib.logreader import LogReader +from openpilot.selfdrive.car.car_helpers import get_car, interfaces +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams +from openpilot.selfdrive.test.process_replay.migration import migrate_all +from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture +from openpilot.tools.lib.logreader import LogReader # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 07d3c04e37..81f27b7d0e 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -6,13 +6,13 @@ import capnp from typing import Union, Iterable, Optional, List, Any, Dict, Tuple -from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ check_openpilot_enabled, get_custom_params_from_lr -from selfdrive.test.update_ci_routes import upload_route -from tools.lib.route import Route -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.selfdrive.test.update_ci_routes import upload_route +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log def regen_segment( diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f69d07eb69..f42686ac6a 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -6,10 +6,10 @@ import random import traceback from tqdm import tqdm -from selfdrive.test.process_replay.helpers import OpenpilotPrefix -from selfdrive.test.process_replay.regen import regen_and_save -from selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments -from tools.lib.route import SegmentName +from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix +from openpilot.selfdrive.test.process_replay.regen import regen_and_save +from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments +from openpilot.tools.lib.route import SegmentName def regen_job(segment, upload, disable_tqdm): diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index 2ed2be61ac..a6e6955dbf 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -6,13 +6,13 @@ import numpy as np import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` -from system.hardware import PC, TICI -from common.basedir import BASEDIR -from selfdrive.test.openpilotci import BASE_URL, get_url -from system.version import get_commit -from system.camerad.snapshot.snapshot import yuv_to_rgb -from tools.lib.logreader import LogReader -from tools.lib.filereader import FileReader +from openpilot.system.hardware import PC, TICI +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.system.version import get_commit +from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.filereader import FileReader TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" SEGMENT = 0 @@ -172,7 +172,7 @@ if __name__ == "__main__": # upload new refs if update or (failed and TICI): - from selfdrive.test.openpilotci import upload_file + from openpilot.selfdrive.test.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index c58599caee..f3f48d0159 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -6,9 +6,9 @@ from parameterized import parameterized import unittest from cereal import log -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.test.fuzzy_generation import FuzzyGenerator -import selfdrive.test.process_replay.process_replay as pr +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator +import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index fe80bc17a5..9c8b5bfcd8 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -7,14 +7,14 @@ from collections import defaultdict from tqdm import tqdm from typing import Any, DefaultDict, Dict -from selfdrive.car.car_helpers import interface_names -from selfdrive.test.openpilotci import get_url, upload_file -from selfdrive.test.process_replay.compare_logs import compare_logs -from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process -from system.version import get_commit -from tools.lib.filereader import FileReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py index 77c6b0345d..2994b77452 100644 --- a/selfdrive/test/process_replay/vision_meta.py +++ b/selfdrive/test/process_replay/vision_meta.py @@ -1,7 +1,7 @@ from collections import namedtuple from cereal.visionipc import VisionStreamType -from common.realtime import DT_MDL, DT_DMON -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size +from openpilot.common.realtime import DT_MDL, DT_DMON +from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"]) ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size} diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 28e3b34e40..984907b870 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -5,13 +5,13 @@ import cProfile # pylint: disable=import-error import pprofile import pyprof2calltree -from common.params import Params -from tools.lib.logreader import LogReader -from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone -from selfdrive.test.process_replay.process_replay import CONFIGS -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.volkswagen.values import CAR as VW +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.volkswagen.values import CAR as VW BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" @@ -79,11 +79,11 @@ def profile(proc, func, car='toyota'): if __name__ == '__main__': - from selfdrive.controls.controlsd import main as controlsd_thread - from selfdrive.controls.radard import radard_thread - from selfdrive.locationd.paramsd import main as paramsd_thread - from selfdrive.controls.plannerd import main as plannerd_thread - from selfdrive.locationd.laikad import main as laikad_thread + from openpilot.selfdrive.controls.controlsd import main as controlsd_thread + from openpilot.selfdrive.controls.radard import radard_thread + from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread + from openpilot.selfdrive.controls.plannerd import main as plannerd_thread + from openpilot.selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index d71f49dc3a..0fa9d9c711 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -14,14 +14,14 @@ from pathlib import Path from cereal import car import cereal.messaging as messaging from cereal.services import service_list -from common.basedir import BASEDIR -from common.timeout import Timeout -from common.params import Params -from selfdrive.controls.lib.events import EVENTS, ET -from system.hardware import HARDWARE -from system.loggerd.config import ROOT -from selfdrive.test.helpers import set_params_enabled, release_only -from tools.lib.logreader import LogReader +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import EVENTS, ET +from openpilot.system.hardware import HARDWARE +from openpilot.system.loggerd.config import ROOT +from openpilot.selfdrive.test.helpers import set_params_enabled, release_only +from openpilot.tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index 5991250945..429feca344 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -4,9 +4,9 @@ import time import subprocess import cereal.messaging as messaging -from common.basedir import BASEDIR -from common.timeout import Timeout -from selfdrive.test.helpers import set_params_enabled +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.test.helpers import set_params_enabled def test_time_to_onroad(): diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index aab8b256ac..e679cd2c3b 100755 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -9,8 +9,8 @@ import signal import subprocess import random -from common.basedir import BASEDIR -from common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params class TestUpdated(unittest.TestCase): diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index a831ad6e2e..dbcf3b18d4 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -14,9 +14,9 @@ else: import cereal.messaging as messaging from collections import namedtuple -from tools.lib.logreader import LogReader -from selfdrive.test.openpilotci import get_url -from common.basedir import BASEDIR +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.common.basedir import BASEDIR ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index cee2f49e56..a69eb80cef 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -5,9 +5,9 @@ import subprocess from tqdm import tqdm from azure.storage.blob import BlockBlobService # pylint: disable=import-error -from selfdrive.car.tests.routes import routes as test_car_models_routes -from selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE -from selfdrive.test.process_replay.test_processes import source_segments as replay_segments +from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes +from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE +from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments from xx.chffr.lib import azureutil # pylint: disable=import-error from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index f3e822da51..64cd4c78ee 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 from abc import ABC, abstractmethod -from common.realtime import DT_TRML -from common.numpy_fast import interp -from system.swaglog import cloudlog -from selfdrive.controls.lib.pid import PIDController +from openpilot.common.realtime import DT_TRML +from openpilot.common.numpy_fast import interp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): @abstractmethod diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index e9b07da1f6..0b3c73a1c0 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -2,10 +2,10 @@ import time import threading from typing import Optional -from common.params import Params, put_nonblocking -from system.hardware import HARDWARE -from system.swaglog import cloudlog -from selfdrive.statsd import statlog +from openpilot.common.params import Params, put_nonblocking +from openpilot.system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py index 22d618485c..7081e1353e 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/selfdrive/thermald/tests/test_fan_controller.py @@ -3,7 +3,7 @@ import unittest from unittest.mock import Mock, patch from parameterized import parameterized -from selfdrive.thermald.fan_controller import TiciFanController +from openpilot.selfdrive.thermald.fan_controller import TiciFanController ALL_CONTROLLERS = [(TiciFanController,)] diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 57b16accff..5d6531ff49 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -2,35 +2,35 @@ import unittest from unittest.mock import patch -from common.params import Params -params = Params() +from openpilot.common.params import Params +from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ + CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S + # Create fake time -ssb = 0 -def mock_sec_since_boot(): +ssb = 0. +def mock_time_monotonic(): global ssb - ssb += 1 + ssb += 1. return ssb -with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot): - with patch("common.params.put_nonblocking", new=params.put): - from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S - TEST_DURATION_S = 50 GOOD_VOLTAGE = 12 * 1e3 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 def pm_patch(name, value, constant=False): if constant: - return patch(f"selfdrive.thermald.power_monitoring.{name}", value) - return patch(f"selfdrive.thermald.power_monitoring.{name}", return_value=value) + return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) + return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) + +@patch("time.monotonic", new=mock_time_monotonic) +@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y)) class TestPowerMonitoring(unittest.TestCase): def setUp(self): - # Clear stored capacity before each test - params.remove("CarBatteryCapacity") - params.remove("DisablePowerDown") + self.params = Params() + self.params.remove("CarBatteryCapacity") + self.params.remove("DisablePowerDown") # Test to see that it doesn't do anything when pandaState is None def test_pandaState_present(self): @@ -139,7 +139,7 @@ class TestPowerMonitoring(unittest.TestCase): def test_disable_power_down(self): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 - params.put_bool("DisablePowerDown", True) + self.params.put_bool("DisablePowerDown", True) with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index d2ab8ff733..b80ce71aea 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -13,19 +13,19 @@ import psutil import cereal.messaging as messaging from cereal import log -from common.dict_helpers import strip_deprecated_keys -from common.time import MIN_DATE -from common.filter_simple import FirstOrderFilter -from common.params import Params -from common.realtime import DT_TRML -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.hardware import HARDWARE, TICI, AGNOS -from system.loggerd.config import get_available_percent -from selfdrive.statsd import statlog -from system.swaglog import cloudlog -from selfdrive.thermald.power_monitoring import PowerMonitoring -from selfdrive.thermald.fan_controller import TiciFanController -from system.version import terms_version, training_version +from openpilot.common.dict_helpers import strip_deprecated_keys +from openpilot.common.time import MIN_DATE +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.params import Params +from openpilot.common.realtime import DT_TRML +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, TICI, AGNOS +from openpilot.system.loggerd.config import get_available_percent +from openpilot.selfdrive.statsd import statlog +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring +from openpilot.selfdrive.thermald.fan_controller import TiciFanController +from openpilot.system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index b1086305b7..25f2a61f98 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -9,11 +9,11 @@ import time import glob from typing import NoReturn -from common.file_helpers import mkdirs_exists_ok -from system.loggerd.config import ROOT -import selfdrive.sentry as sentry -from system.swaglog import cloudlog -from system.version import get_commit +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.system.loggerd.config import ROOT +import openpilot.selfdrive.sentry as sentry +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_commit MAX_SIZE = 1_000_000 * 100 # allow up to 100M MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py index 905d41a634..59e51a5517 100644 --- a/selfdrive/ui/qt/python_helpers.py +++ b/selfdrive/ui/qt/python_helpers.py @@ -3,8 +3,8 @@ from cffi import FFI import sip # pylint: disable=import-error -from common.ffi_wrapper import suffix -from common.basedir import BASEDIR +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR def get_ffi(): diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index 8a3d9ec45a..75b19ceb90 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -4,9 +4,9 @@ import sys import time import json -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert if __name__ == "__main__": params = Params() diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index 8cc9215b74..80a261e6d9 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -5,10 +5,10 @@ import unittest from cereal import log, car import cereal.messaging as messaging -from selfdrive.test.helpers import phone_only, with_processes +from openpilot.selfdrive.test.helpers import phone_only, with_processes # TODO: rewrite for unittest -from common.realtime import DT_CTRL -from system.hardware import HARDWARE +from openpilot.common.realtime import DT_CTRL +from openpilot.system.hardware import HARDWARE AudibleAlert = car.CarControl.HUDControl.AudibleAlert diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 8321e2e4c0..1ff203b97d 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -6,7 +6,7 @@ import shutil import unittest import xml.etree.ElementTree as ET -from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations +from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") UNFINISHED_TRANSLATION_TAG = " None: def handle_agnos_update() -> None: - from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number + from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number cur_version = HARDWARE.get_os_version() updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 447062fb2e..ede97d1a79 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -7,11 +7,11 @@ from PIL import Image import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType -from common.params import Params -from common.realtime import DT_MDL -from system.hardware import PC -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.manager.process_config import managed_processes +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.system.hardware import PC +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.manager.process_config import managed_processes LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 898377b111..97667ede86 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -4,9 +4,9 @@ import os from tqdm import tqdm -from common.file_helpers import mkdirs_exists_ok -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route import argparse diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index f03c531b20..6669df301c 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -7,8 +7,8 @@ from collections import defaultdict import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from selfdrive.manager.process_config import managed_processes -from system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import TICI TEST_TIMESPAN = 30 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index 8f65744da3..50467f9db4 100755 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -3,8 +3,8 @@ import time import unittest import numpy as np -from selfdrive.test.helpers import with_processes, phone_only -from system.camerad.snapshot.snapshot import get_snapshots +from openpilot.selfdrive.test.helpers import with_processes, phone_only +from openpilot.system.camerad.snapshot.snapshot import get_snapshots TEST_TIME = 45 REPEAT = 5 diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py index 77bb0e5e2a..99079b5ef3 100644 --- a/system/hardware/__init__.py +++ b/system/hardware/__init__.py @@ -1,9 +1,9 @@ import os from typing import cast -from system.hardware.base import HardwareBase -from system.hardware.tici.hardware import Tici -from system.hardware.pc.hardware import Pc +from openpilot.system.hardware.base import HardwareBase +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.pc.hardware import Pc TICI = os.path.isfile('/TICI') AGNOS = os.path.isfile('/AGNOS') diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 564f9e483a..27c05f5904 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,7 +1,7 @@ import random from cereal import log -from system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.base import HardwareBase, ThermalConfig NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 5f446a8e90..ef7d9adb79 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -10,7 +10,7 @@ from typing import Dict, Generator, List, Tuple, Union import requests -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/" diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 6932ea08b6..3cd3427842 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -8,11 +8,11 @@ from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from common.gpio import gpio_set, gpio_init, get_irqs_for_action -from system.hardware.base import HardwareBase, ThermalConfig -from system.hardware.tici import iwlist -from system.hardware.tici.pins import GPIO -from system.hardware.tici.amplifier import Amplifier +from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action +from openpilot.system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.tici import iwlist +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.hardware.tici.amplifier import Amplifier NM = 'org.freedesktop.NetworkManager' NM_CON_ACT = NM + '.Connection.Active' diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py index 3c303ff61f..28113ad073 100755 --- a/system/hardware/tici/power_draw_test.py +++ b/system/hardware/tici/power_draw_test.py @@ -2,9 +2,9 @@ import os import time import numpy as np -from system.hardware.tici.hardware import Tici -from system.hardware.tici.pins import GPIO -from common.gpio import gpio_init, gpio_set, gpio_export +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.common.gpio import gpio_init, gpio_set, gpio_export def read_power(): with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f: diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index f9d1e3cc41..0a54319398 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -5,8 +5,8 @@ import datetime import numpy as np from typing import List -from common.realtime import Ratekeeper -from common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter def read_power(): diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py index 5d68851367..e186ba4aea 100755 --- a/system/hardware/tici/precise_power_measure.py +++ b/system/hardware/tici/precise_power_measure.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import numpy as np -from system.hardware.tici.power_monitor import sample_power +from openpilot.system.hardware.tici.power_monitor import sample_power if __name__ == '__main__': print("measuring for 5 seconds") diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index 6d7232bd64..835985b0b5 100755 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -8,7 +8,7 @@ from typing import Dict, List import requests from tqdm import tqdm -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync def get_chunk_download_size(chunk): diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 6019495449..cd3b0f90fe 100755 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -5,9 +5,9 @@ import unittest import subprocess from panda import Panda -from system.hardware import TICI, HARDWARE -from system.hardware.tici.hardware import Tici -from system.hardware.tici.amplifier import Amplifier +from openpilot.system.hardware import TICI, HARDWARE +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.tici.amplifier import Amplifier class TestAmplifier(unittest.TestCase): diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py index 8724575ad6..94b32a9f76 100755 --- a/system/hardware/tici/tests/test_casync.py +++ b/system/hardware/tici/tests/test_casync.py @@ -4,7 +4,7 @@ import unittest import tempfile import subprocess -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 # sudo losetup -f /tmp/img.raw diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py index bb22cb1594..7d377ac3fb 100755 --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -3,8 +3,8 @@ import time import unittest import numpy as np -from system.hardware import TICI -from system.hardware.tici.hardware import Tici +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.hardware import Tici HARDWARE = Tici() diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index a35f231c4e..fbca95f6f6 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -9,11 +9,11 @@ from typing import List import cereal.messaging as messaging from cereal.services import service_list -from system.hardware import HARDWARE, TICI -from system.hardware.tici.power_monitor import get_power -from selfdrive.manager.process_config import managed_processes -from selfdrive.manager.manager import manager_cleanup -from selfdrive.navd.tests.test_map_renderer import gen_llk +from openpilot.system.hardware import HARDWARE, TICI +from openpilot.system.hardware.tici.power_monitor import get_power +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.manager import manager_cleanup +from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk SAMPLE_TIME = 8 # seconds to sample power diff --git a/system/loggerd/config.py b/system/loggerd/config.py index df187a48c0..dfc117f2c1 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -1,6 +1,6 @@ import os from pathlib import Path -from system.hardware import PC +from openpilot.system.hardware import PC if os.environ.get('LOG_ROOT', False): ROOT = os.environ['LOG_ROOT'] diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index 5e7b31f583..ab4a0b97c1 100644 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -4,10 +4,10 @@ import shutil import threading from typing import List -from system.swaglog import cloudlog -from system.loggerd.config import ROOT, get_available_bytes, get_available_percent -from system.loggerd.uploader import listdir_by_creation -from system.loggerd.xattr_cache import getxattr +from openpilot.system.swaglog import cloudlog +from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from openpilot.system.loggerd.uploader import listdir_by_creation +from openpilot.system.loggerd.xattr_cache import getxattr MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py index 4bf4f73604..c749f42b97 100755 --- a/system/loggerd/tests/fill.py +++ b/system/loggerd/tests/fill.py @@ -3,8 +3,8 @@ from pathlib import Path -from system.loggerd.config import ROOT, get_available_percent -from system.loggerd.tests.loggerd_tests_common import create_random_file +from openpilot.system.loggerd.config import ROOT, get_available_percent +from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 7d71516dfe..89ddbd658c 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -7,9 +7,9 @@ import unittest from pathlib import Path from typing import Optional -import system.loggerd.deleter as deleter -import system.loggerd.uploader as uploader -from system.loggerd.xattr_cache import setxattr +import openpilot.system.loggerd.deleter as deleter +import openpilot.system.loggerd.uploader as uploader +from openpilot.system.loggerd.xattr_cache import setxattr def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None: diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 9474b30f82..86152b05f8 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,9 +6,9 @@ from collections import namedtuple from pathlib import Path from typing import Sequence -import system.loggerd.deleter as deleter -from common.timeout import Timeout, TimeoutException -from system.loggerd.tests.loggerd_tests_common import UploaderTestCase +import openpilot.system.loggerd.deleter as deleter +from openpilot.common.timeout import Timeout, TimeoutException +from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index 81f4e9fb9d..41b83c0821 100755 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -11,12 +11,12 @@ from pathlib import Path from parameterized import parameterized from tqdm import trange -from common.params import Params -from common.timeout import Timeout -from system.hardware import TICI -from system.loggerd.config import ROOT -from selfdrive.manager.process_config import managed_processes -from tools.lib.logreader import LogReader +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.system.hardware import TICI +from openpilot.system.loggerd.config import ROOT +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.tools.lib.logreader import LogReader SEGMENT_LENGTH = 2 FULL_SIZE = 2507572 diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index c151afb24f..b43f597c25 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -13,17 +13,17 @@ from typing import Dict, List import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from common.basedir import BASEDIR -from common.params import Params -from common.timeout import Timeout -from system.loggerd.config import ROOT -from system.loggerd.xattr_cache import getxattr -from system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE -from selfdrive.manager.process_config import managed_processes -from system.version import get_version -from tools.lib.logreader import LogReader +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.system.loggerd.config import ROOT +from openpilot.system.loggerd.xattr_cache import getxattr +from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.version import get_version +from openpilot.tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size +from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size SentinelType = log.Sentinel.SentinelType diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 580d1efae2..bf21d8d7a9 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -8,10 +8,10 @@ import json from pathlib import Path from typing import List, Optional -from system.swaglog import cloudlog -from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.swaglog import cloudlog +from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from system.loggerd.tests.loggerd_tests_common import UploaderTestCase +from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py index c963014748..84b9c20d78 100644 --- a/system/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from system.loggerd.config import ROOT +from openpilot.system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py index 3d1d4472b0..ef50280441 100755 --- a/system/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from system.loggerd.uploader import UPLOAD_ATTR_NAME +from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 196e5b3c2b..8ed60dac56 100644 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -13,13 +13,13 @@ from typing import BinaryIO, Iterator, List, Optional, Tuple, Union from cereal import log import cereal.messaging as messaging -from common.api import Api -from common.params import Params -from common.realtime import set_core_affinity -from system.hardware import TICI -from system.loggerd.xattr_cache import getxattr, setxattr -from system.loggerd.config import ROOT -from system.swaglog import cloudlog +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware import TICI +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.system.loggerd.config import ROOT +from openpilot.system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' diff --git a/system/logmessaged.py b/system/logmessaged.py index 04101d042b..cab8cdd80d 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -3,8 +3,8 @@ import zmq from typing import NoReturn import cereal.messaging as messaging -from common.logging_extra import SwagLogFileFormatter -from system.swaglog import get_file_handler +from openpilot.common.logging_extra import SwagLogFileFormatter +from openpilot.system.swaglog import get_file_handler def main() -> NoReturn: diff --git a/system/micd.py b/system/micd.py index 97ba0c262e..ae2bf86730 100755 --- a/system/micd.py +++ b/system/micd.py @@ -2,9 +2,9 @@ import numpy as np from cereal import messaging -from common.filter_simple import FirstOrderFilter -from common.realtime import Ratekeeper -from system.swaglog import cloudlog +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.system.swaglog import cloudlog RATE = 10 FFT_SAMPLES = 4096 diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index f9ac2eaf95..a2b6b08de0 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -10,11 +10,11 @@ from datetime import datetime from typing import List, Optional, Tuple from cereal import messaging -from common.params import Params -from system.swaglog import cloudlog -from system.hardware import TICI -from common.gpio import gpio_init, gpio_set -from system.hardware.tici.pins import GPIO +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware import TICI +from openpilot.common.gpio import gpio_init, gpio_set +from openpilot.system.hardware.tici.pins import GPIO UBLOX_TTY = "/dev/ttyHS0" diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index d9b2c37731..bb228812dc 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -15,14 +15,14 @@ from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging -from common.gpio import gpio_init, gpio_set +from openpilot.common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds from laika.helpers import get_prn_from_nmea_id from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK -from system.hardware.tici.pins import GPIO -from system.swaglog import cloudlog -from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.swaglog import cloudlog +from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py index 8c2e246764..02777d5a1d 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/sensord/rawgps/test_rawgps.py @@ -8,10 +8,10 @@ import subprocess import numpy as np import cereal.messaging as messaging -from system.hardware import TICI -from system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem -from selfdrive.manager.process_config import managed_processes -from common.transformations.coordinates import ecef_from_geodetic +from openpilot.system.hardware import TICI +from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.common.transformations.coordinates import ecef_from_geodetic GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py index 9519183aac..d7c7567e4f 100755 --- a/system/sensord/tests/test_pigeond.py +++ b/system/sensord/tests/test_pigeond.py @@ -4,11 +4,11 @@ import unittest import cereal.messaging as messaging from cereal.services import service_list -from common.gpio import gpio_read -from selfdrive.test.helpers import with_processes -from selfdrive.manager.process_config import managed_processes -from system.hardware import TICI -from system.hardware.tici.pins import GPIO +from openpilot.common.gpio import gpio_read +from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.pins import GPIO # TODO: test TTFF when we have good A-GNSS diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index eea527ed63..b394a86b59 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -7,9 +7,9 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log -from common.gpio import get_irqs_for_action -from system.hardware import TICI -from selfdrive.manager.process_config import managed_processes +from openpilot.common.gpio import get_irqs_for_action +from openpilot.system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes BMX = { ('bmx055', 'acceleration'), diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py index e2cbc6d144..e023489ed5 100755 --- a/system/sensord/tests/ttff_test.py +++ b/system/sensord/tests/ttff_test.py @@ -4,7 +4,7 @@ import time import atexit from cereal import messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes TIMEOUT = 10*60 diff --git a/system/swaglog.py b/system/swaglog.py index 28beb5a4d1..5fe1c2f27f 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -7,8 +7,8 @@ from logging.handlers import BaseRotatingHandler import zmq -from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter -from system.hardware import PC +from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter +from openpilot.system.hardware import PC if PC: SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log") diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 08335517ae..955272d403 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -6,8 +6,8 @@ import time import unittest import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes -from system.swaglog import cloudlog, SWAGLOG_DIR +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.swaglog import cloudlog, SWAGLOG_DIR class TestLogmessaged(unittest.TestCase): diff --git a/system/timezoned.py b/system/timezoned.py index 884a5c3812..37e813c561 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -8,9 +8,9 @@ from typing import NoReturn import requests from timezonefinder import TimezoneFinder -from common.params import Params -from system.hardware import AGNOS -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.system.hardware import AGNOS +from openpilot.system.swaglog import cloudlog def set_timezone(valid_timezones, timezone): diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index cd4ce0de04..b1709cd9bb 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -6,9 +6,9 @@ from laika import AstroDog from laika.helpers import ConstellationId from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox from laika.opt import calc_pos_fix -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.helpers import with_processes import cereal.messaging as messaging def get_gnss_measurements(log_reader): diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py index 7c7e68b23b..783eb1eb0d 100755 --- a/system/ubloxd/tests/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -2,7 +2,7 @@ # type: ignore # pylint: skip-file -from selfdrive.locationd.test import ublox +from openpilot.selfdrive.locationd.test import ublox import struct baudrate = 460800 diff --git a/system/version.py b/system/version.py index c9ab443694..82e99fd416 100644 --- a/system/version.py +++ b/system/version.py @@ -4,8 +4,8 @@ import subprocess from typing import List, Optional from functools import lru_cache -from common.basedir import BASEDIR -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.system.swaglog import cloudlog RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] @@ -127,7 +127,7 @@ def is_dirty() -> bool: if __name__ == "__main__": - from common.params import Params + from openpilot.common.params import Params params = Params() params.put("TermsVersion", terms_version) diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py index ed94cb6d83..717afdeaf8 100644 --- a/tools/bodyteleop/web.py +++ b/tools/bodyteleop/web.py @@ -15,8 +15,8 @@ from aiohttp import web from aiortc import RTCPeerConnection, RTCSessionDescription import cereal.messaging as messaging -from common.basedir import BASEDIR -from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo +from openpilot.common.basedir import BASEDIR +from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo logger = logging.getLogger("pc") logging.basicConfig(level=logging.INFO) diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index cb122e2eb2..da19e27b77 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -2,7 +2,7 @@ import argparse import json -from selfdrive.car.car_helpers import get_interface_attr +from openpilot.selfdrive.car.car_helpers import get_interface_attr def generate_dbc_json() -> str: diff --git a/tools/camerastream/receive.py b/tools/camerastream/receive.py index 6f8d67c78f..bf6929c039 100755 --- a/tools/camerastream/receive.py +++ b/tools/camerastream/receive.py @@ -4,7 +4,7 @@ import sys import numpy as np os.environ['ZMQ'] = '1' -from common.window import Window +from openpilot.common.window import Window import cereal.messaging as messaging # start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad' diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index be8dbb61b8..060446370b 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -7,9 +7,9 @@ from collections import defaultdict import rpyc # pylint: disable=import-error from rpyc.utils.server import ThreadedServer # pylint: disable=import-error -#from common.params import Params +#from openpilot.common.params import Params import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes from laika.lib.coordinates import ecef2geodetic DELTA = 0.001 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 5043e484fd..98f1ad84b8 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -3,11 +3,11 @@ import time import unittest import struct -from common.params import Params +from openpilot.common.params import Params import cereal.messaging as messaging -import system.sensord.pigeond as pd -from system.hardware import TICI -from selfdrive.test.helpers import with_processes +import openpilot.system.sensord.pigeond as pd +from openpilot.system.hardware import TICI +from openpilot.selfdrive.test.helpers import with_processes def read_events(service, duration_sec): diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py index b3ce93fc81..c399671715 100644 --- a/tools/gpstest/test_gps_qcom.py +++ b/tools/gpstest/test_gps_qcom.py @@ -3,10 +3,10 @@ import time import unittest import subprocess as sp -from common.params import Params -from system.hardware import TICI +from openpilot.common.params import Params +from openpilot.system.hardware import TICI import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes def exec_mmcli(cmd): diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 689b0f0b9f..abb47d4bfc 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,12 +4,12 @@ import time import unittest import cereal.messaging as messaging -import system.sensord.pigeond as pd +import openpilot.system.sensord.pigeond as pd -from common.params import Params -from system.hardware import TICI -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.helpers import with_processes +from openpilot.common.params import Params +from openpilot.system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.helpers import with_processes def wait_for_location(sm, timeout, con=10): diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index b31dab83fe..82847e3fa1 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -5,10 +5,10 @@ import threading from inputs import get_gamepad import cereal.messaging as messaging -from common.realtime import Ratekeeper -from common.numpy_fast import interp, clip -from common.params import Params -from tools.lib.kbhit import KBHit +from openpilot.common.realtime import Ratekeeper +from openpilot.common.numpy_fast import interp, clip +from openpilot.common.params import Params +from openpilot.tools.lib.kbhit import KBHit class Keyboard: diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 81a4790dea..f2adc97e01 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,7 +8,7 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" diff --git a/tools/lib/README.md b/tools/lib/README.md index 8f540a5c82..daf74aaf40 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -3,8 +3,8 @@ Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader r = Route("a2a0ccea32023010|2023-07-27--13-01-19") @@ -37,8 +37,8 @@ for msg in lr: `MultiLogIterator` is similar to `LogReader`, but reads multiple logs. ```python -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator # setup a MultiLogIterator to read all the logs in the route r = Route("a2a0ccea32023010|2023-07-27--13-01-19") diff --git a/tools/lib/auth.py b/tools/lib/auth.py index a1bcdb1c58..7fc71b6895 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -29,8 +29,8 @@ from http.server import BaseHTTPRequestHandler, HTTPServer from typing import Any, Dict from urllib.parse import parse_qs, urlencode -from tools.lib.api import APIError, CommaApi, UnauthorizedError -from tools.lib.auth_config import set_token, get_token +from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError +from openpilot.tools.lib.auth_config import set_token, get_token PORT = 3000 diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index 7952fee495..8863dd57a2 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -1,7 +1,7 @@ import json import os -from common.file_helpers import mkdirs_exists_ok -from system.hardware import PC +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.system.hardware import PC class MissingAuthConfigError(Exception): diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 1e474e5dde..01756bb5e9 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -3,9 +3,9 @@ import functools import re from typing import List, Optional -from tools.lib.auth_config import get_token -from tools.lib.api import CommaApi -from tools.lib.helpers import RE, timestamp_to_datetime +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.helpers import RE, timestamp_to_datetime @functools.total_ordering diff --git a/tools/lib/cache.py b/tools/lib/cache.py index 82b2298730..d142955e59 100644 --- a/tools/lib/cache.py +++ b/tools/lib/cache.py @@ -1,6 +1,6 @@ import os import urllib.parse -from common.file_helpers import mkdirs_exists_ok +from openpilot.common.file_helpers import mkdirs_exists_ok DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache") diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 718b853b1a..5ac23d57ec 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,5 +1,5 @@ import os -from tools.lib.url_file import URLFile +from openpilot.tools.lib.url_file import URLFile DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index b4845b9f0d..27984514e9 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -13,11 +13,11 @@ import numpy as np from lru import LRU import _io -from tools.lib.cache import cache_path_for_file_path -from tools.lib.exceptions import DataUnreadableError -from common.file_helpers import atomic_write_in_dir +from openpilot.tools.lib.cache import cache_path_for_file_path +from openpilot.tools.lib.exceptions import DataUnreadableError +from openpilot.common.file_helpers import atomic_write_in_dir -from tools.lib.filereader import FileReader +from openpilot.tools.lib.filereader import FileReader HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 8f1e5b9f80..e528996f32 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -8,8 +8,8 @@ import warnings from cereal import log as capnp_log -from tools.lib.filereader import FileReader -from tools.lib.route import Route, SegmentName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.route import Route, SegmentName # this is an iterator itself, and uses private variables from LogReader class MultiLogIterator: diff --git a/tools/lib/route.py b/tools/lib/route.py index 388cb003e6..e37b7d4434 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -5,9 +5,9 @@ from collections import defaultdict from itertools import chain from typing import Optional -from tools.lib.auth_config import get_token -from tools.lib.api import CommaApi -from tools.lib.helpers import RE +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.helpers import RE QLOG_FILENAMES = ['qlog', 'qlog.bz2'] QCAMERA_FILENAMES = ['qcamera.ts'] diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index d2a2a6872f..1e44b96489 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -4,7 +4,7 @@ import shutil import unittest os.environ["COMMA_CACHE"] = "/tmp/__test_cache__" -from tools.lib.url_file import URLFile, CACHE_DIR +from openpilot.tools.lib.url_file import URLFile, CACHE_DIR class TestFileDownload(unittest.TestCase): diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py index 6efa0dc351..1f24ae5c8e 100755 --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -5,8 +5,8 @@ import tempfile from collections import defaultdict import numpy as np -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader class TestReaders(unittest.TestCase): diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py index 814017c9cc..7977f17be2 100755 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -2,7 +2,7 @@ import unittest from collections import namedtuple -from tools.lib.route import SegmentName +from openpilot.tools.lib.route import SegmentName class TestRouteLibrary(unittest.TestCase): def test_segment_name_formats(self): diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 1e94a588f1..c2c7fc9d38 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -9,7 +9,7 @@ import pycurl from hashlib import sha256 from io import BytesIO from tenacity import retry, wait_random_exponential, stop_after_attempt -from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir +from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index a5d6974f9c..02858b1edf 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -10,11 +10,11 @@ import tempfile import requests import argparse -from common.basedir import BASEDIR -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from tools.lib.route import Route, SegmentName -from tools.lib.helpers import save_log +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentName +from openpilot.tools.lib.helpers import save_log from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -129,7 +129,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No if dbc is None: for cp in [m for m in all_data if m.which() == 'carParams']: try: - DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC + DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC dbc = DBC[cp.carParams.carFingerprint]['pt'] except Exception: pass diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 8fc032042a..e29e33f921 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -6,9 +6,9 @@ import subprocess import time import unittest -from common.basedir import BASEDIR -from common.timeout import Timeout -from tools.plotjuggler.juggle import install +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.tools.plotjuggler.juggle import install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 44b109514f..032c29824a 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,10 +8,10 @@ from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' -from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from selfdrive.boardd.boardd import can_capnp_to_can_list -from tools.plotjuggler.juggle import load_segment -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL +from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list +from openpilot.tools.plotjuggler.juggle import load_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment from panda import Panda, PandaJungle def send_thread(s, flock): diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index 4ab8efab61..aa13502143 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -7,10 +7,10 @@ import pygame # pylint: disable=import-error from matplotlib.backends.backend_agg import FigureCanvasAgg -from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, +from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, tici_f_frame_size, tici_f_focal_length, get_view_frame_from_calib_frame) -from selfdrive.controls.radard import RADAR_TO_CAMERA +from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA RED = (255, 0, 0) diff --git a/tools/replay/ui.py b/tools/replay/ui.py index a222e8e5b6..1659a024a4 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -8,9 +8,9 @@ import numpy as np import pygame # pylint: disable=import-error import cereal.messaging as messaging -from common.numpy_fast import clip -from common.basedir import BASEDIR -from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, +from openpilot.common.numpy_fast import clip +from openpilot.common.basedir import BASEDIR +from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, _INTRINSICS, BLACK, GREEN, YELLOW, Calibration, get_blank_lid_overlay, init_plots, diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index c008a7aeff..8d69ae954b 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -11,9 +11,9 @@ import tty from collections import defaultdict import cereal.messaging as messaging -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.openpilotci import get_url IGNORE = ['initData', 'sentinel'] diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py index 139373f665..471db7ee3e 100755 --- a/tools/scripts/fetch_image_from_route.py +++ b/tools/scripts/fetch_image_from_route.py @@ -8,8 +8,8 @@ if len(sys.argv) < 4: import requests from PIL import Image -from tools.lib.auth_config import get_token -from tools.lib.framereader import FrameReader +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.framereader import FrameReader jwt = get_token() diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 3fefd45ba8..541252d270 100644 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -2,9 +2,9 @@ import argparse import os import sys -from common.basedir import BASEDIR -from tools.lib.logreader import MultiLogIterator -from tools.lib.route import Route +from openpilot.common.basedir import BASEDIR +from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route os.environ['BASEDIR'] = BASEDIR diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 8f03303b59..699765eee1 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import requests -from common.params import Params +from openpilot.common.params import Params import sys diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 48aa12ebc6..d312f34ecd 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -14,6 +14,7 @@ RUN mkdir -p $HOME/openpilot COPY SConstruct $HOME/openpilot/ +COPY ./openpilot $HOME/openpilot/openpilot COPY ./body $HOME/openpilot/body COPY ./third_party $HOME/openpilot/third_party COPY ./site_scons $HOME/openpilot/site_scons @@ -30,4 +31,4 @@ COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot RUN scons --cache-readonly -j12 -RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()" +RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 64446e1115..bacf38296e 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -16,13 +16,13 @@ import pyopencl.array as cl_array import cereal.messaging as messaging from cereal import log from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.basedir import BASEDIR -from common.numpy_fast import clip -from common.params import Params -from common.realtime import DT_DMON, Ratekeeper -from selfdrive.car.honda.values import CruiseButtons -from selfdrive.test.helpers import set_params_enabled -from tools.sim.lib.can import can_function +from openpilot.common.basedir import BASEDIR +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from openpilot.common.realtime import DT_DMON, Ratekeeper +from openpilot.selfdrive.car.honda.values import CruiseButtons +from openpilot.selfdrive.test.helpers import set_params_enabled +from openpilot.tools.sim.lib.can import can_function W, H = 1928, 1208 REPEAT_COUNTER = 5 @@ -550,12 +550,12 @@ if __name__ == "__main__": if args.joystick: # start input poll for joystick - from tools.sim.lib.manual_ctrl import wheel_poll_thread + from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread wheel_poll_thread(q) else: # start input poll for keyboard - from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread + from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread keyboard_poll_thread(q) p.join() diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index d0b5888392..4cecbb2a67 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -2,8 +2,8 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error -from selfdrive.car import crc8_pedal +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error +from openpilot.selfdrive.car import crc8_pedal packer = CANPacker("honda_civic_touring_2016_can_generated") rpacker = CANPacker("acura_ilx_2016_nidec") diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py index cfaf95ca01..65f5f4a30f 100755 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -6,10 +6,10 @@ import os from multiprocessing import Queue from cereal import messaging -from common.basedir import BASEDIR -from selfdrive.manager.helpers import unblock_stdout -from tools.sim import bridge -from tools.sim.bridge import CarlaBridge +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.manager.helpers import unblock_stdout +from openpilot.tools.sim import bridge +from openpilot.tools.sim.bridge import CarlaBridge CI = "CI" in os.environ diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index b816d82f91..c615608852 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment def sigint_handler(signal, frame): exit(0) diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py index 2ae35992ec..d4f7d71b41 100755 --- a/tools/webcam/front_mount_helper.py +++ b/tools/webcam/front_mount_helper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import numpy as np -# copied from common.transformations/camera.py +# copied from openpilot.common.transformations/camera.py eon_dcam_focal_length = 860.0 # pixels webcam_focal_length = 908.0 # pixels diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py index 4331614acf..a9ae25ee67 100755 --- a/tools/webcam/warp_vis.py +++ b/tools/webcam/warp_vis.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import numpy as np -# copied from common.transformations/camera.py +# copied from openpilot.common.transformations/camera.py eon_focal_length = 910.0 # pixels eon_dcam_focal_length = 860.0 # pixels diff --git a/tools/zookeeper/check_consumption.py b/tools/zookeeper/check_consumption.py index 1345b90571..dab948318f 100755 --- a/tools/zookeeper/check_consumption.py +++ b/tools/zookeeper/check_consumption.py @@ -2,7 +2,7 @@ import sys import time -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper # Usage: check_consumption.py # Exit code: 0 -> passed diff --git a/tools/zookeeper/disable.py b/tools/zookeeper/disable.py index 6c1eecc18b..4bea3e7ed0 100755 --- a/tools/zookeeper/disable.py +++ b/tools/zookeeper/disable.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() diff --git a/tools/zookeeper/enable_and_wait.py b/tools/zookeeper/enable_and_wait.py index 6907e6017c..51b8dc0a5c 100755 --- a/tools/zookeeper/enable_and_wait.py +++ b/tools/zookeeper/enable_and_wait.py @@ -3,7 +3,7 @@ import os import sys import time from socket import gethostbyname, gaierror -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper def is_online(ip): try: diff --git a/tools/zookeeper/ignition.py b/tools/zookeeper/ignition.py index 5c85be203d..d5f01c362f 100755 --- a/tools/zookeeper/ignition.py +++ b/tools/zookeeper/ignition.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import sys -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index fa1f442bbc..a081baa72a 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -3,9 +3,9 @@ import sys import time import datetime -from common.realtime import Ratekeeper -from common.filter_simple import FirstOrderFilter -from tools.zookeeper import Zookeeper +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() diff --git a/tools/zookeeper/test_zookeeper.py b/tools/zookeeper/test_zookeeper.py index ba395ad7ba..89f7f28975 100755 --- a/tools/zookeeper/test_zookeeper.py +++ b/tools/zookeeper/test_zookeeper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import time -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": From ff068dd722b31078b9356d3f55e4898cf00a89cb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Aug 2023 21:08:04 -0700 Subject: [PATCH 017/410] move mypy config into pyproject.toml (#29501) * move mypy config into pyproject.toml * rm reference --- .github/workflows/selfdrive_tests.yaml | 1 - mypy.ini | 16 ------------- pyproject.toml | 31 ++++++++++++++++++++++++++ 3 files changed, 31 insertions(+), 17 deletions(-) delete mode 100644 mypy.ini diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0aad8ba0bb..435c2df251 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -64,7 +64,6 @@ jobs: run: | cd $GITHUB_WORKSPACE cp .pre-commit-config.yaml $STRIPPED_DIR - cp mypy.ini $STRIPPED_DIR cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR diff --git a/mypy.ini b/mypy.ini deleted file mode 100644 index 74d0ac2175..0000000000 --- a/mypy.ini +++ /dev/null @@ -1,16 +0,0 @@ -[mypy] -python_version = 3.11 -plugins = numpy.typing.mypy_plugin -files = body, common, docs, scripts, selfdrive, site_scons, system, tools -exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/) - -; third-party packages -ignore_missing_imports = True - -; helpful warnings -warn_redundant_casts = True -warn_unreachable = True -warn_unused_ignores = True - -; restrict dynamic typing -warn_return_any = True diff --git a/pyproject.toml b/pyproject.toml index d9cc49bfd0..0af1bfcfae 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,6 +4,37 @@ addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --igno python_files = "test_*.py" timeout = "30" # you get this long by default +[tool.mypy] +python_version = "3.11" +plugins = [ + "numpy.typing.mypy_plugin", +] +exclude = [ + "body/", + "cereal/", + "opendbc/", + "panda/", + "laika/", + "laika_repo/", + "rednose/", + "rednose_repo/", + "tinygrad/", + "tinygrad_repo/", + "third_party/", +] + +# third-party packages +ignore_missing_imports=true + +# helpful warnings +warn_redundant_casts=true +warn_unreachable=true +warn_unused_ignores=true + +# restrict dynamic typing +warn_return_any=true + + [tool.poetry] name = "openpilot" version = "0.1.0" From 3eef63af9b4f4a25bc4c3a0d6ad450bba9f62205 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 21 Aug 2023 12:27:02 +0800 Subject: [PATCH 018/410] common: C++ RateKeeper (#29374) * c++ RateKeeper * add to files_common * use util::random_int * improve monotor_time * remove ~ratekeeper --- .github/workflows/selfdrive_tests.yaml | 1 + common/SConscript | 2 ++ common/ratekeeper.cc | 38 ++++++++++++++++++++++++++ common/ratekeeper.h | 22 +++++++++++++++ common/tests/.gitignore | 1 + common/tests/test_ratekeeper.cc | 17 ++++++++++++ release/files_common | 2 ++ selfdrive/boardd/boardd.cc | 24 ++++------------ system/proclogd/main.cc | 5 +++- system/sensord/sensors_qcom2.cc | 8 +++--- 10 files changed, 97 insertions(+), 23 deletions(-) create mode 100644 common/ratekeeper.cc create mode 100644 common/ratekeeper.h create mode 100644 common/tests/test_ratekeeper.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 435c2df251..90a1c14aa0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -275,6 +275,7 @@ jobs: QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ ./common/tests/test_util && \ + ./common/tests/test_ratekeeper && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./system/loggerd/tests/test_logger &&\ diff --git a/common/SConscript b/common/SConscript index 71894923a6..bece09947a 100644 --- a/common/SConscript +++ b/common/SConscript @@ -12,6 +12,7 @@ common_libs = [ 'util.cc', 'i2c.cc', 'watchdog.cc', + 'ratekeeper.cc' ] if arch != "Darwin": @@ -29,6 +30,7 @@ Export('_common', '_gpucommon') if GetOption('test'): env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common]) env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) + env.Program('tests/test_ratekeeper', ['tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc new file mode 100644 index 0000000000..c00d72a94a --- /dev/null +++ b/common/ratekeeper.cc @@ -0,0 +1,38 @@ +#include "common/ratekeeper.h" + +#include "common/swaglog.h" +#include "common/timing.h" +#include "common/util.h" + +RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold) + : name(name), + print_delay_threshold(std::max(0.f, print_delay_threshold)) { + interval = 1 / rate; + last_monitor_time = seconds_since_boot(); + next_frame_time = last_monitor_time + interval; +} + +bool RateKeeper::keepTime() { + bool lagged = monitorTime(); + if (remaining_ > 0) { + util::sleep_for(remaining_ * 1000); + } + return lagged; +} + +bool RateKeeper::monitorTime() { + ++frame_; + last_monitor_time = seconds_since_boot(); + remaining_ = next_frame_time - last_monitor_time; + + bool lagged = remaining_ < 0; + if (lagged) { + if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) { + LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000); + } + next_frame_time = last_monitor_time + interval; + } else { + next_frame_time += interval; + } + return lagged; +} diff --git a/common/ratekeeper.h b/common/ratekeeper.h new file mode 100644 index 0000000000..ff4cb42c7b --- /dev/null +++ b/common/ratekeeper.h @@ -0,0 +1,22 @@ +#pragma once + +#include + +class RateKeeper { +public: + RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0); + ~RateKeeper() {} + bool keepTime(); + bool monitorTime(); + inline double frame() const { return frame_; } + inline double remaining() const { return remaining_; } + +private: + double interval; + double next_frame_time; + double last_monitor_time; + double remaining_ = 0; + float print_delay_threshold = 0; + uint64_t frame_ = 0; + std::string name; +}; diff --git a/common/tests/.gitignore b/common/tests/.gitignore index 1350b3b825..984c505f92 100644 --- a/common/tests/.gitignore +++ b/common/tests/.gitignore @@ -1,2 +1,3 @@ +test_ratekeeper test_util test_swaglog diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc new file mode 100644 index 0000000000..66d229bdbb --- /dev/null +++ b/common/tests/test_ratekeeper.cc @@ -0,0 +1,17 @@ +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" +#include "common/ratekeeper.h" +#include "common/timing.h" +#include "common/util.h" + +TEST_CASE("RateKeeper") { + float freq = GENERATE(10, 50, 100); + RateKeeper rk("Test RateKeeper", freq); + for (int i = 0; i < freq; ++i) { + double begin = seconds_since_boot(); + util::sleep_for(util::random_int(0, 1000.0 / freq - 1)); + bool lagged = rk.keepTime(); + REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3); + REQUIRE(lagged == false); + } +} diff --git a/release/files_common b/release/files_common index 023fd9e3af..bac9b382d6 100644 --- a/release/files_common +++ b/release/files_common @@ -162,6 +162,8 @@ common/clutil.cc common/clutil.h common/params.h common/params.cc +common/ratekeeper.cc +common/ratekeeper.h common/watchdog.cc common/watchdog.h diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 31ae0a4102..20c2800e8e 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -23,6 +23,7 @@ #include "cereal/gen/cpp/car.capnp.h" #include "cereal/messaging/messaging.h" #include "common/params.h" +#include "common/ratekeeper.h" #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" @@ -248,8 +249,7 @@ void can_recv_thread(std::vector pandas) { PubMaster pm({"can"}); // run at 100Hz - const uint64_t dt = 10000000ULL; - uint64_t next_frame_time = nanos_since_boot() + dt; + RateKeeper rk("boardd_can_recv", 100); std::vector raw_can_data; while (!do_exit && check_all_connected(pandas)) { @@ -271,18 +271,7 @@ void can_recv_thread(std::vector pandas) { } pm.send("can", msg); - uint64_t cur_time = nanos_since_boot(); - int64_t remaining = next_frame_time - cur_time; - if (remaining > 0) { - std::this_thread::sleep_for(std::chrono::nanoseconds(remaining)); - } else { - if (ignition) { - LOGW("missed cycles (%lu) %lld", (unsigned long)(-1*remaining/dt), (long long)remaining); - } - next_frame_time = cur_time; - } - - next_frame_time += dt; + rk.keepTime(); } } @@ -483,9 +472,9 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { LOGD("start panda state thread"); // run at 2hz - while (!do_exit && check_all_connected(pandas)) { - uint64_t start_time = nanos_since_boot(); + RateKeeper rk("panda_state_thread", 2); + while (!do_exit && check_all_connected(pandas)) { // send out peripheralState send_peripheral_state(&pm, peripheral_panda); auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); @@ -543,8 +532,7 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { panda->send_heartbeat(engaged); } - uint64_t dt = nanos_since_boot() - start_time; - util::sleep_for(500 - dt / 1000000ULL); + rk.keepTime(); } } diff --git a/system/proclogd/main.cc b/system/proclogd/main.cc index c4faa916d9..3f8a889eea 100644 --- a/system/proclogd/main.cc +++ b/system/proclogd/main.cc @@ -1,6 +1,7 @@ #include +#include "common/ratekeeper.h" #include "common/util.h" #include "system/proclogd/proclog.h" @@ -9,13 +10,15 @@ ExitHandler do_exit; int main(int argc, char **argv) { setpriority(PRIO_PROCESS, 0, -15); + RateKeeper rk("proclogd", 0.5); PubMaster publisher({"procLog"}); + while (!do_exit) { MessageBuilder msg; buildProcLogMessage(msg); publisher.send("procLog", msg); - util::sleep_for(2000); // 2 secs + rk.keepTime(); } return 0; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 349c67f498..e09c722fc2 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -9,6 +9,7 @@ #include "cereal/messaging/messaging.h" #include "common/i2c.h" +#include "common/ratekeeper.h" #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" @@ -173,10 +174,10 @@ int sensor_loop(I2CBus *i2c_bus_imu) { std::thread lsm_interrupt_thread(&interrupt_loop, std::ref(lsm_interrupt_sensors), std::ref(sensor_service)); + RateKeeper rk("sensord", 100); + // polling loop for non interrupt handled sensors while (!do_exit) { - std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); - for (Sensor *sensor : sensors) { MessageBuilder msg; if (!sensor->get_event(msg)) { @@ -190,8 +191,7 @@ int sensor_loop(I2CBus *i2c_bus_imu) { pm_non_int.send(sensor_service[sensor].c_str(), msg); } - std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); - std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); + rk.keepTime(); } for (Sensor *sensor : sensors) { From f5071411cb460cc64474f533143f37ba3eb54ce6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Aug 2023 22:38:39 -0700 Subject: [PATCH 019/410] sensord: rm light sensor (#29503) --- system/sensord/SConscript | 2 -- system/sensord/sensors/file_sensor.cc | 17 ---------------- system/sensord/sensors/file_sensor.h | 19 ------------------ system/sensord/sensors/light_sensor.cc | 27 -------------------------- system/sensord/sensors/light_sensor.h | 9 --------- system/sensord/sensors_qcom2.cc | 9 +-------- system/sensord/tests/test_sensord.py | 18 +++++------------ 7 files changed, 6 insertions(+), 95 deletions(-) delete mode 100644 system/sensord/sensors/file_sensor.cc delete mode 100644 system/sensord/sensors/file_sensor.h delete mode 100644 system/sensord/sensors/light_sensor.cc delete mode 100644 system/sensord/sensors/light_sensor.h diff --git a/system/sensord/SConscript b/system/sensord/SConscript index 8f26c00853..63d1d0d690 100644 --- a/system/sensord/SConscript +++ b/system/sensord/SConscript @@ -1,9 +1,7 @@ Import('env', 'arch', 'common', 'cereal', 'messaging') sensors = [ - 'sensors/file_sensor.cc', 'sensors/i2c_sensor.cc', - 'sensors/light_sensor.cc', 'sensors/bmx055_accel.cc', 'sensors/bmx055_gyro.cc', 'sensors/bmx055_magn.cc', diff --git a/system/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc deleted file mode 100644 index a74ae1ae1e..0000000000 --- a/system/sensord/sensors/file_sensor.cc +++ /dev/null @@ -1,17 +0,0 @@ -#include "file_sensor.h" - -#include - -FileSensor::FileSensor(std::string filename) : file(filename) {} - -int FileSensor::init() { - return file.is_open() ? 0 : 1; -} - -FileSensor::~FileSensor() { - file.close(); -} - -bool FileSensor::has_interrupt_enabled() { - return false; -} \ No newline at end of file diff --git a/system/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h deleted file mode 100644 index 07d7e8f946..0000000000 --- a/system/sensord/sensors/file_sensor.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include - -#include "cereal/gen/cpp/log.capnp.h" -#include "system/sensord/sensors/sensor.h" - -class FileSensor : public Sensor { -protected: - std::ifstream file; - -public: - FileSensor(std::string filename); - ~FileSensor(); - int init(); - bool has_interrupt_enabled(); - virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; -}; diff --git a/system/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc deleted file mode 100644 index 99e321b47d..0000000000 --- a/system/sensord/sensors/light_sensor.cc +++ /dev/null @@ -1,27 +0,0 @@ -#include "light_sensor.h" - -#include - -#include "common/timing.h" -#include "system/sensord/sensors/constants.h" - -LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} - -bool LightSensor::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - file.clear(); - file.seekg(0); - - int value; - file >> value; - - auto event = msg.initEvent().initLightSensor(); - event.setSource(cereal::SensorEventData::SensorSource::RPR0521); - event.setVersion(1); - event.setSensor(SENSOR_LIGHT); - event.setType(SENSOR_TYPE_LIGHT); - event.setTimestamp(start_time); - event.setLight(value); - - return true; -} diff --git a/system/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h deleted file mode 100644 index 7ed1c1f70c..0000000000 --- a/system/sensord/sensors/light_sensor.h +++ /dev/null @@ -1,9 +0,0 @@ -#pragma once -#include "file_sensor.h" - -class LightSensor : public FileSensor { -public: - LightSensor(std::string filename); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown() { return 0; } -}; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index e09c722fc2..9276a029c3 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -18,7 +18,6 @@ #include "system/sensord/sensors/bmx055_magn.h" #include "system/sensord/sensors/bmx055_temp.h" #include "system/sensord/sensors/constants.h" -#include "system/sensord/sensors/light_sensor.h" #include "system/sensord/sensors/lsm6ds3_accel.h" #include "system/sensord/sensors/lsm6ds3_gyro.h" #include "system/sensord/sensors/lsm6ds3_temp.h" @@ -101,8 +100,6 @@ int sensor_loop(I2CBus *i2c_bus_imu) { MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu); - LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw"); - std::map sensor_service = { {&bmx055_accel, "accelerometer2"}, {&bmx055_gyro, "gyroscope2"}, @@ -114,7 +111,6 @@ int sensor_loop(I2CBus *i2c_bus_imu) { {&lsm6ds3_temp, "temperatureSensor"}, {&mmc5603nj_magn, "magnetometer"}, - {&light, "lightSensor"} }; // Sensor init @@ -130,8 +126,6 @@ int sensor_loop(I2CBus *i2c_bus_imu) { sensors_init.push_back({&mmc5603nj_magn, false}); - sensors_init.push_back({&light, true}); - bool has_magnetometer = false; // Initialize sensors @@ -165,8 +159,7 @@ int sensor_loop(I2CBus *i2c_bus_imu) { util::set_core_affinity({1}); std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'"); - PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", - "lightSensor", "magnetometer"}); + PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", "magnetometer"}); init_ts = nanos_since_boot(); // thread for reading events via interrupts diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index b394a86b59..87ead0bc1b 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -29,24 +29,16 @@ MMC = { ('mmc5603nj', 'magneticUncalibrated'), } -RPR = { - ('rpr0521', 'light'), -} - SENSOR_CONFIGURATIONS = ( - (BMX | LSM | RPR), - (MMC | LSM | RPR), - (BMX | LSM_C | RPR), - (MMC| LSM_C | RPR), + (BMX | LSM), + (MMC | LSM), + (BMX | LSM_C), + (MMC| LSM_C), ) Sensor = log.SensorEventData.SensorSource SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'expected_freq']) ALL_SENSORS = { - Sensor.rpr0521: { - SensorConfig("light", 0, 1023, 100), - }, - Sensor.lsm6ds3: { SensorConfig("acceleration", 5, 15, 100), SensorConfig("gyroUncalibrated", 0, .2, 100), @@ -79,7 +71,7 @@ def get_irq_count(irq: int): def read_sensor_events(duration_sec): sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', - 'gyroscope2', 'lightSensor', 'temperatureSensor'] + 'gyroscope2', 'temperatureSensor'] esocks = {} events = defaultdict(list) for stype in sensor_types: From 71d8f41ed8fd8644b44420b4f695c5f4ac820e30 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 22 Aug 2023 00:41:17 +0800 Subject: [PATCH 020/410] boardd: keepTime after failing to get `ignition_opt` (#29506) * keep time after failing to get ignition_opt * Update selfdrive/boardd/boardd.cc --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/boardd/boardd.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 20c2800e8e..6a19f6d593 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -480,6 +480,8 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); if (!ignition_opt) { + LOGE("Failed to get ignition_opt"); + rk.keepTime(); continue; } From 551b0cc8f20794362ce66ecee0afb7cbcf4f97b1 Mon Sep 17 00:00:00 2001 From: Caleb Stultz Date: Mon, 21 Aug 2023 10:43:31 -0700 Subject: [PATCH 021/410] Remove Kia Sorento from LEGACY_SAFETY_MODE_CAR (#29502) * Remove Kia Sorento from LEGACY_SAFETY_MODE_CAR * Update values.py * Added Kia Sorento to UNSUPPORTED_LONGITUDINAL_CAR --- selfdrive/car/hyundai/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index dc90fbfba7..c82674a43e 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1939,11 +1939,11 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, - CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, + CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc -UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV} +UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py From 0f7be5b1e6efa04c59ce2a45afacd650b2e4d417 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 21 Aug 2023 13:30:48 -0700 Subject: [PATCH 022/410] Setup cleanup vol. 2 (#29456) * code from setup cleanup #29419 update ci update ci export variables for mac os check env what is in the profile script? install pyenv the same everywhere temporarily disable brew cache temporarily disable brew cache try fixing pyenv virtualenv-init try this inject shims path earlier try alternate install method switch back to brew install try eval "$(pyenv init --path)" add eval "\$(pyenv init --path)" * Add local .env file to the cache list * Change .env paths * debug line * order? * remove .env * Add .venv to caches --------- Co-authored-by: Greg Hogan --- .github/workflows/selfdrive_tests.yaml | 9 +++++---- tools/install_python_dependencies.sh | 16 ++++++++++------ tools/mac_setup.sh | 9 +-------- tools/openpilot_env.sh | 22 ---------------------- tools/ubuntu_setup.sh | 7 ------- 5 files changed, 16 insertions(+), 47 deletions(-) delete mode 100755 tools/openpilot_env.sh diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 90a1c14aa0..2b2341d6ff 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -117,6 +117,8 @@ jobs: uses: actions/cache@v3 with: path: | + .env + .venv ~/github_brew_cache_entries.txt ~/.pyenv ~/Library/Caches/pypoetry @@ -148,18 +150,17 @@ jobs: PYTHONWARNINGS: default - name: Build openpilot run: | - source tools/openpilot_env.sh + eval "$(pyenv init --path)" poetry run scons -j$(nproc) - name: Run tests run: | - source tools/openpilot_env.sh - export PYTHONPATH=$PWD + eval "$(pyenv init --path)" poetry run tools/plotjuggler/test_plotjuggler.py - name: Pre Cache - Cleanup scons cache if: github.ref == 'refs/heads/master' run: | - source tools/openpilot_env.sh rm -rf /tmp/scons_cache/* + eval "$(pyenv init --path)" poetry run scons -j$(nproc) --cache-populate - name: Save scons cache id: scons-save-cache diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index ffa9a6efef..79c36d57d9 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -14,21 +14,19 @@ if ! command -v "pyenv" > /dev/null 2>&1; then echo "pyenv install ..." curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash - echo -e "\n. ~/.pyenvrc" >> $RC_FILE cat < "${HOME}/.pyenvrc" if [ -z "\$PYENV_ROOT" ]; then export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH export PYENV_ROOT="\$HOME/.pyenv" + eval "\$(pyenv init --path)" eval "\$(pyenv init -)" eval "\$(pyenv virtualenv-init -)" fi EOF + echo -e "\nsource ~/.pyenvrc" >> $RC_FILE - # setup now without restarting shell - export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH - export PYENV_ROOT="$HOME/.pyenv" - eval "$(pyenv init -)" - eval "$(pyenv virtualenv-init -)" + # activate pyenv now + source $RC_FILE fi export MAKEFLAGS="-j$(nproc)" @@ -53,6 +51,12 @@ poetry config virtualenvs.prefer-active-python true --local poetry config virtualenvs.in-project true --local echo "PYTHONPATH=${PWD}" > $ROOT/.env +if [[ "$(uname)" == 'Darwin' ]]; then + echo "# msgq doesn't work on mac" >> $ROOT/.env + echo "export ZMQ=1" >> $ROOT/.env + echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env +fi + poetry self add poetry-dotenv-plugin@^0.1.0 echo "pip packages install..." diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 45bdf90383..3892efd6bb 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -46,6 +46,7 @@ brew "libtool" brew "llvm" brew "openssl@3.0" brew "pyenv" +brew "pyenv-virtualenv" brew "qt@5" brew "zeromq" brew "gcc@12" @@ -69,16 +70,8 @@ export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include" export PYCURL_CURL_CONFIG=/usr/bin/curl-config export PYCURL_SSL_LIBRARY=openssl -# openpilot environment -if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then - echo "source $ROOT/tools/openpilot_env.sh" >> $RC_FILE - source "$ROOT/tools/openpilot_env.sh" - echo "Added openpilot_env to RC file: $RC_FILE" -fi - # install python dependencies $DIR/install_python_dependencies.sh -eval "$(pyenv init --path)" echo "[ ] installed python dependencies t=$SECONDS" echo diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh deleted file mode 100755 index 59108312ac..0000000000 --- a/tools/openpilot_env.sh +++ /dev/null @@ -1,22 +0,0 @@ -if [ -z "$OPENPILOT_ENV" ]; then - export PATH="$HOME/.pyenv/bin:$PATH" - - # Pyenv suggests we place the below two lines in .profile before we source - # .bashrc, but there is no simple way to guarantee we do this correctly - # programmatically across heterogeneous systems. For end-user convenience, - # we add the lines here as a workaround. - # https://github.com/pyenv/pyenv/issues/1906 - export PYENV_ROOT="$HOME/.pyenv" - - if [[ "$(uname)" == 'Linux' ]]; then - eval "$(pyenv virtualenv-init -)" - elif [[ "$(uname)" == 'Darwin' ]]; then - # msgq doesn't work on mac - export ZMQ=1 - export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES - fi - eval "$(pyenv init --path)" - eval "$(pyenv init -)" - - export OPENPILOT_ENV=1 -fi diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 581b785252..9007611cc4 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -141,13 +141,6 @@ fi # python setup $DIR/install_python_dependencies.sh -source ~/.bashrc -if [ -z "$OPENPILOT_ENV" ]; then - printf "\nsource %s/tools/openpilot_env.sh" "$ROOT" >> ~/.bashrc - source ~/.bashrc - echo "added openpilot_env to bashrc" -fi - echo echo "---- OPENPILOT SETUP DONE ----" echo "Open a new shell or configure your active shell env by running:" From fc9a623d69919897c3e070ed11309c92651611a8 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 21 Aug 2023 13:31:57 -0700 Subject: [PATCH 023/410] Subaru: remove unused backoff rate calculation (#29368) * cancel rate * Update selfdrive/car/subaru/carcontroller.py Co-authored-by: Shane Smiskol * leave it as it was for now * cleanup --------- Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/carcontroller.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 3aba25fe8d..b00e38c807 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -12,7 +12,6 @@ class CarController: self.frame = 0 self.cruise_button_prev = 0 - self.last_cancel_frame = 0 self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) @@ -100,10 +99,9 @@ class CarController: can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd, self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) else: - if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2: + if pcm_cancel_cmd: bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) - self.last_cancel_frame = self.frame new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX From 985af1ce3cc9849c0c677d2f1a062daef1b8d0dc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Aug 2023 13:46:00 -0700 Subject: [PATCH 024/410] tici: add wait_for_power helper (#29507) * tici: add wait_for_power helper * deque * cleanup --------- Co-authored-by: Bruce Wayne --- system/hardware/tici/power_monitor.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index 0a54319398..ef3055ac47 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -4,6 +4,7 @@ import time import datetime import numpy as np from typing import List +from collections import deque from openpilot.common.realtime import Ratekeeper from openpilot.common.filter_simple import FirstOrderFilter @@ -27,6 +28,15 @@ def get_power(seconds=5): pwrs = sample_power(seconds) return np.mean(pwrs) +def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout): + start_time = time.monotonic() + pwrs = deque([min_pwr - 1.]*min_secs_in_range, maxlen=min_secs_in_range) + while (time.monotonic() - start_time < timeout): + pwrs.append(get_power(1)) + if all(min_pwr <= p <= max_pwr for p in pwrs): + break + return np.mean(pwrs) + if __name__ == "__main__": duration = None From 229c43a80838a80fb5a7c4c6fc7b968ba04d70cc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Aug 2023 14:11:32 -0700 Subject: [PATCH 025/410] Kia: update supported Sorento PHEV package (#29509) * Sorento PHEV includes all * update docs --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a502cde3ac..a22016182a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -132,7 +132,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c82674a43e..7b9a7d7628 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -245,7 +245,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), From de7bcb04fccaf41b3149e26d353a18598d1030d0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Aug 2023 14:32:56 -0700 Subject: [PATCH 026/410] add enhancement todo for hyundai fuzzy FP --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7b9a7d7628..cc1a29981b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -386,6 +386,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: # Non-electric CAN FD platforms often do not have platform code specifiers needed # to distinguish between hybrid and ICE. All EVs so far are either exclusively # electric or specify electric in the platform code. + # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR) candidates = set() From bfa714ef3b4a9cf00b79965bfb0f149b090008ef Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 21 Aug 2023 17:34:53 -0400 Subject: [PATCH 027/410] HKG: Car Port for Kia Sorento Hybrid 2023 (#29322) * HKG: Car Port for Kia Sorento Hybrid 2023 * Update CARS.md * Oops * add test route * specify segment * all packages --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 4 +++- selfdrive/car/hyundai/values.py | 19 ++++++++++++++++--- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 24 insertions(+), 5 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index e9cfd69f7c..1b439c0fc8 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.9.5 (202X-XX-XX) ======================== +* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Lexus IS 2023 support thanks to L3R5! Version 0.9.4 (2023-07-27) diff --git a/docs/CARS.md b/docs/CARS.md index a22016182a..07155bf379 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 three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 257 Supported Cars +# 258 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -132,6 +132,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Hybrid 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index b4cf10d0ed..16e93e1623 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -196,11 +196,13 @@ class CarInterface(CarInterfaceBase): ret.mass = 1767. # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 - elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): + elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): ret.wheelbase = 2.81 ret.steerRatio = 13.5 # average of the platforms if candidate == CAR.KIA_SORENTO_4TH_GEN: ret.mass = 3957 * CV.LB_TO_KG + elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN: + ret.mass = 4255 * CV.LB_TO_KG else: ret.mass = 4537 * CV.LB_TO_KG elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cc1a29981b..66f4b18668 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -114,6 +114,7 @@ class CAR: KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" + KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN" KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN" KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" @@ -245,6 +246,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", @@ -1901,6 +1903,14 @@ FW_VERSIONS = { b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', ], }, + CAR.KIA_SORENTO_HEV_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', + ], + }, } CHECKSUM = { @@ -1922,10 +1932,11 @@ CAN_GEARS = { CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN} + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, + CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } @@ -1933,7 +1944,8 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } # these cars use a different gas signal HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, + CAR.KIA_SORENTO_HEV_4TH_GEN} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN} @@ -2007,4 +2019,5 @@ DBC = { CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 9c56f578b9..60b99a1ad6 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -119,6 +119,7 @@ routes = [ CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5), + CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14), CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN), CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index fa4bb6a171..372484fa6e 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -55,6 +55,7 @@ GENESIS GV80 2023: [2.5, 2.5, 0.1] KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15] GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] LEXUS IS 2023: [2.0, 2.0, 0.1] +KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From b20eba5f1d28ae623eecf5dbbc22f67ff02d3609 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 21 Aug 2023 14:54:42 -0700 Subject: [PATCH 028/410] Subaru: longitudinal incorrect "inactive" rpm (#29496) * fix incorrect base rpm issue * "min" name is better --- selfdrive/car/subaru/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index b00e38c807..00915808d0 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -55,7 +55,7 @@ class CarController: cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX) else: cruise_throttle = CarControllerParams.THROTTLE_INACTIVE - cruise_rpm = CarControllerParams.RPM_INACTIVE + cruise_rpm = CarControllerParams.RPM_MIN cruise_brake = CarControllerParams.BRAKE_MIN # *** alerts and pcm cancel *** From 197460e06136f66f60e10ccefece646cb472b872 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 21 Aug 2023 15:11:31 -0700 Subject: [PATCH 029/410] CI: use scons cache mount for building simulator and docs (#29436) * build docker image with scons cache * use setup * scons cache * added the dockerfile * add the shell * docs use cache * dont pull lfs for docs * simulator too * dont pull the cache image * fix inputs * inputs * booleans aren't supported * bool not supported * bool isnt supported * fix * readonly cache * fix sim cache too * respect readonly * gitignore and move to correct folder * also copy old * move to tools/ci * move to selfdrive/test * just make the cache writable, it's discarded anyway * minimize diff in this pr --- .github/workflows/setup/action.yaml | 13 ++++++++++++- .github/workflows/tools_tests.yaml | 11 ++++++++--- docs/docker/Dockerfile | 8 +++++--- selfdrive/test/Dockerfile.scons_cache | 3 +++ tools/sim/Dockerfile.sim | 4 +++- 5 files changed, 31 insertions(+), 8 deletions(-) create mode 100644 selfdrive/test/Dockerfile.scons_cache diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index a6c58aae08..e791e51ac2 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -1,6 +1,10 @@ name: 'openpilot env setup' inputs: + setup_docker_scons_cache: + description: 'Whether or not to build the scons-cache docker image' + required: false + default: 'false' git_lfs: description: 'Whether or not to pull the git lfs' required: false @@ -28,7 +32,14 @@ runs: restore-keys: | scons-${{ env.CACHE_COMMIT_DATE }}- scons- - + - id: setup-scons-cache-docker + name: Sets up a docker image with scons cache that can by mounted as a buildkit cache mount + shell: bash + if: ${{ inputs.setup_docker_scons_cache == 'true' }} + run: | + cp selfdrive/test/Dockerfile.scons_cache ~ + cd ~ + DOCKER_BUILDKIT=1 docker build -t scons-cache -f Dockerfile.scons_cache . # build our docker image - shell: bash run: eval ${{ env.BUILD }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e0d471882f..b21f290880 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -58,10 +58,14 @@ jobs: with: submodules: true - uses: ./.github/workflows/setup + with: + setup_docker_scons_cache: true - name: Build base cl image run: eval "$BUILD_CL" - name: Build simulator image - run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . + run: | + docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest + DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - name: Push to container registry if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | @@ -74,14 +78,15 @@ jobs: timeout-minutes: 45 env: BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest -t $DOCKER_REGISTRY/openpilot-docs-base:latest -f docs/docker/Dockerfile --target openpilot-docs-base . - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . + docker pull $DOCKER_REGISTRY/openpilot-docs:latest + DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . steps: - uses: actions/checkout@v3 with: submodules: true - uses: ./.github/workflows/setup with: + setup_docker_scons_cache: true git_lfs: false - name: Push docker container if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 209fba010f..94ddd3c3ad 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -1,4 +1,6 @@ -FROM ghcr.io/commaai/openpilot-base:latest as openpilot-docs-base +FROM scons-cache as scons-cache + +FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 @@ -29,7 +31,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system COPY ./*.md ${OPENPILOT_PATH}/ -RUN scons -j$(nproc) +RUN --mount=type=bind,from=scons-cache,source=/tmp/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) RUN apt update && apt install doxygen -y COPY ./docs ${OPENPILOT_PATH}/docs @@ -38,5 +40,5 @@ WORKDIR ${OPENPILOT_PATH}/docs RUN make html FROM nginx:1.21 -COPY --from=0 /home/batman/openpilot/build/docs/html /usr/share/nginx/html +COPY --from=1 /home/batman/openpilot/build/docs/html /usr/share/nginx/html COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf diff --git a/selfdrive/test/Dockerfile.scons_cache b/selfdrive/test/Dockerfile.scons_cache new file mode 100644 index 0000000000..6e320d243c --- /dev/null +++ b/selfdrive/test/Dockerfile.scons_cache @@ -0,0 +1,3 @@ +FROM alpine:3 + +COPY ./scons_cache /tmp/scons_cache \ No newline at end of file diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index d312f34ecd..96630c9e6f 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -1,3 +1,5 @@ +FROM scons-cache as scons-cache + FROM ghcr.io/commaai/openpilot-base-cl:latest RUN apt-get update && apt-get install -y --no-install-recommends \ @@ -29,6 +31,6 @@ COPY ./system $HOME/openpilot/system COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot -RUN scons --cache-readonly -j12 +RUN --mount=type=bind,from=scons-cache,source=/tmp/scons_cache,target=/tmp/scons_cache,rw scons -j12 RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" From 9188c560692d9c3019c291ed8ae0e899b2e4bfdf Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 21 Aug 2023 15:32:41 -0700 Subject: [PATCH 030/410] CI: remove old docs base image push (#29512) remove that push --- .github/workflows/tools_tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index b21f290880..86cfc279c5 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -92,5 +92,4 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/openpilot-docs-base:latest docker push $DOCKER_REGISTRY/openpilot-docs:latest \ No newline at end of file From b373e5d5ec8ad108925bc4f7aece5977dd405f97 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Aug 2023 16:25:13 -0700 Subject: [PATCH 031/410] Revert "Subaru: always show LKAS active (#27945)" (#29515) This reverts commit 8f1e67f6259c436aff500f6bdff9067d4ca79eb1. --- selfdrive/car/subaru/subarucan.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index caa1451842..890473a243 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -108,8 +108,11 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_ elif right_lane_depart: values["LKAS_Alert"] = 11 # Right lane departure dash alert - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator + if enabled: + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 # Green enabled indicator + else: + values["LKAS_Dash_State"] = 0 # LKAS Not enabled values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line) From b24bbe4607c4b13010b2bbcd340b133b91c146e1 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 21 Aug 2023 23:32:35 +0000 Subject: [PATCH 032/410] script to install only ubuntu dependencies (#29510) * script to install only ubuntu dependencies * update Dockerfile * add shebang --- Dockerfile.openpilot_base | 2 +- tools/install_ubuntu_dependencies.sh | 134 +++++++++++++++++++++++++++ tools/ubuntu_setup.sh | 134 +-------------------------- 3 files changed, 136 insertions(+), 134 deletions(-) create mode 100755 tools/install_ubuntu_dependencies.sh diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index f8b20be351..e21371ca4a 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -18,7 +18,7 @@ ENV PYENV_ROOT="/root/.pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" COPY pyproject.toml poetry.lock .python-version /tmp/ -COPY tools/ubuntu_setup.sh tools/install_python_dependencies.sh /tmp/tools/ +COPY tools/ubuntu_setup.sh tools/install_ubuntu_dependencies.sh tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ tools/ubuntu_setup.sh && \ rm -rf /var/lib/apt/lists/* && \ diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh new file mode 100755 index 0000000000..6214452870 --- /dev/null +++ b/tools/install_ubuntu_dependencies.sh @@ -0,0 +1,134 @@ +#!/usr/bin/env bash +set -e + +SUDO="" + +# Use sudo if not root +if [[ ! $(id -u) -eq 0 ]]; then + if [[ -z $(which sudo) ]]; then + echo "Please install sudo or run as root" + exit 1 + fi + SUDO="sudo" +fi + +# Install packages present in all supported versions of Ubuntu +function install_ubuntu_common_requirements() { + $SUDO apt-get update + $SUDO apt-get install -y --no-install-recommends \ + autoconf \ + build-essential \ + ca-certificates \ + casync \ + clang \ + cmake \ + make \ + cppcheck \ + libtool \ + gcc-arm-none-eabi \ + bzip2 \ + liblzma-dev \ + libarchive-dev \ + libbz2-dev \ + capnproto \ + libcapnp-dev \ + curl \ + libcurl4-openssl-dev \ + git \ + git-lfs \ + ffmpeg \ + libavformat-dev \ + libavcodec-dev \ + libavdevice-dev \ + libavutil-dev \ + libavfilter-dev \ + libeigen3-dev \ + libffi-dev \ + libglew-dev \ + libgles2-mesa-dev \ + libglfw3-dev \ + libglib2.0-0 \ + libncurses5-dev \ + libncursesw5-dev \ + libomp-dev \ + libopencv-dev \ + libpng16-16 \ + libportaudio2 \ + libssl-dev \ + libsqlite3-dev \ + libusb-1.0-0-dev \ + libzmq3-dev \ + libsystemd-dev \ + locales \ + opencl-headers \ + ocl-icd-libopencl1 \ + ocl-icd-opencl-dev \ + clinfo \ + portaudio19-dev \ + qml-module-qtquick2 \ + qtmultimedia5-dev \ + qtlocation5-dev \ + qtpositioning5-dev \ + qttools5-dev-tools \ + libqt5sql5-sqlite \ + libqt5svg5-dev \ + libqt5charts5-dev \ + libqt5x11extras5-dev \ + libreadline-dev \ + libdw1 \ + valgrind +} + +# Install Ubuntu 22.04 LTS packages +function install_ubuntu_lts_latest_requirements() { + install_ubuntu_common_requirements + + $SUDO apt-get install -y --no-install-recommends \ + g++-12 \ + qtbase5-dev \ + qtchooser \ + qt5-qmake \ + qtbase5-dev-tools \ + python3-dev +} + +# Install Ubuntu 20.04 packages +function install_ubuntu_focal_requirements() { + install_ubuntu_common_requirements + + $SUDO apt-get install -y --no-install-recommends \ + libavresample-dev \ + qt5-default \ + python-dev +} + +# Detect OS using /etc/os-release file +if [ -f "/etc/os-release" ]; then + source /etc/os-release + case "$VERSION_CODENAME" in + "jammy") + install_ubuntu_lts_latest_requirements + ;; + "kinetic") + install_ubuntu_lts_latest_requirements + ;; + "focal") + install_ubuntu_focal_requirements + ;; + *) + echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04." + read -p "Would you like to attempt installation anyway? " -n 1 -r + echo "" + if [[ ! $REPLY =~ ^[Yy]$ ]]; then + exit 1 + fi + if [ "$UBUNTU_CODENAME" = "jammy" ] || [ "$UBUNTU_CODENAME" = "kinetic" ]; then + install_ubuntu_lts_latest_requirements + else + install_ubuntu_focal_requirements + fi + esac +else + echo "No /etc/os-release in the system" + exit 1 +fi diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 9007611cc4..6b9cf7eff6 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -3,142 +3,10 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -ROOT="$(cd $DIR/../ && pwd)" -SUDO="" # NOTE: this is used in a docker build, so do not run any scripts here. -# Use sudo if not root -if [[ ! $(id -u) -eq 0 ]]; then - if [[ -z $(which sudo) ]]; then - echo "Please install sudo or run as root" - exit 1 - fi - SUDO="sudo" -fi - -# Install packages present in all supported versions of Ubuntu -function install_ubuntu_common_requirements() { - $SUDO apt-get update - $SUDO apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ - ca-certificates \ - casync \ - clang \ - cmake \ - make \ - cppcheck \ - libtool \ - gcc-arm-none-eabi \ - bzip2 \ - liblzma-dev \ - libarchive-dev \ - libbz2-dev \ - capnproto \ - libcapnp-dev \ - curl \ - libcurl4-openssl-dev \ - git \ - git-lfs \ - ffmpeg \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libavfilter-dev \ - libeigen3-dev \ - libffi-dev \ - libglew-dev \ - libgles2-mesa-dev \ - libglfw3-dev \ - libglib2.0-0 \ - libncurses5-dev \ - libncursesw5-dev \ - libomp-dev \ - libopencv-dev \ - libpng16-16 \ - libportaudio2 \ - libssl-dev \ - libsqlite3-dev \ - libusb-1.0-0-dev \ - libzmq3-dev \ - libsystemd-dev \ - locales \ - opencl-headers \ - ocl-icd-libopencl1 \ - ocl-icd-opencl-dev \ - clinfo \ - portaudio19-dev \ - qml-module-qtquick2 \ - qtmultimedia5-dev \ - qtlocation5-dev \ - qtpositioning5-dev \ - qttools5-dev-tools \ - libqt5sql5-sqlite \ - libqt5svg5-dev \ - libqt5charts5-dev \ - libqt5x11extras5-dev \ - libreadline-dev \ - libdw1 \ - valgrind -} - -# Install Ubuntu 22.04 LTS packages -function install_ubuntu_lts_latest_requirements() { - install_ubuntu_common_requirements - - $SUDO apt-get install -y --no-install-recommends \ - g++-12 \ - qtbase5-dev \ - qtchooser \ - qt5-qmake \ - qtbase5-dev-tools \ - python3-dev -} - -# Install Ubuntu 20.04 packages -function install_ubuntu_focal_requirements() { - install_ubuntu_common_requirements - - $SUDO apt-get install -y --no-install-recommends \ - libavresample-dev \ - qt5-default \ - python-dev -} - -# Detect OS using /etc/os-release file -if [ -f "/etc/os-release" ]; then - source /etc/os-release - case "$VERSION_CODENAME" in - "jammy") - install_ubuntu_lts_latest_requirements - ;; - "kinetic") - install_ubuntu_lts_latest_requirements - ;; - "focal") - install_ubuntu_focal_requirements - ;; - *) - echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04." - read -p "Would you like to attempt installation anyway? " -n 1 -r - echo "" - if [[ ! $REPLY =~ ^[Yy]$ ]]; then - exit 1 - fi - if [ "$UBUNTU_CODENAME" = "jammy" ] || [ "$UBUNTU_CODENAME" = "kinetic" ]; then - install_ubuntu_lts_latest_requirements - else - install_ubuntu_focal_requirements - fi - esac -else - echo "No /etc/os-release in the system" - exit 1 -fi - -# python setup +$DIR/install_ubuntu_dependencies.sh $DIR/install_python_dependencies.sh echo From 8c478708ee53c7b473989cd48ac1fdad8702c372 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Mon, 21 Aug 2023 19:22:47 -0700 Subject: [PATCH 033/410] exit if onnxmodel exec fails --- selfdrive/modeld/runners/onnxmodel.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 48c16457fd..9e8d306b76 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -35,6 +35,7 @@ ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size close(pipeout[0]); close(pipeout[1]); execvp(onnx_runner.c_str(), argv); + exit(1); // exit if the exec fails } // parent From 24090d21219cb93de18103cda3a6ada02f4ba3f2 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Mon, 21 Aug 2023 19:26:48 -0700 Subject: [PATCH 034/410] Move USE_RUNTIME flags into runmodel.h --- selfdrive/modeld/runners/runmodel.h | 4 ++++ selfdrive/modeld/runners/snpemodel.h | 4 ---- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h index 00c88131bf..18cc180cb7 100644 --- a/selfdrive/modeld/runners/runmodel.h +++ b/selfdrive/modeld/runners/runmodel.h @@ -8,6 +8,10 @@ #include "common/clutil.h" #include "common/swaglog.h" +#define USE_CPU_RUNTIME 0 +#define USE_GPU_RUNTIME 1 +#define USE_DSP_RUNTIME 2 + struct ModelInput { const std::string name; float *buffer; diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index e646e5225b..0ae5a8f820 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -13,10 +13,6 @@ #include "selfdrive/modeld/runners/runmodel.h" -#define USE_CPU_RUNTIME 0 -#define USE_GPU_RUNTIME 1 -#define USE_DSP_RUNTIME 2 - #ifdef USE_THNEED #include "selfdrive/modeld/thneed/thneed.h" #endif From 72950cd9bc6bc09edb2a5e0a8f6ef38af83e7881 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Mon, 21 Aug 2023 19:32:48 -0700 Subject: [PATCH 035/410] Add cl_create_context function --- common/clutil.cc | 4 ++++ common/clutil.h | 1 + 2 files changed, 5 insertions(+) diff --git a/common/clutil.cc b/common/clutil.cc index fab1649ee1..4f2a783d3e 100644 --- a/common/clutil.cc +++ b/common/clutil.cc @@ -75,6 +75,10 @@ cl_device_id cl_get_device_id(cl_device_type device_type) { return nullptr; } +cl_context cl_create_context(cl_device_id device_id) { + return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); +} + cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { return cl_program_from_source(ctx, device_id, util::read_file(path), args); } diff --git a/common/clutil.h b/common/clutil.h index be1a07c332..af986d6434 100644 --- a/common/clutil.h +++ b/common/clutil.h @@ -22,6 +22,7 @@ }) cl_device_id cl_get_device_id(cl_device_type device_type); +cl_context cl_create_context(cl_device_id device_id); cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr); cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); From 7699444816b04b95407f43ef631760666f1e2a11 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Mon, 21 Aug 2023 19:38:40 -0700 Subject: [PATCH 036/410] Set paths for cl kernels and onnx_runner.py in modeld SConscript --- selfdrive/modeld/SConscript | 7 +++++++ selfdrive/modeld/runners/onnxmodel.cc | 3 +-- selfdrive/modeld/transforms/loadyuv.cc | 2 +- selfdrive/modeld/transforms/transform.cc | 2 +- 4 files changed, 10 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 7be4446e67..a3a1b94e01 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -60,6 +60,13 @@ else: del libs[libs.index('SNPE')] del common_src[common_src.index('runners/snpemodel.cc')] +onnxrunner_path = File("runners/onnx_runner.py").abspath +transform_path = File("transforms/transform.cl").abspath +loadyuv_path = File("transforms/loadyuv.cl").abspath +lenv['CXXFLAGS'].append(f'-DTRANSFORM_PATH=\\"{transform_path}\\"') +lenv['CXXFLAGS'].append(f'-DLOADYUV_PATH=\\"{loadyuv_path}\\"') +lenv['CXXFLAGS'].append(f'-DONNXRUNNER_PATH=\\"{onnxrunner_path}\\"') + common_model = lenv.Object(common_src) lenv.Program('_dmonitoringmodeld', [ diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 9e8d306b76..ebe6ad847c 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -20,8 +20,7 @@ ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size err = pipe(pipeout); assert(err == 0); - std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); - std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; + std::string onnx_runner = ONNXRUNNER_PATH; std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; proc_pid = fork(); diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc index 39f404a897..c7ce7b0830 100644 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -15,7 +15,7 @@ void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int w "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d", width, height); - cl_program prg = cl_program_from_file(ctx, device_id, "transforms/loadyuv.cl", args); + cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args); s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc index f341314144..305643cf42 100644 --- a/selfdrive/modeld/transforms/transform.cc +++ b/selfdrive/modeld/transforms/transform.cc @@ -8,7 +8,7 @@ void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { memset(s, 0, sizeof(*s)); - cl_program prg = cl_program_from_file(ctx, device_id, "transforms/transform.cl", ""); + cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err)); // done with this CL_CHECK(clReleaseProgram(prg)); From ec5e3bef956e3f6f2ba7bc1f1eb6e75b0563b987 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 21 Aug 2023 20:01:52 -0700 Subject: [PATCH 037/410] CI: simulator disable pull to save local space (#29517) we don't need to pull since the image is different most of the time --- .github/workflows/tools_tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 86cfc279c5..5891d5207e 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -64,7 +64,6 @@ jobs: run: eval "$BUILD_CL" - name: Build simulator image run: | - docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - name: Push to container registry if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' From 3492e80d19a4395d9481076c916f9ab96a8fb004 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 21 Aug 2023 20:51:27 -0700 Subject: [PATCH 038/410] CI: use xdist for car model tests (#29514) * bump panda * try multithreaded for car models * need pytest-cov * upgraded to poetry 1.5.1 and regenerated --- .github/workflows/selfdrive_tests.yaml | 3 +-- poetry.lock | 24 ++++++++++++++++++++---- pyproject.toml | 1 + 3 files changed, 22 insertions(+), 6 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2b2341d6ff..991ce74ca9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -383,8 +383,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ - coverage xml && \ + ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 diff --git a/poetry.lock b/poetry.lock index 16bfe6f375..da50b60ad4 100644 --- a/poetry.lock +++ b/poetry.lock @@ -387,9 +387,7 @@ version = "0.9.14" description = "Python API for communicating with the CARLA server." optional = false python-versions = "*" -files = [ - {file = "carla-0.9.14-cp311-cp311-linux_x86_64.whl", hash = "sha256:f0a8ce0c760d1fef3577e2ef90e9d468e3d85e65bd6d68b44bce51f0d5a0723a"}, -] +files = [] [package.source] type = "url" @@ -3105,6 +3103,24 @@ pluggy = ">=0.12,<2.0" [package.extras] testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"] +[[package]] +name = "pytest-cov" +version = "4.1.0" +description = "Pytest plugin for measuring coverage." +optional = false +python-versions = ">=3.7" +files = [ + {file = "pytest-cov-4.1.0.tar.gz", hash = "sha256:3904b13dfbfec47f003b8e77fd5b589cd11904a21ddf1ab38a64f204d6a10ef6"}, + {file = "pytest_cov-4.1.0-py3-none-any.whl", hash = "sha256:6ba70b9e97e69fcc3fb45bfeab2d0a138fb65c4d0d6a41ef33983ad114be8c3a"}, +] + +[package.dependencies] +coverage = {version = ">=5.2.1", extras = ["toml"]} +pytest = ">=4.6" + +[package.extras] +testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"] + [[package]] name = "pytest-xdist" version = "3.3.1" @@ -4161,4 +4177,4 @@ multidict = ">=4.0" [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "4b2510f1465520a9dc757f64861f4fcea9d9663c0ecdebd23b329ef5e0205863" +content-hash = "587fe0b312a1d4a0be2e13fdd4626683227f6c9038d3efacf9866c431d9453b1" diff --git a/pyproject.toml b/pyproject.toml index 0af1bfcfae..0801439945 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -119,6 +119,7 @@ pycurl = "*" pygame = "*" pyprof2calltree = "*" pytest = "*" +pytest-cov = "*" pytest-xdist = "*" scipy = "*" sphinx = "*" From 0c4b91975b113dbf06203d5ee4537a713d19e5fa Mon Sep 17 00:00:00 2001 From: Felixowns <41752582+Felixowns@users.noreply.github.com> Date: Tue, 22 Aug 2023 00:28:13 -0400 Subject: [PATCH 039/410] Remove Sonata LF from LEGACY_SAFETY_MODE_CAR (#29521) * Update values.py remove sonata_lf from legacy safety mode. added sonata_lf to unsupported longitudinal car * Update selfdrive/car/hyundai/values.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 66f4b18668..63c684b799 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1952,11 +1952,11 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, - CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, + CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} -# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc -UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO} +# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. +UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py From fd3b8a3d7511ad3d7c5aa0b82a1e2c28505e5a7f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Aug 2023 22:51:02 -0700 Subject: [PATCH 040/410] Locationd: switch to laikad (#29278) * use_laika * Update test * fix spacing * fix proc replay * small fix * Try correct std * cast correctly * experimental * simpler * update reset thresholds * improve * Ready for live running * outlier reject * update laika * add fine speeds * more experiments * fixes * all in laika * more small tweaks * outlier rejection not needed * fix conflict * no more gpslocation * update test * refactor to laika * runs again * Update ref --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 59 +++----- selfdrive/locationd/liblocationd.cc | 2 +- selfdrive/locationd/locationd.cc | 129 +++--------------- selfdrive/locationd/locationd.h | 13 +- selfdrive/locationd/test/test_laikad.py | 4 +- selfdrive/locationd/test/test_locationd.py | 29 ++-- .../test/process_replay/process_replay.py | 12 +- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 57 insertions(+), 195 deletions(-) diff --git a/laika_repo b/laika_repo index 65901a1e6c..6c79c96474 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253 +Subproject commit 6c79c964748ab930bb3699c06025bb2b0565cbea diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 2073813363..6c9c199db1 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -18,7 +18,8 @@ from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId, get_sv_id -from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom +from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox +from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman @@ -102,9 +103,10 @@ class Laikad: self.use_qcom = use_qcom self.first_log_time = None self.ttff = -1 + self.measurement_lag = 0.630 if self.use_qcom else 0.095 # qcom specific stuff - self.qcom_reports_received = 1 + self.qcom_reports_received = 4 self.qcom_reports = [] def load_cache(self): @@ -161,47 +163,31 @@ class Laikad: def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 + position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - - position_std_residual = np.median(np.abs(pr_residuals)) - position_std = np.median(np.abs(pos_std))/10 - position_std = max(position_std_residual, position_std) * np.ones(3) + position_std = pos_std[:3] velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None velocity_estimate = velocity_solution[:3] - - velocity_std_residual = np.median(np.abs(prr_residuals)) - velocity_std = np.median(np.abs(vel_std))/10 - velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) + velocity_std = vel_std[:3] return position_estimate, position_std, velocity_estimate, velocity_std - def gps_time_from_qcom_report(self, gnss_msg): - report = gnss_msg.drMeasurementReport - if report.source == log.QcomGnss.MeasurementSource.gps: - report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) - elif report.source == log.QcomGnss.MeasurementSource.sbas: - report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) - elif report.source == log.QcomGnss.MeasurementSource.glonass: - report_time = GPSTime.from_glonass(report.glonassYear, - report.glonassDay, - report.glonassMilliseconds / 1000.0) - else: - raise NotImplementedError(f'Unknownconstellation {report.source}') - return report_time - def is_good_report(self, gnss_msg): - if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: + if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom: # TODO: Understand and use remaining unknown constellations try: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + if gnss_msg.which() == 'drMeasurementReport': + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + else: + constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] - report_time = self.gps_time_from_qcom_report(gnss_msg) + report_time = gps_time_from_qcom_report(gnss_msg) except NotImplementedError: return False # Garbage timestamps with week > 32767 are sometimes sent by module. @@ -216,21 +202,20 @@ class Laikad: def read_report(self, gnss_msg): if self.use_qcom: # QCOM reports are per constellation, so we need to aggregate them - report = gnss_msg.drMeasurementReport - report_time = self.gps_time_from_qcom_report(gnss_msg) - + # Additionally, the pseudoranges are broken in the measurementReports + # and the doppler filteredSpeed is broken in the drMeasurementReports + report_time = gps_time_from_qcom_report(gnss_msg) if report_time - self.last_report_time > 0: self.qcom_reports_received = max(1, len(self.qcom_reports)) - self.qcom_reports = [report] + self.qcom_reports = [gnss_msg] else: - self.qcom_reports.append(report) + self.qcom_reports.append(gnss_msg) self.last_report_time = report_time - new_meas = [] if len(self.qcom_reports) == self.qcom_reports_received: - for report in self.qcom_reports: - new_meas.extend(read_raw_qcom(report)) - + new_meas = get_measurements_from_qcom_reports(self.qcom_reports) + else: + new_meas = [] else: report = gnss_msg.measurementReport self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) @@ -300,7 +285,7 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") t = gnss_mono_time * 1e-9 - msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)} if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index 6f298deab6..73ed1b0a56 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -4,7 +4,7 @@ extern "C" { typedef Localizer* Localizer_t; Localizer *localizer_init(bool has_ublox) { - return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); + return new Localizer(); } void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 9b3e3b3b85..aedc4ac371 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -13,7 +13,6 @@ const double ACCEL_SANITY_CHECK = 100.0; // m/s^2 const double ROTATION_SANITY_CHECK = 10.0; // rad/s const double TRANS_SANITY_CHECK = 200.0; // m/s const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg) -const double ALTITUDE_SANITY_CHECK = 10000; // m const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad const double VALID_TIME_SINCE_RESET = 1.0; // s const double VALID_POS_STD = 50.0; // m @@ -23,15 +22,11 @@ const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker const double DECAY = 0.99995; // same as reset tracker const double MAX_FILTER_REWIND_TIME = 0.8; // s -// TODO: GPS sensor time offsets are empirically calculated -// They should be replaced with synced time from a real clock -const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s -const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s const float GPS_POS_STD_THRESHOLD = 50.0; const float GPS_VEL_STD_THRESHOLD = 5.0; const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; -const float GPS_POS_STD_RESET_THRESHOLD = 2.0; -const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; +const float GPS_POS_STD_RESET_THRESHOLD = 10.0; +const float GPS_VEL_STD_RESET_THRESHOLD = 1.0; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; @@ -70,7 +65,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); } -Localizer::Localizer(LocalizerGnssSource gnss_source) { +Localizer::Localizer() { this->kf = std::make_unique(); this->reset_kalman(); @@ -84,7 +79,6 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) { VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); - this->configure_gnss_source(gnss_source); } void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { @@ -300,64 +294,6 @@ void Localizer::input_fake_gps_observations(double current_time) { this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); } -void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) { - // ignore the message if the fix is invalid - bool gps_invalid_flag = (log.getFlags() % 2 == 0); - bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); - bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)); - bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); - bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - - if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { - //this->gps_valid = false; - this->determine_gps_mode(current_time); - return; - } - - double sensor_time = current_time - sensor_time_offset; - - // Process message - //this->gps_valid = true; - this->gps_mode = true; - Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; - this->converter = std::make_unique(geodetic); - - VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); - VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; - float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); - MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); - MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); - - this->unix_timestamp_millis = log.getUnixTimestampMillis(); - double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); - - VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); - VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef); - VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg())); - VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI; - for (int i = 0; i < orientation_error.size(); i++) { - orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI); - if (orientation_error(i) < 0.0) { - orientation_error(i) += 2.0 * M_PI; - } - orientation_error(i) -= M_PI; - } - VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - - if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) { - LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); - } else if (gps_est_error > 100.0) { - LOGE("Locationd vs ubloxLocation position difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - } - - this->last_gps_msg = sensor_time; - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); -} - void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { if(!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { @@ -366,21 +302,22 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } double sensor_time = log.getMeasTime() * 1e-9; - sensor_time -= this->gps_time_offset; auto ecef_pos_v = log.getPositionECEF().getValue(); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); - // indexed at 0 cause all std values are the same MAE - auto ecef_pos_std = log.getPositionECEF().getStd()[0]; - MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal(); + auto ecef_pos_std = log.getPositionECEF().getStd(); + VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix(); + double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum()); + MatrixXdr ecef_pos_R = ecef_pos_var.asDiagonal(); auto ecef_vel_v = log.getVelocityECEF().getValue(); VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]); - // indexed at 0 cause all std values are the same MAE - auto ecef_vel_std = log.getVelocityECEF().getStd()[0]; - MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); + auto ecef_vel_std = log.getVelocityECEF().getStd(); + VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix(); + double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum()); + MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); @@ -403,13 +340,13 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { + if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) { this->determine_gps_mode(current_time); return; } // prevent jumping gnss measurements (covered lots, standstill...) - bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD; + bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD; orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD; orientation_reset &= !this->standstill; if (orientation_reset) { @@ -419,7 +356,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: this->orientation_reset_count = 0; } - if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { + if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { // always reset on first gps message and if the location is off but the accuracy is high LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset"); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); @@ -588,12 +525,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->handle_sensor(t, log.getAccelerometer()); } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); - } else if (log.isGpsLocation()) { - this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); - } else if (log.isGpsLocationExternal()) { - this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); - //} else if (log.isGnssMeasurements()) { - // this->handle_gnss(t, log.getGnssMeasurements()); + } else if (log.isGnssMeasurements()) { + this->handle_gnss(t, log.getGnssMeasurements()); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -655,38 +588,12 @@ void Localizer::determine_gps_mode(double current_time) { } } -void Localizer::configure_gnss_source(LocalizerGnssSource source) { - this->gnss_source = source; - if (source == LocalizerGnssSource::UBLOX) { - this->gps_std_factor = 10.0; - this->gps_variance_factor = 1.0; - this->gps_vertical_variance_factor = 1.0; - this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; - } else { - this->gps_std_factor = 2.0; - this->gps_variance_factor = 0.0; - this->gps_vertical_variance_factor = 3.0; - this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; - } -} - int Localizer::locationd_thread() { - LocalizerGnssSource source; - const char* gps_location_socket; - if (Params().getBool("UbloxAvailable")) { - source = LocalizerGnssSource::UBLOX; - gps_location_socket = "gpsLocationExternal"; - } else { - source = LocalizerGnssSource::QCOM; - gps_location_socket = "gpsLocation"; - } - - this->configure_gnss_source(source); - const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", + const std::initializer_list service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); + SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index e8f2f04a2c..cfa2d0a667 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -21,13 +21,10 @@ #define POSENET_STD_HIST_HALF 20 -enum LocalizerGnssSource { - UBLOX, QCOM -}; class Localizer { public: - Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); + Localizer(); int locationd_thread(); @@ -55,7 +52,6 @@ public: void handle_msg_bytes(const char *data, const size_t size); void handle_msg(const cereal::Event::Reader& log); void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); - void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log); void handle_car_state(double current_time, const cereal::CarState::Reader& log); void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); @@ -84,15 +80,8 @@ private: double first_valid_log_time = NAN; double ttff = NAN; double last_gps_msg = 0; - LocalizerGnssSource gnss_source; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; - float gps_std_factor; - float gps_variance_factor; - float gps_vertical_variance_factor; - double gps_time_offset; - - void configure_gnss_source(LocalizerGnssSource source); }; diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 58c650e26c..a8d69502cf 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -177,8 +177,8 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 56 if use_qcom else 560 - valid_fix_expected = 56 if use_qcom else 560 + correct_msgs_expected = 55 if use_qcom else 560 + valid_fix_expected = 55 if use_qcom else 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 6c6ac33431..1fb36bf2fa 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -14,7 +14,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): - LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', + LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): @@ -35,25 +35,14 @@ class TestLocationdProc(unittest.TestCase): msg = messaging.new_message(name) except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - - if name == "gpsLocationExternal": - msg.gpsLocationExternal.flags = 1 - msg.gpsLocationExternal.verticalAccuracy = 1.0 - msg.gpsLocationExternal.speedAccuracy = 1.0 - msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 - msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] - msg.gpsLocationExternal.latitude = float(self.lat) - msg.gpsLocationExternal.longitude = float(self.lon) - msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 - msg.gpsLocationExternal.altitude = float(self.alt) - #if name == "gnssMeasurements": - # msg.gnssMeasurements.measTime = t - # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - # msg.gnssMeasurements.positionECEF.std = [0,0,0] - # msg.gnssMeasurements.positionECEF.valid = True - # msg.gnssMeasurements.velocityECEF.value = [] - # msg.gnssMeasurements.velocityECEF.std = [0,0,0] - # msg.gnssMeasurements.velocityECEF.valid = True + if name == "gnssMeasurements": + msg.gnssMeasurements.measTime = t + msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] + msg.gnssMeasurements.positionECEF.std = [0,0,0] + msg.gnssMeasurements.positionECEF.valid = True + msg.gnssMeasurements.velocityECEF.value = [] + msg.gnssMeasurements.velocityECEF.std = [0,0,0] + msg.gnssMeasurements.velocityECEF.valid = True elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9256b6015c..c0a49e3324 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -433,13 +433,6 @@ def laikad_config_pubsub_callback(params, cfg, lr): cfg.main_pub_drained = True -def locationd_config_pubsub_callback(params, cfg, lr): - ublox = params.get_bool("UbloxAvailable") - sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) - - cfg.pubs = set(cfg.pubs) - sub_keys - - CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -494,12 +487,11 @@ CONFIGS = [ ProcessConfig( proc_name="locationd", pubs=[ - "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", - "liveCalibration", "carState", "carParams", "gpsLocation" + "cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements", + "liveCalibration", "carState", "carParams" ], subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], - config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, ), ProcessConfig( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8aec881aa5..564eafa597 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -72e3d7b660ee92f5adcc249112cf04c703f4bf9e \ No newline at end of file +89db4d10a4eb0bfd0ea0ff83525e5cf358f5f690 \ No newline at end of file From 3523bef732316b534de66dcb9e7d29e53e37e99f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Aug 2023 23:16:49 -0700 Subject: [PATCH 041/410] bump laika (#29522) --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index 6c79c96474..989b6a8505 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 6c79c964748ab930bb3699c06025bb2b0565cbea +Subproject commit 989b6a8505441a550c94f60b4378be296ea3fe92 From 92a7d702fcc8fd5188918871ed44fa0d4cb7d28f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Aug 2023 07:29:15 +0100 Subject: [PATCH 042/410] Ford: test FW query config and versions (#29016) * Ford: test FW query config and versions * comments about software p/n * should keep it in bytes * don't need car_model * it prints nicely * add todo * Update selfdrive/car/ford/tests/test_ford.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/tests/__init__.py | 0 selfdrive/car/ford/tests/test_ford.py | 80 +++++++++++++++++++++++++++ 2 files changed, 80 insertions(+) create mode 100644 selfdrive/car/ford/tests/__init__.py create mode 100755 selfdrive/car/ford/tests/test_ford.py diff --git a/selfdrive/car/ford/tests/__init__.py b/selfdrive/car/ford/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py new file mode 100755 index 0000000000..11746777f0 --- /dev/null +++ b/selfdrive/car/ford/tests/test_ford.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +import unittest +from parameterized import parameterized +from typing import Dict, Iterable, Optional, Tuple + +import capnp + +from cereal import car +from selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS + +Ecu = car.CarParams.Ecu + + +ECU_ADDRESSES = { + Ecu.eps: 0x730, # Power Steering Control Module (PSCM) + Ecu.abs: 0x760, # Anti-Lock Brake System (ABS) + Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM) + Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA) + Ecu.engine: 0x7E0, # Powertrain Control Module (PCM) + Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM) +} + + +ECU_FW_CORE = { + Ecu.eps: [ + b"14D003", + ], + Ecu.abs: [ + b"2D053", + ], + Ecu.fwdRadar: [ + b"14D049", + ], + Ecu.fwdCamera: [ + b"14F397", # Ford Q3 + b"14H102", # Ford Q4 + ], + Ecu.engine: [ + b"14C204", + ], +} + + +class TestFordFW(unittest.TestCase): + def test_fw_query_config(self): + for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus: + self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") + self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") + self.assertIsNone(subaddr, "Unexpected ECU subaddress") + + @parameterized.expand(FW_VERSIONS.items()) + def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]): + for (ecu, addr, subaddr), fws in fw_versions.items(): + self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") + self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") + self.assertIsNone(subaddr, "Unexpected ECU subaddress") + + # Software part number takes the form: PREFIX-CORE-SUFFIX + # Prefix changes based on the family of part. It includes the model year + # and likely the platform. + # Core identifies the type of the item (e.g. 14D003 = PSCM, 14C204 = PCM). + # Suffix specifies the version of the part. -AA would be followed by -AB. + # Small increments in the suffix are usually compatible. + # Details: https://forscan.org/forum/viewtopic.php?p=70008#p70008 + for fw in fws: + self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes") + + # TODO: parse with regex, don't need detailed error message + fw_parts = fw.rstrip(b'\x00').split(b'-') + self.assertEqual(len(fw_parts), 3, "Expected FW to be in format: prefix-core-suffix") + + prefix, core, suffix = fw_parts + self.assertEqual(len(prefix), 4, "Expected FW prefix to be 4 characters") + self.assertIn(len(core), (5, 6), "Expected FW core to be 5-6 characters") + self.assertIn(core, ECU_FW_CORE[ecu], f"Unexpected FW core for {ecu}") + self.assertIn(len(suffix), (2, 3), "Expected FW suffix to be 2-3 characters") + + +if __name__ == "__main__": + unittest.main() From e8094affae0d7f49bc2b7136882dd1dad9e8dcdb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 22 Aug 2023 16:21:16 +0200 Subject: [PATCH 043/410] ratekeeper.h: add missing include (#29523) --- common/ratekeeper.h | 1 + 1 file changed, 1 insertion(+) diff --git a/common/ratekeeper.h b/common/ratekeeper.h index ff4cb42c7b..b6e8ac66a6 100644 --- a/common/ratekeeper.h +++ b/common/ratekeeper.h @@ -1,5 +1,6 @@ #pragma once +#include #include class RateKeeper { From c5c73c4ddb819967388f3f9dd28c38596af10397 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 10:39:45 -0700 Subject: [PATCH 044/410] pre-commit: autoupdate hooks (#29524) Update pre-commit hook versions Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b777bc4368..471d2855f1 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -35,7 +35,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.284 + rev: v0.0.285 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' @@ -61,7 +61,7 @@ repos: language: script pass_filenames: false - repo: https://github.com/python-poetry/poetry - rev: '1.5.0' + rev: '1.6.0' hooks: - id: poetry-check - id: poetry-lock From d1aedccfbe3cb880ad54adea578f91c04857d81b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 22 Aug 2023 10:47:56 -0700 Subject: [PATCH 045/410] CI: prevent moc from running in cache population step (#29401) * Do not remove moc_files from cache * Add cache cleanup script * Use cache cleanup script * Dry-run in cache population command * Add newline * Temporarly disable master only constraint for cache cleanup step * Add test lines * one more * Fix shebang * Remove debug lines * Bring back master branch constraints --- .github/workflows/selfdrive_tests.yaml | 8 +++----- release/clean-cache.sh | 16 ++++++++++++++++ 2 files changed, 19 insertions(+), 5 deletions(-) create mode 100755 release/clean-cache.sh diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 991ce74ca9..143f831995 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -82,9 +82,8 @@ jobs: run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" - name: Cleanup scons cache and rebuild timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache - run: | - ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --cache-populate" + if: github.ref == 'refs/heads/master' + run: ${{ env.RUN }} "release/clean-cache.sh" - name: Save scons cache uses: actions/cache/save@v3 if: github.ref == 'refs/heads/master' @@ -159,9 +158,8 @@ jobs: - name: Pre Cache - Cleanup scons cache if: github.ref == 'refs/heads/master' run: | - rm -rf /tmp/scons_cache/* eval "$(pyenv init --path)" - poetry run scons -j$(nproc) --cache-populate + poetry run release/clean-cache.sh - name: Save scons cache id: scons-save-cache uses: actions/cache/save@v3 diff --git a/release/clean-cache.sh b/release/clean-cache.sh new file mode 100755 index 0000000000..ec63ee95b1 --- /dev/null +++ b/release/clean-cache.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +# delete outdated moc files +scons --dry-run --taskmastertrace /tmp/tasktrace.log >/dev/null +MOC_EXISTING_PROD="$(find /tmp/scons_cache/moc_files -type f | sort)" +MOC_CURRENT_PROD="$(egrep -o "'[^']*moc_files[^']*'" /tmp/tasktrace.log | sed "s/'//g" | sort | uniq)" +MOC_JUNK="$(comm -23 <(echo "$MOC_EXISTING_PROD") <(echo "$MOC_CURRENT_PROD"))" +echo "$MOC_JUNK" | xargs -I{} rm {} +rm /tmp/tasktrace.log + +# delete cache except for moc files +rm -rf $(find /tmp/scons_cache -maxdepth 1 ! -name moc_files ! -name scons_cache) + +# repopulate cache +scons --dry-run --cache-populate >/dev/null From 91dc8457ae8e9b188c8fe613be5b3aa2e86be276 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 11:16:58 -0700 Subject: [PATCH 046/410] Revert Qt MOC hacks (#29528) * Revert "CI: prevent moc from running in cache population step (#29401)" This reverts commit d1aedccfbe3cb880ad54adea578f91c04857d81b. * Revert "SCons: respect cache read only (#29437)" This reverts commit 59abb469ea4a8443ea07a0638acbc6ece0c9ddd2. * don't change moc path --- .github/workflows/selfdrive_tests.yaml | 8 +++++--- .gitignore | 1 - SConstruct | 13 ------------- release/clean-cache.sh | 16 ---------------- tools/cabana/SConscript | 2 -- 5 files changed, 5 insertions(+), 35 deletions(-) delete mode 100755 release/clean-cache.sh diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 143f831995..991ce74ca9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -82,8 +82,9 @@ jobs: run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" - name: Cleanup scons cache and rebuild timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache - if: github.ref == 'refs/heads/master' - run: ${{ env.RUN }} "release/clean-cache.sh" + run: | + ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ + scons -j$(nproc) --cache-populate" - name: Save scons cache uses: actions/cache/save@v3 if: github.ref == 'refs/heads/master' @@ -158,8 +159,9 @@ jobs: - name: Pre Cache - Cleanup scons cache if: github.ref == 'refs/heads/master' run: | + rm -rf /tmp/scons_cache/* eval "$(pyenv init --path)" - poetry run release/clean-cache.sh + poetry run scons -j$(nproc) --cache-populate - name: Save scons cache id: scons-save-cache uses: actions/cache/save@v3 diff --git a/.gitignore b/.gitignore index 004c0a6441..a7c8c1c6f0 100644 --- a/.gitignore +++ b/.gitignore @@ -6,7 +6,6 @@ venv/ .tags .ipynb_checkpoints .idea -.moc_files .overlay_init .overlay_consistent .sconsign.dblite diff --git a/SConstruct b/SConstruct index e384e31d94..0f720fcba7 100644 --- a/SConstruct +++ b/SConstruct @@ -1,5 +1,4 @@ import os -import shutil import subprocess import sys import sysconfig @@ -336,18 +335,6 @@ qt_env['CXXFLAGS'] += qt_flags qt_env['LIBPATH'] += ['#selfdrive/ui'] qt_env['LIBS'] = qt_libs -# Have to respect cache-readonly -if GetOption('cache_readonly'): - local_moc_files_dir = Dir("#.moc_files").abspath - cache_moc_files_dir = cache_dir + "/moc_files" - if os.path.exists(local_moc_files_dir): - shutil.rmtree(local_moc_files_dir) - if os.path.exists(cache_moc_files_dir): - shutil.copytree(cache_moc_files_dir, local_moc_files_dir) - qt_env['QT3_MOCHPREFIX'] = local_moc_files_dir + "/moc_" -else: - qt_env['QT3_MOCHPREFIX'] = cache_dir + '/moc_files/moc_' - if GetOption("clazy"): checks = [ "level0", diff --git a/release/clean-cache.sh b/release/clean-cache.sh deleted file mode 100755 index ec63ee95b1..0000000000 --- a/release/clean-cache.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env bash -set -e - -# delete outdated moc files -scons --dry-run --taskmastertrace /tmp/tasktrace.log >/dev/null -MOC_EXISTING_PROD="$(find /tmp/scons_cache/moc_files -type f | sort)" -MOC_CURRENT_PROD="$(egrep -o "'[^']*moc_files[^']*'" /tmp/tasktrace.log | sed "s/'//g" | sort | uniq)" -MOC_JUNK="$(comm -23 <(echo "$MOC_EXISTING_PROD") <(echo "$MOC_CURRENT_PROD"))" -echo "$MOC_JUNK" | xargs -I{} rm {} -rm /tmp/tasktrace.log - -# delete cache except for moc files -rm -rf $(find /tmp/scons_cache -maxdepth 1 ! -name moc_files ! -name scons_cache) - -# repopulate cache -scons --dry-run --cache-populate >/dev/null diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index cdc809f2b4..c6b47630ef 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -27,8 +27,6 @@ assets_src = "assets/assets.qrc" cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) -prev_moc_path = cabana_env['QT3_MOCHPREFIX'] -cabana_env['QT3_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', From d71a7190f1210f5ac97ce16892552ecf495e2437 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 22 Aug 2023 20:47:09 +0200 Subject: [PATCH 047/410] Devcontainer (#29259) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * mvp devcontainer. builds, runs and UI works * fix indentation * enable color and fix openpilot_env path * separate dockerfile for devcontainer * use prebuilt image * Fix openpilot_env setup * Add dev container section in readme * Fix typo * Fix typo again * Move dev dockerfile to .devcontainer dir * Update README * Add note about x11 forwarding on macos * Update dev container json * Fix typo * Override DISPLAY on macOS * Mention XAUTHORITY for macOS setup in README * fix typo * Add devcontainer CI test * Rename to devcontainer * Fix git issues * ripgrep * Link instead of vscode manual * Replace raw path with containerWorkspaceFolder * Fix typo * Remove dev tools workflow * Link away X11 forwarding setup isntructions for mac * Remove fork consrtaint, add test run of scons * Add submodules as safe.directories in postStartCommand * Remove openpilot_env references * Add scons cache volume --------- Co-authored-by: Robbe Derks Co-authored-by: Kacper Rączy --- .devcontainer/Dockerfile | 6 ++++++ .devcontainer/devcontainer.json | 22 ++++++++++++++++++++++ .github/workflows/tools_tests.yaml | 18 +++++++++++++++++- tools/README.md | 10 ++++++++++ 4 files changed, 55 insertions(+), 1 deletion(-) create mode 100644 .devcontainer/Dockerfile create mode 100755 .devcontainer/devcontainer.json diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 0000000000..e72704bfd0 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,6 @@ +FROM ghcr.io/commaai/openpilot-base:latest + +# remove gitconfig if exists, since its gonna be replaced by host one +RUN rm -f /root/.gitconfig +RUN apt update && apt install -y vim net-tools usbutils htop ripgrep +RUN pip install ipython jupyter jupyterlab diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100755 index 0000000000..c2d26fb9a7 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,22 @@ +{ + "name": "openpilot devcontainer", + "build": { + "dockerfile": "Dockerfile" + }, + "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'", + "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"", + "privileged": true, + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}", + "PYTHONPATH": "${containerWorkspaceFolder}", + "force_color_prompt": "1" + }, + "runArgs": [ + "--volume=/tmp/.X11-unix:/tmp/.X11-unix", + "--volume=${localEnv:XAUTHORITY}:/root/.Xauthority", + "--volume=${localEnv:HOME}/.comma:/root/.comma", + "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", + "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", + "--shm-size=1G" + ] +} \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 5891d5207e..04f73d21af 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -91,4 +91,20 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/openpilot-docs:latest \ No newline at end of file + docker push $DOCKER_REGISTRY/openpilot-docs:latest + + devcontainer: + name: devcontainer + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + with: + submodules: true + - name: Setup Dev Container CLI + run: npm install -g @devcontainers/cli + - name: Build dev container image + run: devcontainer build --workspace-folder . + - name: Run dev container + run: devcontainer up --workspace-folder . + - name: Test environment + run: devcontainer exec --workspace-folder . scons --dry-run diff --git a/tools/README.md b/tools/README.md index fd03a5d77e..28f4f7ebd2 100644 --- a/tools/README.md +++ b/tools/README.md @@ -38,6 +38,16 @@ Build openpilot with this command: scons -u -j$(nproc) ``` +### Dev Container + +openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup. + +Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers). + +#### X11 forwarding on macOS + +GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS. + ### Windows Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. From f546e9277466d298b1b3c62e70de9cbe002fa5d6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 12:41:52 -0700 Subject: [PATCH 048/410] Kia: move Optima Gen 4 FL out of legacy safety mode (#29530) move Optima Gen 4 Facelift out of legacy --- selfdrive/car/hyundai/values.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 63c684b799..3604b416fc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1952,11 +1952,11 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, - CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, - CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} + CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, + CAR.IONIQ_HEV_2022} # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. -UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF} +UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py From 2c835b81d9b206c04b23498c32bece1c8dbfaa52 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 12:59:56 -0700 Subject: [PATCH 049/410] Hyundai: remove Ioniq EV 2022 from legacy safety mode (#29531) * fw * remove from legacy * update docs --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 07155bf379..9ded53f201 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -81,7 +81,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Ioniq 5 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|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 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3604b416fc..5f5b48dba7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -607,6 +607,7 @@ FW_VERSIONS = { b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', ], }, CAR.IONIQ_EV_LTD: { @@ -1951,9 +1952,8 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, - CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, - CAR.IONIQ_HEV_2022} +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, + CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL} From 952d720b6e854b3ebbb9fd0fd82cd38f3ae04b90 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 13:55:23 -0700 Subject: [PATCH 050/410] add cpplint (#26855) * setup cpplint * only start that * check line length * check these * rm exceptions --- .pre-commit-config.yaml | 14 +++++++++++++- selfdrive/locationd/locationd.cc | 3 ++- selfdrive/ui/qt/offroad/settings.cc | 15 +++++++++------ selfdrive/ui/qt/widgets/ssh_keys.cc | 5 ++++- selfdrive/ui/translations/main_de.ts | 26 +++++++++++++------------- selfdrive/ui/translations/main_ja.ts | 26 +++++++++++++------------- selfdrive/ui/translations/main_tr.ts | 8 ++++---- system/camerad/cameras/camera_qcom2.cc | 7 ++++--- 8 files changed, 62 insertions(+), 42 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 471d2855f1..c58654b2d2 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -53,6 +53,18 @@ repos: - --quiet - --force - -j8 +- repo: https://github.com/cpplint/cpplint + rev: 1.6.1 + hooks: + - id: cpplint + exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' + args: + - --quiet + - --counting=total + - --linelength=240 + # https://google.github.io/styleguide/cppguide.html + # relevant rules are whitelisted, see all options with: cpplint --filter= + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body - repo: local hooks: - id: test_translations @@ -66,5 +78,5 @@ repos: - id: poetry-check - id: poetry-lock name: validate poetry lock - args: + args: - --check diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index aedc4ac371..d17f6593e4 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -498,7 +498,8 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd init_P.block(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal(); init_P.block(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal(); init_P.block(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal(); - init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal(); + init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, + STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal(); this->reset_kalman(current_time, current_x, init_P); } diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 94a673dd71..3dd5a52d86 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -36,7 +36,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("openpilot Longitudinal Control (Alpha)"), QString("%1

%2") .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).")) - .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), + .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " + "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), "../assets/offroad/icon_speed_limit.png", }, { @@ -88,7 +89,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), - tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."), + tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " + "In relaxed mode openpilot will stay further away from lead cars."), "../assets/offroad/icon_speed_limit.png", longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { @@ -137,11 +139,12 @@ void TogglesPanel::updateToggles() { .arg(tr("openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:")) .arg(tr("End-to-End Longitudinal Control" )) .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " - "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.")) + "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " + "mistakes should be expected.")) .arg(tr("Navigate on openpilot")) - .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. " - "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. " - "These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.")) + .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right " + "appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around " + "exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.")) .arg(tr("New Driving Visualization")) .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. " "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.")); diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 1097a89268..26743952de 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -4,7 +4,10 @@ #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/widgets/input.h" -SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { +SshControl::SshControl() : + ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " + "other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { + QObject::connect(this, &ButtonControl::clicked, [=]() { if (text() == tr("ADD")) { QString username = InputDialog::getText(tr("Enter your GitHub username"), this); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index a1b8faa2e3..17871ce58f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1072,10 +1072,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - openpilot longitudinal control may come in a future update. - - openpilot Longitudinal Control (Alpha) @@ -1084,10 +1080,6 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - Aggressive @@ -1104,12 +1096,16 @@ This may take up to a minute. Driving Personality + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + End-to-End Longitudinal Control @@ -1117,19 +1113,23 @@ This may take up to a minute. - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - End-to-End Longitudinal Control + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + openpilot longitudinal control may come in a future update. - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index e766204660..799aa84a2e 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1064,10 +1064,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. この車のACCがアクセル制御を行うため実験モードを利用することができません。 - - openpilot longitudinal control may come in a future update. - - openpilot Longitudinal Control (Alpha) @@ -1076,10 +1072,6 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - Aggressive @@ -1096,12 +1088,16 @@ This may take up to a minute. Driving Personality + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + End-to-End Longitudinal Control @@ -1109,19 +1105,23 @@ This may take up to a minute. - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - End-to-End Longitudinal Control + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + openpilot longitudinal control may come in a future update. - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index ad882f5786..906884f640 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -1048,10 +1048,6 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - Experimental Mode @@ -1076,6 +1072,10 @@ This may take up to a minute. Driving Personality + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 6f4a134438..1480342ee3 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -725,7 +725,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num LOGD("acquire csiphy dev"); // config ISP - alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); + alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | + CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); config_isp(0, 0, 1, buf0_handle, 0); // config csiphy @@ -1273,9 +1274,9 @@ void cameras_run(MultiCameraState *s) { if (ret == 0) { if (ev.type == V4L_EVENT_CAM_REQ_MGR_EVENT) { struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data; - // LOGD("v4l2 event: sess_hdl 0x%X, link_hdl 0x%X, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status); if (env_debug_frames) { - printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); + printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, + event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); } if (event_data->session_hdl == s->road_cam.session_handle) { From 5765c1d978c5890513e55398490447590d3b1d3e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 23 Aug 2023 05:00:01 +0800 Subject: [PATCH 051/410] ui/settings: Don't apply styles to more elements than needed. (#29463) --- selfdrive/ui/qt/offroad/settings.cc | 8 ++++---- selfdrive/ui/qt/widgets/controls.cc | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 3dd5a52d86..05aef8364c 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -348,10 +348,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); sidebar_layout->setMargin(0); panel_widget = new QStackedWidget(); - panel_widget->setStyleSheet(R"( - border-radius: 30px; - background-color: #292929; - )"); // close button QPushButton *close_btn = new QPushButton(tr("×")); @@ -440,5 +436,9 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { SettingsWindow { background-color: black; } + QStackedWidget, ScrollView { + background-color: #292929; + border-radius: 30px; + } )"); } diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index e440bc6441..87304a4585 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -23,7 +23,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons // title title_label = new QPushButton(title); title_label->setFixedHeight(120); - title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); + title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; border: none;"); hlayout->addWidget(title_label, 1); // value next to control button From 6a5725bb38007d61602c7c495c275d234cd29fac Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 14:03:15 -0700 Subject: [PATCH 052/410] sensord: update cpu usage after removing light sensor --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0fa9d9c711..c0cb49c0db 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,7 +34,7 @@ PROCS = { "selfdrive.controls.plannerd": 16.5, "./_ui": 18.0, "selfdrive.locationd.paramsd": 9.0, - "./_sensord": 12.0, + "./_sensord": 7.0, "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, "./_dmonitoringmodeld": 5.0, From 65ad8fd8e7fa74c7eb7e75bba3046e4b9a8c68fc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 14:03:27 -0700 Subject: [PATCH 053/410] bump cereal (#29532) --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 3cac040c5b..e7c42fd11c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3cac040c5b219402cb9b234d53c78a6007298534 +Subproject commit e7c42fd11cc71f16ac762e6aed3409ce4c644b42 From 55c156dfb25d4cc594524d197a588a929a99f01f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 23 Aug 2023 05:09:03 +0800 Subject: [PATCH 054/410] soundd: set volume on changes (#29389) * set volume on change * async set volumn * Revert "async set volumn" This reverts commit 7bc88c498353fff158b0de3d1923aa2c0f004a37. --- selfdrive/ui/soundd/sound.cc | 5 ++++- selfdrive/ui/soundd/sound.h | 1 + 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 8d5b2b96b0..ae06e3e903 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -36,7 +36,10 @@ void Sound::update() { if (sm.updated("microphone")) { float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 60.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); - Hardware::set_volume(volume); + // set volume on changes + if (std::exchange(current_volume, std::nearbyint(volume * 10)) != current_volume) { + Hardware::set_volume(volume); + } } setAlert(Alert::get(sm, 0)); diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index da9814c543..9cabd1c6bd 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -30,4 +30,5 @@ protected: SubMaster sm; Alert current_alert = {}; QMap> sounds; + int current_volume = -1; }; From fda3106c28af236e8b3dc78bfdca7a1365904d1e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 22 Aug 2023 14:12:51 -0700 Subject: [PATCH 055/410] Revert laikad llk (#29535) * Revert "bump laika (#29522)" This reverts commit 3523bef732316b534de66dcb9e7d29e53e37e99f. * Revert "Locationd: switch to laikad (#29278)" This reverts commit fd3b8a3d7511ad3d7c5aa0b82a1e2c28505e5a7f. --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 59 +++++--- selfdrive/locationd/liblocationd.cc | 2 +- selfdrive/locationd/locationd.cc | 129 +++++++++++++++--- selfdrive/locationd/locationd.h | 13 +- selfdrive/locationd/test/test_laikad.py | 4 +- selfdrive/locationd/test/test_locationd.py | 29 ++-- .../test/process_replay/process_replay.py | 12 +- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 195 insertions(+), 57 deletions(-) diff --git a/laika_repo b/laika_repo index 989b6a8505..65901a1e6c 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 989b6a8505441a550c94f60b4378be296ea3fe92 +Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 6c9c199db1..2073813363 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -18,8 +18,7 @@ from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId, get_sv_id -from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox -from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports +from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman @@ -103,10 +102,9 @@ class Laikad: self.use_qcom = use_qcom self.first_log_time = None self.ttff = -1 - self.measurement_lag = 0.630 if self.use_qcom else 0.095 # qcom specific stuff - self.qcom_reports_received = 4 + self.qcom_reports_received = 1 self.qcom_reports = [] def load_cache(self): @@ -163,31 +161,47 @@ class Laikad: def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 - position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - position_std = pos_std[:3] + + position_std_residual = np.median(np.abs(pr_residuals)) + position_std = np.median(np.abs(pos_std))/10 + position_std = max(position_std_residual, position_std) * np.ones(3) velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None velocity_estimate = velocity_solution[:3] - velocity_std = vel_std[:3] + + velocity_std_residual = np.median(np.abs(prr_residuals)) + velocity_std = np.median(np.abs(vel_std))/10 + velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) return position_estimate, position_std, velocity_estimate, velocity_std + def gps_time_from_qcom_report(self, gnss_msg): + report = gnss_msg.drMeasurementReport + if report.source == log.QcomGnss.MeasurementSource.gps: + report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) + elif report.source == log.QcomGnss.MeasurementSource.sbas: + report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) + elif report.source == log.QcomGnss.MeasurementSource.glonass: + report_time = GPSTime.from_glonass(report.glonassYear, + report.glonassDay, + report.glonassMilliseconds / 1000.0) + else: + raise NotImplementedError(f'Unknownconstellation {report.source}') + return report_time + def is_good_report(self, gnss_msg): - if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom: + if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: # TODO: Understand and use remaining unknown constellations try: - if gnss_msg.which() == 'drMeasurementReport': - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) - else: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source) + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] - report_time = gps_time_from_qcom_report(gnss_msg) + report_time = self.gps_time_from_qcom_report(gnss_msg) except NotImplementedError: return False # Garbage timestamps with week > 32767 are sometimes sent by module. @@ -202,20 +216,21 @@ class Laikad: def read_report(self, gnss_msg): if self.use_qcom: # QCOM reports are per constellation, so we need to aggregate them - # Additionally, the pseudoranges are broken in the measurementReports - # and the doppler filteredSpeed is broken in the drMeasurementReports - report_time = gps_time_from_qcom_report(gnss_msg) + report = gnss_msg.drMeasurementReport + report_time = self.gps_time_from_qcom_report(gnss_msg) + if report_time - self.last_report_time > 0: self.qcom_reports_received = max(1, len(self.qcom_reports)) - self.qcom_reports = [gnss_msg] + self.qcom_reports = [report] else: - self.qcom_reports.append(gnss_msg) + self.qcom_reports.append(report) self.last_report_time = report_time + new_meas = [] if len(self.qcom_reports) == self.qcom_reports_received: - new_meas = get_measurements_from_qcom_reports(self.qcom_reports) - else: - new_meas = [] + for report in self.qcom_reports: + new_meas.extend(read_raw_qcom(report)) + else: report = gnss_msg.measurementReport self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) @@ -285,7 +300,7 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") t = gnss_mono_time * 1e-9 - msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)} + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index 73ed1b0a56..6f298deab6 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -4,7 +4,7 @@ extern "C" { typedef Localizer* Localizer_t; Localizer *localizer_init(bool has_ublox) { - return new Localizer(); + return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); } void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index d17f6593e4..68f16a572e 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -13,6 +13,7 @@ const double ACCEL_SANITY_CHECK = 100.0; // m/s^2 const double ROTATION_SANITY_CHECK = 10.0; // rad/s const double TRANS_SANITY_CHECK = 200.0; // m/s const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg) +const double ALTITUDE_SANITY_CHECK = 10000; // m const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad const double VALID_TIME_SINCE_RESET = 1.0; // s const double VALID_POS_STD = 50.0; // m @@ -22,11 +23,15 @@ const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker const double DECAY = 0.99995; // same as reset tracker const double MAX_FILTER_REWIND_TIME = 0.8; // s +// TODO: GPS sensor time offsets are empirically calculated +// They should be replaced with synced time from a real clock +const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s +const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s const float GPS_POS_STD_THRESHOLD = 50.0; const float GPS_VEL_STD_THRESHOLD = 5.0; const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; -const float GPS_POS_STD_RESET_THRESHOLD = 10.0; -const float GPS_VEL_STD_RESET_THRESHOLD = 1.0; +const float GPS_POS_STD_RESET_THRESHOLD = 2.0; +const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; @@ -65,7 +70,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); } -Localizer::Localizer() { +Localizer::Localizer(LocalizerGnssSource gnss_source) { this->kf = std::make_unique(); this->reset_kalman(); @@ -79,6 +84,7 @@ Localizer::Localizer() { VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); + this->configure_gnss_source(gnss_source); } void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { @@ -294,6 +300,64 @@ void Localizer::input_fake_gps_observations(double current_time) { this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); } +void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) { + // ignore the message if the fix is invalid + bool gps_invalid_flag = (log.getFlags() % 2 == 0); + bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); + bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)); + bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); + bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); + + if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { + //this->gps_valid = false; + this->determine_gps_mode(current_time); + return; + } + + double sensor_time = current_time - sensor_time_offset; + + // Process message + //this->gps_valid = true; + this->gps_mode = true; + Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; + this->converter = std::make_unique(geodetic); + + VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); + VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; + float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); + MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); + MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); + + this->unix_timestamp_millis = log.getUnixTimestampMillis(); + double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); + + VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); + VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef); + VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg())); + VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI; + for (int i = 0; i < orientation_error.size(); i++) { + orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI); + if (orientation_error(i) < 0.0) { + orientation_error(i) += 2.0 * M_PI; + } + orientation_error(i) -= M_PI; + } + VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); + + if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) { + LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset"); + this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); + } else if (gps_est_error > 100.0) { + LOGE("Locationd vs ubloxLocation position difference too large, kalman reset"); + this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); + } + + this->last_gps_msg = sensor_time; + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); +} + void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { if(!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { @@ -302,22 +366,21 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } double sensor_time = log.getMeasTime() * 1e-9; + sensor_time -= this->gps_time_offset; auto ecef_pos_v = log.getPositionECEF().getValue(); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); - auto ecef_pos_std = log.getPositionECEF().getStd(); - VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix(); - double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum()); - MatrixXdr ecef_pos_R = ecef_pos_var.asDiagonal(); + // indexed at 0 cause all std values are the same MAE + auto ecef_pos_std = log.getPositionECEF().getStd()[0]; + MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal(); auto ecef_vel_v = log.getVelocityECEF().getValue(); VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]); - auto ecef_vel_std = log.getVelocityECEF().getStd(); - VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix(); - double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum()); - MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal(); + // indexed at 0 cause all std values are the same MAE + auto ecef_vel_std = log.getVelocityECEF().getStd()[0]; + MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); @@ -340,13 +403,13 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) { + if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { this->determine_gps_mode(current_time); return; } // prevent jumping gnss measurements (covered lots, standstill...) - bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD; + bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD; orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD; orientation_reset &= !this->standstill; if (orientation_reset) { @@ -356,7 +419,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: this->orientation_reset_count = 0; } - if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { + if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { // always reset on first gps message and if the location is off but the accuracy is high LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset"); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); @@ -526,8 +589,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->handle_sensor(t, log.getAccelerometer()); } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); - } else if (log.isGnssMeasurements()) { - this->handle_gnss(t, log.getGnssMeasurements()); + } else if (log.isGpsLocation()) { + this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); + } else if (log.isGpsLocationExternal()) { + this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); + //} else if (log.isGnssMeasurements()) { + // this->handle_gnss(t, log.getGnssMeasurements()); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -589,12 +656,38 @@ void Localizer::determine_gps_mode(double current_time) { } } +void Localizer::configure_gnss_source(LocalizerGnssSource source) { + this->gnss_source = source; + if (source == LocalizerGnssSource::UBLOX) { + this->gps_std_factor = 10.0; + this->gps_variance_factor = 1.0; + this->gps_vertical_variance_factor = 1.0; + this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; + } else { + this->gps_std_factor = 2.0; + this->gps_variance_factor = 0.0; + this->gps_vertical_variance_factor = 3.0; + this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; + } +} + int Localizer::locationd_thread() { - const std::initializer_list service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration", + LocalizerGnssSource source; + const char* gps_location_socket; + if (Params().getBool("UbloxAvailable")) { + source = LocalizerGnssSource::UBLOX; + gps_location_socket = "gpsLocationExternal"; + } else { + source = LocalizerGnssSource::QCOM; + gps_location_socket = "gpsLocation"; + } + + this->configure_gnss_source(source); + const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"}); + SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index cfa2d0a667..e8f2f04a2c 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -21,10 +21,13 @@ #define POSENET_STD_HIST_HALF 20 +enum LocalizerGnssSource { + UBLOX, QCOM +}; class Localizer { public: - Localizer(); + Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); int locationd_thread(); @@ -52,6 +55,7 @@ public: void handle_msg_bytes(const char *data, const size_t size); void handle_msg(const cereal::Event::Reader& log); void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); + void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log); void handle_car_state(double current_time, const cereal::CarState::Reader& log); void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); @@ -80,8 +84,15 @@ private: double first_valid_log_time = NAN; double ttff = NAN; double last_gps_msg = 0; + LocalizerGnssSource gnss_source; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; + float gps_std_factor; + float gps_variance_factor; + float gps_vertical_variance_factor; + double gps_time_offset; + + void configure_gnss_source(LocalizerGnssSource source); }; diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index a8d69502cf..58c650e26c 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -177,8 +177,8 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 55 if use_qcom else 560 - valid_fix_expected = 55 if use_qcom else 560 + correct_msgs_expected = 56 if use_qcom else 560 + valid_fix_expected = 56 if use_qcom else 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 1fb36bf2fa..6c6ac33431 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -14,7 +14,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): - LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration', + LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): @@ -35,14 +35,25 @@ class TestLocationdProc(unittest.TestCase): msg = messaging.new_message(name) except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - if name == "gnssMeasurements": - msg.gnssMeasurements.measTime = t - msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - msg.gnssMeasurements.positionECEF.std = [0,0,0] - msg.gnssMeasurements.positionECEF.valid = True - msg.gnssMeasurements.velocityECEF.value = [] - msg.gnssMeasurements.velocityECEF.std = [0,0,0] - msg.gnssMeasurements.velocityECEF.valid = True + + if name == "gpsLocationExternal": + msg.gpsLocationExternal.flags = 1 + msg.gpsLocationExternal.verticalAccuracy = 1.0 + msg.gpsLocationExternal.speedAccuracy = 1.0 + msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 + msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] + msg.gpsLocationExternal.latitude = float(self.lat) + msg.gpsLocationExternal.longitude = float(self.lon) + msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 + msg.gpsLocationExternal.altitude = float(self.alt) + #if name == "gnssMeasurements": + # msg.gnssMeasurements.measTime = t + # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] + # msg.gnssMeasurements.positionECEF.std = [0,0,0] + # msg.gnssMeasurements.positionECEF.valid = True + # msg.gnssMeasurements.velocityECEF.value = [] + # msg.gnssMeasurements.velocityECEF.std = [0,0,0] + # msg.gnssMeasurements.velocityECEF.valid = True elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c0a49e3324..9256b6015c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -433,6 +433,13 @@ def laikad_config_pubsub_callback(params, cfg, lr): cfg.main_pub_drained = True +def locationd_config_pubsub_callback(params, cfg, lr): + ublox = params.get_bool("UbloxAvailable") + sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) + + cfg.pubs = set(cfg.pubs) - sub_keys + + CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -487,11 +494,12 @@ CONFIGS = [ ProcessConfig( proc_name="locationd", pubs=[ - "cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements", - "liveCalibration", "carState", "carParams" + "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", + "liveCalibration", "carState", "carParams", "gpsLocation" ], subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], + config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, ), ProcessConfig( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 564eafa597..8aec881aa5 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -89db4d10a4eb0bfd0ea0ff83525e5cf358f5f690 \ No newline at end of file +72e3d7b660ee92f5adcc249112cf04c703f4bf9e \ No newline at end of file From df9564e1722f589fa17e15bce55a4f179f58ab70 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 22 Aug 2023 14:14:14 -0700 Subject: [PATCH 056/410] devcontainer: CI fix (#29534) Export xauthority before running devcontainer --- .github/workflows/tools_tests.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 04f73d21af..dff2a4b04d 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -105,6 +105,8 @@ jobs: - name: Build dev container image run: devcontainer build --workspace-folder . - name: Run dev container - run: devcontainer up --workspace-folder . + run: | + export XAUTHORITY="$HOME/.Xauthority" + devcontainer up --workspace-folder . - name: Test environment run: devcontainer exec --workspace-folder . scons --dry-run From 2cd311da29241501ef93c15e7de563cb3bfe3070 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 14:31:03 -0700 Subject: [PATCH 057/410] add pytest-subtests package (#29536) --- poetry.lock | 17 ++++++++++++++++- pyproject.toml | 1 + 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index da50b60ad4..dca0c49b53 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3121,6 +3121,21 @@ pytest = ">=4.6" [package.extras] testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"] +[[package]] +name = "pytest-subtests" +version = "0.11.0" +description = "unittest subTest() support and subtests fixture" +optional = false +python-versions = ">=3.7" +files = [ + {file = "pytest-subtests-0.11.0.tar.gz", hash = "sha256:51865c88457545f51fb72011942f0a3c6901ee9e24cbfb6d1b9dc1348bafbe37"}, + {file = "pytest_subtests-0.11.0-py3-none-any.whl", hash = "sha256:453389984952eec85ab0ce0c4f026337153df79587048271c7fd0f49119c07e4"}, +] + +[package.dependencies] +attrs = ">=19.2.0" +pytest = ">=7.0" + [[package]] name = "pytest-xdist" version = "3.3.1" @@ -4177,4 +4192,4 @@ multidict = ">=4.0" [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "587fe0b312a1d4a0be2e13fdd4626683227f6c9038d3efacf9866c431d9453b1" +content-hash = "39a9e8fd6df654b3f503f9186e75f1a48d726c876696ff64cec9b6f53cc2f22a" diff --git a/pyproject.toml b/pyproject.toml index 0801439945..dcce2505e1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -120,6 +120,7 @@ pygame = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" +pytest-subtests = "*" pytest-xdist = "*" scipy = "*" sphinx = "*" From e0e139a233daf207833ecc3655ca4fd3a86a9f8e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 15:16:38 -0700 Subject: [PATCH 058/410] soundd: update cpu usage --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index c0cb49c0db..fe5137f9a4 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -42,7 +42,7 @@ PROCS = { "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, - "./_soundd": (15.0, 65.0), + "./_soundd": (1.0, 65.0), "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, From 2fe3231b49ea8cd82dd270682a4641ffd016d73a Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 22 Aug 2023 16:11:21 -0700 Subject: [PATCH 059/410] CHEVROLET SILVERADO 1500 2020: Make Silverado lateral tune non-linear (#29540) add nonlinear values to silverado --- selfdrive/car/gm/interface.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 511da405d8..75465b8dde 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -21,7 +21,8 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D NON_LINEAR_TORQUE_PARAMS = { CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178], - CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772] + CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772], + CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122] } From 979c96167d5ba2f07a7e0dee7c059c3a2ee4757b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 22 Aug 2023 16:48:02 -0700 Subject: [PATCH 060/410] CI: enable missing tests (#29538) --- poetry.lock | 23 ++++++++++++++++++- pyproject.toml | 1 + selfdrive/controls/lib/tests/__init__.py | 0 .../controls/lib/tests/test_latcontrol.py | 5 +++- .../controls/lib/tests/test_vehicle_model.py | 2 +- 5 files changed, 28 insertions(+), 3 deletions(-) create mode 100644 selfdrive/controls/lib/tests/__init__.py diff --git a/poetry.lock b/poetry.lock index dca0c49b53..60e1de7266 100644 --- a/poetry.lock +++ b/poetry.lock @@ -730,6 +730,27 @@ mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.2.0)", "types-Pill test = ["Pillow", "contourpy[test-no-images]", "matplotlib"] test-no-images = ["pytest", "pytest-cov", "wurlitzer"] +[[package]] +name = "control" +version = "0.9.4" +description = "Python Control Systems Library" +optional = false +python-versions = ">=3.8" +files = [ + {file = "control-0.9.4-py3-none-any.whl", hash = "sha256:ab68980abd8d35ae5015ffa090865cbbd926deea7e66d0b9a41cfd12577e63ff"}, + {file = "control-0.9.4.tar.gz", hash = "sha256:0fa57d2216b7ac4e9339c09eab6827660318a641779335864feee940bd19c9ce"}, +] + +[package.dependencies] +matplotlib = "*" +numpy = "*" +scipy = ">=1.3" + +[package.extras] +cvxopt = ["cvxopt (>=1.2.0)"] +slycot = ["slycot (>=0.4.0)"] +test = ["pytest", "pytest-timeout"] + [[package]] name = "coverage" version = "7.3.0" @@ -4192,4 +4213,4 @@ multidict = ">=4.0" [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "39a9e8fd6df654b3f503f9186e75f1a48d726c876696ff64cec9b6f53cc2f22a" +content-hash = "320aa5cc075d746403abb872211ebdaf55e9504face8dab8c9b270c71953675d" diff --git a/pyproject.toml b/pyproject.toml index dcce2505e1..b5d03e9b4d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -53,6 +53,7 @@ aiohttp = "*" aiortc = "*" casadi = "==3.6.3" cffi = "*" +control = "*" crcmod = "*" cryptography = "*" Cython = "*" diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 4ff7ef7c93..cf2243d033 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -12,6 +12,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from selfdrive.navd.tests.test_map_renderer import gen_llk class TestLatControl(unittest.TestCase): @@ -27,13 +28,15 @@ class TestLatControl(unittest.TestCase): CS = car.CarState.new_message() CS.vEgo = 30 + CS.steeringPressed = False last_actuators = car.CarControl.Actuators.new_message() params = log.LiveParametersData.new_message() + llk = gen_llk() for _ in range(1000): - _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0) + _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk) self.assertTrue(lac_log.saturated) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index fc8ef2fb56..d016e87527 100755 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase): # Compute yaw rate using direct computations yr2 = self.VM.yaw_rate(sa, u, roll) - self.assertAlmostEqual(float(yr1), yr2) + self.assertAlmostEqual(float(yr1[0]), yr2) def test_syn_ss_sol_simulate(self): """Verifies that dyn_ss_sol matches a simulation""" From 61653bf343bc189d9231234a5b95777998096fa6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 17:16:38 -0700 Subject: [PATCH 061/410] Toyota: prepare to disable radar (#29541) * try to disable radar * fix bug and bump panda * prep * always attempt longitudinal for testers * fix rav4 * send ACC_HUD * bump panda * revert * check for failure to disable * fix arg * bump to master * revert to master * comments only --- selfdrive/car/toyota/carcontroller.py | 5 +++++ selfdrive/car/toyota/interface.py | 9 +++++++++ selfdrive/car/toyota/toyotacan.py | 2 +- 3 files changed, 15 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index c625c2e493..ab7e4b9d85 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -166,6 +166,7 @@ class CarController: hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) + # TODO: send when disabling the radar to avoid a fault if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) @@ -174,6 +175,10 @@ class CarController: if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars: can_sends.append(make_can_msg(addr, vl, bus)) + # uncomment to keep radar disabled, rate can be tuned: + # if self.frame % 20 == 0: + # can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) + new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c78479a97e..6b8977f9f1 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -261,6 +261,15 @@ class CarInterface(CarInterfaceBase): return ret + # uncomment to disable radar: + # @staticmethod + # def init(CP, logcan, sendcan): + # # a diagnostic mode of SESSION_TYPE.PROGRAMMING disabled the ECU on its own. car did not accept DISABLE_RX_DISABLE_TX, but it did not matter. + # # a diagnostic mode of SESSION_TYPE.EXTENDED_DIAGNOSTIC and CONTROL_TYPE.ENABLE_RX_DISABLE_TX did work, so use that + # # TODO: add a flag, radarUnavailable shouldn't be used as "radar acc" right now + # if CP.openpilotLongitudinalControl and CP.radarUnavailable: + # disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=b'\x28\x01\x01') + # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 0c3330efa2..0792ac869f 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -56,7 +56,7 @@ def create_acc_cancel_command(packer): def create_fcw_command(packer, fcw): values = { - "PCS_INDICATOR": 1, + "PCS_INDICATOR": 1, # PCS turned off "FCW": fcw, "SET_ME_X20": 0x20, "SET_ME_X10": 0x10, From cb368163158fe8133b317273f99f011ce1fa2288 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 19:50:24 -0700 Subject: [PATCH 062/410] Revert "Toyota: prepare to disable radar (#29541)" This reverts commit 61653bf343bc189d9231234a5b95777998096fa6. --- selfdrive/car/toyota/carcontroller.py | 5 ----- selfdrive/car/toyota/interface.py | 9 --------- selfdrive/car/toyota/toyotacan.py | 2 +- 3 files changed, 1 insertion(+), 15 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index ab7e4b9d85..c625c2e493 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -166,7 +166,6 @@ class CarController: hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) - # TODO: send when disabling the radar to avoid a fault if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) @@ -175,10 +174,6 @@ class CarController: if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars: can_sends.append(make_can_msg(addr, vl, bus)) - # uncomment to keep radar disabled, rate can be tuned: - # if self.frame % 20 == 0: - # can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) - new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6b8977f9f1..c78479a97e 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -261,15 +261,6 @@ class CarInterface(CarInterfaceBase): return ret - # uncomment to disable radar: - # @staticmethod - # def init(CP, logcan, sendcan): - # # a diagnostic mode of SESSION_TYPE.PROGRAMMING disabled the ECU on its own. car did not accept DISABLE_RX_DISABLE_TX, but it did not matter. - # # a diagnostic mode of SESSION_TYPE.EXTENDED_DIAGNOSTIC and CONTROL_TYPE.ENABLE_RX_DISABLE_TX did work, so use that - # # TODO: add a flag, radarUnavailable shouldn't be used as "radar acc" right now - # if CP.openpilotLongitudinalControl and CP.radarUnavailable: - # disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=b'\x28\x01\x01') - # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 0792ac869f..0c3330efa2 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -56,7 +56,7 @@ def create_acc_cancel_command(packer): def create_fcw_command(packer, fcw): values = { - "PCS_INDICATOR": 1, # PCS turned off + "PCS_INDICATOR": 1, "FCW": fcw, "SET_ME_X20": 0x20, "SET_ME_X10": 0x10, From bb1b641812353e9723cad0aa6f844466c67d9c6b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Aug 2023 20:58:43 -0700 Subject: [PATCH 063/410] build.py: retry with less threads (#29543) * build.py: retry with less threads * cleanup * fix no output * cleanup --- selfdrive/manager/build.py | 68 ++++++++++++++++++++------------------ 1 file changed, 35 insertions(+), 33 deletions(-) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index c877e6ed97..96501051a8 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import os import subprocess -import textwrap from pathlib import Path +from typing import List # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR @@ -19,57 +19,59 @@ TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) - def build(spinner: Spinner, dirty: bool = False) -> None: env = os.environ.copy() env['SCONS_PROGRESS'] = "1" nproc = os.cpu_count() - j_flag = "" if nproc is None else f"-j{nproc - 1}" - - scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) - assert scons.stderr is not None - - compile_output = [] - - # Read progress from stderr and update spinner - while scons.poll() is None: - try: - line = scons.stderr.readline() - if line is None: - continue - line = line.rstrip() - - prefix = b'progress: ' - if line.startswith(prefix): - i = int(line[len(prefix):]) - spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) - elif len(line): - compile_output.append(line) - print(line.decode('utf8', 'replace')) - except Exception: - pass + if nproc is None: + nproc = 2 + + # building with all cores can result in using too + # much memory, so retry with less parallelism + compile_output: List[bytes] = [] + for n in (nproc, nproc/2, 1): + compile_output.clear() + scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None + + # Read progress from stderr and update spinner + while scons.poll() is None: + try: + line = scons.stderr.readline() + if line is None: + continue + line = line.rstrip() + + prefix = b'progress: ' + if line.startswith(prefix): + i = int(line[len(prefix):]) + spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) + elif len(line): + compile_output.append(line) + print(line.decode('utf8', 'replace')) + except Exception: + pass + + if scons.returncode == 0: + break if scons.returncode != 0: # Read remaining output - r = scons.stderr.read().split(b'\n') - compile_output += r + if scons.stderr is not None: + compile_output += scons.stderr.read().split(b'\n') # Build failed log errors - errors = [line.decode('utf8', 'replace') for line in compile_output - if any(err in line for err in [b'error: ', b'not found, needed by target'])] - error_s = "\n".join(errors) + error_s = b"\n".join(compile_output).decode('utf8', 'replace') add_file_handler(cloudlog) cloudlog.error("scons build failed\n" + error_s) # Show TextWindow spinner.close() if not os.getenv("CI"): - error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) with TextWindow("openpilot failed to build\n \n" + error_s) as t: t.wait_for_exit() exit(1) - # enforce max cache size cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()] cache_files.sort(key=lambda f: f.stat().st_mtime) From 16a8c9fbf13bf6a61f5704d5a2885b09ce4a8f80 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 21:09:33 -0700 Subject: [PATCH 064/410] Toyota: remove redundant car set union (#29546) remove confusing union --- selfdrive/car/toyota/carstate.py | 2 +- selfdrive/car/toyota/tests/test_toyota.py | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 7eefe43dd9..3297750a8d 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -130,7 +130,7 @@ class CarState(CarStateBase): cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp - if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): + if self.CP.carFingerprint in TSS2_CAR: if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"]) diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index e877db3eb8..c621734e2b 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -2,14 +2,15 @@ from cereal import car import unittest -from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS Ecu = car.CarParams.Ecu class TestToyotaInterfaces(unittest.TestCase): - def test_angle_car_set(self): + def test_car_sets(self): self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) + self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, From 0aa6e2ce41113a8f129ab88762037254f2951f91 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 21:17:30 -0700 Subject: [PATCH 065/410] Toyota: prepare to disable radar (#29542) * try to disable radar * fix bug and bump panda * prep * always attempt longitudinal for testers * fix rav4 * send ACC_HUD * bump panda * revert * check for failure to disable * fix arg * bump to master * revert to master * comments only * correct check * carcontroller * something like this * or this * use flag * send PCS HUD * clean up * carstate checks * fix from test models * consistent --- selfdrive/car/toyota/carcontroller.py | 8 ++++++-- selfdrive/car/toyota/carstate.py | 6 +++--- selfdrive/car/toyota/interface.py | 19 +++++++++++++++++-- selfdrive/car/toyota/toyotacan.py | 2 +- selfdrive/car/toyota/values.py | 1 + 5 files changed, 28 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index c625c2e493..b765d70b9a 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -6,7 +6,7 @@ from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, creat create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ - MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \ + MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \ UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker @@ -166,7 +166,7 @@ class CarController: hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) - if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: + if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): can_sends.append(create_fcw_command(self.packer, fcw_alert)) # *** static msgs *** @@ -174,6 +174,10 @@ class CarController: if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars: can_sends.append(make_can_msg(addr, vl, bus)) + # keep radar disabled + if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: + can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) + new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 3297750a8d..c96df6f10f 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -130,7 +130,7 @@ class CarState(CarStateBase): cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp - if self.CP.carFingerprint in TSS2_CAR: + if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"]) @@ -153,7 +153,7 @@ class CarState(CarStateBase): ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 - if not self.CP.enableDsu: + if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5) if self.CP.enableBsm: @@ -201,7 +201,7 @@ class CarState(CarStateBase): if CP.enableBsm: messages.append(("BSM", 1)) - if CP.carFingerprint in RADAR_ACC_CAR: + if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: if not CP.flags & ToyotaFlags.SMART_DSU.value: messages += [ ("ACC_CONTROL", 33), diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c78479a97e..89b328b6ae 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,9 +2,11 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from panda import Panda +from panda.python import uds from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.disable_ecu import disable_ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase EventName = car.CarEvent.EventName @@ -218,7 +220,12 @@ class CarInterface(CarInterfaceBase): use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) if candidate in RADAR_ACC_CAR: ret.experimentalLongitudinalAvailable = use_sdsu - use_sdsu = use_sdsu and experimental_long + + if not use_sdsu: + if experimental_long and False: # TODO: disabling radar isn't supported yet + ret.flags |= ToyotaFlags.DISABLE_RADAR.value + else: + use_sdsu = use_sdsu and experimental_long # openpilot longitudinal enabled by default: # - non-(TSS2 radar ACC cars) w/ smartDSU installed @@ -226,7 +233,8 @@ class CarInterface(CarInterfaceBase): # - TSS2 cars with camera sending ACC_CONTROL where we can block it # openpilot longitudinal behind experimental long toggle: # - TSS2 radar ACC cars w/ smartDSU installed - ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + # - TSS2 radar ACC cars w/o smartDSU installed (disables radar) + ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: @@ -261,6 +269,13 @@ class CarInterface(CarInterfaceBase): return ret + @staticmethod + def init(CP, logcan, sendcan): + # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU + if CP.flags & ToyotaFlags.DISABLE_RADAR.value: + communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL]) + disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control) + # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 0c3330efa2..0792ac869f 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -56,7 +56,7 @@ def create_acc_cancel_command(packer): def create_fcw_command(packer, fcw): values = { - "PCS_INDICATOR": 1, + "PCS_INDICATOR": 1, # PCS turned off "FCW": fcw, "SET_ME_X20": 0x20, "SET_ME_X10": 0x10, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 7d62528748..bdde3c6095 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -42,6 +42,7 @@ class CarControllerParams: class ToyotaFlags(IntFlag): HYBRID = 1 SMART_DSU = 2 + DISABLE_RADAR = 4 class CAR: From 7de9842245dfb506ec340290469d7412989e2233 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 23:43:52 -0700 Subject: [PATCH 066/410] FW Query: test noOBD queries on aux panda (#29547) * huh, this test just works! * fix * Update selfdrive/car/tests/test_fw_fingerprint.py --- selfdrive/car/ford/values.py | 1 - selfdrive/car/tests/test_fw_fingerprint.py | 6 +++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 5d99db945e..8968d1dc29 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -108,7 +108,6 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], # whitelist_ecus=[Ecu.engine], - auxiliary=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 3280dea7dc..f5892a6090 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -168,6 +168,10 @@ class TestFwFingerprint(unittest.TestCase): for request_obj in config.requests: self.assertEqual(len(request_obj.request), len(request_obj.response)) + # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda + self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing, + f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}") + class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 @@ -237,7 +241,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'volkswagen': 0.2, }, 2: { - 'ford': 0.4, + 'ford': 0.3, 'hyundai': 1.1, } } From 1ea310b202ecedfad67831cca189970944977145 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Aug 2023 23:58:29 -0700 Subject: [PATCH 067/410] Update FW query total time --- selfdrive/car/tests/test_fw_fingerprint.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index f5892a6090..883a72897c 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -225,7 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = 6.2 + total_ref_time = 6.1 brand_ref_times = { 1: { 'body': 0.1, From 8a7281d2859f2fa8d49cb3b679c2eaf5ec8f1729 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 23 Aug 2023 00:13:10 -0700 Subject: [PATCH 068/410] Laikad upgrades: prep for laikad lld (#29545) * Laikad upgrades: prep for laikad lld * Update ref commit --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 59 +++++++++--------------- selfdrive/locationd/test/test_laikad.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 26 insertions(+), 41 deletions(-) diff --git a/laika_repo b/laika_repo index 65901a1e6c..989b6a8505 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253 +Subproject commit 989b6a8505441a550c94f60b4378be296ea3fe92 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 2073813363..6c9c199db1 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -18,7 +18,8 @@ from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId, get_sv_id -from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom +from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox +from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman @@ -102,9 +103,10 @@ class Laikad: self.use_qcom = use_qcom self.first_log_time = None self.ttff = -1 + self.measurement_lag = 0.630 if self.use_qcom else 0.095 # qcom specific stuff - self.qcom_reports_received = 1 + self.qcom_reports_received = 4 self.qcom_reports = [] def load_cache(self): @@ -161,47 +163,31 @@ class Laikad: def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 + position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - - position_std_residual = np.median(np.abs(pr_residuals)) - position_std = np.median(np.abs(pos_std))/10 - position_std = max(position_std_residual, position_std) * np.ones(3) + position_std = pos_std[:3] velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None velocity_estimate = velocity_solution[:3] - - velocity_std_residual = np.median(np.abs(prr_residuals)) - velocity_std = np.median(np.abs(vel_std))/10 - velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) + velocity_std = vel_std[:3] return position_estimate, position_std, velocity_estimate, velocity_std - def gps_time_from_qcom_report(self, gnss_msg): - report = gnss_msg.drMeasurementReport - if report.source == log.QcomGnss.MeasurementSource.gps: - report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) - elif report.source == log.QcomGnss.MeasurementSource.sbas: - report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) - elif report.source == log.QcomGnss.MeasurementSource.glonass: - report_time = GPSTime.from_glonass(report.glonassYear, - report.glonassDay, - report.glonassMilliseconds / 1000.0) - else: - raise NotImplementedError(f'Unknownconstellation {report.source}') - return report_time - def is_good_report(self, gnss_msg): - if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: + if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom: # TODO: Understand and use remaining unknown constellations try: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + if gnss_msg.which() == 'drMeasurementReport': + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + else: + constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] - report_time = self.gps_time_from_qcom_report(gnss_msg) + report_time = gps_time_from_qcom_report(gnss_msg) except NotImplementedError: return False # Garbage timestamps with week > 32767 are sometimes sent by module. @@ -216,21 +202,20 @@ class Laikad: def read_report(self, gnss_msg): if self.use_qcom: # QCOM reports are per constellation, so we need to aggregate them - report = gnss_msg.drMeasurementReport - report_time = self.gps_time_from_qcom_report(gnss_msg) - + # Additionally, the pseudoranges are broken in the measurementReports + # and the doppler filteredSpeed is broken in the drMeasurementReports + report_time = gps_time_from_qcom_report(gnss_msg) if report_time - self.last_report_time > 0: self.qcom_reports_received = max(1, len(self.qcom_reports)) - self.qcom_reports = [report] + self.qcom_reports = [gnss_msg] else: - self.qcom_reports.append(report) + self.qcom_reports.append(gnss_msg) self.last_report_time = report_time - new_meas = [] if len(self.qcom_reports) == self.qcom_reports_received: - for report in self.qcom_reports: - new_meas.extend(read_raw_qcom(report)) - + new_meas = get_measurements_from_qcom_reports(self.qcom_reports) + else: + new_meas = [] else: report = gnss_msg.measurementReport self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) @@ -300,7 +285,7 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") t = gnss_mono_time * 1e-9 - msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)} if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 58c650e26c..a8d69502cf 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -177,8 +177,8 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 56 if use_qcom else 560 - valid_fix_expected = 56 if use_qcom else 560 + correct_msgs_expected = 55 if use_qcom else 560 + valid_fix_expected = 55 if use_qcom else 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8aec881aa5..51c84c4bdd 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -72e3d7b660ee92f5adcc249112cf04c703f4bf9e \ No newline at end of file +4846f6f416128ba74837829643aa3fe0897c5621 \ No newline at end of file From 861ceb2feeb8e9f303b96c0e7a9ef19c5423938d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Aug 2023 01:31:04 -0700 Subject: [PATCH 069/410] FW query: query one sub-address in parallel (#28675) * put one subaddr in parallel_addrs * p * remove print * update test refs * test * revert test changes * do same in present ECU query, lower threshold to catch (~0.82 to ~0.72 right within bounds) * type * clean up * update test ref --- selfdrive/car/fw_versions.py | 12 ++++++++---- selfdrive/car/tests/test_fw_fingerprint.py | 6 +++--- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 45c4967cb8..9b4b5d6a33 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -185,11 +185,13 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: a = (addr, sub_addr, r.bus) # Build set of queries - if sub_addr is None: + # Add first sub-address to parallel queries since there will be no conflicts + sub_addr_in_parallel_addrs = any(p[1] is not None for p in parallel_queries[r.obd_multiplexing]) + if sub_addr is None or not sub_addr_in_parallel_addrs: if a not in parallel_queries[r.obd_multiplexing]: parallel_queries[r.obd_multiplexing].append(a) else: # subaddresses must be queried one by one - if [a] not in queries[r.obd_multiplexing]: + if [a] not in queries[r.obd_multiplexing] and a not in parallel_queries[r.obd_multiplexing]: queries[r.obd_multiplexing].append([a]) # Build set of expected responses to filter @@ -282,11 +284,13 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, if a not in ecu_types: ecu_types[a] = ecu_type - if sub_addr is None: + # Add first sub-address to parallel queries since there will be no conflicts + sub_addr_in_parallel_addrs = any(p[2] is not None for p in parallel_addrs) + if sub_addr is None or not sub_addr_in_parallel_addrs: if a not in parallel_addrs: parallel_addrs.append(a) else: - if [a] not in addrs: + if [a] not in addrs and a not in parallel_addrs: addrs.append([a]) addrs.insert(0, parallel_addrs) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 883a72897c..47b194bcf8 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -206,7 +206,7 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time vin_ref_time = 1.0 - present_ecu_ref_time = 0.8 + present_ecu_ref_time = 0.7 fake_socket = FakeSocket() present_ecu_time = 0.0 @@ -225,7 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = 6.1 + total_ref_time = 5.9 brand_ref_times = { 1: { 'body': 0.1, @@ -237,7 +237,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'nissan': 0.4, 'subaru': 0.2, 'tesla': 0.2, - 'toyota': 1.6, + 'toyota': 1.4, 'volkswagen': 0.2, }, 2: { From 365bdd342200b5348370de418a652301da2e3949 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Aug 2023 01:41:28 -0700 Subject: [PATCH 070/410] Revert "FW query: query one sub-address in parallel" (#29550) Revert "FW query: query one sub-address in parallel (#28675)" This reverts commit 861ceb2feeb8e9f303b96c0e7a9ef19c5423938d. --- selfdrive/car/fw_versions.py | 12 ++++-------- selfdrive/car/tests/test_fw_fingerprint.py | 6 +++--- 2 files changed, 7 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9b4b5d6a33..45c4967cb8 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -185,13 +185,11 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: a = (addr, sub_addr, r.bus) # Build set of queries - # Add first sub-address to parallel queries since there will be no conflicts - sub_addr_in_parallel_addrs = any(p[1] is not None for p in parallel_queries[r.obd_multiplexing]) - if sub_addr is None or not sub_addr_in_parallel_addrs: + if sub_addr is None: if a not in parallel_queries[r.obd_multiplexing]: parallel_queries[r.obd_multiplexing].append(a) else: # subaddresses must be queried one by one - if [a] not in queries[r.obd_multiplexing] and a not in parallel_queries[r.obd_multiplexing]: + if [a] not in queries[r.obd_multiplexing]: queries[r.obd_multiplexing].append([a]) # Build set of expected responses to filter @@ -284,13 +282,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, if a not in ecu_types: ecu_types[a] = ecu_type - # Add first sub-address to parallel queries since there will be no conflicts - sub_addr_in_parallel_addrs = any(p[2] is not None for p in parallel_addrs) - if sub_addr is None or not sub_addr_in_parallel_addrs: + if sub_addr is None: if a not in parallel_addrs: parallel_addrs.append(a) else: - if [a] not in addrs and a not in parallel_addrs: + if [a] not in addrs: addrs.append([a]) addrs.insert(0, parallel_addrs) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 47b194bcf8..883a72897c 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -206,7 +206,7 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time vin_ref_time = 1.0 - present_ecu_ref_time = 0.7 + present_ecu_ref_time = 0.8 fake_socket = FakeSocket() present_ecu_time = 0.0 @@ -225,7 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = 5.9 + total_ref_time = 6.1 brand_ref_times = { 1: { 'body': 0.1, @@ -237,7 +237,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'nissan': 0.4, 'subaru': 0.2, 'tesla': 0.2, - 'toyota': 1.4, + 'toyota': 1.6, 'volkswagen': 0.2, }, 2: { From 363740a497620249066522c87ddb03e1362749d4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 01:13:46 +0800 Subject: [PATCH 071/410] cpplint: add `readability/braces` filter (#29554) --- .pre-commit-config.yaml | 2 +- common/swaglog.h | 2 +- common/util.h | 2 +- selfdrive/boardd/panda_comms.h | 4 ++-- selfdrive/boardd/spi.cc | 2 +- selfdrive/locationd/locationd.cc | 15 +++++---------- selfdrive/ui/qt/maps/map_settings.h | 2 +- selfdrive/ui/qt/offroad/onboarding.h | 4 ++-- selfdrive/ui/qt/onroad.h | 2 +- selfdrive/ui/qt/spinner.cc | 2 +- selfdrive/ui/soundd/sound.cc | 2 +- system/camerad/cameras/camera_qcom2.cc | 2 +- system/camerad/cameras/camera_util.cc | 2 +- system/hardware/base.h | 8 ++++---- system/hardware/pc/hardware.h | 4 ++-- system/hardware/tici/hardware.h | 22 +++++++++++----------- system/loggerd/encoder/encoder.h | 2 +- system/sensord/sensors/sensor.h | 2 +- system/ubloxd/ublox_msg.cc | 3 +-- tools/cabana/streams/abstractstream.h | 2 +- tools/replay/replay.h | 2 +- 21 files changed, 41 insertions(+), 47 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c58654b2d2..65140282ee 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+readability/braces - repo: local hooks: - id: test_translations diff --git a/common/swaglog.h b/common/swaglog.h index 5a3434d624..06d45b1d98 100644 --- a/common/swaglog.h +++ b/common/swaglog.h @@ -44,7 +44,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun int __millis = (millis); \ uint64_t __ts = nanos_since_boot(); \ \ - if (!__begin) __begin = __ts; \ + if (!__begin) { __begin = __ts; } \ \ if (__begin + __millis*1000000ULL < __ts) { \ if (__missed) { \ diff --git a/common/util.h b/common/util.h index aaa54d52a2..23c37f153a 100644 --- a/common/util.h +++ b/common/util.h @@ -115,7 +115,7 @@ public: #ifndef __APPLE__ std::signal(SIGPWR, (sighandler_t)set_do_exit); #endif - }; + } inline static std::atomic power_failure = false; inline static std::atomic signal = 0; inline operator bool() { return do_exit; } diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index c102642e59..e61d25402f 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -20,8 +20,8 @@ // comms base class class PandaCommsHandle { public: - PandaCommsHandle(std::string serial) {}; - virtual ~PandaCommsHandle() {}; + PandaCommsHandle(std::string serial) {} + virtual ~PandaCommsHandle() {} virtual void cleanup() = 0; std::string hw_serial; diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 1732e902d5..d11e955c49 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -43,7 +43,7 @@ public: LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) { m.lock(); flock(fd, LOCK_EX); - }; + } ~LockEx() { flock(fd, LOCK_UN); diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 68f16a572e..37fbb6b260 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -240,8 +240,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time"); this->observation_timings_invalid = true; return; - } - else if (!this->is_timestamp_valid(sensor_time)) { + } else if (!this->is_timestamp_valid(sensor_time)) { this->observation_timings_invalid = true; return; } @@ -258,8 +257,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData if (meas.norm() < ROTATION_SANITY_CHECK) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); this->observation_values_invalid["gyroscope"] *= DECAY; - } - else{ + } else { this->observation_values_invalid["gyroscope"] += 1.0; } } @@ -277,8 +275,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData if (meas.norm() < ACCEL_SANITY_CHECK) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas }); this->observation_values_invalid["accelerometer"] *= DECAY; - } - else{ + } else { this->observation_values_invalid["accelerometer"] += 1.0; } } @@ -414,8 +411,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: orientation_reset &= !this->standstill; if (orientation_reset) { this->orientation_reset_count++; - } - else { + } else { this->orientation_reset_count = 0; } @@ -649,8 +645,7 @@ void Localizer::determine_gps_mode(double current_time) { if (this->gps_mode){ this->gps_mode = false; this->reset_kalman(current_time); - } - else{ + } else { this->input_fake_gps_observations(current_time); } } diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index bfffd9206d..ffec1f980f 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -25,7 +25,7 @@ class NavigationRequest : public QObject { public: static NavigationRequest *instance(); - QJsonArray currentLocations() const { return locations; }; + QJsonArray currentLocations() const { return locations; } signals: void locationsUpdated(const QJsonArray &locations); diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h index 2fdae35de0..a1b6895ba0 100644 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ b/selfdrive/ui/qt/offroad/onboarding.h @@ -63,7 +63,7 @@ class TermsPage : public QFrame { Q_OBJECT public: - explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}; + explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {} public slots: void enableAccept(); @@ -82,7 +82,7 @@ class DeclinePage : public QFrame { Q_OBJECT public: - explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {}; + explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {} private: void showEvent(QShowEvent *event) override; diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 778322ed08..1975ec9f01 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -18,7 +18,7 @@ class OnroadAlerts : public QWidget { Q_OBJECT public: - OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}; + OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {} void updateAlert(const Alert &a); protected: diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc index 8f13576fb2..73a0f5014e 100644 --- a/selfdrive/ui/qt/spinner.cc +++ b/selfdrive/ui/qt/spinner.cc @@ -93,7 +93,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) { notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read); QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update); -}; +} void Spinner::update(int n) { std::string line; diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index ae06e3e903..d3c6486023 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -27,7 +27,7 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { QTimer *timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, this, &Sound::update); timer->start(1000 / UI_FREQ); -}; +} void Sound::update() { sm.update(0); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 1480342ee3..df70b7983d 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -194,7 +194,7 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { unconditional_wait->delay = delay_ms; unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND; return (struct cam_cmd_power *)(unconditional_wait + 1); -}; +} int CameraState::sensors_init() { uint32_t cam_packet_handle = 0; diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc index 5e8640e99a..74c81a878a 100644 --- a/system/camerad/cameras/camera_util.cc +++ b/system/camerad/cameras/camera_util.cc @@ -37,7 +37,7 @@ std::optional device_acquire(int fd, int32_t session_handle, void *data }; int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; -}; +} int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { struct cam_config_dev_cmd cmd = { diff --git a/system/hardware/base.h b/system/hardware/base.h index 5460099723..2096e1e0bb 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -11,10 +11,10 @@ public: static constexpr float MIN_VOLUME = 0.2; static std::string get_os_version() { return ""; } - static std::string get_name() { return ""; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }; - static int get_voltage() { return 0; }; - static int get_current() { return 0; }; + static std::string get_name() { return ""; } + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; } + static int get_voltage() { return 0; } + static int get_current() { return 0; } static std::string get_serial() { return "cccccc"; } diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 529b4bfe9d..84fb3bd89e 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -5,8 +5,8 @@ class HardwarePC : public HardwareNone { public: static std::string get_os_version() { return "openpilot for PC"; } - static std::string get_name() { return "pc"; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }; + static std::string get_name() { return "pc"; } + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; } static bool PC() { return true; } static bool TICI() { return util::getenv("TICI", 0) == 1; } static bool AGNOS() { return util::getenv("TICI", 0) == 1; } diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 580dc83eec..82648ac984 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -15,19 +15,19 @@ public: static bool AGNOS() { return true; } static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); - }; + } static std::string get_name() { std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model"); return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici"; - }; + } static cereal::InitData::DeviceType get_device_type() { return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI; - }; + } - static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; - static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); } + static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); } static std::string get_serial() { static std::string serial(""); @@ -47,8 +47,8 @@ public: return serial; } - static void reboot() { std::system("sudo reboot"); }; - static void poweroff() { std::system("sudo poweroff"); }; + static void reboot() { std::system("sudo reboot"); } + static void poweroff() { std::system("sudo poweroff"); } static void set_brightness(int percent) { std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"); @@ -57,14 +57,14 @@ public: brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n"; brightness_control.close(); } - }; + } static void set_display_power(bool on) { std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power"); if (bl_power_control.is_open()) { bl_power_control << (on ? "0" : "4") << "\n"; bl_power_control.close(); } - }; + } static void set_volume(float volume) { volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); @@ -99,6 +99,6 @@ public: return ret; } - static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }; - static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }; + static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } + static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } }; diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 59ec4357ae..bf70775b7c 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -15,7 +15,7 @@ class VideoEncoder { public: VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); - virtual ~VideoEncoder() {}; + virtual ~VideoEncoder() {} virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; virtual void encoder_open(const char* path) = 0; virtual void encoder_close() = 0; diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h index 603aa3586e..2557155229 100644 --- a/system/sensord/sensors/sensor.h +++ b/system/sensord/sensors/sensor.h @@ -6,7 +6,7 @@ class Sensor { public: int gpio_fd = -1; uint64_t init_delay = 500e6; // default dealy 500ms - virtual ~Sensor() {}; + virtual ~Sensor() {} virtual int init() = 0; virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; virtual bool has_interrupt_enabled() = 0; diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index 7cecf58bed..02993a574d 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -295,8 +295,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ continue; if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { superframe_unknown = true; - } - else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { + } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { needs_clear = true; } // Check if string times add up to being from the same frame diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index fb42a58e24..21885d742b 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -39,7 +39,7 @@ class AbstractStream : public QObject { public: AbstractStream(QObject *parent); - virtual ~AbstractStream() {}; + virtual ~AbstractStream() {} virtual void start() = 0; inline bool liveStreaming() const { return route() == nullptr; } virtual void seekTo(double ts) {} diff --git a/tools/replay/replay.h b/tools/replay/replay.h index a9a6bfd910..1792702957 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -72,7 +72,7 @@ public: inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } - inline const std::map> &segments() const { return segments_; }; + inline const std::map> &segments() const { return segments_; } inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); From 659795b1db85636a2f97eba7616159047bf0c6e9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 23 Aug 2023 10:26:38 -0700 Subject: [PATCH 072/410] devcontainer: handle hosts without X11 (#29537) * Setup xauthority link on host in initializeCommand * Create a dummy xauthority if it does no exist on host machine * Remove xauthority line from ci test --- .devcontainer/.gitignore | 1 + .devcontainer/devcontainer.json | 3 ++- .devcontainer/setup_host.sh | 16 ++++++++++++++++ .github/workflows/tools_tests.yaml | 4 +--- 4 files changed, 20 insertions(+), 4 deletions(-) create mode 100644 .devcontainer/.gitignore create mode 100755 .devcontainer/setup_host.sh diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore new file mode 100644 index 0000000000..1f8ec242b8 --- /dev/null +++ b/.devcontainer/.gitignore @@ -0,0 +1 @@ +.Xauthority \ No newline at end of file diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index c2d26fb9a7..7c4d53960e 100755 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -5,6 +5,7 @@ }, "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'", "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"", + "initializeCommand": ".devcontainer/setup_host.sh", "privileged": true, "containerEnv": { "DISPLAY": "${localEnv:DISPLAY}", @@ -13,7 +14,7 @@ }, "runArgs": [ "--volume=/tmp/.X11-unix:/tmp/.X11-unix", - "--volume=${localEnv:XAUTHORITY}:/root/.Xauthority", + "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority", "--volume=${localEnv:HOME}/.comma:/root/.comma", "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", diff --git a/.devcontainer/setup_host.sh b/.devcontainer/setup_host.sh new file mode 100755 index 0000000000..5c3c5e900c --- /dev/null +++ b/.devcontainer/setup_host.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash + +# setup links to Xauthority +XAUTHORITY_LINK=".devcontainer/.Xauthority" +rm -f $XAUTHORITY_LINK +if [[ -z $XAUTHORITY ]]; then + echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..." + if ! [[ -f $HOME/.Xauthority ]]; then + echo "~/.XAuthority file does not exist. GUI tools may not work properly." + touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount + else + ln -sf $HOME/.Xauthority $XAUTHORITY_LINK + fi +else + ln -sf $XAUTHORITY $XAUTHORITY_LINK +fi diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index dff2a4b04d..04f73d21af 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -105,8 +105,6 @@ jobs: - name: Build dev container image run: devcontainer build --workspace-folder . - name: Run dev container - run: | - export XAUTHORITY="$HOME/.Xauthority" - devcontainer up --workspace-folder . + run: devcontainer up --workspace-folder . - name: Test environment run: devcontainer exec --workspace-folder . scons --dry-run From 2b0e4d46bbbb0ccbf028c975c3345d05765a7213 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 23 Aug 2023 19:50:11 +0200 Subject: [PATCH 073/410] cabana: socketcan support (#27952) * empty socketcan class * works on linux with vcan * add open stream widget * fix MacOS build * update readme * unused * no socketcan on C3 * fix in cabana sconstruct * serial -> device --- tools/cabana/README.md | 1 + tools/cabana/SConscript | 4 +- tools/cabana/cabana.cc | 8 ++ tools/cabana/streams/abstractstream.h | 6 ++ tools/cabana/streams/pandastream.h | 6 -- tools/cabana/streams/socketcanstream.cc | 115 ++++++++++++++++++++++++ tools/cabana/streams/socketcanstream.h | 50 +++++++++++ tools/cabana/streamselector.cc | 5 ++ tools/install_ubuntu_dependencies.sh | 1 + 9 files changed, 189 insertions(+), 7 deletions(-) create mode 100644 tools/cabana/streams/socketcanstream.cc create mode 100644 tools/cabana/streams/socketcanstream.h diff --git a/tools/cabana/README.md b/tools/cabana/README.md index cfda056636..53723ef8a6 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -17,6 +17,7 @@ Options: --stream read can messages from live streaming --panda read can messages from panda --panda-serial read can messages from panda with given serial + --socketcan read can messages from given SocketCAN device --zmq the ip address on which to receive zmq messages --data_dir local directory with routes diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index c6b47630ef..a713b612fc 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -9,9 +9,11 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', if arch == "Darwin": base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') + base_frameworks.append('QtSerialBus') else: base_libs.append('OpenCL') base_libs.append('Qt5Charts') + base_libs.append('Qt5SerialBus') qt_libs = ['qt_util'] + base_libs @@ -27,7 +29,7 @@ assets_src = "assets/assets.qrc" cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 49b8fcf6ca..7d3e6ab99f 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -7,6 +7,7 @@ #include "tools/cabana/streams/devicestream.h" #include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" +#include "tools/cabana/streams/socketcanstream.h" int main(int argc, char *argv[]) { QCoreApplication::setApplicationName("Cabana"); @@ -28,6 +29,9 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"stream", "read can messages from live streaming"}); cmd_parser.addOption({"panda", "read can messages from panda"}); cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"}); + if (SocketCanStream::available()) { + cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"}); + } cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.addOption({"no-vipc", "do not output video"}); @@ -50,6 +54,10 @@ int main(int argc, char *argv[]) { qWarning() << e.what(); return 0; } + } else if (cmd_parser.isSet("socketcan")) { + SocketCanStreamConfig config = {}; + config.device = cmd_parser.value("socketcan"); + stream = new SocketCanStream(&app, config); } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 21885d742b..5cafa58cb8 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -34,6 +34,12 @@ struct CanEvent { uint8_t dat[]; }; +struct BusConfig { + int can_speed_kbps = 500; + int data_speed_kbps = 2000; + bool can_fd = false; +}; + class AbstractStream : public QObject { Q_OBJECT diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index f726c5cfb6..49e1836c2d 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -10,12 +10,6 @@ const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; -struct BusConfig { - int can_speed_kbps = 500; - int data_speed_kbps = 2000; - bool can_fd = false; -}; - struct PandaStreamConfig { QString serial = ""; std::vector bus_config; diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc new file mode 100644 index 0000000000..d5f9d115f2 --- /dev/null +++ b/tools/cabana/streams/socketcanstream.cc @@ -0,0 +1,115 @@ +#include "tools/cabana/streams/socketcanstream.h" +#include "socketcanstream.h" + +#include +#include +#include + +SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) { + if (!available()) { + throw std::runtime_error("SocketCAN plugin not available"); + } + + qDebug() << "Connecting to SocketCAN device" << config.device; + if (!connect()) { + throw std::runtime_error("Failed to connect to SocketCAN device"); + } +} + +bool SocketCanStream::available() { + return QCanBus::instance()->plugins().contains("socketcan"); +} + +bool SocketCanStream::connect() { + // Connecting might generate some warnings about missing socketcan/libsocketcan libraries + // These are expected and can be ignored, we don't need the advanced features of libsocketcan + QString errorString; + device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString)); + + if (!device) { + qDebug() << "Failed to create SocketCAN device" << errorString; + return false; + } + + if (!device->connectDevice()) { + qDebug() << "Failed to connect to device"; + return false; + } + + return true; +} + +void SocketCanStream::streamThread() { + while (!QThread::currentThread()->isInterruptionRequested()) { + QThread::msleep(1); + + auto frames = device->readAllFrames(); + if (frames.size() == 0) continue; + + MessageBuilder msg; + auto evt = msg.initEvent(); + auto canData = evt.initCan(frames.size()); + + + for (uint i = 0; i < frames.size(); i++) { + if (!frames[i].isValid()) continue; + + canData[i].setAddress(frames[i].frameId()); + canData[i].setSrc(0); + + auto payload = frames[i].payload(); + canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size())); + } + + auto bytes = msg.toBytes(); + handleEvent((const char*)bytes.begin(), bytes.size()); + } +} + +AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) { + return new OpenSocketCanWidget(stream); +} + +OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(1); + + QFormLayout *form_layout = new QFormLayout(); + + QHBoxLayout *device_layout = new QHBoxLayout(); + device_edit = new QComboBox(); + device_edit->setFixedWidth(300); + device_layout->addWidget(device_edit); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setFixedWidth(100); + device_layout->addWidget(refresh); + form_layout->addRow(tr("Device"), device_layout); + main_layout->addLayout(form_layout); + + main_layout->addStretch(1); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices); + QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); }); + + // Populate devices + refreshDevices(); +} + +void OpenSocketCanWidget::refreshDevices() { + device_edit->clear(); + for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) { + device_edit->addItem(device.name()); + } +} + + +bool OpenSocketCanWidget::open() { + try { + *stream = new SocketCanStream(qApp, config); + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what())); + return false; + } + return true; +} diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h new file mode 100644 index 0000000000..9d34aaebac --- /dev/null +++ b/tools/cabana/streams/socketcanstream.h @@ -0,0 +1,50 @@ +#pragma once + +#include +#include +#include + +#include +#include +#include + +#include "tools/cabana/streams/livestream.h" + +struct SocketCanStreamConfig { + QString device = ""; // TODO: support multiple devices/buses at once +}; + +class SocketCanStream : public LiveStream { + Q_OBJECT +public: + SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); + static AbstractOpenStreamWidget *widget(AbstractStream **stream); + + static bool available(); + + inline QString routeName() const override { + return QString("Live Streaming From Socket CAN %1").arg(config.device); + } + +protected: + void streamThread() override; + bool connect(); + + SocketCanStreamConfig config = {}; + std::unique_ptr device; +}; + +class OpenSocketCanWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenSocketCanWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&SocketCAN"); } + +private: + void refreshDevices(); + + QComboBox *device_edit; + SocketCanStreamConfig config = {}; +}; diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index 6da44ecd1a..719ba72920 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -6,9 +6,11 @@ #include #include +#include "streams/socketcanstream.h" #include "tools/cabana/streams/devicestream.h" #include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" +#include "tools/cabana/streams/socketcanstream.h" StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Open stream")); @@ -40,6 +42,9 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial addStreamWidget(ReplayStream::widget(stream)); addStreamWidget(PandaStream::widget(stream)); + if (SocketCanStream::available()) { + addStreamWidget(SocketCanStream::widget(stream)); + } addStreamWidget(DeviceStream::widget(stream)); QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 6214452870..78a01f2b75 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -73,6 +73,7 @@ function install_ubuntu_common_requirements() { libqt5sql5-sqlite \ libqt5svg5-dev \ libqt5charts5-dev \ + libqt5serialbus5-dev \ libqt5x11extras5-dev \ libreadline-dev \ libdw1 \ From 6a66b7555679c5cd3511e03ba6e1cb528706f84e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Aug 2023 12:58:09 -0700 Subject: [PATCH 074/410] sensord: setup per-sensor threads (#29558) * sensord: setup per-sensor threads * revert cereal * more cleanup * bump cereal * update test --------- Co-authored-by: Comma Device --- cereal | 2 +- system/sensord/sensors/lsm6ds3_accel.cc | 2 +- system/sensord/sensors/sensor.h | 8 +- system/sensord/sensors_qcom2.cc | 145 +++++++++--------------- system/sensord/tests/test_sensord.py | 2 +- 5 files changed, 65 insertions(+), 94 deletions(-) diff --git a/cereal b/cereal index e7c42fd11c..736a4cce2c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e7c42fd11cc71f16ac762e6aed3409ce4c644b42 +Subproject commit 736a4cce2c51cb73465e88dae6ff4cec5b9c3b43 diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc index 2a09702c96..139b5df67a 100644 --- a/system/sensord/sensors/lsm6ds3_accel.cc +++ b/system/sensord/sensors/lsm6ds3_accel.cc @@ -121,7 +121,7 @@ int LSM6DS3_Accel::init() { uint8_t value = 0; bool do_self_test = false; - const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); + const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { do_self_test = true; } diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h index 2557155229..1b0e3be0dc 100644 --- a/system/sensord/sensors/sensor.h +++ b/system/sensord/sensors/sensor.h @@ -5,6 +5,7 @@ class Sensor { public: int gpio_fd = -1; + uint64_t start_ts = 0; uint64_t init_delay = 500e6; // default dealy 500ms virtual ~Sensor() {} virtual int init() = 0; @@ -12,7 +13,10 @@ public: virtual bool has_interrupt_enabled() = 0; virtual int shutdown() = 0; - virtual bool is_data_valid(uint64_t st, uint64_t ct) { - return (ct - st) > init_delay; + virtual bool is_data_valid(uint64_t current_ts) { + if (start_ts == 0) { + start_ts = current_ts; + } + return (current_ts - start_ts) > init_delay; } }; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 9276a029c3..313dc50095 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -22,19 +22,22 @@ #include "system/sensord/sensors/lsm6ds3_gyro.h" #include "system/sensord/sensors/lsm6ds3_temp.h" #include "system/sensord/sensors/mmc5603nj_magn.h" -#include "system/sensord/sensors/sensor.h" #define I2C_BUS_IMU 1 ExitHandler do_exit; -uint64_t init_ts = 0; -void interrupt_loop(std::vector& sensors, - std::map& sensor_service) -{ - PubMaster pm_int({"gyroscope", "accelerometer"}); +void interrupt_loop(std::vector> sensors) { + PubMaster pm({"gyroscope", "accelerometer"}); + + int fd = -1; + for (auto &[sensor, msg_name, required, polling_freq] : sensors) { + if (sensor->has_interrupt_enabled()) { + fd = sensor->gpio_fd; + break; + } + } - int fd = sensors[0]->gpio_fd; struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; fd_list[0].events = POLLIN | POLLPRI; @@ -68,90 +71,76 @@ void interrupt_loop(std::vector& sensors, uint64_t offset = nanos_since_epoch() - nanos_since_boot(); uint64_t ts = evdata[num_events - 1].timestamp - offset; - for (Sensor *sensor : sensors) { + for (auto &[sensor, msg_name, required, polling_freq] : sensors) { + if (!sensor->has_interrupt_enabled()) { + continue; + } + MessageBuilder msg; if (!sensor->get_event(msg, ts)) { continue; } - if (!sensor->is_data_valid(init_ts, ts)) { + if (!sensor->is_data_valid(ts)) { continue; } - pm_int.send(sensor_service[sensor].c_str(), msg); + pm.send(msg_name.c_str(), msg); } } // poweroff sensors, disable interrupts - for (Sensor *sensor : sensors) { - sensor->shutdown(); + for (auto &[sensor, msg_name, required, polling_freq] : sensors) { + if (sensor->has_interrupt_enabled()) { + sensor->shutdown(); + } } } -int sensor_loop(I2CBus *i2c_bus_imu) { - BMX055_Accel bmx055_accel(i2c_bus_imu); - BMX055_Gyro bmx055_gyro(i2c_bus_imu); - BMX055_Magn bmx055_magn(i2c_bus_imu); - BMX055_Temp bmx055_temp(i2c_bus_imu); - - LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu, GPIO_LSM_INT); - LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu, GPIO_LSM_INT, true); // GPIO shared with accel - LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu); - - MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu); - - std::map sensor_service = { - {&bmx055_accel, "accelerometer2"}, - {&bmx055_gyro, "gyroscope2"}, - {&bmx055_magn, "magnetometer"}, - {&bmx055_temp, "temperatureSensor"}, - - {&lsm6ds3_accel, "accelerometer"}, - {&lsm6ds3_gyro, "gyroscope"}, - {&lsm6ds3_temp, "temperatureSensor"}, +void polling_loop(Sensor *sensor, std::string msg_name, int frequency) { + PubMaster pm({msg_name.c_str()}); + RateKeeper rk(msg_name, frequency); + while (!do_exit) { + MessageBuilder msg; + if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) { + pm.send(msg_name.c_str(), msg); + } + rk.keepTime(); + } - {&mmc5603nj_magn, "magnetometer"}, - }; + sensor->shutdown(); +} +int sensor_loop(I2CBus *i2c_bus_imu) { // Sensor init - std::vector> sensors_init; // Sensor, required - sensors_init.push_back({&bmx055_accel, false}); - sensors_init.push_back({&bmx055_gyro, false}); - sensors_init.push_back({&bmx055_magn, false}); - sensors_init.push_back({&bmx055_temp, false}); - - sensors_init.push_back({&lsm6ds3_accel, true}); - sensors_init.push_back({&lsm6ds3_gyro, true}); - sensors_init.push_back({&lsm6ds3_temp, true}); + std::vector> sensors_init = { + {new BMX055_Accel(i2c_bus_imu), "accelerometer2", false, 100}, + {new BMX055_Gyro(i2c_bus_imu), "gyroscope2", false, 100}, + {new BMX055_Magn(i2c_bus_imu), "magnetometer", false, 100}, + {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2", false, 100}, - sensors_init.push_back({&mmc5603nj_magn, false}); + {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer", true, 100}, + {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope", true, 100}, + {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor", true, 100}, - bool has_magnetometer = false; + {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer", false, 100}, + }; // Initialize sensors - std::vector sensors; - for (auto &[sensor, required] : sensors_init) { + std::vector threads; + for (auto &[sensor, msg_name, required, polling_freq] : sensors_init) { int err = sensor->init(); if (err < 0) { if (required) { LOGE("Error initializing sensors"); return -1; } - } else { - - if (sensor == &bmx055_magn || sensor == &mmc5603nj_magn) { - has_magnetometer = true; - } - - if (!sensor->has_interrupt_enabled()) { - sensors.push_back(sensor); - } + continue; } - } - if (!has_magnetometer) { - LOGE("No magnetometer present"); - return -1; + if (!sensor->has_interrupt_enabled()) { + threads.emplace_back(polling_loop, sensor, msg_name, polling_freq); + } } // increase interrupt quality by pinning interrupt and process to core 1 @@ -159,39 +148,17 @@ int sensor_loop(I2CBus *i2c_bus_imu) { util::set_core_affinity({1}); std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'"); - PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", "magnetometer"}); - init_ts = nanos_since_boot(); - // thread for reading events via interrupts - std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; - std::thread lsm_interrupt_thread(&interrupt_loop, std::ref(lsm_interrupt_sensors), - std::ref(sensor_service)); - - RateKeeper rk("sensord", 100); - - // polling loop for non interrupt handled sensors - while (!do_exit) { - for (Sensor *sensor : sensors) { - MessageBuilder msg; - if (!sensor->get_event(msg)) { - continue; - } + threads.emplace_back(&interrupt_loop, std::ref(sensors_init)); - if (!sensor->is_data_valid(init_ts, nanos_since_boot())) { - continue; - } - - pm_non_int.send(sensor_service[sensor].c_str(), msg); - } - - rk.keepTime(); + // wait for all threads to finish + for (auto &t : threads) { + t.join(); } - for (Sensor *sensor : sensors) { - sensor->shutdown(); + for (auto &[sensor, msg_name, required, polling_freq] : sensors_init) { + delete sensor; } - - lsm_interrupt_thread.join(); return 0; } diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 87ead0bc1b..815dd8b444 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -71,7 +71,7 @@ def get_irq_count(irq: int): def read_sensor_events(duration_sec): sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', - 'gyroscope2', 'temperatureSensor'] + 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] esocks = {} events = defaultdict(list) for stype in sensor_types: From aa585b17578a38b294ee748b172e6ad28f8266ca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 23 Aug 2023 13:23:17 -0700 Subject: [PATCH 075/410] Laikad: reset est pos when in bad state (#29559) * reset est pos when cant delay correct * was just for debug --- selfdrive/locationd/laikad.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 6c9c199db1..42d9303fd6 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -269,6 +269,11 @@ class Laikad: est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() correct_delay = False corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay) + # If many measurements weren't corrected, position may be garbage, so reset + if len(processed_measurements) >= 8 and len(corrected_measurements) < 5: + cloudlog.error("Didn't correct enough measurements, resetting estimate position") + self.last_fix_pos = None + self.last_fix_t = None return corrected_measurements def calc_fix(self, t, measurements): From 2d99521e7500902070d0aacce69528bcfd8b9964 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 04:25:17 +0800 Subject: [PATCH 076/410] cpplint: `build/include_what_you_use` (#29556) * include_what_you_use * remove comments * include --------- Co-authored-by: Adeeb Shihadeh --- .pre-commit-config.yaml | 2 +- common/gpio.cc | 2 ++ common/ratekeeper.cc | 2 ++ common/watchdog.cc | 2 ++ selfdrive/boardd/boardd.cc | 1 + selfdrive/boardd/boardd.h | 3 +++ selfdrive/boardd/panda.cc | 1 + selfdrive/boardd/panda.h | 1 + selfdrive/locationd/locationd.cc | 2 ++ selfdrive/locationd/locationd.h | 1 + selfdrive/locationd/models/live_kf.h | 2 ++ selfdrive/modeld/runners/onnxmodel.h | 2 ++ selfdrive/modeld/runners/snpemodel.cc | 4 ++++ selfdrive/modeld/runners/snpemodel.h | 4 ++++ selfdrive/modeld/runners/thneedmodel.cc | 2 ++ selfdrive/modeld/runners/thneedmodel.h | 2 ++ selfdrive/ui/installer/installer.cc | 1 + selfdrive/ui/qt/api.cc | 2 ++ selfdrive/ui/qt/maps/map_helpers.cc | 4 ++++ selfdrive/ui/qt/maps/map_helpers.h | 2 ++ selfdrive/ui/qt/maps/map_instructions.h | 3 +++ selfdrive/ui/qt/maps/map_settings.cc | 2 ++ selfdrive/ui/qt/maps/map_settings.h | 2 ++ selfdrive/ui/qt/offroad/driverview.cc | 1 + selfdrive/ui/qt/offroad/networking.h | 2 ++ selfdrive/ui/qt/offroad/onboarding.cc | 2 ++ selfdrive/ui/qt/offroad/settings.cc | 2 ++ selfdrive/ui/qt/offroad/settings.h | 3 +++ selfdrive/ui/qt/onroad.cc | 3 +++ selfdrive/ui/qt/onroad.h | 2 ++ selfdrive/ui/qt/setup/setup.cc | 2 ++ selfdrive/ui/qt/sidebar.h | 2 ++ selfdrive/ui/qt/spinner.cc | 1 + selfdrive/ui/qt/util.cc | 4 ++++ selfdrive/ui/qt/util.h | 1 + selfdrive/ui/qt/widgets/cameraview.cc | 3 +++ selfdrive/ui/qt/widgets/cameraview.h | 5 +++++ selfdrive/ui/qt/widgets/controls.h | 3 +++ selfdrive/ui/qt/widgets/keyboard.h | 2 ++ selfdrive/ui/qt/widgets/offroad_alerts.cc | 5 +++++ selfdrive/ui/qt/widgets/offroad_alerts.h | 1 + selfdrive/ui/soundd/sound.h | 2 ++ selfdrive/ui/ui.cc | 1 + selfdrive/ui/ui.h | 1 + system/camerad/cameras/camera_common.cc | 1 + system/camerad/cameras/camera_qcom2.cc | 3 +++ system/hardware/base.h | 3 +++ system/hardware/hw.h | 2 ++ system/hardware/pc/hardware.h | 2 ++ system/hardware/tici/hardware.h | 2 ++ system/loggerd/encoder/encoder.h | 1 + system/loggerd/encoder/v4l_encoder.cc | 1 + system/loggerd/logger.cc | 3 +++ system/loggerd/logger.h | 3 ++- system/loggerd/loggerd.cc | 4 ++++ system/loggerd/loggerd.h | 2 ++ system/sensord/sensors/i2c_sensor.h | 1 + system/ubloxd/ublox_msg.cc | 2 ++ system/ubloxd/ublox_msg.h | 3 ++- tools/cabana/binaryview.cc | 2 ++ tools/cabana/binaryview.h | 3 +++ tools/cabana/chart/chart.cc | 3 +++ tools/cabana/chart/chart.h | 3 +++ tools/cabana/chart/chartswidget.cc | 2 ++ tools/cabana/chart/chartswidget.h | 3 +++ tools/cabana/chart/sparkline.cc | 1 + tools/cabana/chart/sparkline.h | 2 ++ tools/cabana/chart/tiplabel.cc | 2 ++ tools/cabana/commands.h | 2 ++ tools/cabana/dbc/dbc.cc | 2 ++ tools/cabana/dbc/dbc.h | 6 +++++- tools/cabana/dbc/dbcmanager.h | 1 + tools/cabana/historylog.cc | 2 ++ tools/cabana/historylog.h | 2 ++ tools/cabana/mainwin.cc | 3 +++ tools/cabana/messageswidget.cc | 6 ++++++ tools/cabana/messageswidget.h | 4 ++++ tools/cabana/signalview.cc | 2 ++ tools/cabana/signalview.h | 2 ++ tools/cabana/streams/abstractstream.cc | 3 +++ tools/cabana/streams/abstractstream.h | 4 ++++ tools/cabana/streams/devicestream.cc | 3 +++ tools/cabana/streams/livestream.cc | 3 +++ tools/cabana/streams/livestream.h | 4 ++++ tools/cabana/streams/pandastream.cc | 2 ++ tools/cabana/streams/pandastream.h | 3 +++ tools/cabana/streams/replaystream.h | 6 ++++++ tools/cabana/streams/socketcanstream.h | 2 ++ tools/cabana/tools/findsignal.h | 3 +++ tools/cabana/tools/findsimilarbits.cc | 2 ++ tools/cabana/util.cc | 3 +++ tools/cabana/util.h | 2 ++ tools/cabana/videowidget.cc | 5 +++++ tools/cabana/videowidget.h | 4 ++++ tools/replay/camera.h | 4 ++++ tools/replay/consoleui.cc | 6 +++++- tools/replay/framereader.cc | 1 + tools/replay/logreader.h | 3 +++ tools/replay/replay.h | 8 ++++++++ tools/replay/route.cc | 6 ++++-- tools/replay/route.h | 5 +++++ tools/replay/util.cc | 2 ++ 102 files changed, 260 insertions(+), 7 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 65140282ee..85e75396ed 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+readability/braces - repo: local hooks: - id: test_translations diff --git a/common/gpio.cc b/common/gpio.cc index 8a16cd3703..c1805b7bdc 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -1,5 +1,7 @@ #include "common/gpio.h" +#include + #ifdef __APPLE__ int gpio_init(int pin_nr, bool output) { return 0; diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc index c00d72a94a..7e63815168 100644 --- a/common/ratekeeper.cc +++ b/common/ratekeeper.cc @@ -1,5 +1,7 @@ #include "common/ratekeeper.h" +#include + #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" diff --git a/common/watchdog.cc b/common/watchdog.cc index 920df4030a..3483ad21c2 100644 --- a/common/watchdog.cc +++ b/common/watchdog.cc @@ -1,3 +1,5 @@ +#include + #include "common/watchdog.h" #include "common/util.h" diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 6a19f6d593..b64a81296e 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -18,6 +18,7 @@ #include #include #include +#include #include #include "cereal/gen/cpp/car.capnp.h" diff --git a/selfdrive/boardd/boardd.h b/selfdrive/boardd/boardd.h index d3c9e1f94a..0646fc6189 100644 --- a/selfdrive/boardd/boardd.h +++ b/selfdrive/boardd/boardd.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include "selfdrive/boardd/panda.h" bool safety_setter_thread(std::vector pandas); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 8849a46bd8..e075887a4d 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -4,6 +4,7 @@ #include #include +#include #include "cereal/messaging/messaging.h" #include "common/swaglog.h" diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 5edca04419..9d4b1b2092 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -6,6 +6,7 @@ #include #include #include +#include #include #include "cereal/gen/cpp/car.capnp.h" diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 37fbb6b260..d79b5c9c44 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -1,7 +1,9 @@ #include #include +#include #include +#include #include "locationd.h" diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index e8f2f04a2c..f7adab3673 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include #include diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h index 06ec3854cb..c2f3f37eaf 100755 --- a/selfdrive/locationd/models/live_kf.h +++ b/selfdrive/locationd/models/live_kf.h @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include #include diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 6c325f644e..42aa179ce9 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "selfdrive/modeld/runners/runmodel.h" class ONNXModel : public RunModel { diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 441122c522..5ed2d1270e 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -3,6 +3,10 @@ #include "selfdrive/modeld/runners/snpemodel.h" #include +#include +#include +#include +#include #include "common/util.h" #include "common/timing.h" diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index 0ae5a8f820..559b15f8b6 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -1,6 +1,10 @@ #pragma once #pragma clang diagnostic ignored "-Wdeprecated-declarations" +#include +#include +#include + #include #include #include diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index 0f35c94800..a16d8b42aa 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -1,5 +1,7 @@ #include "selfdrive/modeld/runners/thneedmodel.h" +#include + #include "common/swaglog.h" ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) { diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h index 90c40239bf..6ed479c081 100644 --- a/selfdrive/modeld/runners/thneedmodel.h +++ b/selfdrive/modeld/runners/thneedmodel.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "selfdrive/modeld/runners/runmodel.h" #include "selfdrive/modeld/thneed/thneed.h" diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 1af72c04df..179ce60c63 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -4,6 +4,7 @@ #include #include #include +#include #include #include diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc index 84e1a4032e..b73772544b 100644 --- a/selfdrive/ui/qt/api.cc +++ b/selfdrive/ui/qt/api.cc @@ -12,6 +12,8 @@ #include #include +#include + #include "common/params.h" #include "common/util.h" #include "system/hardware/hw.h" diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 0f96638820..a410ab6ee7 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -1,5 +1,9 @@ #include "selfdrive/ui/qt/maps/map_helpers.h" +#include +#include +#include + #include #include diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 0090753a40..6c6a8d12fb 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -1,6 +1,8 @@ #pragma once #include +#include +#include #include #include #include diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h index 6c08cb9b9e..06a943d27f 100644 --- a/selfdrive/ui/qt/maps/map_instructions.h +++ b/selfdrive/ui/qt/maps/map_instructions.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 018d0df984..48a7733c52 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -1,5 +1,7 @@ #include "map_settings.h" +#include + #include #include diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index ffec1f980f..bee0061932 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index cc715c6755..4d09d914d3 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/offroad/driverview.h" +#include #include #include "selfdrive/ui/qt/qt_window.h" diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h index cdcdf067ab..81ffb3cf2d 100644 --- a/selfdrive/ui/qt/offroad/networking.h +++ b/selfdrive/ui/qt/offroad/networking.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "selfdrive/ui/qt/offroad/wifiManager.h" #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index 5bf1b6fc43..c7c22f0ea3 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -1,5 +1,7 @@ #include "selfdrive/ui/qt/offroad/onboarding.h" +#include + #include #include #include diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 05aef8364c..804bf037a1 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index edba5be800..a5dd25b14f 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 7c070d2adf..d5b2bbcf6b 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -1,6 +1,9 @@ #include "selfdrive/ui/qt/onroad.h" +#include #include +#include +#include #include #include diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 1975ec9f01..df43ff97f1 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index de5021c8bc..cdb49f1dfc 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -10,6 +10,8 @@ #include +#include + #include "common/util.h" #include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index fb96e1d540..f627aac810 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc index 73a0f5014e..2404efa668 100644 --- a/selfdrive/ui/qt/spinner.cc +++ b/selfdrive/ui/qt/spinner.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/spinner.h" +#include #include #include #include diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 3804aacd78..1e25d2d536 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -1,5 +1,9 @@ #include "selfdrive/ui/qt/util.h" +#include +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 2b1200a861..1aa3bd69b1 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 4da5b7b18e..38824aa8db 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -7,6 +7,9 @@ #endif #include +#include +#include +#include #include #include diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 67568ea55c..647653cdd3 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -1,7 +1,12 @@ #pragma once +#include +#include #include #include +#include +#include +#include #include #include diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index fac66de9ed..811595726d 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h index 516105719b..efc02d075d 100644 --- a/selfdrive/ui/qt/widgets/keyboard.h +++ b/selfdrive/ui/qt/widgets/keyboard.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index cdfa86c8eb..74ece36d15 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -1,5 +1,10 @@ #include "selfdrive/ui/qt/widgets/offroad_alerts.h" +#include +#include +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h index 69c12b0602..ace2e75456 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.h +++ b/selfdrive/ui/qt/widgets/offroad_alerts.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 9cabd1c6bd..f7084fff97 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -1,3 +1,5 @@ +#include + #include #include #include diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 32d8ae80ad..5a01e7f8eb 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/ui.h" +#include #include #include diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 31488431b1..82f65d128f 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1b2594bc80..1eb636b7a2 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -5,6 +5,7 @@ #include #include #include +#include #include #include "libyuv.h" diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index df70b7983d..95ec47171d 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -6,12 +6,15 @@ #include #include +#include #include #include #include #include #include #include +#include +#include #include "media/cam_defs.h" #include "media/cam_isp.h" diff --git a/system/hardware/base.h b/system/hardware/base.h index 2096e1e0bb..d86b316843 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -2,6 +2,9 @@ #include #include +#include +#include + #include "cereal/messaging/messaging.h" // no-op base hw class diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 3b0583a10b..1274851787 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "system/hardware/base.h" #include "common/util.h" diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 84fb3bd89e..5cd825d61d 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "system/hardware/base.h" class HardwarePC : public HardwareNone { diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 82648ac984..c1a2dcb169 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -2,6 +2,8 @@ #include #include +#include +#include #include "common/params.h" #include "common/util.h" diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index bf70775b7c..a8bfd5c054 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -2,6 +2,7 @@ #include #include +#include #include #include "cereal/messaging/messaging.h" diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index a319d414ca..2f74c3785a 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -1,4 +1,5 @@ #include +#include #include #include diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 1e710759e6..31b302ffe6 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -13,7 +13,10 @@ #include #include #include +#include #include +#include +#include #include "common/params.h" #include "common/swaglog.h" diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index e7594cee88..36db1a5a74 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -1,11 +1,12 @@ #pragma once -#include #include +#include #include #include #include +#include #include #include diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 56fc11f62c..303235e9d8 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,6 +1,10 @@ #include +#include +#include +#include #include +#include #include "system/loggerd/encoder/encoder.h" #include "system/loggerd/loggerd.h" diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 531b30e9f2..cfc06c28d3 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "cereal/messaging/messaging.h" #include "cereal/services.h" #include "cereal/visionipc/visionipc_client.h" diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h index ccac526c12..ba100c3b01 100644 --- a/system/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -2,6 +2,7 @@ #include #include +#include #include "cereal/gen/cpp/log.capnp.h" #include "common/i2c.h" diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index 02993a574d..c0554773a2 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -2,6 +2,7 @@ #include +#include #include #include #include @@ -9,6 +10,7 @@ #include #include #include +#include #include "common/swaglog.h" diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index a52a7db3e5..4eafeac2ca 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -2,10 +2,11 @@ #include #include +#include #include #include #include -#include +#include #include "cereal/messaging/messaging.h" #include "common/util.h" diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 6aac56cc78..bd43c337bd 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,5 +1,7 @@ #include "tools/cabana/binaryview.h" +#include + #include #include #include diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 161b2aad8a..04e1d5b2af 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 08e8b54b73..18a9adbe07 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -1,5 +1,8 @@ #include "tools/cabana/chart/chart.h" +#include +#include + #include #include #include diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 272ea0d193..2740d81b66 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index ebc463af0e..e852e6d206 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -1,5 +1,7 @@ #include "tools/cabana/chart/chartswidget.h" +#include + #include #include #include diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 0d9f79062a..88ba4226c0 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index baedee8bb2..4692b41e4b 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -1,5 +1,6 @@ #include "tools/cabana/chart/sparkline.h" +#include #include #include "tools/cabana/streams/abstractstream.h" diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h index 2061966ebb..21cbd40a3f 100644 --- a/tools/cabana/chart/sparkline.h +++ b/tools/cabana/chart/sparkline.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc index f34d7e8dfe..f5c9cc9cbd 100644 --- a/tools/cabana/chart/tiplabel.cc +++ b/tools/cabana/chart/tiplabel.cc @@ -1,5 +1,7 @@ #include "tools/cabana/chart/tiplabel.h" +#include + #include #include #include diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index a1e667807e..c7f59c4c7f 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 691a1c4fb8..537749e48d 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -1,5 +1,7 @@ #include "tools/cabana/dbc/dbc.h" +#include + #include "tools/cabana/util.h" uint qHash(const MessageId &item) { diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index 6a3084d943..e44bc41abf 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,10 +1,14 @@ #pragma once +#include +#include +#include +#include + #include #include #include #include -#include #include "opendbc/can/common_dbc.h" diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index f20d4888e2..3ac0829487 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -3,6 +3,7 @@ #include #include #include +#include #include "tools/cabana/dbc/dbcfile.h" diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index cf9dea88db..2b57e9d007 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,5 +1,7 @@ #include "tools/cabana/historylog.h" +#include + #include #include #include diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 2dea698f68..a68fbdbf43 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,6 +1,8 @@ #pragma once #include +#include + #include #include #include diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index fa91095706..d3caf492a6 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,6 +1,9 @@ #include "tools/cabana/mainwin.h" +#include #include +#include + #include #include #include diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index fe4c7afb03..795683a9d0 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,4 +1,10 @@ #include "tools/cabana/messageswidget.h" + +#include +#include +#include +#include + #include #include #include diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 2e165f5b7c..f6d71a5a2e 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,5 +1,9 @@ #pragma once +#include +#include +#include + #include #include #include diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index ce10576ffe..1b1c8dac22 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -1,5 +1,7 @@ #include "tools/cabana/signalview.h" +#include + #include #include #include diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 9541ac8a3b..5cab7f8fa0 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 7cd210d8f1..1d35e96c99 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,5 +1,8 @@ #include "tools/cabana/streams/abstractstream.h" +#include +#include + #include AbstractStream *can = nullptr; diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 5cafa58cb8..e883f45d46 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -3,7 +3,11 @@ #include #include #include +#include +#include #include +#include + #include #include diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 5631f64d68..349a2d7a1c 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -1,5 +1,8 @@ #include "tools/cabana/streams/devicestream.h" +#include +#include + #include #include #include diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 91c88c97ca..3f8397f56c 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,5 +1,8 @@ #include "tools/cabana/streams/livestream.h" +#include +#include + struct LiveStream::Logger { Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {} diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index b4816d090f..38ef2c67f9 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,5 +1,9 @@ #pragma once +#include +#include +#include + #include #include "tools/cabana/streams/abstractstream.h" diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index e19b2450bd..4a6c588e51 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -1,5 +1,7 @@ #include "tools/cabana/streams/pandastream.h" +#include + #include #include #include diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index 49e1836c2d..43803950f9 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index eddcf514f7..de69d9e86c 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -1,5 +1,11 @@ #pragma once +#include +#include +#include +#include +#include + #include "common/prefix.h" #include "tools/cabana/streams/abstractstream.h" diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index 9d34aaebac..6f2d7aa353 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h index f046bdf7e3..e9e5f9f180 100644 --- a/tools/cabana/tools/findsignal.h +++ b/tools/cabana/tools/findsignal.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 72429104a5..c3c659791a 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -1,5 +1,7 @@ #include "tools/cabana/tools/findsimilarbits.h" +#include + #include #include #include diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 31a4486772..278e776e9c 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,7 +1,10 @@ #include "tools/cabana/util.h" +#include #include #include +#include +#include #include #include diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 76238569f0..696319b3a8 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,6 +1,8 @@ #pragma once #include +#include +#include #include #include diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 46642e5244..f535c6b729 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,5 +1,10 @@ #include "tools/cabana/videowidget.h" +#include +#include +#include +#include + #include #include #include diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 670e866534..7ddd315e48 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,7 +1,11 @@ #pragma once #include +#include +#include #include +#include +#include #include #include diff --git a/tools/replay/camera.h b/tools/replay/camera.h index 66d33142fb..f2d19ccfb2 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -1,6 +1,10 @@ #pragma once #include + +#include +#include + #include "cereal/visionipc/visionipc_server.h" #include "common/queue.h" #include "tools/replay/framereader.h" diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5cbd3818a6..719bbd69ca 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -1,7 +1,11 @@ #include "tools/replay/consoleui.h" -#include #include +#include +#include +#include + +#include #include "common/version.h" diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index ed276c627c..3083a0d376 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -2,6 +2,7 @@ #include "tools/replay/util.h" #include +#include #include "libyuv.h" #include "cereal/visionipc/visionbuf.h" diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index 1aa8c98b45..77d751a91b 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -5,7 +5,10 @@ #include #endif +#include #include +#include +#include #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 1792702957..5ed4ff11b5 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -1,6 +1,14 @@ #pragma once +#include +#include +#include #include +#include +#include +#include +#include +#include #include diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 619aeb3f5f..15a57e5e42 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -6,11 +6,13 @@ #include #include #include - #include +#include +#include +#include -#include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" +#include "system/hardware/hw.h" #include "tools/replay/replay.h" #include "tools/replay/util.h" diff --git a/tools/replay/route.h b/tools/replay/route.h index 86adf6a14d..7207ff4f5c 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -1,5 +1,10 @@ #pragma once +#include +#include +#include +#include + #include #include diff --git a/tools/replay/util.cc b/tools/replay/util.cc index a6ebbec615..172d545c75 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -9,8 +9,10 @@ #include #include #include +#include #include #include +#include #include "common/timing.h" #include "common/util.h" From e726505918bfbaa4ee75714bd6ea391d7fff7fb8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Aug 2023 13:42:37 -0700 Subject: [PATCH 077/410] bump cereal (#29561) --- cereal | 2 +- common/util.cc | 8 ++++++++ common/util.h | 2 ++ system/loggerd/loggerd.cc | 10 +++++----- tools/replay/replay.cc | 11 ++++++----- 5 files changed, 22 insertions(+), 11 deletions(-) diff --git a/cereal b/cereal index 736a4cce2c..fa580de1b4 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 736a4cce2c51cb73465e88dae6ff4cec5b9c3b43 +Subproject commit fa580de1b42534d3417306c416784e1add99ad32 diff --git a/common/util.cc b/common/util.cc index 6ad619c35c..11e8ad4555 100644 --- a/common/util.cc +++ b/common/util.cc @@ -253,6 +253,14 @@ std::string dir_name(std::string const &path) { return path.substr(0, pos); } +bool starts_with(const std::string &s1, const std::string &s2) { + return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0; +} + +bool ends_with(const std::string &s1, const std::string &s2) { + return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0; +} + std::string check_output(const std::string& command) { char buffer[128]; std::string result; diff --git a/common/util.h b/common/util.h index 23c37f153a..26bc15ba33 100644 --- a/common/util.h +++ b/common/util.h @@ -77,6 +77,8 @@ float getenv(const char* key, float default_val); std::string hexdump(const uint8_t* in, const size_t size); std::string dir_name(std::string const& path); +bool starts_with(const std::string &s1, const std::string &s2); +bool ends_with(const std::string &s1, const std::string &s2); // ***** random helpers ***** int random_int(int min, int max); diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 303235e9d8..2bcf9e3256 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -207,11 +207,11 @@ void loggerd_thread() { std::unique_ptr poller(Poller::create()); // subscribe to all socks - for (const auto& it : services) { - const bool encoder = strcmp(it.name+strlen(it.name)-strlen("EncodeData"), "EncodeData") == 0; - const bool livestream_encoder = strncmp(it.name, "livestream", strlen("livestream")) == 0; + for (const auto& [_, it] : services) { + const bool encoder = util::ends_with(it.name, "EncodeData"); + const bool livestream_encoder = util::starts_with(it.name, "livestream"); if (!it.should_log && (!encoder || livestream_encoder)) continue; - LOGD("logging %s (on port %d)", it.name, it.port); + LOGD("logging %s (on port %d)", it.name.c_str(), it.port); SubSocket * sock = SubSocket::create(ctx.get(), it.name); assert(sock != NULL); @@ -221,7 +221,7 @@ void loggerd_thread() { .counter = 0, .freq = it.decimation, .encoder = encoder, - .user_flag = (strcmp(it.name, "userFlag") == 0), + .user_flag = it.name == "userFlag", }; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 9029213af5..e323a9f64d 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -16,19 +16,20 @@ Replay::Replay(QString route, QStringList allow, QStringList block, QStringList auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); for (const auto &it : services) { - uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); + auto name = it.second.name.c_str(); + uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && !(flags & REPLAY_FLAG_ALL_SERVICES) && - !allow.contains(it.name)) { + !allow.contains(name)) { continue; } - if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) { - sockets_[which] = it.name; + if ((allow.empty() || allow.contains(name)) && !block.contains(name)) { + sockets_[which] = name; if (!allow.empty() || !block.empty()) { allow_list.insert((cereal::Event::Which)which); } - s.push_back(it.name); + s.push_back(name); } } From 42769345d505cc30978aaf9ed735cb8d644b13aa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Aug 2023 14:00:26 -0700 Subject: [PATCH 078/410] sensord: lower temperature sensor freq to 2Hz (#29563) --- system/sensord/sensors_qcom2.cc | 37 +++++++-------- system/sensord/tests/test_sensord.py | 67 +++++++++++----------------- 2 files changed, 44 insertions(+), 60 deletions(-) diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 313dc50095..7a7e5d1e80 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -7,6 +7,7 @@ #include #include +#include "cereal/services.h" #include "cereal/messaging/messaging.h" #include "common/i2c.h" #include "common/ratekeeper.h" @@ -27,11 +28,11 @@ ExitHandler do_exit; -void interrupt_loop(std::vector> sensors) { +void interrupt_loop(std::vector> sensors) { PubMaster pm({"gyroscope", "accelerometer"}); int fd = -1; - for (auto &[sensor, msg_name, required, polling_freq] : sensors) { + for (auto &[sensor, msg_name, required] : sensors) { if (sensor->has_interrupt_enabled()) { fd = sensor->gpio_fd; break; @@ -71,7 +72,7 @@ void interrupt_loop(std::vector> se uint64_t offset = nanos_since_epoch() - nanos_since_boot(); uint64_t ts = evdata[num_events - 1].timestamp - offset; - for (auto &[sensor, msg_name, required, polling_freq] : sensors) { + for (auto &[sensor, msg_name, required] : sensors) { if (!sensor->has_interrupt_enabled()) { continue; } @@ -90,16 +91,16 @@ void interrupt_loop(std::vector> se } // poweroff sensors, disable interrupts - for (auto &[sensor, msg_name, required, polling_freq] : sensors) { + for (auto &[sensor, msg_name, required] : sensors) { if (sensor->has_interrupt_enabled()) { sensor->shutdown(); } } } -void polling_loop(Sensor *sensor, std::string msg_name, int frequency) { +void polling_loop(Sensor *sensor, std::string msg_name) { PubMaster pm({msg_name.c_str()}); - RateKeeper rk(msg_name, frequency); + RateKeeper rk(msg_name, services.at(msg_name).frequency); while (!do_exit) { MessageBuilder msg; if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) { @@ -113,22 +114,22 @@ void polling_loop(Sensor *sensor, std::string msg_name, int frequency) { int sensor_loop(I2CBus *i2c_bus_imu) { // Sensor init - std::vector> sensors_init = { - {new BMX055_Accel(i2c_bus_imu), "accelerometer2", false, 100}, - {new BMX055_Gyro(i2c_bus_imu), "gyroscope2", false, 100}, - {new BMX055_Magn(i2c_bus_imu), "magnetometer", false, 100}, - {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2", false, 100}, + std::vector> sensors_init = { + {new BMX055_Accel(i2c_bus_imu), "accelerometer2", false}, + {new BMX055_Gyro(i2c_bus_imu), "gyroscope2", false}, + {new BMX055_Magn(i2c_bus_imu), "magnetometer", false}, + {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2", false}, - {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer", true, 100}, - {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope", true, 100}, - {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor", true, 100}, + {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer", true}, + {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope", true}, + {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor", true}, - {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer", false, 100}, + {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer", false}, }; // Initialize sensors std::vector threads; - for (auto &[sensor, msg_name, required, polling_freq] : sensors_init) { + for (auto &[sensor, msg_name, required] : sensors_init) { int err = sensor->init(); if (err < 0) { if (required) { @@ -139,7 +140,7 @@ int sensor_loop(I2CBus *i2c_bus_imu) { } if (!sensor->has_interrupt_enabled()) { - threads.emplace_back(polling_loop, sensor, msg_name, polling_freq); + threads.emplace_back(polling_loop, sensor, msg_name); } } @@ -156,7 +157,7 @@ int sensor_loop(I2CBus *i2c_bus_imu) { t.join(); } - for (auto &[sensor, msg_name, required, polling_freq] : sensors_init) { + for (auto &[sensor, msg_name, required] : sensors_init) { delete sensor; } return 0; diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 815dd8b444..e3cd77a1a3 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -7,6 +7,7 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log +from cereal.services import service_list from openpilot.common.gpio import get_irqs_for_action from openpilot.system.hardware import TICI from openpilot.selfdrive.manager.process_config import managed_processes @@ -37,29 +38,29 @@ SENSOR_CONFIGURATIONS = ( ) Sensor = log.SensorEventData.SensorSource -SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'expected_freq']) +SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { Sensor.lsm6ds3: { - SensorConfig("acceleration", 5, 15, 100), - SensorConfig("gyroUncalibrated", 0, .2, 100), - SensorConfig("temperature", 0, 60, 100), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.lsm6ds3trc: { - SensorConfig("acceleration", 5, 15, 104), - SensorConfig("gyroUncalibrated", 0, .2, 104), - SensorConfig("temperature", 0, 60, 100), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.bmx055: { - SensorConfig("acceleration", 5, 15, 100), - SensorConfig("gyroUncalibrated", 0, .2, 100), - SensorConfig("magneticUncalibrated", 0, 300, 100), - SensorConfig("temperature", 0, 60, 100), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("magneticUncalibrated", 0, 300), + SensorConfig("temperature", 0, 60), }, Sensor.mmc5603nj: { - SensorConfig("magneticUncalibrated", 0, 300, 100), + SensorConfig("magneticUncalibrated", 0, 300), } } @@ -85,7 +86,7 @@ def read_sensor_events(duration_sec): assert sum(map(len, events.values())) != 0, "No sensor events collected!" - return events + return {k: v for k, v in events.items() if len(v) > 0} class TestSensord(unittest.TestCase): @classmethod @@ -119,7 +120,6 @@ class TestSensord(unittest.TestCase): def test_sensors_present(self): # verify correct sensors configuration - seen = set() for etype in self.events: for measurement in self.events[etype]: @@ -159,22 +159,12 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 2.0, f"Standard-dev to big {stddev}" - def test_events_check(self): - # verify if all sensors produce events - - sensor_events = dict() - for etype in self.events: - for measurement in self.events[etype]: - m = getattr(measurement, measurement.which()) - - if m.type in sensor_events: - sensor_events[m.type] += 1 - else: - sensor_events[m.type] = 1 - - for s in sensor_events: - err_msg = f"Sensor {s}: 200 < {sensor_events[s]}" - assert sensor_events[s] > 200, err_msg + def test_sensor_frequency(self): + for s, msgs in self.events.items(): + with self.subTest(sensor=s): + freq = len(msgs) / self.sample_secs + ef = service_list[s].frequency + assert ef*0.85 <= freq <= ef*1.15 def test_logmonottime_timestamp_diff(self): # ensure diff between the message logMonotime and sample timestamp is small @@ -193,16 +183,14 @@ class TestSensord(unittest.TestCase): # before the sensor is read tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6) - high_delay_diffs = set(filter(lambda d: d >= 15., tdiffs)) - assert len(high_delay_diffs) < 20, f"Too many measurements published : {high_delay_diffs}" + # some sensors have a read procedure that will introduce an expected diff on the order of 20ms + high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs)) + assert len(high_delay_diffs) < 20, f"Too many measurements published: {high_delay_diffs}" avg_diff = round(sum(tdiffs)/len(tdiffs), 4) assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms" - stddev = np.std(tdiffs) - assert stddev < 2, f"Timing diffs have too high stddev: {stddev}" - - def test_sensor_values_sanity_check(self): + def test_sensor_values(self): sensor_values = dict() for etype in self.events: for measurement in self.events[etype]: @@ -219,18 +207,13 @@ class TestSensord(unittest.TestCase): else: sensor_values[key] = [values] - # Sanity check sensor values and counts + # Sanity check sensor values for sensor, stype in sensor_values: for s in ALL_SENSORS[sensor]: if s.type != stype: continue key = (sensor, s.type) - val_cnt = len(sensor_values[key]) - min_samples = self.sample_secs * s.expected_freq - err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}" - assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg - mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg From d3fb75a972338e37d5537d900c8d2f55439db961 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Aug 2023 14:07:00 -0700 Subject: [PATCH 079/410] sensord: run as many sensors as possible (#29564) --- system/sensord/sensors_qcom2.cc | 42 ++++++++++++--------------------- 1 file changed, 15 insertions(+), 27 deletions(-) diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 7a7e5d1e80..36d9b4a13e 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -28,11 +28,11 @@ ExitHandler do_exit; -void interrupt_loop(std::vector> sensors) { +void interrupt_loop(std::vector> sensors) { PubMaster pm({"gyroscope", "accelerometer"}); int fd = -1; - for (auto &[sensor, msg_name, required] : sensors) { + for (auto &[sensor, msg_name] : sensors) { if (sensor->has_interrupt_enabled()) { fd = sensor->gpio_fd; break; @@ -72,7 +72,7 @@ void interrupt_loop(std::vector> sensors uint64_t offset = nanos_since_epoch() - nanos_since_boot(); uint64_t ts = evdata[num_events - 1].timestamp - offset; - for (auto &[sensor, msg_name, required] : sensors) { + for (auto &[sensor, msg_name] : sensors) { if (!sensor->has_interrupt_enabled()) { continue; } @@ -89,13 +89,6 @@ void interrupt_loop(std::vector> sensors pm.send(msg_name.c_str(), msg); } } - - // poweroff sensors, disable interrupts - for (auto &[sensor, msg_name, required] : sensors) { - if (sensor->has_interrupt_enabled()) { - sensor->shutdown(); - } - } } void polling_loop(Sensor *sensor, std::string msg_name) { @@ -108,34 +101,28 @@ void polling_loop(Sensor *sensor, std::string msg_name) { } rk.keepTime(); } - - sensor->shutdown(); } int sensor_loop(I2CBus *i2c_bus_imu) { // Sensor init - std::vector> sensors_init = { - {new BMX055_Accel(i2c_bus_imu), "accelerometer2", false}, - {new BMX055_Gyro(i2c_bus_imu), "gyroscope2", false}, - {new BMX055_Magn(i2c_bus_imu), "magnetometer", false}, - {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2", false}, + std::vector> sensors_init = { + {new BMX055_Accel(i2c_bus_imu), "accelerometer2"}, + {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"}, + {new BMX055_Magn(i2c_bus_imu), "magnetometer"}, + {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"}, - {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer", true}, - {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope", true}, - {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor", true}, + {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"}, + {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"}, + {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"}, - {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer", false}, + {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"}, }; // Initialize sensors std::vector threads; - for (auto &[sensor, msg_name, required] : sensors_init) { + for (auto &[sensor, msg_name] : sensors_init) { int err = sensor->init(); if (err < 0) { - if (required) { - LOGE("Error initializing sensors"); - return -1; - } continue; } @@ -157,7 +144,8 @@ int sensor_loop(I2CBus *i2c_bus_imu) { t.join(); } - for (auto &[sensor, msg_name, required] : sensors_init) { + for (auto &[sensor, msg_name] : sensors_init) { + sensor->shutdown(); delete sensor; } return 0; From 239d6a24bed850a6fbd3e0794da19130cdb773f7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Aug 2023 14:21:10 -0700 Subject: [PATCH 080/410] sensord: fix LSM magnetometer thermal variation (#29265) * do set reset for every measurement cycle * use one sensorvec * convert from continuous to manual mode * separate the set/reset and TM_M * make magnetometer readings manual, set appropriate sleep * add more sleep and check validity of values * add magnetometer to a separate thread * refactor * bugfix * each sensor in a new thread, handle generically * bugfix * rm global * update cpu * update test * update test * revert cereal change * split out temp sensors * little more * fix * fix * bump cereal * linter fixes --------- Co-authored-by: nuwandavek Co-authored-by: Comma Device --- system/sensord/sensors/mmc5603nj_magn.cc | 64 +++++++++++++++--------- system/sensord/sensors/mmc5603nj_magn.h | 7 +++ 2 files changed, 46 insertions(+), 25 deletions(-) diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc index 048095786e..b69c602bdf 100644 --- a/system/sensord/sensors/mmc5603nj_magn.cc +++ b/system/sensord/sensors/mmc5603nj_magn.cc @@ -1,9 +1,12 @@ #include "mmc5603nj_magn.h" +#include #include +#include #include "common/swaglog.h" #include "common/timing.h" +#include "common/util.h" MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {} @@ -11,8 +14,8 @@ int MMC5603NJ_Magn::init() { int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID}); if (ret == -1) return -1; - // Set 100 Hz - ret = set_register(MMC5603NJ_I2C_REG_ODR, 100); + // Set ODR to 0 + ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); if (ret < 0) { goto fail; } @@ -23,18 +26,6 @@ int MMC5603NJ_Magn::init() { goto fail; } - // Set compute measurement rate - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN); - if (ret < 0) { - goto fail; - } - - // Enable continuous mode, set every 100 measurements - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_2, MMC5603NJ_CMM_EN | MMC5603NJ_EN_PRD_SET | 0b11); - if (ret < 0) { - goto fail; - } - fail: return ret; } @@ -67,16 +58,36 @@ fail: return ret; } -bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); +void MMC5603NJ_Magn::start_measurement() { + set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01); + util::sleep_for(5); +} + +std::vector MMC5603NJ_Magn::read_measurement() { + int len; uint8_t buffer[9]; - int len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); + len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); - float scale = 1.0 / 16384.0; - float x = read_20_bit(buffer[6], buffer[1], buffer[0]) * scale; - float y = read_20_bit(buffer[7], buffer[3], buffer[2]) * scale; - float z = read_20_bit(buffer[8], buffer[5], buffer[4]) * scale; + float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0; + float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0; + float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0; + std::vector xyz = {x, y, z}; + return xyz; +} + +bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { + uint64_t start_time = nanos_since_boot(); + // SET - RESET cycle + set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET); + util::sleep_for(5); + MMC5603NJ_Magn::start_measurement(); + std::vector xyz = MMC5603NJ_Magn::read_measurement(); + + set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET); + util::sleep_for(5); + MMC5603NJ_Magn::start_measurement(); + std::vector reset_xyz = MMC5603NJ_Magn::read_measurement(); auto event = msg.initEvent().initMagnetometer(); event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ); @@ -85,10 +96,13 @@ bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED); event.setTimestamp(start_time); - float xyz[] = {x, y, z}; + float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]}; + bool valid = true; + if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) { + valid = false; + } auto svec = event.initMagneticUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - + svec.setV(vals); + svec.setStatus(valid); return true; } diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h index fce3f3fecb..9c0fbd2521 100644 --- a/system/sensord/sensors/mmc5603nj_magn.h +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus @@ -19,9 +21,14 @@ #define MMC5603NJ_AUTO_SR_EN (1 << 5) #define MMC5603NJ_CMM_EN (1 << 4) #define MMC5603NJ_EN_PRD_SET (1 << 3) +#define MMC5603NJ_SET (1 << 3) +#define MMC5603NJ_RESET (1 << 4) class MMC5603NJ_Magn : public I2CSensor { +private: uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;} + void start_measurement(); + std::vector read_measurement(); public: MMC5603NJ_Magn(I2CBus *bus); int init(); From 5480d32bb5d98d57100fd709b9ffe7bfcc6e020a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 05:25:05 +0800 Subject: [PATCH 081/410] cpplint: add filter `whitespace/parens` (#29565) --- .pre-commit-config.yaml | 2 +- common/gpio.cc | 4 +-- common/i2c.cc | 12 ++++---- common/util.h | 2 +- selfdrive/boardd/panda_comms.cc | 4 +-- .../boardd/tests/test_boardd_usbprotocol.cc | 2 +- selfdrive/locationd/locationd.cc | 2 +- selfdrive/modeld/models/commonmodel.cc | 4 +-- selfdrive/modeld/models/driving.cc | 2 +- .../modeld/tests/snpe_benchmark/benchmark.cc | 4 +-- selfdrive/modeld/thneed/serialize.cc | 3 +- selfdrive/ui/qt/api.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/util.cc | 5 ++-- selfdrive/ui/qt/util.h | 2 +- system/logcatd/logcatd_systemd.cc | 2 +- system/sensord/sensors/bmx055_magn.cc | 18 +++++------ system/sensord/sensors/lsm6ds3_gyro.cc | 2 +- system/ubloxd/tests/test_glonass_kaitai.cc | 2 +- system/ubloxd/ublox_msg.cc | 30 +++++++++---------- system/ubloxd/ublox_msg.h | 2 +- system/ubloxd/ubloxd.cc | 4 +-- tools/cabana/signalview.h | 2 +- 23 files changed, 56 insertions(+), 58 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 85e75396ed..b5e638da32 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/parens,+readability/braces - repo: local hooks: - id: test_translations diff --git a/common/gpio.cc b/common/gpio.cc index c1805b7bdc..5088362380 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -31,7 +31,7 @@ int gpio_init(int pin_nr, bool output) { char pin_dir_path[50]; int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path), "/sys/class/gpio/gpio%d/direction", pin_nr); - if(pin_dir_path_len <= 0) { + if (pin_dir_path_len <= 0) { return -1; } const char *value = output ? "out" : "in"; @@ -42,7 +42,7 @@ int gpio_set(int pin_nr, bool high) { char pin_val_path[50]; int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path), "/sys/class/gpio/gpio%d/value", pin_nr); - if(pin_val_path_len <= 0) { + if (pin_val_path_len <= 0) { return -1; } return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1); diff --git a/common/i2c.cc b/common/i2c.cc index ef788ac9ea..fc72559ce7 100644 --- a/common/i2c.cc +++ b/common/i2c.cc @@ -26,23 +26,23 @@ I2CBus::I2CBus(uint8_t bus_id) { snprintf(bus_name, 20, "/dev/i2c-%d", bus_id); i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR)); - if(i2c_fd < 0) { + if (i2c_fd < 0) { throw std::runtime_error("Failed to open I2C bus"); } } I2CBus::~I2CBus() { - if(i2c_fd >= 0) { close(i2c_fd); } + if (i2c_fd >= 0) { close(i2c_fd); } } int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { int ret = 0; ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if(ret < 0) { goto fail; } + if (ret < 0) { goto fail; } ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer); - if((ret < 0) || (ret != len)) { goto fail; } + if ((ret < 0) || (ret != len)) { goto fail; } fail: return ret; @@ -52,10 +52,10 @@ int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t int ret = 0; ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if(ret < 0) { goto fail; } + if (ret < 0) { goto fail; } ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data); - if(ret < 0) { goto fail; } + if (ret < 0) { goto fail; } fail: return ret; diff --git a/common/util.h b/common/util.h index 26bc15ba33..d6ab698245 100644 --- a/common/util.h +++ b/common/util.h @@ -171,7 +171,7 @@ private: template void update_max_atomic(std::atomic& max, T const& value) { T prev = max; - while(prev < value && !max.compare_exchange_weak(prev, value)) {} + while (prev < value && !max.compare_exchange_weak(prev, value)) {} } class LogState { diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc index 120d2f67d5..bc4e5f5867 100644 --- a/selfdrive/boardd/panda_comms.cc +++ b/selfdrive/boardd/panda_comms.cc @@ -199,7 +199,7 @@ int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int } else if (err != 0 || length != transferred) { handle_usb_issue(err, __func__); } - } while(err != 0 && connected); + } while (err != 0 && connected); return transferred; } @@ -226,7 +226,7 @@ int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l handle_usb_issue(err, __func__); } - } while(err != 0 && connected); + } while (err != 0 && connected); return transferred; } diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index 52cb11ec32..86476d05cd 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -82,7 +82,7 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) { this->receive_buffer_size = 0; uint32_t pos = 0; - while(pos < size) { + while (pos < size) { uint32_t chunk_size = std::min(rx_chunk_size, size - pos); memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size); this->receive_buffer_size += chunk_size; diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index d79b5c9c44..722ead7dd4 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -359,7 +359,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { - if(!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { + if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { this->determine_gps_mode(current_time); return; } diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index b7c9051c6e..5e28e9b95d 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -55,14 +55,14 @@ ModelFrame::~ModelFrame() { void softmax(const float* input, float* output, size_t len) { const float max_val = *std::max_element(input, input + len); float denominator = 0; - for(int i = 0; i < len; i++) { + for (int i = 0; i < len; i++) { float const v_exp = expf(input[i] - max_val); denominator += v_exp; output[i] = v_exp; } const float inv_denominator = 1. / denominator; - for(int i = 0; i < len; i++) { + for (int i = 0; i < len; i++) { output[i] *= inv_denominator; } } diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index fb42fcd4f9..72137c4a97 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -264,7 +264,7 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPredic std::array acc_x, acc_y, acc_z; std::array rot_rate_x, rot_rate_y, rot_rate_z; - for(int i=0; igetInputDimensions(strList.at(0)); const auto &inputShape = *inputDims_opt; std::cout << "winkwink" << std::endl; @@ -167,7 +167,7 @@ void testrun(char* modelfile) { get_testframe(i,input); snpe->execute(input.get(), outputTensorMap); zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames(); - std::for_each( tensorNames.begin(), tensorNames.end(), [&](const char* name) { + std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) { std::ostringstream path; path << "/data/opt/Result_" << std::to_string(i) << ".raw"; auto tensorPtr = outputTensorMap.getTensor(name); diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index f789e5bf57..51e6d08699 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -75,8 +75,7 @@ void Thneed::load(const char *filename) { #endif if (clbuf == NULL) { printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), - desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer - ); + desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer); } assert(clbuf != NULL); } diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc index b73772544b..0e321d4e10 100644 --- a/selfdrive/ui/qt/api.cc +++ b/selfdrive/ui/qt/api.cc @@ -85,7 +85,7 @@ void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Meth return; } QString token; - if(create_jwt) { + if (create_jwt) { token = CommaApi::create_jwt(); } else { QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json")); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 804bf037a1..8b0f9c1f36 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -139,7 +139,7 @@ void TogglesPanel::updateToggles() { "

%6


" "%7") .arg(tr("openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:")) - .arg(tr("End-to-End Longitudinal Control" )) + .arg(tr("End-to-End Longitudinal Control")) .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " "mistakes should be expected.")) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 1e25d2d536..7bd168121a 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -134,7 +134,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co } -QWidget* topWidget (QWidget* widget) { +QWidget* topWidget(QWidget* widget) { while (widget->parentWidget() != nullptr) widget=widget->parentWidget(); return widget; } @@ -197,8 +197,7 @@ QColor interpColor(float xv, std::vector xp, std::vector fp) { (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(), (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(), (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(), - (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha() - ); + (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()); } } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 1aa3bd69b1..2aae97b860 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -23,7 +23,7 @@ void sigTermHandler(int s); QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); void initApp(int argc, char *argv[], bool disable_hidpi = true); -QWidget* topWidget (QWidget* widget); +QWidget* topWidget(QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); QPixmap bootstrapPixmap(const QString &id); diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc index 70467a9c15..721726ed27 100644 --- a/system/logcatd/logcatd_systemd.cc +++ b/system/logcatd/logcatd_systemd.cc @@ -35,7 +35,7 @@ int main(int argc, char *argv[]) { // Wait for new message if we didn't receive anything if (err == 0) { err = sd_journal_wait(journal, 1000 * 1000); - assert (err >= 0); + assert(err >= 0); continue; // Try again } diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc index 7716ce25c0..950e608923 100644 --- a/system/sensord/sensors/bmx055_magn.cc +++ b/system/sensord/sensors/bmx055_magn.cc @@ -77,7 +77,7 @@ int BMX055_Magn::init() { // suspend -> sleep int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); - if(ret < 0) { + if (ret < 0) { LOGE("Enabling power failed: %d", ret); goto fail; } @@ -90,21 +90,21 @@ int BMX055_Magn::init() { // Load magnetometer trim ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; // Read trim data trim_data.dig_x1 = trim_x1y1[0]; diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc index 9bc43485af..e6bdc6c8a9 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ b/system/sensord/sensors/lsm6ds3_gyro.cc @@ -128,7 +128,7 @@ int LSM6DS3_Gyro::init() { } ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST); - if (ret < 0 ) { + if (ret < 0) { LOGE("LSM6DS3 gyro positive self-test failed!"); if (do_self_test) goto fail; } diff --git a/system/ubloxd/tests/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc index 5ad274142a..96f43742b4 100644 --- a/system/ubloxd/tests/test_glonass_kaitai.cc +++ b/system/ubloxd/tests/test_glonass_kaitai.cc @@ -101,7 +101,7 @@ std::string generate_inp_data(string_data& data) { string_data.reserve(16); for (int i = 0; i < 128; i+=8) { std::string substr = inp_data.substr(i, 8); - string_data.push_back( (uint8_t)std::stoi(substr.c_str(), 0, 2)); + string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2)); } return string_data; diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index c0554773a2..338b879dcc 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -23,26 +23,26 @@ inline static bool bit_to_bool(uint8_t val, int shifts) { inline int UbloxMsgParser::needed_bytes() { // Msg header incomplete? - if(bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE) + if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE) return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf; uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE; // too much data - if(needed < (uint16_t)bytes_in_parse_buf) + if (needed < (uint16_t)bytes_in_parse_buf) return -1; return needed - (uint16_t)bytes_in_parse_buf; } inline bool UbloxMsgParser::valid_cheksum() { uint8_t ck_a = 0, ck_b = 0; - for(int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) { + for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) { ck_a = (ck_a + msg_parse_buf[i]) & 0xFF; ck_b = (ck_b + ck_a) & 0xFF; } - if(ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) { + if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) { LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]); return false; } - if(ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) { + if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) { LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]); return false; } @@ -55,13 +55,13 @@ inline bool UbloxMsgParser::valid() { } inline bool UbloxMsgParser::valid_so_far() { - if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) { + if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) { return false; } - if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) { + if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) { return false; } - if(needed_bytes() == 0 && !valid()) { + if (needed_bytes() == 0 && !valid()) { return false; } return true; @@ -70,8 +70,8 @@ inline bool UbloxMsgParser::valid_so_far() { bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { last_log_time = log_time; int needed = needed_bytes(); - if(needed > 0) { - bytes_consumed = std::min((uint32_t)needed, incoming_data_len ); + if (needed > 0) { + bytes_consumed = std::min((uint32_t)needed, incoming_data_len); // Add data to buffer memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed); bytes_in_parse_buf += bytes_consumed; @@ -80,15 +80,15 @@ bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint } // Validate msg format, detect invalid header and invalid checksum. - while(!valid_so_far() && bytes_in_parse_buf != 0) { + while (!valid_so_far() && bytes_in_parse_buf != 0) { // Corrupted msg, drop a byte. bytes_in_parse_buf -= 1; - if(bytes_in_parse_buf > 0) + if (bytes_in_parse_buf > 0) memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf); } // There is redundant data at the end of buffer, reset the buffer. - if(needed_bytes() == -1) { + if (needed_bytes() == -1) { bytes_in_parse_buf = 0; } return valid(); @@ -435,7 +435,7 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { auto mb = mr.initMeasurements(msg->num_meas()); auto measurements = *msg->meas(); - for(int8_t i = 0; i < msg->num_meas(); i++) { + for (int8_t i = 0; i < msg->num_meas(); i++) { mb[i].setSvId(measurements[i]->sv_id()); mb[i].setPseudorange(measurements[i]->pr_mes()); mb[i].setCarrierCycles(measurements[i]->cp_mes()); @@ -470,7 +470,7 @@ kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { auto svs = sr.initSvs(msg->num_svs()); auto svs_data = *msg->svs(); - for(int8_t i = 0; i < msg->num_svs(); i++) { + for (int8_t i = 0; i < msg->num_svs(); i++) { svs[i].setSvId(svs_data[i]->sv_id()); svs[i].setGnssId(svs_data[i]->gnss_id()); svs[i].setFlagsBitfield(svs_data[i]->flags()); diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index 4eafeac2ca..d21760edc2 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -52,7 +52,7 @@ namespace ublox { assert(msg.size() > 2); uint8_t ck_a = 0, ck_b = 0; - for(int i = 2; i < msg.size(); i++) { + for (int i = 2; i < msg.size(); i++) { ck_a = (ck_a + msg[i]) & 0xFF; ck_b = (ck_b + ck_a) & 0xFF; } diff --git a/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc index 1dae6dc866..668c1a7ec0 100644 --- a/system/ubloxd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -41,9 +41,9 @@ int main() { size_t len = ubloxRaw.size(); size_t bytes_consumed = 0; - while(bytes_consumed < len && !do_exit) { + while (bytes_consumed < len && !do_exit) { size_t bytes_consumed_this_time = 0U; - if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { + if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { try { auto ublox_msg = parser.gen_msg(); diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 5cab7f8fa0..9d8571d0b8 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -131,7 +131,7 @@ private: QAbstractItemView::dataChanged(topLeft, bottomRight, roles); } void leaveEvent(QEvent *event) override { - emit ((SignalView *)parentWidget())->highlight(nullptr); + emit static_cast(parentWidget())->highlight(nullptr); QTreeView::leaveEvent(event); } }; From af8af3209dc0756ccc25e41612b855d54b8d7af4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Aug 2023 14:42:27 -0700 Subject: [PATCH 082/410] thermald: type annotate main thread (#29414) * type * stash * Revert "stash" This reverts commit f5e5e0d08c967d1a5d9c239e6335f8a47890b1a1. * bug in mypy --- selfdrive/thermald/thermald.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index b80ce71aea..266b28db04 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -165,7 +165,7 @@ def hw_state_thread(end_event, hw_queue): time.sleep(DT_TRML) -def thermald_thread(end_event, hw_queue): +def thermald_thread(end_event, hw_queue) -> None: pm = messaging.PubMaster(['deviceState']) sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"]) @@ -177,10 +177,10 @@ def thermald_thread(end_event, hw_queue): startup_conditions: Dict[str, bool] = {} startup_conditions_prev: Dict[str, bool] = {} - off_ts = None - started_ts = None + off_ts: Optional[float] = None + started_ts: Optional[float] = None started_seen = False - startup_blocked_ts = None + startup_blocked_ts: Optional[float] = None thermal_status = ThermalStatus.yellow last_hw_state = HardwareState( From 2c20a2b5d7956d5ae5e27508ffa19b6694bbe224 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 05:47:34 +0800 Subject: [PATCH 083/410] sound.h: add #pragma once (#29567) --- selfdrive/ui/soundd/sound.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index f7084fff97..81a5f1a86b 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -1,3 +1,5 @@ +#pragma once + #include #include From f203648de0a9d78121d3a775ae454a43e1211e62 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 06:00:30 +0800 Subject: [PATCH 084/410] cpplint: add filter `whitespace/semicolon` (#29568) --- .pre-commit-config.yaml | 2 +- selfdrive/modeld/tests/snpe_benchmark/benchmark.cc | 2 +- selfdrive/ui/ui.cc | 2 +- system/camerad/cameras/camera_qcom2.cc | 2 +- system/ubloxd/ublox_msg.cc | 2 +- tools/cabana/messageswidget.cc | 2 +- tools/cabana/tools/findsignal.cc | 4 ++-- 7 files changed, 8 insertions(+), 8 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b5e638da32..bcd19726ff 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/parens,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/parens,+whitespace/semicolon,+readability/braces - repo: local hooks: - id: test_translations diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc index 2034c80888..0a17cf9fca 100644 --- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc +++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc @@ -161,7 +161,7 @@ void testrun(char* modelfile) { const auto &inputShape = *inputDims_opt; std::cout << "winkwink" << std::endl; - for (int i=0;i<10000;i++) { + for (int i=0; i<10000; i++) { std::unique_ptr input; input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape); get_testframe(i,input); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 5a01e7f8eb..26e8464a61 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -173,7 +173,7 @@ static void update_state(UIState *s) { 0,0,1, 1,0,0; Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; - Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib ; + Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 95ec47171d..b404c2a2e9 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -508,7 +508,7 @@ void CameraState::enqueue_buffer(int i, bool dp) { } void CameraState::enqueue_req_multi(int start, int n, bool dp) { - for (int i=start;i cmp = nullptr; switch (compare_cb->currentIndex()) { case 0: cmp = [v1](double v) { return v == v1;}; break; - case 1: cmp = [v1](double v) { return v > v1;};break; - case 2: cmp = [v1](double v) { return v >= v1;};break; + case 1: cmp = [v1](double v) { return v > v1;}; break; + case 2: cmp = [v1](double v) { return v >= v1;}; break; case 3: cmp = [v1](double v) { return v != v1;}; break; case 4: cmp = [v1](double v) { return v < v1;}; break; case 5: cmp = [v1](double v) { return v <= v1;}; break; From 3b01d99d3001034890f17aaf3834c92e7e689661 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 23 Aug 2023 18:22:52 -0400 Subject: [PATCH 085/410] Hyundai longitudinal (CAN): display AEB indicator on non-FCA cars (#29484) * Hyundai longitudinal (CAN): display AEB indicator on dashboard on non-FCA cars * clear up comment --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/hyundaican.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 64fc241273..0083974020 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -148,6 +148,13 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s "aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw "CR_VSM_Alive": idx % 0xF, } + + # show AEB disabled indicator on dash with SCC12 if not sending FCA messages. + # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal + if not use_fca: + scc12_values["CF_VSM_ConfMode"] = 1 + scc12_values["AEB_Status"] = 1 # AEB disabled + scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2] scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 @@ -171,7 +178,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s "CR_FCA_Alive": idx % 0xF, "PAINT1_Status": 1, "FCA_DrvSetStatus": 1, - "FCA_Status": 1, # AEB disabled + "FCA_Status": 1, # AEB disabled } fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) From 2e4f8e6608bafc89509f6c104688b7dd8273eeac Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 23 Aug 2023 15:33:23 -0700 Subject: [PATCH 086/410] CI: Docs rebuild base image (#29566) * docs rebuild base image * fix order --- .github/workflows/setup/action.yaml | 8 ++++---- .github/workflows/tools_tests.yaml | 7 +++---- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index e791e51ac2..2eeefd9f3e 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -32,6 +32,9 @@ runs: restore-keys: | scons-${{ env.CACHE_COMMIT_DATE }}- scons- + # build our docker image + - shell: bash + run: eval ${{ env.BUILD }} - id: setup-scons-cache-docker name: Sets up a docker image with scons cache that can by mounted as a buildkit cache mount shell: bash @@ -39,7 +42,4 @@ runs: run: | cp selfdrive/test/Dockerfile.scons_cache ~ cd ~ - DOCKER_BUILDKIT=1 docker build -t scons-cache -f Dockerfile.scons_cache . - # build our docker image - - shell: bash - run: eval ${{ env.BUILD }} + DOCKER_BUILDKIT=1 docker build -t scons-cache -f Dockerfile.scons_cache . \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 04f73d21af..5fd7555473 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -75,10 +75,6 @@ jobs: name: build docs runs-on: ubuntu-20.04 timeout-minutes: 45 - env: - BUILD: | - docker pull $DOCKER_REGISTRY/openpilot-docs:latest - DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . steps: - uses: actions/checkout@v3 with: @@ -87,6 +83,9 @@ jobs: with: setup_docker_scons_cache: true git_lfs: false + - name: Build docs image + run: | + DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | From 55cca6ed2669829a77ce660625b2fc8d73bf02bf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 06:43:27 +0800 Subject: [PATCH 087/410] scons: remove missing MPC headers (#29485) * remove invalid files * Update selfdrive/controls/lib/lateral_mpc_lib/SConscript Co-authored-by: Shane Smiskol * Apply suggestions from code review --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/lib/lateral_mpc_lib/SConscript | 5 ++--- selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 6 ++---- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 507964efe4..a923baca62 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -38,9 +38,8 @@ generated_files = [ f'{gen}/lat_model/lat_expl_vde_adj.c', f'{gen}/lat_model/lat_model.h', - f'{gen}/lat_cost/lat_cost_y_fun.h', - f'{gen}/lat_cost/lat_cost_y_e_fun.h', - f'{gen}/lat_cost/lat_cost_y_0_fun.h', + f'{gen}/lat_constraints/lat_constraints.h', + f'{gen}/lat_cost/lat_cost.h', ] + build_files acados_dir = '#third_party/acados' diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 8717bdf89b..c78be70fe3 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -44,10 +44,8 @@ generated_files = [ f'{gen}/long_model/long_expl_vde_adj.c', f'{gen}/long_model/long_model.h', - f'{gen}/long_constraints/long_h_constraint.h', - f'{gen}/long_cost/long_cost_y_fun.h', - f'{gen}/long_cost/long_cost_y_e_fun.h', - f'{gen}/long_cost/long_cost_y_0_fun.h', + f'{gen}/long_constraints/long_constraints.h', + f'{gen}/long_cost/long_cost.h', ] + build_files acados_dir = '#third_party/acados' From 5fcb7e9038ec9054dcdb8d9b832bea2f597d6aa9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 07:34:18 +0800 Subject: [PATCH 088/410] ui/PrimeUserWidget: cleanup layout (#29492) cleanup layout Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/widgets/prime.cc | 21 ++++++--------------- 1 file changed, 6 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 782b7cb5ce..91a0fc8597 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -117,28 +117,19 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { } -PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) { +PrimeUserWidget::PrimeUserWidget(QWidget *parent) : QFrame(parent) { + setObjectName("primeWidget"); QVBoxLayout *mainLayout = new QVBoxLayout(this); - mainLayout->setContentsMargins(0, 0, 0, 0); - mainLayout->setSpacing(30); - - // subscribed prime layout - QWidget *primeWidget = new QWidget; - primeWidget->setObjectName("primeWidget"); - QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget); - primeLayout->setContentsMargins(56, 40, 56, 40); - primeLayout->setSpacing(20); + mainLayout->setContentsMargins(56, 40, 56, 40); + mainLayout->setSpacing(20); QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); - primeLayout->addWidget(subscribed); + mainLayout->addWidget(subscribed); QLabel *commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); - primeLayout->addWidget(commaPrime); - - mainLayout->addWidget(primeWidget); - mainLayout->addStretch(); + mainLayout->addWidget(commaPrime); } From 472151b6a004d387532415039196c2165f7d32df Mon Sep 17 00:00:00 2001 From: pencilpusher <83676301+jakethesnake420@users.noreply.github.com> Date: Wed, 23 Aug 2023 19:33:58 -0500 Subject: [PATCH 089/410] ui/map: keep the car icon aligned to its bearing (#29482) * rotate icon with current bearing When user is rotating the map, the car icon should stay fixed on the cars bearing, not the map. * spacing * comment --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/maps/map.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index d756a777c4..38bcc1a54e 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -191,6 +191,11 @@ void MapWindow::updateState(const UIState &s) { carPosSource["type"] = "geojson"; carPosSource["data"] = QVariant::fromValue(feature1); m_map->updateSource("carPosSource", carPosSource); + + // Map bearing isn't updated when interacting, keep location marker up to date + if (last_bearing) { + m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing()); + } } if (interaction_counter == 0) { From ba1ad422d74622a6e565a1b5bed97cf379173e21 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Wed, 23 Aug 2023 19:37:38 -0500 Subject: [PATCH 090/410] Toyota: add engine & fwdRadar ECU versions for 2023 Toyota Camry Hybrid (#29508) `@Varvaras` 2023 Toyota Camry Hybrid Dongle ID/route 3a47f2dd831feb30|2023-08-20--19-41-21 --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index bdde3c6095..b0f7a70985 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -641,12 +641,14 @@ FW_VERSIONS = { (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306T0000\x00\x00\x00\x00', b'\x018966306V1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 109): [ b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', From 2fdde9b77d5d830277500d6841f32a356544718a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 23 Aug 2023 17:41:33 -0700 Subject: [PATCH 091/410] CI: switch to --cache-to type=inline for buildkit cache (#29575) this is cleaner --- .github/workflows/prebuilt.yaml | 4 ++-- .github/workflows/selfdrive_tests.yaml | 4 ++-- .github/workflows/tools_tests.yaml | 8 ++++---- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 6acc7a2e9c..3b88011f5e 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -10,7 +10,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . jobs: build_prebuilt: @@ -34,7 +34,7 @@ jobs: - name: Build Docker image run: | eval "$BUILD" - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot . + DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot . - name: Push to container registry run: | $DOCKER_LOGIN diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 991ce74ca9..b9a9131d71 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -20,12 +20,12 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 5fd7555473..8209c14126 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -17,12 +17,12 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c @@ -64,7 +64,7 @@ jobs: run: eval "$BUILD_CL" - name: Build simulator image run: | - DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . + DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - name: Push to container registry if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | @@ -85,7 +85,7 @@ jobs: git_lfs: false - name: Build docs image run: | - DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . + DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | From a0f3b830622a2ebee2a718554c542cb208b10acf Mon Sep 17 00:00:00 2001 From: Gellis12 Date: Wed, 23 Aug 2023 17:46:34 -0700 Subject: [PATCH 092/410] Add initial fingerprint 2.0 for Nissan Leaf 2018-23 (#29505) Initial fingerprint 2.0 for Nissan Leaf 2018-23 --- selfdrive/car/nissan/values.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index db69132a76..979e09eb66 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -131,6 +131,20 @@ FW_VERSIONS = { (Ecu.gateway, 0x18dad0f1, None): [ b'284U29HE0A', ], + }, + CAR.LEAF: { + (Ecu.abs, 0x740, None): [ + b'476606WK9B', + ], + (Ecu.eps, 0x742, None): [ + b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.fwdCamera, 0x707, None): [ + b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26WK0C', + ], }, CAR.LEAF_IC: { (Ecu.fwdCamera, 0x707, None): [ From ddd849a882ded042c1f5fb71cb4e200fe2cb8327 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 08:56:22 +0800 Subject: [PATCH 093/410] encoderd: remove unnecessary calls to ` encoder_close()` on exit. (#28970) --- system/loggerd/encoderd.cc | 15 +++------------ 1 file changed, 3 insertions(+), 12 deletions(-) diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 6dd1f2ae32..1b45df6827 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -47,7 +47,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { util::set_thread_name(cam_info.thread_name); - std::vector encoders; + std::vector> encoders; VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); int cur_seg = 0; @@ -64,14 +64,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { assert(buf_info.width > 0 && buf_info.height > 0); for (const auto &encoder_info : cam_info.encoder_infos) { - encoders.push_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); + auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); + e->encoder_open(nullptr); } } - for (int i = 0; i < encoders.size(); ++i) { - encoders[i]->encoder_open(NULL); - } - bool lagging = false; while (!do_exit) { VisionIpcBufExtra extra; @@ -113,12 +110,6 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { } } } - - LOG("encoder destroy"); - for (auto &e : encoders) { - e->encoder_close(); - delete e; - } } template From 973d90be779efc0e4a83eeab213c0cc9b4d711ce Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Aug 2023 18:50:55 -0700 Subject: [PATCH 094/410] Subaru: Crosstrek Hybrid dashcam mode (#25378) * Subaru: Crosstrek Hybrid support * hybrid cars in dashcam only * revert that * just dashcam * tah should be abs * remove unused import * use the old dbc for now * hybrid car exceptions in carstate * need dashstatus until we get a proper cruiseactivated bit * missing CP * merge conflicts * lets be consistent about extend * cleanup * fix and comments * preglobal fix * and the rest * and this * added hybrid to release --------- Co-authored-by: Justin Newberry --- release/files_common | 1 + selfdrive/car/subaru/carcontroller.py | 6 +- selfdrive/car/subaru/carstate.py | 84 +++++++++++++++-------- selfdrive/car/subaru/interface.py | 17 ++++- selfdrive/car/subaru/values.py | 23 +++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 7 files changed, 101 insertions(+), 32 deletions(-) diff --git a/release/files_common b/release/files_common index bac9b382d6..a229954221 100644 --- a/release/files_common +++ b/release/files_common @@ -569,6 +569,7 @@ opendbc/nissan_x_trail_2017_generated.dbc opendbc/nissan_leaf_2018_generated.dbc opendbc/subaru_global_2017_generated.dbc +opendbc/subaru_global_2020_hybrid_generated.dbc opendbc/subaru_outback_2015_generated.dbc opendbc/subaru_outback_2019_generated.dbc opendbc/subaru_forester_2017_generated.dbc diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 00915808d0..05524d4524 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -3,6 +3,7 @@ from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.subaru import subarucan from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags +from selfdrive.car.subaru.values import HYBRID_CARS class CarController: @@ -100,8 +101,9 @@ class CarController: self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) else: if pcm_cancel_cmd: - bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main - can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) + if self.CP.carFingerprint not in HYBRID_CARS: + bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main + can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 66c4c6386e..80eab10eba 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -6,6 +6,7 @@ from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags from openpilot.selfdrive.car import CanSignalRateCalculator +from selfdrive.car.subaru.values import HYBRID_CARS class CarState(CarStateBase): @@ -19,7 +20,9 @@ class CarState(CarStateBase): def update(self, cp, cp_cam, cp_body): ret = car.CarState.new_message() - ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255. + throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"] + ret.gas = throttle_msg["Throttle_Pedal"] / 255. + ret.gasPressed = ret.gas > 1e-5 if self.car_fingerprint in PREGLOBAL_CARS: ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2 @@ -46,7 +49,8 @@ class CarState(CarStateBase): ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1) ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1) - can_gear = int(cp.vl["Transmission"]["Gear"]) + cp_transmission = cp_body if self.car_fingerprint in HYBRID_CARS else cp + can_gear = int(cp_transmission.vl["Transmission"]["Gear"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] @@ -62,8 +66,12 @@ class CarState(CarStateBase): ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp - ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 - ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 + if self.car_fingerprint in HYBRID_CARS: + ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0 + ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0 + else: + ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 + ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \ @@ -77,7 +85,7 @@ class CarState(CarStateBase): cp.vl["BodyInfo"]["DOOR_OPEN_FL"]]) ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 - cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam + cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam if self.car_fingerprint in PREGLOBAL_CARS: self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] @@ -87,18 +95,23 @@ class CarState(CarStateBase): ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \ (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2) - # 8 is known AEB, there are a few other values related to AEB we ignore - ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ - (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) + self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) cp_es_brake = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"]) cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam - self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"]) - self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"]) - self.brake_status_msg = copy.copy(cp_brakes.vl["Brake_Status"]) - self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + if self.car_fingerprint not in HYBRID_CARS: # Hybrid cars don't have es_distance, need a replacement + # 8 is known AEB, there are a few other values related to AEB we ignore + ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ + (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) + self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + + self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"]) + self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"]) + + if self.car_fingerprint not in HYBRID_CARS: + self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"]) @@ -106,44 +119,53 @@ class CarState(CarStateBase): return ret @staticmethod - def get_common_global_body_messages(): + def get_common_global_body_messages(CP): messages = [ - ("CruiseControl", 20), ("Wheel_Speeds", 50), ("Brake_Status", 50), ] + if CP.carFingerprint not in HYBRID_CARS: + messages.append(("CruiseControl", 20)) + return messages @staticmethod - def get_common_global_es_messages(): + def get_common_global_es_messages(CP): messages = [ ("ES_Brake", 20), - ("ES_Distance", 20), - ("ES_Status", 20), - ("ES_Brake", 20), ] + if CP.carFingerprint not in HYBRID_CARS: + messages += [ + ("ES_Distance", 20), + ("ES_Status", 20) + ] + return messages @staticmethod def get_can_parser(CP): messages = [ # sig_address, frequency - ("Throttle", 100), ("Dashlights", 10), - ("Brake_Pedal", 50), - ("Transmission", 100), ("Steering_Torque", 50), ("BodyInfo", 1), + ("Brake_Pedal", 50), ] + if CP.carFingerprint not in HYBRID_CARS: + messages += [ + ("Throttle", 100), + ("Transmission", 100) + ] + if CP.enableBsm: messages.append(("BSD_RCTA", 17)) if CP.carFingerprint not in PREGLOBAL_CARS: if CP.carFingerprint not in GLOBAL_GEN2: - messages += CarState.get_common_global_body_messages() + messages += CarState.get_common_global_body_messages(CP) messages += [ ("Dashlights", 10), @@ -184,7 +206,7 @@ class CarState(CarStateBase): ] if CP.carFingerprint not in GLOBAL_GEN2: - messages += CarState.get_common_global_es_messages() + messages += CarState.get_common_global_es_messages(CP) if CP.flags & SubaruFlags.SEND_INFOTAINMENT: messages.append(("ES_Infotainment", 10)) @@ -193,9 +215,17 @@ class CarState(CarStateBase): @staticmethod def get_body_can_parser(CP): + messages = [] + if CP.carFingerprint in GLOBAL_GEN2: - messages = CarState.get_common_global_body_messages() - messages += CarState.get_common_global_es_messages() - return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt) + messages += CarState.get_common_global_body_messages(CP) + messages += CarState.get_common_global_es_messages(CP) + + if CP.carFingerprint in HYBRID_CARS: + messages += [ + ("Throttle_Hybrid", 40), + ("Transmission", 100) + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt) - return None diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index b206a816ac..e6e69316f8 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -3,7 +3,7 @@ from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags +from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags class CarInterface(CarInterfaceBase): @@ -12,7 +12,11 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True - ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE) + # for HYBRID CARS to be upstreamed, we need: + # - replacement for ES_Distance so we can cancel the cruise control + # - to find the Cruise_Activated bit from the car + # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) + ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) ret.autoResumeSng = False # Detect infotainment message sent from the camera @@ -68,6 +72,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] + elif candidate == CAR.CROSSTREK_HYBRID: + ret.mass = 1668. + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 17 + ret.steerActuatorDelay = 0.1 + elif candidate in (CAR.FORESTER, CAR.FORESTER_2022): ret.mass = 1568. ret.wheelbase = 2.67 @@ -107,7 +118,7 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE) + #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable if ret.openpilotLongitudinalControl: diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 8cb3a904b2..4cc1df9754 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -70,6 +70,7 @@ class CAR: IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" FORESTER = "SUBARU FORESTER 2019" OUTBACK = "SUBARU OUTBACK 6TH GEN" + CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020" LEGACY = "SUBARU LEGACY 7TH GEN" FORESTER_2022 = "SUBARU FORESTER 2022" OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN" @@ -110,6 +111,8 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { SubaruCarInfo("Subaru Crosstrek 2020-23"), SubaruCarInfo("Subaru XV 2020-21"), ], + # TODO: is there an XV and Impreza too? + CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"), CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), @@ -325,6 +328,24 @@ FW_VERSIONS = { b'\xe9\xf6B0\x00', ], }, + CAR.CROSSTREK_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x19e\x01', + b'\xa2 !e\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x9a\xc2\x01\x00', + b'\n\xc2\x01\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00el\x1f@ #', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd7!`@\x07', + b'\xd7!`p\a', + b'\xf4!`0\x07', + ], + }, CAR.FORESTER: { (Ecu.abs, 0x7b0, None): [ b'\xa3 \x18\x14\x00', @@ -628,6 +649,7 @@ DBC = { CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None), CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), + CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None), CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), @@ -639,3 +661,4 @@ DBC = { LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023} GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023} PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} +HYBRID_CARS = {CAR.CROSSTREK_HYBRID, } \ No newline at end of file diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 60b99a1ad6..4ecf6e192a 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -240,6 +240,7 @@ routes = [ CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), + CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2), CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4), CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7), # Pre-global, dashcam diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index d79dbe8573..0f742e6f39 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -76,6 +76,7 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN +SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020 SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN # Old subarus don't have much data guessing it's like low torque impreza From f4f8047e979c3366ab4ecd7527cc6daf01f126db Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 23 Aug 2023 19:48:55 -0700 Subject: [PATCH 095/410] Laikad: ignore more garbage measurements (#29569) * Laikad: ignore more garbage measurememnts * bump laika --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 10 +++++++--- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/laika_repo b/laika_repo index 989b6a8505..a028f6a2c9 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 989b6a8505441a550c94f60b4378be296ea3fe92 +Subproject commit a028f6a2c95adf03fa240a9479ad33290969055e diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 42d9303fd6..3d190fb00a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -205,12 +205,16 @@ class Laikad: # Additionally, the pseudoranges are broken in the measurementReports # and the doppler filteredSpeed is broken in the drMeasurementReports report_time = gps_time_from_qcom_report(gnss_msg) - if report_time - self.last_report_time > 0: + if report_time - self.last_report_time == 0: + self.qcom_reports.append(gnss_msg) + self.last_report_time = report_time + elif report_time - self.last_report_time > 0: self.qcom_reports_received = max(1, len(self.qcom_reports)) self.qcom_reports = [gnss_msg] + self.last_report_time = report_time else: - self.qcom_reports.append(gnss_msg) - self.last_report_time = report_time + # Sometimes DR reports get sent one iteration late (1second), they need to be ignored + cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}") if len(self.qcom_reports) == self.qcom_reports_received: new_meas = get_measurements_from_qcom_reports(self.qcom_reports) From 95e9232963ad2deed377a3d840f25e40f921b8ca Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 11:08:19 +0800 Subject: [PATCH 096/410] encoder/VideoWriter: remove unnecessary call to `avcodec_close` (#29039) --- system/loggerd/video_writer.cc | 4 +--- system/loggerd/video_writer.h | 5 ++--- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc index 1b449056cb..90b5f1af3d 100644 --- a/system/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -1,6 +1,5 @@ #pragma clang diagnostic ignored "-Wdeprecated-declarations" #include -#include #include "system/loggerd/video_writer.h" #include "common/swaglog.h" @@ -8,7 +7,6 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec) : remuxing(remuxing) { - raw = codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS; vid_path = util::string_format("%s/%s", path, filename); lock_path = util::string_format("%s/%s.lock", path, filename); @@ -18,6 +16,7 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, LOGD("encoder_open %s remuxing:%d", this->vid_path.c_str(), this->remuxing); if (this->remuxing) { + bool raw = (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS); avformat_alloc_output_context2(&this->ofmt_ctx, NULL, raw ? "matroska" : NULL, this->vid_path.c_str()); assert(this->ofmt_ctx); @@ -98,7 +97,6 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc VideoWriter::~VideoWriter() { if (this->remuxing) { - if (this->raw) { avcodec_close(this->codec_ctx); } int err = av_write_trailer(this->ofmt_ctx); if (err != 0) LOGE("av_write_trailer failed %d", err); avcodec_free_context(&this->codec_ctx); diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h index 01a243904c..1aa758b42b 100644 --- a/system/loggerd/video_writer.h +++ b/system/loggerd/video_writer.h @@ -16,11 +16,10 @@ public: ~VideoWriter(); private: std::string vid_path, lock_path; - FILE *of = nullptr; AVCodecContext *codec_ctx; AVFormatContext *ofmt_ctx; AVStream *out_stream; - bool remuxing, raw; -}; \ No newline at end of file + bool remuxing; +}; From 8b7004e68dfad516adbdecc9925bd7fc954cc8d4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 11:10:23 +0800 Subject: [PATCH 097/410] swaglog: remove unnecessary string copy (#29164) --- common/swaglog.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/common/swaglog.cc b/common/swaglog.cc index 060090e18f..c0614c85f5 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -64,8 +64,7 @@ static void log(int levelnum, const char* filename, int lineno, const char* func if (levelnum >= s.print_level) { printf("%s: %s\n", filename, msg); } - char levelnum_c = levelnum; - zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK); + zmq_send(s.sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); } static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, @@ -87,8 +86,11 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons log_j["msg"] = msg_j; } - std::string log_s = ((json11::Json)log_j).dump(); + std::string log_s; + log_s += (char)levelnum; + ((json11::Json)log_j).dump(log_s); log(levelnum, filename, lineno, func, msg_buf, log_s); + free(msg_buf); } From cb342461f03e6ff0e6eccbe5de55796b44e659f1 Mon Sep 17 00:00:00 2001 From: Irene <12470297+cydia2020@users.noreply.github.com> Date: Thu, 24 Aug 2023 13:52:01 +1000 Subject: [PATCH 098/410] Toyota: add TODO comment for TSS-P BSM (#28396) * Toyota: enable BSM on C-Hr * Update selfdrive/car/toyota/carstate.py Co-authored-by: Cameron Clough * remove duplicate block * Remove useless addition * make this a comment for now * remove extra bit * clean up * clean up --------- Co-authored-by: Cameron Clough Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/interface.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 89b328b6ae..ab242a09a2 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -199,6 +199,9 @@ class CarInterface(CarInterfaceBase): ret.mass = 4305. * CV.LB_TO_KG ret.centerToFront = ret.wheelbase * 0.44 + + # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. + # Detect flipped signals and enable for C-HR and others ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it From 3719be8b76f81068da3aadd5bd0f76e8a4d00396 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Aug 2023 21:30:12 -0700 Subject: [PATCH 099/410] Subaru: Forester Hybrid 2020 dashcam (#24770) * Add support for Forester Hybrid 2020 Co-authored-by: martinl * it's a param now * make it work * fix * merge and cleanup * remove duplicate * should be forester * bump submodules * should be abs * add missing params * still need a test route * still need a test route * consitent * here too * todo * more * Update selfdrive/car/tests/routes.py * clean up --------- Co-authored-by: martinl Co-authored-by: Justin Newberry --- selfdrive/car/subaru/carcontroller.py | 3 +-- selfdrive/car/subaru/carstate.py | 10 +++++----- selfdrive/car/subaru/interface.py | 8 ++++---- selfdrive/car/subaru/values.py | 22 +++++++++++++++++++++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 6 files changed, 33 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 05524d4524..6de5bf89e2 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -2,8 +2,7 @@ from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.subaru import subarucan -from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags -from selfdrive.car.subaru.values import HYBRID_CARS +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags class CarController: diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 80eab10eba..ff203f387d 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,9 +4,8 @@ from opendbc.can.can_define import CANDefine from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags +from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags from openpilot.selfdrive.car import CanSignalRateCalculator -from selfdrive.car.subaru.values import HYBRID_CARS class CarState(CarStateBase): @@ -101,17 +100,18 @@ class CarState(CarStateBase): self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"]) cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam - if self.car_fingerprint not in HYBRID_CARS: # Hybrid cars don't have es_distance, need a replacement + # TODO: Hybrid cars don't have ES_Distance, need a replacement + if self.car_fingerprint not in HYBRID_CARS: # 8 is known AEB, there are a few other values related to AEB we ignore ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ - (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) - self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"]) self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"]) if self.car_fingerprint not in HYBRID_CARS: self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"]) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index e6e69316f8..d9f3c5f41d 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -13,9 +13,9 @@ class CarInterface(CarInterfaceBase): ret.carName = "subaru" ret.radarUnavailable = True # for HYBRID CARS to be upstreamed, we need: - # - replacement for ES_Distance so we can cancel the cruise control - # - to find the Cruise_Activated bit from the car - # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) + # - replacement for ES_Distance so we can cancel the cruise control + # - to find the Cruise_Activated bit from the car + # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) ret.autoResumeSng = False @@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17 ret.steerActuatorDelay = 0.1 - elif candidate in (CAR.FORESTER, CAR.FORESTER_2022): + elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID): ret.mass = 1568. ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 4cc1df9754..33ac2b390e 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -71,6 +71,7 @@ class CAR: FORESTER = "SUBARU FORESTER 2019" OUTBACK = "SUBARU OUTBACK 6TH GEN" CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020" + FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020" LEGACY = "SUBARU LEGACY 7TH GEN" FORESTER_2022 = "SUBARU FORESTER 2022" OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN" @@ -113,6 +114,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { ], # TODO: is there an XV and Impreza too? CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"), + CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"), CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), @@ -389,6 +391,23 @@ FW_VERSIONS = { b'\x1a\xe6F1\x00', ], }, + CAR.FORESTER_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x19T\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc2\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eY\x1f@ !', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd2\xa1`r\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1b\xa7@a\x00', + ], + }, CAR.FORESTER_PREGLOBAL: { (Ecu.abs, 0x7b0, None): [ b'\x7d\x97\x14\x40', @@ -649,6 +668,7 @@ DBC = { CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None), CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), + CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None), CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None), @@ -661,4 +681,4 @@ DBC = { LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023} GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023} PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} -HYBRID_CARS = {CAR.CROSSTREK_HYBRID, } \ No newline at end of file +HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 4ecf6e192a..2c6a7472b5 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -28,6 +28,7 @@ non_tested_cars = [ VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, TOYOTA.RAV4H_TSS2_2023, + SUBARU.FORESTER_HYBRID, ] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 0f742e6f39..f02af01609 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -77,6 +77,7 @@ SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020 +SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020 SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN # Old subarus don't have much data guessing it's like low torque impreza From ac939029835542a02b866e8a0d174f09773e4e6e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 13:46:02 +0800 Subject: [PATCH 100/410] cpplint: add filter `whitespace/forcolon` (#29582) whitespace/forcolon --- .pre-commit-config.yaml | 2 +- selfdrive/ui/qt/maps/map_helpers.cc | 2 +- selfdrive/ui/qt/widgets/prime.cc | 2 +- system/loggerd/loggerd.cc | 4 ++-- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index bcd19726ff..1b138752ed 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/parens,+whitespace/semicolon,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+readability/braces - repo: local hooks: - id: test_translations diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index a410ab6ee7..a23c8990d3 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -61,7 +61,7 @@ QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordina QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { QMapbox::Coordinates coordinates; - for (auto const &c: coordinate_list) { + for (auto const &c : coordinate_list) { coordinates.push_back({c.getLatitude(), c.getLongitude()}); } return {QMapbox::CoordinatesCollection{coordinates}}; diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 91a0fc8597..afc6bd898e 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -156,7 +156,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(30); QVector bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")}; - for (auto &b: bullets) { + for (auto &b : bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); l->setAlignment(Qt::AlignLeft); diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 2bcf9e3256..053bc6b1eb 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -98,7 +98,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct re.marked_ready_to_rotate = false; // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { - for (auto &qmsg: re.q) { + for (auto &qmsg : re.q) { bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); } re.q.clear(); @@ -233,7 +233,7 @@ void loggerd_thread() { std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { - for (const auto &encoder_info: cam.encoder_infos) { + for (const auto &encoder_info : cam.encoder_infos) { encoder_infos_dict[encoder_info.publish_name] = encoder_info; s.max_waiting++; } From 4ea78330605cc3e46005e3d0f8915ef8a60c952a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 14:32:01 +0800 Subject: [PATCH 101/410] ui/map_instructions: restore padding (#29548) * restore padding * fixes * fix left and right margins --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/maps/map_instructions.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc index 277e8915cd..ba8cb356bd 100644 --- a/selfdrive/ui/qt/maps/map_instructions.cc +++ b/selfdrive/ui/qt/maps/map_instructions.cc @@ -11,12 +11,13 @@ const QString ICON_SUFFIX = ".png"; MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) { is_rhd = Params().getBool("IsRhdDetected"); QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 11); + main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20); QHBoxLayout *top_layout = new QHBoxLayout; top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); QVBoxLayout *right_layout = new QVBoxLayout; + right_layout->setContentsMargins(9, 9, 9, 0); right_layout->addWidget(distance = new QLabel); distance->setStyleSheet(R"(font-size: 90px;)"); From da7504e1e72ac09063901361377a64ec074efe8f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 23 Aug 2023 23:50:51 -0700 Subject: [PATCH 102/410] CI: Normalize file permissions (#29584) * normalize file permissions * comment * add comment * remove that * shell * should be on the top --- .github/workflows/selfdrive_tests.yaml | 5 +++-- .github/workflows/setup/action.yaml | 7 +++++++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b9a9131d71..e3f060b0dd 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -192,8 +192,9 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup + with: + git-lfs: false - name: Push to container registry run: | $DOCKER_LOGIN diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 2eeefd9f3e..1181008f7e 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -32,6 +32,13 @@ runs: restore-keys: | scons-${{ env.CACHE_COMMIT_DATE }}- scons- + # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 + - id: normalize-file-permissions + shell: bash + name: Normalize file permissions to ensure a consistent docker build cache + run: | + find . -type f -executable -not -perm 755 -exec chmod 755 {} \; + find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; # build our docker image - shell: bash run: eval ${{ env.BUILD }} From 3c94d953ab9fcaf8ee2371af3f269ae46d3563c6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 15:03:16 +0800 Subject: [PATCH 103/410] replay: fix visionbuf alignment on device (#26913) * align visionbuf * update test case * cleanup * fix cpplint warning --- tools/replay/SConscript | 2 +- tools/replay/camera.cc | 17 +++++++++++++++-- tools/replay/camera.h | 3 +++ tools/replay/framereader.cc | 29 ++++++++++++----------------- tools/replay/framereader.h | 8 ++++---- tools/replay/tests/test_replay.cc | 7 +++++-- 6 files changed, 40 insertions(+), 26 deletions(-) diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 4ddeb662e0..3abed43dde 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -22,4 +22,4 @@ replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv' qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): - qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs]) diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 66898c9244..2bc8c66aaa 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,7 +1,18 @@ #include "tools/replay/camera.h" #include "tools/replay/util.h" +#include "msm_media_info.h" #include +#include + +std::tuple get_nv12_info(int width, int height) { + int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); + assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); + assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); + size_t nv12_buffer_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage + return {nv12_width, nv12_height, nv12_buffer_size}; +} CameraServer::CameraServer(std::pair camera_size[MAX_CAMERAS]) { for (int i = 0; i < MAX_CAMERAS; ++i) { @@ -25,7 +36,9 @@ void CameraServer::startVipcServer() { for (auto &cam : cameras_) { if (cam.width > 0 && cam.height > 0) { rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height); - vipc_server_->create_buffers(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height); + auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height); + vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height, + nv12_buffer_size, nv12_width, nv12_width * nv12_height); if (!cam.thread.joinable()) { cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam)); } @@ -38,7 +51,7 @@ void CameraServer::cameraThread(Camera &cam) { auto read_frame = [&](FrameReader *fr, int frame_id) { VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type); assert(yuv_buf); - bool ret = fr->get(frame_id, (uint8_t *)yuv_buf->addr); + bool ret = fr->get(frame_id, yuv_buf); return ret ? yuv_buf : nullptr; }; diff --git a/tools/replay/camera.h b/tools/replay/camera.h index f2d19ccfb2..9f43c5a362 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -3,6 +3,7 @@ #include #include +#include #include #include "cereal/visionipc/visionipc_server.h" @@ -10,6 +11,8 @@ #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" +std::tuple get_nv12_info(int width, int height); + class CameraServer { public: CameraServer(std::pair camera_size[MAX_CAMERAS] = nullptr); diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index 3083a0d376..f45996560e 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -5,8 +5,6 @@ #include #include "libyuv.h" -#include "cereal/visionipc/visionbuf.h" - #ifdef __APPLE__ #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX #define HW_PIX_FMT AV_PIX_FMT_VIDEOTOOLBOX @@ -119,7 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s width = (decoder_ctx->width + 3) & ~3; height = decoder_ctx->height; - visionbuf_compute_aligned_width_and_height(width, height, &aligned_width, &aligned_height); if (has_hw_decoder && !no_hw_decoder) { if (!initHardwareDecoder(HW_DEVICE_TYPE)) { @@ -178,15 +175,15 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) { return true; } -bool FrameReader::get(int idx, uint8_t *yuv) { - assert(yuv != nullptr); +bool FrameReader::get(int idx, VisionBuf *buf) { + assert(buf != nullptr); if (!valid_ || idx < 0 || idx >= packets.size()) { return false; } - return decode(idx, yuv); + return decode(idx, buf); } -bool FrameReader::decode(int idx, uint8_t *yuv) { +bool FrameReader::decode(int idx, VisionBuf *buf) { int from_idx = idx; if (idx != prev_idx + 1 && key_frames_count_ > 1) { // seeking to the nearest key frame @@ -202,7 +199,7 @@ bool FrameReader::decode(int idx, uint8_t *yuv) { for (int i = from_idx; i <= idx; ++i) { AVFrame *f = decodeFrame(packets[i]); if (f && i == idx) { - return copyBuffers(f, yuv); + return copyBuffers(f, buf); } } return false; @@ -234,22 +231,20 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) { } } -bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) { - assert(f != nullptr && yuv != nullptr); - uint8_t *y = yuv; - uint8_t *uv = y + width * height; +bool FrameReader::copyBuffers(AVFrame *f, VisionBuf *buf) { + assert(f != nullptr && buf != nullptr); if (hw_pix_fmt == HW_PIX_FMT) { for (int i = 0; i < height/2; i++) { - memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width); - memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width); - memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width); + memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width); + memcpy(buf->y + (i*2 + 1)*buf->stride, f->data[0] + (i*2 + 1)*f->linesize[0], width); + memcpy(buf->uv + i*buf->stride, f->data[1] + i*f->linesize[1], width); } } else { libyuv::I420ToNV12(f->data[0], f->linesize[0], f->data[1], f->linesize[1], f->data[2], f->linesize[2], - y, width, - uv, width, + buf->y, buf->stride, + buf->uv, buf->stride, width, height); } return true; diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index e50b61d7f4..bb72ac8f8d 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -4,6 +4,7 @@ #include #include +#include "cereal/visionipc/visionbuf.h" #include "tools/replay/filereader.h" extern "C" { @@ -22,19 +23,18 @@ public: bool load(const std::string &url, bool no_hw_decoder = false, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic *abort = nullptr); - bool get(int idx, uint8_t *yuv); + bool get(int idx, VisionBuf *buf); int getYUVSize() const { return width * height * 3 / 2; } size_t getFrameCount() const { return packets.size(); } bool valid() const { return valid_; } int width = 0, height = 0; - int aligned_width = 0, aligned_height = 0; private: bool initHardwareDecoder(AVHWDeviceType hw_device_type); - bool decode(int idx, uint8_t *yuv); + bool decode(int idx, VisionBuf *buf); AVFrame * decodeFrame(AVPacket *pkt); - bool copyBuffers(AVFrame *f, uint8_t *yuv); + bool copyBuffers(AVFrame *f, VisionBuf *buf); std::vector packets; std::unique_ptrav_frame_, hw_frame; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 441bac0cbd..393a561c0f 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -95,10 +95,13 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) { if (cam == RoadCam || cam == WideRoadCam) { REQUIRE(fr->getFrameCount() == 1200); } - std::unique_ptr yuv_buf = std::make_unique(fr->getYUVSize()); + auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height); + VisionBuf buf; + buf.allocate(nv12_buffer_size); + buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height); // sequence get 100 frames for (int i = 0; i < 100; ++i) { - REQUIRE(fr->get(i, yuv_buf.get())); + REQUIRE(fr->get(i, &buf)); } } From 84b897cf44104d964834979d6fc34822baa999bf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 00:34:36 -0700 Subject: [PATCH 104/410] manager: test process exclusion (#29586) * add test * add comment * Update selfdrive/manager/test/test_manager.py * more accurate --- selfdrive/manager/test/test_manager.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 8ae872d3df..89ad483744 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -16,6 +16,7 @@ os.environ['FAKEUPLOAD'] = "1" MAX_STARTUP_TIME = 3 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] + class TestManager(unittest.TestCase): def setUp(self): os.environ['PASSIVE'] = '0' @@ -32,6 +33,10 @@ class TestManager(unittest.TestCase): os.environ['PREPAREONLY'] = '1' manager.main() + def test_blacklisted_procs(self): + # TODO: ensure there are blacklisted procs until we have a dedicated test + self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run") + def test_startup_time(self): for _ in range(10): start = time.monotonic() @@ -59,6 +64,8 @@ class TestManager(unittest.TestCase): self.assertTrue(state.running, f"{p.name} not running") exit_code = p.stop(retry=False) + self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started") + # TODO: mapsd should exit cleanly if p.name == "mapsd": continue From e38ce6087fe56068de40dbbc57944ddf68b8642c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 04:24:22 -0700 Subject: [PATCH 105/410] car interfaces test: don't sleep (#29589) don't sleep in test_car_interfaces --- selfdrive/car/tests/test_car_interfaces.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index a447fc21b6..d9da048288 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import os import math import unittest import hypothesis.strategies as st @@ -41,6 +42,10 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: class TestCarInterfaces(unittest.TestCase): + @classmethod + def setUpClass(cls): + os.environ['NO_RADAR_SLEEP'] = '1' + @parameterized.expand([(car,) for car in sorted(all_known_cars())]) @settings(max_examples=5) @given(data=st.data()) From 99279b8eef43586aa09d001668355fa41e01b98f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 19:26:45 +0800 Subject: [PATCH 106/410] ui: use `enum PrimeType` for prime_type (#29491) --- selfdrive/ui/qt/home.cc | 4 ++-- selfdrive/ui/qt/offroad/networking.cc | 3 +-- selfdrive/ui/qt/widgets/prime.cc | 2 +- selfdrive/ui/qt/widgets/prime.h | 9 --------- selfdrive/ui/ui.cc | 7 +++++-- selfdrive/ui/ui.h | 17 +++++++++++++---- 6 files changed, 22 insertions(+), 20 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index b674d39fbd..f5eab4664e 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -158,8 +158,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { left_widget->setStyleSheet("border-radius: 10px;"); left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1); - connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { - left_widget->setCurrentIndex(prime_type ? 0 : 1); + connect(uiState(), &UIState::primeTypeChanged, [=](PrimeType prime_type) { + left_widget->setCurrentIndex((prime_type != PrimeType::NONE) ? 0 : 1); }); home_layout->addWidget(left_widget, 1); diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 628a92fb58..0a5c07af70 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -10,7 +10,6 @@ #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" @@ -184,7 +183,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); - connect(uiState(), &UIState::primeTypeChanged, this, [=](int prime_type) { + connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) { bool gsmVisible = prime_type == PrimeType::NONE || prime_type == PrimeType::LITE; roamingToggle->setVisible(gsmVisible); editApnButton->setVisible(gsmVisible); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index afc6bd898e..57d9d87a64 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -269,7 +269,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) { } QJsonObject json = doc.object(); - int prime_type = json["prime_type"].toInt(); + PrimeType prime_type = static_cast(json["prime_type"].toInt()); uiState()->setPrimeType(prime_type); if (!json["is_paired"].toBool()) { diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index b41bab1695..227a0f31c1 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -7,15 +7,6 @@ #include "selfdrive/ui/qt/widgets/input.h" -enum PrimeType { - NONE = 0, - MAGENTA = 1, - LITE = 2, - BLUE = 3, - MAGENTA_NEW = 4, -}; - - // pairing QR code class PairingQRWidget : public QWidget { Q_OBJECT diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 26e8464a61..7b12d54888 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -245,8 +245,11 @@ UIState::UIState(QObject *parent) : QObject(parent) { }); Params params; - prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); + auto prime_value = params.get("PrimeType"); + if (!prime_value.empty()) { + prime_type = static_cast(std::atoi(prime_value.c_str())); + } // update timer timer = new QTimer(this); @@ -265,7 +268,7 @@ void UIState::update() { emit uiUpdate(*this); } -void UIState::setPrimeType(int type) { +void UIState::setPrimeType(PrimeType type) { if (type != prime_type) { prime_type = type; Params().put("PrimeType", std::to_string(prime_type)); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 82f65d128f..cac8995278 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -96,6 +96,15 @@ typedef enum UIStatus { STATUS_ENGAGED, } UIStatus; +enum PrimeType { + UNKNOWN = -1, + NONE = 0, + MAGENTA = 1, + LITE = 2, + BLUE = 3, + MAGENTA_NEW = 4, +}; + const QColor bg_colors [] = { [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), @@ -153,8 +162,8 @@ public: return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); } - void setPrimeType(int type); - inline int primeType() const { return prime_type; } + void setPrimeType(PrimeType type); + inline PrimeType primeType() const { return prime_type; } int fb_w = 0, fb_h = 0; @@ -170,7 +179,7 @@ public: signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); - void primeTypeChanged(int prime_type); + void primeTypeChanged(PrimeType prime_type); private slots: void update(); @@ -178,7 +187,7 @@ private slots: private: QTimer *timer; bool started_prev = false; - int prime_type = -1; + PrimeType prime_type = PrimeType::UNKNOWN; }; UIState *uiState(); From 102047013f60e1a3c2e919ae237c1bfbda07ea06 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Aug 2023 12:42:08 +0100 Subject: [PATCH 107/410] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index fa580de1b4..eb1b2ce255 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit fa580de1b42534d3417306c416784e1add99ad32 +Subproject commit eb1b2ce255371d7529e1b4341600ecca5052e1f4 From 05e91c074d0fbabfd3475d4f34b975819159519b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Aug 2023 12:47:22 +0100 Subject: [PATCH 108/410] ui: hasPrime/primeChanged helper (#29590) --- selfdrive/ui/qt/home.cc | 6 +++--- selfdrive/ui/ui.cc | 7 +++++++ selfdrive/ui/ui.h | 2 ++ 3 files changed, 12 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index f5eab4664e..f93b590007 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -157,9 +157,9 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { left_widget->addWidget(new PrimeAdWidget); left_widget->setStyleSheet("border-radius: 10px;"); - left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1); - connect(uiState(), &UIState::primeTypeChanged, [=](PrimeType prime_type) { - left_widget->setCurrentIndex((prime_type != PrimeType::NONE) ? 0 : 1); + left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : 1); + connect(uiState(), &UIState::primeChanged, [=](bool prime) { + left_widget->setCurrentIndex(prime ? 0 : 1); }); home_layout->addWidget(left_widget, 1); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 7b12d54888..fa857c769b 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -270,9 +270,16 @@ void UIState::update() { void UIState::setPrimeType(PrimeType type) { if (type != prime_type) { + bool prev_prime = hasPrime(); + prime_type = type; Params().put("PrimeType", std::to_string(prime_type)); emit primeTypeChanged(prime_type); + + bool prime = hasPrime(); + if (prev_prime != prime) { + emit primeChanged(prime); + } } } diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index cac8995278..bd9d059422 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -164,6 +164,7 @@ public: void setPrimeType(PrimeType type); inline PrimeType primeType() const { return prime_type; } + inline bool hasPrime() const { return prime_type != PrimeType::UNKNOWN && prime_type != PrimeType::NONE; } int fb_w = 0, fb_h = 0; @@ -179,6 +180,7 @@ public: signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); + void primeChanged(bool prime); void primeTypeChanged(PrimeType prime_type); private slots: From d58cb9994f678ad8625b5af8fee53ca2edffd334 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 05:27:58 -0700 Subject: [PATCH 109/410] car interface test: pick from possible ECUs (#29593) pick from possible ecus --- selfdrive/car/tests/test_car_interfaces.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index d9da048288..7abc4c6f41 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -12,9 +12,12 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.fw_versions import FW_VERSIONS from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator +ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) + def get_fuzzy_car_interface_args(draw: DrawType) -> dict: # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface @@ -22,12 +25,8 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: st.integers(min_value=0, max_value=64)) for key in gen_empty_fingerprint()}) - # just the most important fields - car_fw_strategy = st.lists(st.fixed_dictionaries({ - 'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())), - # TODO: only use reasonable addrs for the paired ecu and brand/platform - 'address': st.integers(min_value=0, max_value=0x800), - })) + # only pick from possible ecus to reduce search space + car_fw_strategy = st.lists(st.sampled_from(ALL_ECUS)) params_strategy = st.fixed_dictionaries({ 'fingerprints': fingerprint_strategy, @@ -36,7 +35,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: }) params: dict = draw(params_strategy) - params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']] + params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']] return params From d013f2174adf8ffbf2ba86e2656cf438930850a6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Aug 2023 06:00:55 -0700 Subject: [PATCH 110/410] manager: refactor process starting logic (#29574) * refactor into sane api * always set * cleanup * cleanup * and there too * fix order * fail * and ensure we test * pass test pass test * order * only diff not related --------- Co-authored-by: Shane Smiskol --- selfdrive/manager/process.py | 40 +++--------- selfdrive/manager/process_config.py | 98 ++++++++++++++++------------- 2 files changed, 64 insertions(+), 74 deletions(-) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 8328f1cee9..c56ffeab98 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -66,9 +66,7 @@ def join_process(process: Process, timeout: float) -> None: class ManagerProcess(ABC): daemon = False sigkill = False - onroad = True - offroad = False - callback: Optional[Callable[[bool, Params, car.CarParams], bool]] = None + should_run: Callable[[bool, Params, car.CarParams], bool] proc: Optional[Process] = None enabled = True name = "" @@ -170,15 +168,12 @@ class ManagerProcess(ABC): class NativeProcess(ManagerProcess): - def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None): + def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None): self.name = name self.cwd = cwd self.cmdline = cmdline + self.should_run = should_run self.enabled = enabled - self.onroad = onroad - self.offroad = offroad - self.callback = callback - self.unkillable = unkillable self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt self.launcher = nativelauncher @@ -203,14 +198,11 @@ class NativeProcess(ManagerProcess): class PythonProcess(ManagerProcess): - def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None): + def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None): self.name = name self.module = module + self.should_run = should_run self.enabled = enabled - self.onroad = onroad - self.offroad = offroad - self.callback = callback - self.unkillable = unkillable self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt self.launcher = launcher @@ -243,10 +235,12 @@ class DaemonProcess(ManagerProcess): self.module = module self.param_name = param_name self.enabled = enabled - self.onroad = True - self.offroad = True self.params = None + @staticmethod + def should_run(started, params, CP): + return True + def prepare(self) -> None: pass @@ -286,21 +280,7 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None running = [] for p in procs: - # Conditions that make a process run - run = any(( - p.offroad and not started, - p.onroad and started, - )) - if p.callback is not None and None not in (params, CP): - run = run or p.callback(started, params, CP) - - # Conditions that block a process from starting - run = run and not any(( - not p.enabled, - p.name in not_run, - )) - - if run: + if p.enabled and p.name not in not_run and p.should_run(started, params, CP): p.start() running.append(p) else: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 936dff883b..50e684fcb5 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -8,13 +8,13 @@ from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, Da WEBCAM = os.getenv("USE_WEBCAM") is not None def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: - return params.get_bool("IsDriverViewEnabled") # type: ignore + return started or params.get_bool("IsDriverViewEnabled") def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: - return CP.notCar # type: ignore + return started and CP.notCar def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: - return not CP.notCar + return started and not CP.notCar def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") @@ -32,51 +32,61 @@ def ublox(started, params, CP: car.CarParams) -> bool: def qcomgps(started, params, CP: car.CarParams) -> bool: return started and not ublox_available() -procs = [ - NativeProcess("camerad", "system/camerad", ["./camerad"], callback=driverview), - NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), - PythonProcess("logmessaged", "system.logmessaged", offroad=True), - PythonProcess("micd", "system.micd", callback=iscar), - PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), +def always_run(started, params, CP: car.CarParams) -> bool: + return True + +def only_onroad(started: bool, params, CP: car.CarParams) -> bool: + return started + +def only_offroad(started, params, CP: car.CarParams) -> bool: + return not started +procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), - NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), - NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], onroad=False, callback=notcar), - NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), - NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]), - NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]), - NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), - NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), - NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), - NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), - PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), - PythonProcess("torqued", "selfdrive.locationd.torqued"), - PythonProcess("controlsd", "selfdrive.controls.controlsd"), - PythonProcess("deleter", "system.loggerd.deleter", offroad=True), - PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), - PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps), - PythonProcess("navd", "selfdrive.navd.navd"), - PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), - PythonProcess("paramsd", "selfdrive.locationd.paramsd"), - NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), - PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), - PythonProcess("plannerd", "selfdrive.controls.plannerd"), - PythonProcess("radard", "selfdrive.controls.radard"), - PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), - PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), - PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), - PythonProcess("uploader", "system.loggerd.uploader", offroad=True), - PythonProcess("statsd", "selfdrive.statsd", offroad=True), + + NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), + NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), + PythonProcess("logmessaged", "system.logmessaged", always_run), + PythonProcess("micd", "system.micd", iscar), + PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), + + NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), + NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), + NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), + NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad), + NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad), + NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), + NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad), + NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), + NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False), + PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), + PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), + PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), + PythonProcess("deleter", "system.loggerd.deleter", always_run), + PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), + PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), + PythonProcess("navd", "selfdrive.navd.navd", only_onroad), + PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), + PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), + PythonProcess("pigeond", "system.sensord.pigeond", ublox, enabled=TICI), + PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), + PythonProcess("radard", "selfdrive.controls.radard", only_onroad), + PythonProcess("thermald", "selfdrive.thermald.thermald", always_run), + PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC), + PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC), + PythonProcess("uploader", "system.loggerd.uploader", always_run), + PythonProcess("statsd", "selfdrive.statsd", always_run), # debug procs - NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar), - PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar), + NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), + PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), ] managed_processes = {p.name: p for p in procs} From 21da5a216fc8f5269d2deedc538c2f543a1c270a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 22:42:17 +0800 Subject: [PATCH 111/410] cpplint: add filter `build/include_subdir` (#29585) --- .pre-commit-config.yaml | 2 +- common/swaglog.cc | 2 +- common/tests/test_swaglog.cc | 2 +- common/transformations/coordinates.cc | 6 ++---- common/transformations/coordinates.hpp | 2 ++ common/transformations/orientation.cc | 4 ++-- common/transformations/orientation.hpp | 2 +- selfdrive/boardd/can_list_to_can_capnp.cc | 2 +- selfdrive/locationd/liblocationd.cc | 2 +- selfdrive/locationd/locationd.cc | 4 ++-- selfdrive/locationd/models/live_kf.cc | 2 +- selfdrive/modeld/runners/run.h | 8 ++++---- selfdrive/modeld/thneed/serialize.cc | 2 +- selfdrive/modeld/thneed/thneed.h | 2 +- selfdrive/ui/qt/maps/map_settings.cc | 2 +- system/camerad/cameras/camera_common.cc | 4 ++-- system/camerad/test/ae_gray_test.cc | 2 +- system/logcatd/logcatd_systemd.cc | 2 +- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 6 +++--- system/sensord/sensors/bmx055_accel.cc | 2 +- system/sensord/sensors/bmx055_gyro.cc | 2 +- system/sensord/sensors/bmx055_magn.cc | 2 +- system/sensord/sensors/bmx055_temp.cc | 2 +- system/sensord/sensors/i2c_sensor.cc | 2 +- system/sensord/sensors/lsm6ds3_accel.cc | 2 +- system/sensord/sensors/lsm6ds3_gyro.cc | 2 +- system/sensord/sensors/lsm6ds3_temp.cc | 2 +- system/sensord/sensors/mmc5603nj_magn.cc | 2 +- system/ubloxd/ublox_msg.cc | 2 +- tools/cabana/streams/socketcanstream.cc | 1 - tools/lib/vidindex/bitstream.c | 4 ++-- tools/lib/vidindex/vidindex.c | 2 +- tools/replay/camera.cc | 5 +++-- tools/replay/framereader.cc | 2 +- 35 files changed, 47 insertions(+), 47 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 1b138752ed..dd804eb588 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+readability/braces - repo: local hooks: - id: test_translations diff --git a/common/swaglog.cc b/common/swaglog.cc index c0614c85f5..923f701ab2 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -12,7 +12,7 @@ #include #include -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "common/util.h" #include "common/version.h" diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index 20455ec74c..021656a78b 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -3,7 +3,7 @@ #define CATCH_CONFIG_MAIN #include "catch2/catch.hpp" -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "common/swaglog.h" #include "common/util.h" #include "common/version.h" diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc index b729ac3d87..5b00b53a4f 100644 --- a/common/transformations/coordinates.cc +++ b/common/transformations/coordinates.cc @@ -1,13 +1,11 @@ #define _USE_MATH_DEFINES +#include "common/transformations/coordinates.hpp" + #include #include #include -#include "coordinates.hpp" - - - double a = 6378137; // lgtm [cpp/short-global-name] double b = 6356752.3142; // lgtm [cpp/short-global-name] double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name] diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp index f5ba0d3fe7..32ec2ff66e 100644 --- a/common/transformations/coordinates.hpp +++ b/common/transformations/coordinates.hpp @@ -1,5 +1,7 @@ #pragma once +#include + #define DEG2RAD(x) ((x) * M_PI / 180.0) #define RAD2DEG(x) ((x) * 180.0 / M_PI) diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc index 7909c0affb..00888c3a92 100644 --- a/common/transformations/orientation.cc +++ b/common/transformations/orientation.cc @@ -4,8 +4,8 @@ #include #include -#include "orientation.hpp" -#include "coordinates.hpp" +#include "common/transformations/orientation.hpp" +#include "common/transformations/coordinates.hpp" Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){ if (quat.w() > 0){ diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp index ebd7da0aee..150b12cade 100644 --- a/common/transformations/orientation.hpp +++ b/common/transformations/orientation.hpp @@ -1,6 +1,6 @@ #pragma once #include -#include "coordinates.hpp" +#include "common/transformations/coordinates.hpp" Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat); diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc index c1778c51a2..72ca72688a 100644 --- a/selfdrive/boardd/can_list_to_can_capnp.cc +++ b/selfdrive/boardd/can_list_to_can_capnp.cc @@ -1,5 +1,5 @@ #include "cereal/messaging/messaging.h" -#include "panda.h" +#include "selfdrive/boardd/panda.h" void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { MessageBuilder msg; diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index 6f298deab6..e2b85d93a1 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -1,4 +1,4 @@ -#include "locationd.h" +#include "selfdrive/locationd/locationd.h" extern "C" { typedef Localizer* Localizer_t; diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 722ead7dd4..3a4286a18b 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -1,3 +1,5 @@ +#include "selfdrive/locationd/locationd.h" + #include #include @@ -5,8 +7,6 @@ #include #include -#include "locationd.h" - using namespace EKFS; using namespace Eigen; diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc index f8c03365e1..915d0fd360 100755 --- a/selfdrive/locationd/models/live_kf.cc +++ b/selfdrive/locationd/models/live_kf.cc @@ -1,4 +1,4 @@ -#include "live_kf.h" +#include "selfdrive/locationd/models/live_kf.h" using namespace EKFS; using namespace Eigen; diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h index c64f300fe2..7f6e1aa569 100644 --- a/selfdrive/modeld/runners/run.h +++ b/selfdrive/modeld/runners/run.h @@ -1,10 +1,10 @@ #pragma once -#include "runmodel.h" -#include "snpemodel.h" +#include "selfdrive/modeld/runners/runmodel.h" +#include "selfdrive/modeld/runners/snpemodel.h" #if defined(USE_THNEED) -#include "thneedmodel.h" +#include "selfdrive/modeld/runners/thneedmodel.h" #elif defined(USE_ONNX_MODEL) -#include "onnxmodel.h" +#include "selfdrive/modeld/runners/onnxmodel.h" #endif diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index 51e6d08699..6ed5c08e81 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -1,7 +1,7 @@ #include #include -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "common/util.h" #include "common/clutil.h" #include "selfdrive/modeld/thneed/thneed.h" diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h index 6475577734..47e18e0be3 100644 --- a/selfdrive/modeld/thneed/thneed.h +++ b/selfdrive/modeld/thneed/thneed.h @@ -12,7 +12,7 @@ #include -#include "msm_kgsl.h" +#include "third_party/linux/include/msm_kgsl.h" using namespace std; diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 48a7733c52..a4386ded72 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -1,4 +1,4 @@ -#include "map_settings.h" +#include "selfdrive/ui/qt/maps/map_settings.h" #include diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1eb636b7a2..23b28357da 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -8,7 +8,7 @@ #include #include -#include "libyuv.h" +#include "third_party/libyuv/include/libyuv.h" #include #include "system/camerad/imgproc/utils.h" @@ -17,7 +17,7 @@ #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" -#include "msm_media_info.h" +#include "third_party/linux/include/msm_media_info.h" #include "system/camerad/cameras/camera_qcom2.h" #ifdef QCOM2 diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc index aabd7534ee..8d18f7e93b 100644 --- a/system/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/ae_gray_test.cc @@ -1,6 +1,6 @@ // unittest for set_exposure_target -#include "ae_gray_test.h" +#include "system/camerad/test/ae_gray_test.h" #include diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc index 721726ed27..54b3782132 100644 --- a/system/logcatd/logcatd_systemd.cc +++ b/system/logcatd/logcatd_systemd.cc @@ -5,7 +5,7 @@ #include #include -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "cereal/messaging/messaging.h" #include "common/timing.h" diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index b73f4e8f5d..dc20ea8791 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -11,7 +11,7 @@ #define __STDC_CONSTANT_MACROS -#include "libyuv.h" +#include "third_party/libyuv/include/libyuv.h" extern "C" { #include diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 2f74c3785a..b09fa1e6ba 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -7,11 +7,11 @@ #include "common/util.h" #include "common/timing.h" -#include "libyuv.h" -#include "msm_media_info.h" +#include "third_party/libyuv/include/libyuv.h" +#include "third_party/linux/include/msm_media_info.h" // has to be in this order -#include "v4l2-controls.h" +#include "third_party/linux/include/v4l2-controls.h" #include #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000 diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc index 0c48d1e3ba..bdb0113de3 100644 --- a/system/sensord/sensors/bmx055_accel.cc +++ b/system/sensord/sensors/bmx055_accel.cc @@ -1,4 +1,4 @@ -#include "bmx055_accel.h" +#include "system/sensord/sensors/bmx055_accel.h" #include diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc index ba41f3b47c..411b2f445e 100644 --- a/system/sensord/sensors/bmx055_gyro.cc +++ b/system/sensord/sensors/bmx055_gyro.cc @@ -1,4 +1,4 @@ -#include "bmx055_gyro.h" +#include "system/sensord/sensors/bmx055_gyro.h" #include #include diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc index 950e608923..585bf1b2d2 100644 --- a/system/sensord/sensors/bmx055_magn.cc +++ b/system/sensord/sensors/bmx055_magn.cc @@ -1,4 +1,4 @@ -#include "bmx055_magn.h" +#include "system/sensord/sensors/bmx055_magn.h" #include diff --git a/system/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc index 68ee0da1d6..da7b86476c 100644 --- a/system/sensord/sensors/bmx055_temp.cc +++ b/system/sensord/sensors/bmx055_temp.cc @@ -1,4 +1,4 @@ -#include "bmx055_temp.h" +#include "system/sensord/sensors/bmx055_temp.h" #include diff --git a/system/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc index f563f93d2b..90220f551d 100644 --- a/system/sensord/sensors/i2c_sensor.cc +++ b/system/sensord/sensors/i2c_sensor.cc @@ -1,4 +1,4 @@ -#include "i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" int16_t read_12_bit(uint8_t lsb, uint8_t msb) { uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0); diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc index 139b5df67a..03533e0657 100644 --- a/system/sensord/sensors/lsm6ds3_accel.cc +++ b/system/sensord/sensors/lsm6ds3_accel.cc @@ -1,4 +1,4 @@ -#include "lsm6ds3_accel.h" +#include "system/sensord/sensors/lsm6ds3_accel.h" #include #include diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc index e6bdc6c8a9..0459b6ad64 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ b/system/sensord/sensors/lsm6ds3_gyro.cc @@ -1,4 +1,4 @@ -#include "lsm6ds3_gyro.h" +#include "system/sensord/sensors/lsm6ds3_gyro.h" #include #include diff --git a/system/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc index c2e2c83c1d..f481614154 100644 --- a/system/sensord/sensors/lsm6ds3_temp.cc +++ b/system/sensord/sensors/lsm6ds3_temp.cc @@ -1,4 +1,4 @@ -#include "lsm6ds3_temp.h" +#include "system/sensord/sensors/lsm6ds3_temp.h" #include diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc index b69c602bdf..0e8ba967e3 100644 --- a/system/sensord/sensors/mmc5603nj_magn.cc +++ b/system/sensord/sensors/mmc5603nj_magn.cc @@ -1,4 +1,4 @@ -#include "mmc5603nj_magn.h" +#include "system/sensord/sensors/mmc5603nj_magn.h" #include #include diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index 48a39b7bef..7b4505dc81 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -1,4 +1,4 @@ -#include "ublox_msg.h" +#include "system/ubloxd/ublox_msg.h" #include diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc index d5f9d115f2..3df8e31f3b 100644 --- a/tools/cabana/streams/socketcanstream.cc +++ b/tools/cabana/streams/socketcanstream.cc @@ -1,5 +1,4 @@ #include "tools/cabana/streams/socketcanstream.h" -#include "socketcanstream.h" #include #include diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c index d174ffa8a7..dc6f43f14f 100644 --- a/tools/lib/vidindex/bitstream.c +++ b/tools/lib/vidindex/bitstream.c @@ -1,8 +1,8 @@ +#include "./bitstream.h" + #include #include -#include "bitstream.h" - static const uint32_t BS_MASKS[33] = { 0, 0x1L, 0x3L, 0x7L, 0xFL, 0x1FL, 0x3FL, 0x7FL, 0xFFL, 0x1FFL, 0x3FFL, 0x7FFL, diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c index 4857c60dd2..1d7da2e193 100644 --- a/tools/lib/vidindex/vidindex.c +++ b/tools/lib/vidindex/vidindex.c @@ -9,7 +9,7 @@ #include #include -#include "bitstream.h" +#include "./bitstream.h" #define START_CODE 0x000001 diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 2bc8c66aaa..49f3010c6c 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,10 +1,11 @@ #include "tools/replay/camera.h" -#include "tools/replay/util.h" -#include "msm_media_info.h" #include #include +#include "third_party/linux/include/msm_media_info.h" +#include "tools/replay/util.h" + std::tuple get_nv12_info(int width, int height) { int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index f45996560e..303f0c60ca 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -3,7 +3,7 @@ #include #include -#include "libyuv.h" +#include "third_party/libyuv/include/libyuv.h" #ifdef __APPLE__ #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX From 74b9a6af9e10e97f1686732ab7b6ba0ace597c48 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Aug 2023 15:46:56 +0100 Subject: [PATCH 112/410] add missing openpilot prefix to imports --- selfdrive/car/ford/tests/test_ford.py | 2 +- selfdrive/controls/lib/tests/test_latcontrol.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index 11746777f0..e645b4cbe6 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -6,7 +6,7 @@ from typing import Dict, Iterable, Optional, Tuple import capnp from cereal import car -from selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS +from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS Ecu = car.CarParams.Ecu diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index cf2243d033..9580e604ff 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -12,7 +12,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel -from selfdrive.navd.tests.test_map_renderer import gen_llk +from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk class TestLatControl(unittest.TestCase): From 9c7bf50703e4da45163e175766b4bdfabcb9916c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 23:06:58 +0800 Subject: [PATCH 113/410] cpplint: add filter `whitespace/tab` (#29588) --- .pre-commit-config.yaml | 2 +- common/mat.h | 4 ++-- selfdrive/modeld/runners/onnxmodel.h | 2 +- selfdrive/modeld/tests/tf_test/main.cc | 6 +++--- system/camerad/cameras/camera_qcom2.cc | 28 +++++++++++++------------- system/sensord/sensors/bmx055_magn.cc | 20 +++++++++--------- 6 files changed, 31 insertions(+), 31 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index dd804eb588..81782123ac 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces - repo: local hooks: - id: test_translations diff --git a/common/mat.h b/common/mat.h index 626f3404fe..8e10d61971 100644 --- a/common/mat.h +++ b/common/mat.h @@ -1,7 +1,7 @@ #pragma once typedef struct vec3 { - float v[3]; + float v[3]; } vec3; typedef struct vec4 { @@ -9,7 +9,7 @@ typedef struct vec4 { } vec4; typedef struct mat3 { - float v[3*3]; + float v[3*3]; } mat3; typedef struct mat4 { diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 42aa179ce9..f9bae1a0a9 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -7,7 +7,7 @@ class ONNXModel : public RunModel { public: ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL); - ~ONNXModel(); + ~ONNXModel(); void execute(); private: int proc_pid; diff --git a/selfdrive/modeld/tests/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc index db1ef3d67e..b00f7f95e8 100644 --- a/selfdrive/modeld/tests/tf_test/main.cc +++ b/selfdrive/modeld/tests/tf_test/main.cc @@ -36,9 +36,9 @@ static void DeallocateBuffer(void* data, size_t) { int main(int argc, char* argv[]) { TF_Buffer* buf; - TF_Graph* graph; - TF_Status* status; - char *path = argv[1]; + TF_Graph* graph; + TF_Status* status; + char *path = argv[1]; // load model { diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index b404c2a2e9..3a9ecb467b 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -422,20 +422,20 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (io_mem_handle != 0) { io_cfg[0].mem_handle[0] = io_mem_handle; - io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = ci.frame_width, - .height = ci.frame_height + ci.extra_height, - .plane_stride = ci.frame_stride, - .slice_height = ci.frame_height + ci.extra_height, - .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) - .meta_size = 0x0, - .meta_offset = 0x0, - .packer_config = 0x0, // 0xb for YUV - .mode_config = 0x0, // 0x9ef for YUV - .tile_config = 0x0, - .h_init = 0x0, - .v_init = 0x0, - }; + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = ci.frame_width, + .height = ci.frame_height + ci.extra_height, + .plane_stride = ci.frame_stride, + .slice_height = ci.frame_height + ci.extra_height, + .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) + .meta_size = 0x0, + .meta_offset = 0x0, + .packer_config = 0x0, // 0xb for YUV + .mode_config = 0x0, // 0x9ef for YUV + .tile_config = 0x0, + .h_init = 0x0, + .v_init = 0x0, + }; io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12; // CAM_FORMAT_UBWC_TP10 for YUV io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV io_cfg[0].color_pattern = 0x5; // 0x0 for YUV diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc index 585bf1b2d2..3d0d3d2fc6 100644 --- a/system/sensord/sensors/bmx055_magn.cc +++ b/system/sensord/sensors/bmx055_magn.cc @@ -171,17 +171,17 @@ bool BMX055_Magn::perform_self_test() { uint8_t forced = BMX055_MAGN_FORCED; // Negative current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6)); - util::sleep_for(100); + set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6)); + util::sleep_for(100); - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - parse_xyz(buffer, &x, &y, &neg_z); + read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); + parse_xyz(buffer, &x, &y, &neg_z); // Positive current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6)); - util::sleep_for(100); + set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6)); + util::sleep_for(100); - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); + read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); parse_xyz(buffer, &x, &y, &pos_z); // Put back in normal mode @@ -206,9 +206,9 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t * uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2; assert(data_r != 0); - *x = compensate_x(trim_data, mdata_x, data_r); - *y = compensate_y(trim_data, mdata_y, data_r); - *z = compensate_z(trim_data, mdata_z, data_r); + *x = compensate_x(trim_data, mdata_x, data_r); + *y = compensate_y(trim_data, mdata_y, data_r); + *z = compensate_z(trim_data, mdata_z, data_r); } return ready; } From 20e81703995e74877248ac28fd653f059bc44e34 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 23:21:03 +0800 Subject: [PATCH 114/410] common/i2c: remove duplicate #include (#29594) --- common/i2c.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/common/i2c.cc b/common/i2c.cc index fc72559ce7..9508179c6e 100644 --- a/common/i2c.cc +++ b/common/i2c.cc @@ -8,7 +8,6 @@ #include #include -#include "common/util.h" #include "common/swaglog.h" #include "common/util.h" From 792ad7d81677ebb95888541bac14fb6089c1e5fc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Aug 2023 23:51:53 +0800 Subject: [PATCH 115/410] ui/map: delete map after unsubscribing from prime (#29136) Co-authored-by: Cameron Clough --- selfdrive/ui/qt/onroad.cc | 14 +++++++++++++- selfdrive/ui/qt/onroad.h | 1 + 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index d5b2bbcf6b..1b05509ae8 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -63,6 +63,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState); QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition); + QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged); } void OnroadWindow::updateState(const UIState &s) { @@ -105,7 +106,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { void OnroadWindow::offroadTransition(bool offroad) { #ifdef ENABLE_MAPS if (!offroad) { - if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) { + if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) { auto m = new MapPanel(get_mapbox_settings()); map = m; @@ -125,6 +126,17 @@ void OnroadWindow::offroadTransition(bool offroad) { alerts->updateAlert({}); } +void OnroadWindow::primeChanged(bool prime) { +#ifdef ENABLE_MAPS + if (map && (!prime && MAPBOX_TOKEN.isEmpty())) { + nvg->map_settings_btn->setEnabled(false); + nvg->map_settings_btn->setVisible(false); + map->deleteLater(); + map = nullptr; + } +#endif +} + void OnroadWindow::paintEvent(QPaintEvent *event) { QPainter p(this); p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255)); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index df43ff97f1..c94b1947d2 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -150,5 +150,6 @@ private: private slots: void offroadTransition(bool offroad); + void primeChanged(bool prime); void updateState(const UIState &s); }; From 7bfd3dac811ae95bfd09495e88377dfbaacda393 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Aug 2023 01:42:06 +0800 Subject: [PATCH 116/410] cpplint: add filter `whitespace/comma` (#29595) --- .pre-commit-config.yaml | 2 +- scripts/dump_pll.c | 6 ++-- selfdrive/modeld/modeld.cc | 2 +- selfdrive/modeld/models/driving.cc | 2 +- .../modeld/tests/snpe_benchmark/benchmark.cc | 4 +-- selfdrive/ui/qt/widgets/keyboard.cc | 32 +++++++++---------- selfdrive/ui/ui.cc | 10 +++--- system/camerad/test/ae_gray_test.h | 21 ++++++------ system/loggerd/encoder/v4l_encoder.cc | 2 +- tools/cabana/messageswidget.cc | 2 +- tools/cabana/util.h | 2 +- 11 files changed, 42 insertions(+), 43 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 81782123ac..d4259dec17 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --linelength=240 # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces - repo: local hooks: - id: test_translations diff --git a/scripts/dump_pll.c b/scripts/dump_pll.c index 325ee2b4c0..3e2190235a 100644 --- a/scripts/dump_pll.c +++ b/scripts/dump_pll.c @@ -39,9 +39,9 @@ void hexdump(uint32_t *d, int l) { int main() { int fd = open("/dev/mem", O_RDWR); - volatile uint32_t *mb = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06400000); - volatile uint32_t *mc = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06480000); - volatile uint32_t *md = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x09A20000); + volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000); + volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000); + volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000); while (1) { printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n", mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4], diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index d1769c4bec..9a5862fbf5 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -30,7 +30,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer static const auto calib_from_medmodel = (Eigen::Matrix() << 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, - -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished(); + -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished(); static const auto calib_from_sbigmodel = (Eigen::Matrix() << 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 72137c4a97..136bd255c3 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -157,7 +157,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet softmax(meta_data.desire_pred_prob[i].array.data(), desire_pred_softmax.data() + (i * DESIRE_LEN), DESIRE_LEN); } - std::array lat_long_t = {2,4,6,8,10}; + std::array lat_long_t = {2, 4, 6, 8, 10}; std::array gas_disengage_sigmoid, brake_disengage_sigmoid, steer_override_sigmoid, brake_3ms2_sigmoid, brake_4ms2_sigmoid, brake_5ms2_sigmoid; for (int i=0; i &input) { FILE * pFile; string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index); - pFile = fopen(filepath.c_str(),"rb"); + pFile = fopen(filepath.c_str(), "rb"); int length = 1*6*160*320*4; float * frame_buffer = new float[length/4]; // 32/8 fread(frame_buffer, length, 1, pFile); @@ -164,7 +164,7 @@ void testrun(char* modelfile) { for (int i=0; i<10000; i++) { std::unique_ptr input; input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape); - get_testframe(i,input); + get_testframe(i, input); snpe->execute(input.get(), outputTensorMap); zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames(); std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) { diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 162d27db02..370e9a53cc 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -104,37 +104,37 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) { // lowercase std::vector> lowercase = { - {"q","w","e","r","t","y","u","i","o","p"}, - {"a","s","d","f","g","h","j","k","l"}, - {"↑","z","x","c","v","b","n","m",BACKSPACE_KEY}, - {"123"," ",".",ENTER_KEY}, + {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"}, + {"a", "s", "d", "f", "g", "h", "j", "k", "l"}, + {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY}, + {"123", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, lowercase)); // uppercase std::vector> uppercase = { - {"Q","W","E","R","T","Y","U","I","O","P"}, - {"A","S","D","F","G","H","J","K","L"}, - {"↓","Z","X","C","V","B","N","M",BACKSPACE_KEY}, - {"123"," ",".",ENTER_KEY}, + {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"}, + {"A", "S", "D", "F", "G", "H", "J", "K", "L"}, + {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY}, + {"123", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, uppercase)); // numbers + specials std::vector> numbers = { - {"1","2","3","4","5","6","7","8","9","0"}, - {"-","/",":",";","(",")","$","&&","@","\""}, - {"#+=",".",",","?","!","`",BACKSPACE_KEY}, - {"ABC"," ",".",ENTER_KEY}, + {"1", "2", "3", "4", "5", "6", "7", "8", "9", "0"}, + {"-", "/", ":", ";", "(", ")", "$", "&&", "@", "\""}, + {"#+=", ".", ",", "?", "!", "`", BACKSPACE_KEY}, + {"ABC", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, numbers)); // extra specials std::vector> specials = { - {"[","]","{","}","#","%","^","*","+","="}, - {"_","\\","|","~","<",">","€","£","¥","•"}, - {"123",".",",","?","!","'",BACKSPACE_KEY}, - {"ABC"," ",".",ENTER_KEY}, + {"[", "]", "{", "}", "#", "%", "^", "*", "+", "="}, + {"_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"}, + {"123", ".", ",", "?", "!", "'", BACKSPACE_KEY}, + {"ABC", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, specials)); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index fa857c769b..03df2cf57a 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -169,15 +169,15 @@ static void update_state(UIState *s) { Eigen::Matrix3d device_from_calib = euler2rot(rpy); Eigen::Matrix3d wide_from_device = euler2rot(wfde); Eigen::Matrix3d view_from_device; - view_from_device << 0,1,0, - 0,0,1, - 1,0,0; + view_from_device << 0, 1, 0, + 0, 0, 1, + 1, 0, 0; Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); - scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); + scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j); + scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j); } } scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h index fb54cd9584..8953fb017f 100644 --- a/system/camerad/test/ae_gray_test.h +++ b/system/camerad/test/ae_gray_test.h @@ -5,14 +5,13 @@ #define TONE_SPLITS 3 -float gts[TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS] = { - 0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969, - 0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000, - 0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000 -}; +float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { + 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, + 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, + 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000}; diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index b09fa1e6ba..b5329bb8f1 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -19,7 +19,7 @@ // echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; -#define checked_ioctl(x,y,z) { int _ret = HANDLE_EINTR(ioctl(x,y,z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); } +#define checked_ioctl(x, y, z) { int _ret = HANDLE_EINTR(ioctl(x, y, z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); } static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) { v4l2_plane plane = {0}; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 7c20186594..cd663f0e45 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -15,7 +15,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0 ,0, 0, 0); + main_layout->setContentsMargins(0, 0, 0, 0); QHBoxLayout *title_layout = new QHBoxLayout(); num_msg_label = new QLabel(this); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 696319b3a8..db681f80f9 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -59,7 +59,7 @@ public: private: std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const; void build_tree(const QVector &arr, int n, int left, int right); - std::vector> tree; + std::vector> tree; int size = 0; }; From 821cfff56d00b61fc3b4fba12bf0830cdb21ed27 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 10:45:50 -0700 Subject: [PATCH 117/410] car interfaces: long running fuzzy test (#29592) * draft * draft 2 * increase deadline and run * imports * run -> use --- Jenkinsfile | 1 + selfdrive/car/tests/test_car_interfaces.py | 9 +++++++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index a698cc68cc..c0bdd53253 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -160,6 +160,7 @@ pipeline { sh "scons --clean && scons --no-cache --random -j42" sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" + sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" } post { diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 7abc4c6f41..d44c50ed90 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -3,7 +3,7 @@ import os import math import unittest import hypothesis.strategies as st -from hypothesis import given, settings +from hypothesis import Phase, given, settings import importlib from parameterized import parameterized @@ -18,6 +18,8 @@ from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) +MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '5')) + def get_fuzzy_car_interface_args(draw: DrawType) -> dict: # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface @@ -45,8 +47,11 @@ class TestCarInterfaces(unittest.TestCase): def setUpClass(cls): os.environ['NO_RADAR_SLEEP'] = '1' + # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause + # many generated examples to overrun when max_examples > ~20, don't use it @parameterized.expand([(car,) for car in sorted(all_known_cars())]) - @settings(max_examples=5) + @settings(max_examples=MAX_EXAMPLES, deadline=500, + phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_car_interfaces(self, car_name, data): CarInterface, CarController, CarState = interfaces[car_name] From b234cb022356baceba3fb4a990c7c483216bd860 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Aug 2023 02:09:26 +0800 Subject: [PATCH 118/410] ui: remove Q_PROPERTY from `AnnotatedCameraWidget` (#28745) --- selfdrive/ui/qt/onroad.cc | 47 +++++++++++++++------------------------ selfdrive/ui/qt/onroad.h | 13 ----------- 2 files changed, 18 insertions(+), 42 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 1b05509ae8..d0b82207e6 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -283,53 +283,42 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const bool cs_alive = sm.alive("controlsState"); const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); - const auto cs = sm["controlsState"].getControlsState(); const auto car_state = sm["carState"].getCarState(); const auto nav_instruction = sm["navInstruction"].getNavInstruction(); // Handle older routes where vCruiseCluster is not set float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); - float set_speed = cs_alive ? v_cruise : SET_SPEED_NA; - bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; - if (cruise_set && !s.scene.is_metric) { - set_speed *= KM_TO_MILE; + setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; + is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; + if (is_cruise_set && !s.scene.is_metric) { + setSpeed *= KM_TO_MILE; } // Handle older routes where vEgoCluster is not set - float v_ego; - if (car_state.getVEgoCluster() == 0.0 && !v_ego_cluster_seen) { - v_ego = car_state.getVEgo(); - } else { - v_ego = car_state.getVEgoCluster(); - v_ego_cluster_seen = true; - } - float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; + v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; + float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); + speed = cs_alive ? std::max(0.0, v_ego) : 0.0; + speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); - float speed_limit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; - speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); - - setProperty("speedLimit", speed_limit); - setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); - setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; + speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); - setProperty("is_cruise_set", cruise_set); - setProperty("is_metric", s.scene.is_metric); - setProperty("speed", cur_speed); - setProperty("setSpeed", set_speed); - setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); - setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); - setProperty("status", s.status); + has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); + has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + is_metric = s.scene.is_metric; + speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); + hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); + status = s.status; // update engageability/experimental mode button experimental_btn->updateState(s); // update DM icon auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); - setProperty("dmActive", dm_state.getIsActiveMode()); - setProperty("rightHandDM", dm_state.getIsRHD()); + dmActive = dm_state.getIsActiveMode(); + rightHandDM = dm_state.getIsRHD(); // DM icon transition dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index c94b1947d2..b3ba411453 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -65,19 +65,6 @@ private: // container window for the NVG UI class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT - Q_PROPERTY(float speed MEMBER speed); - Q_PROPERTY(QString speedUnit MEMBER speedUnit); - Q_PROPERTY(float setSpeed MEMBER setSpeed); - Q_PROPERTY(float speedLimit MEMBER speedLimit); - Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); - Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit); - Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit); - Q_PROPERTY(bool is_metric MEMBER is_metric); - - Q_PROPERTY(bool dmActive MEMBER dmActive); - Q_PROPERTY(bool hideBottomIcons MEMBER hideBottomIcons); - Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); - Q_PROPERTY(int status MEMBER status); public: explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); From 3930ec9facb51491309ba37f66a7b3c59a8dd035 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Aug 2023 03:55:47 +0800 Subject: [PATCH 119/410] locationd: passing eigen objects by reference (#28719) pass eigen objects by reference --- selfdrive/locationd/locationd.cc | 18 ++++++------ selfdrive/locationd/locationd.h | 8 +++--- selfdrive/locationd/models/live_kf.cc | 40 +++++++++++++-------------- selfdrive/locationd/models/live_kf.h | 28 +++++++++---------- 4 files changed, 47 insertions(+), 47 deletions(-) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 3a4286a18b..401de0cfdd 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -292,8 +292,8 @@ void Localizer::input_fake_gps_observations(double current_time) { VectorXd current_x = this->kf->get_x(); VectorXd ecef_pos = current_x.segment(STATE_ECEF_POS_START); VectorXd ecef_vel = current_x.segment(STATE_ECEF_VELOCITY_START); - MatrixXdr ecef_pos_R = this->kf->get_fake_gps_pos_cov(); - MatrixXdr ecef_vel_R = this->kf->get_fake_gps_vel_cov(); + const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov(); + const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov(); this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); @@ -507,8 +507,8 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra } void Localizer::reset_kalman(double current_time) { - VectorXd init_x = this->kf->get_initial_x(); - MatrixXdr init_P = this->kf->get_initial_P(); + const VectorXd &init_x = this->kf->get_initial_x(); + const MatrixXdr &init_P = this->kf->get_initial_P(); this->reset_kalman(current_time, init_x, init_P); } @@ -544,12 +544,12 @@ void Localizer::update_reset_tracker() { } } -void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd init_pos, VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R) { +void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) { // too nonlinear to init on completely wrong VectorXd current_x = this->kf->get_x(); MatrixXdr current_P = this->kf->get_P(); MatrixXdr init_P = this->kf->get_initial_P(); - MatrixXdr reset_orientation_P = this->kf->get_reset_orientation_P(); + const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P(); int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN); current_x.segment(STATE_ECEF_ORIENTATION_START) = init_orient; @@ -565,7 +565,7 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd this->reset_kalman(current_time, current_x, init_P); } -void Localizer::reset_kalman(double current_time, VectorXd init_x, MatrixXdr init_P) { +void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) { this->kf->init_state(init_x, init_P, current_time); this->last_reset_time = current_time; this->reset_tracker += 1.0; @@ -620,7 +620,7 @@ bool Localizer::is_gps_ok() { return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0; } -bool Localizer::critical_services_valid(std::map critical_services) { +bool Localizer::critical_services_valid(const std::map &critical_services) { for (auto &kv : critical_services){ if (kv.second >= INPUT_INVALID_THRESHOLD){ return false; @@ -653,7 +653,7 @@ void Localizer::determine_gps_mode(double current_time) { } } -void Localizer::configure_gnss_source(LocalizerGnssSource source) { +void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { this->gnss_source = source; if (source == LocalizerGnssSource::UBLOX) { this->gps_std_factor = 10.0; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index f7adab3673..f3069048cd 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -33,13 +33,13 @@ public: int locationd_thread(); void reset_kalman(double current_time = NAN); - void reset_kalman(double current_time, Eigen::VectorXd init_orient, Eigen::VectorXd init_pos, Eigen::VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R); - void reset_kalman(double current_time, Eigen::VectorXd init_x, MatrixXdr init_P); + void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R); + void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P); void finite_check(double current_time = NAN); void time_check(double current_time = NAN); void update_reset_tracker(); bool is_gps_ok(); - bool critical_services_valid(std::map critical_services); + bool critical_services_valid(const std::map &critical_services); bool is_timestamp_valid(double current_time); void determine_gps_mode(double current_time); bool are_inputs_ok(); @@ -95,5 +95,5 @@ private: float gps_vertical_variance_factor; double gps_time_offset; - void configure_gnss_source(LocalizerGnssSource source); + void configure_gnss_source(const LocalizerGnssSource &source); }; diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc index 915d0fd360..fc3bfb7246 100755 --- a/selfdrive/locationd/models/live_kf.cc +++ b/selfdrive/locationd/models/live_kf.cc @@ -3,25 +3,25 @@ using namespace EKFS; using namespace Eigen; -Eigen::Map get_mapvec(Eigen::VectorXd& vec) { - return Eigen::Map(vec.data(), vec.rows(), vec.cols()); +Eigen::Map get_mapvec(const Eigen::VectorXd &vec) { + return Eigen::Map((double*)vec.data(), vec.rows(), vec.cols()); } -Eigen::Map get_mapmat(MatrixXdr& mat) { - return Eigen::Map(mat.data(), mat.rows(), mat.cols()); +Eigen::Map get_mapmat(const MatrixXdr &mat) { + return Eigen::Map((double*)mat.data(), mat.rows(), mat.cols()); } -std::vector> get_vec_mapvec(std::vector& vec_vec) { +std::vector> get_vec_mapvec(const std::vector &vec_vec) { std::vector> res; - for (Eigen::VectorXd& vec : vec_vec) { + for (const Eigen::VectorXd &vec : vec_vec) { res.push_back(get_mapvec(vec)); } return res; } -std::vector> get_vec_mapmat(std::vector& mat_vec) { +std::vector> get_vec_mapmat(const std::vector &mat_vec) { std::vector> res; - for (MatrixXdr& mat : mat_vec) { + for (const MatrixXdr &mat : mat_vec) { res.push_back(get_mapmat(mat)); } return res; @@ -43,20 +43,20 @@ LiveKalman::LiveKalman() { // init filter this->filter = std::make_shared(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x), - get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector(), + get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector(), std::vector{3}, std::vector(), 0.8); } -void LiveKalman::init_state(VectorXd& state, VectorXd& covs_diag, double filter_time) { +void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) { MatrixXdr covs = covs_diag.asDiagonal(); this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); } -void LiveKalman::init_state(VectorXd& state, MatrixXdr& covs, double filter_time) { +void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) { this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); } -void LiveKalman::init_state(VectorXd& state, double filter_time) { +void LiveKalman::init_state(const VectorXd &state, double filter_time) { MatrixXdr covs = this->filter->covs(); this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); } @@ -81,7 +81,7 @@ std::vector LiveKalman::get_R(int kind, int n) { return R; } -std::optional LiveKalman::predict_and_observe(double t, int kind, std::vector meas, std::vector R) { +std::optional LiveKalman::predict_and_observe(double t, int kind, const std::vector &meas, std::vector R) { std::optional r; if (R.size() == 0) { R = this->get_R(kind, meas.size()); @@ -94,29 +94,29 @@ void LiveKalman::predict(double t) { this->filter->predict(t); } -Eigen::VectorXd LiveKalman::get_initial_x() { +const Eigen::VectorXd &LiveKalman::get_initial_x() { return this->initial_x; } -MatrixXdr LiveKalman::get_initial_P() { +const MatrixXdr &LiveKalman::get_initial_P() { return this->initial_P; } -MatrixXdr LiveKalman::get_fake_gps_pos_cov() { +const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() { return this->fake_gps_pos_cov; } -MatrixXdr LiveKalman::get_fake_gps_vel_cov() { +const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() { return this->fake_gps_vel_cov; } -MatrixXdr LiveKalman::get_reset_orientation_P() { +const MatrixXdr &LiveKalman::get_reset_orientation_P() { return this->reset_orientation_P; } -MatrixXdr LiveKalman::H(VectorXd in) { +MatrixXdr LiveKalman::H(const VectorXd &in) { assert(in.size() == 6); Matrix res; - this->filter->get_extra_routine("H")(in.data(), res.data()); + this->filter->get_extra_routine("H")((double*)in.data(), res.data()); return res; } diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h index c2f3f37eaf..e4b3e326b3 100755 --- a/selfdrive/locationd/models/live_kf.h +++ b/selfdrive/locationd/models/live_kf.h @@ -16,37 +16,37 @@ using namespace EKFS; -Eigen::Map get_mapvec(Eigen::VectorXd& vec); -Eigen::Map get_mapmat(MatrixXdr& mat); -std::vector> get_vec_mapvec(std::vector& vec_vec); -std::vector> get_vec_mapmat(std::vector& mat_vec); +Eigen::Map get_mapvec(const Eigen::VectorXd &vec); +Eigen::Map get_mapmat(const MatrixXdr &mat); +std::vector> get_vec_mapvec(const std::vector &vec_vec); +std::vector> get_vec_mapmat(const std::vector &mat_vec); class LiveKalman { public: LiveKalman(); - void init_state(Eigen::VectorXd& state, Eigen::VectorXd& covs_diag, double filter_time); - void init_state(Eigen::VectorXd& state, MatrixXdr& covs, double filter_time); - void init_state(Eigen::VectorXd& state, double filter_time); + void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time); + void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time); + void init_state(const Eigen::VectorXd &state, double filter_time); Eigen::VectorXd get_x(); MatrixXdr get_P(); double get_filter_time(); std::vector get_R(int kind, int n); - std::optional predict_and_observe(double t, int kind, std::vector meas, std::vector R = {}); + std::optional predict_and_observe(double t, int kind, const std::vector &meas, std::vector R = {}); std::optional predict_and_update_odo_speed(std::vector speed, double t, int kind); std::optional predict_and_update_odo_trans(std::vector trans, double t, int kind); std::optional predict_and_update_odo_rot(std::vector rot, double t, int kind); void predict(double t); - Eigen::VectorXd get_initial_x(); - MatrixXdr get_initial_P(); - MatrixXdr get_fake_gps_pos_cov(); - MatrixXdr get_fake_gps_vel_cov(); - MatrixXdr get_reset_orientation_P(); + const Eigen::VectorXd &get_initial_x(); + const MatrixXdr &get_initial_P(); + const MatrixXdr &get_fake_gps_pos_cov(); + const MatrixXdr &get_fake_gps_vel_cov(); + const MatrixXdr &get_reset_orientation_P(); - MatrixXdr H(Eigen::VectorXd in); + MatrixXdr H(const Eigen::VectorXd &in); private: std::string name = "live"; From d54fa5c7f198af93474a73643b9363fc2a2043ba Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Aug 2023 03:56:06 +0800 Subject: [PATCH 120/410] v4l_encoder: fix error handling for poll (#29166) * fix error handling for poll * revert --------- Co-authored-by: Adeeb Shihadeh --- system/loggerd/encoder/v4l_encoder.cc | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index b5329bb8f1..c6ee792265 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -86,7 +86,17 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { while (!exit) { int rc = poll(&pfd, 1, 1000); - if (!rc) { LOGE("encoder dequeue poll timeout"); continue; } + if (rc < 0) { + if (errno != EINTR) { + // TODO: exit encoder? + // ignore the error and keep going + LOGE("poll failed (%d - %d)", rc, errno); + } + continue; + } else if (rc == 0) { + LOGE("encoder dequeue poll timeout"); + continue; + } if (env_debug_encoder >= 2) { printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot()); From 54e98fa888c9e28eb93513bada8371a63a54bb55 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 14:33:11 -0700 Subject: [PATCH 121/410] C++ FirstOrderFilter: add initialized flag (#29602) add initialized flag with default to not change behavior --- common/util.h | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/common/util.h b/common/util.h index d6ab698245..30f514f8dc 100644 --- a/common/util.h +++ b/common/util.h @@ -153,12 +153,18 @@ struct unique_fd { class FirstOrderFilter { public: - FirstOrderFilter(float x0, float ts, float dt) { + FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) { k_ = (dt / ts) / (1.0 + dt / ts); x_ = x0; + initialized_ = initialized; } inline float update(float x) { - x_ = (1. - k_) * x_ + k_ * x; + if (initialized_) { + x_ = (1. - k_) * x_ + k_ * x; + } else { + initialized_ = true; + x_ = x; + } return x_; } inline void reset(float x) { x_ = x; } @@ -166,6 +172,7 @@ public: private: float x_, k_; + bool initialized_; }; template From a184d40b7aebbebd91000a199d90299457378381 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 24 Aug 2023 14:33:48 -0700 Subject: [PATCH 122/410] Disable error message in thneed ioctl interceptor to fix pyenv issues --- selfdrive/modeld/thneed/thneed_qcom2.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc index a3bfb8a8c2..21de15d17c 100644 --- a/selfdrive/modeld/thneed/thneed_qcom2.cc +++ b/selfdrive/modeld/thneed/thneed_qcom2.cc @@ -107,7 +107,8 @@ int ioctl(int filedes, unsigned long request, void *argp) { } int ret = my_ioctl(filedes, request, argp); - if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); + // NOTE: This error message goes into stdout and messes up pyenv + // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); return ret; } From fc8c97e7a9595e489f3f466cfc6c0097b9b8217c Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 24 Aug 2023 14:40:35 -0700 Subject: [PATCH 123/410] Some cleanup in modeld sconscript --- selfdrive/modeld/SConscript | 32 +++++++++----------------------- 1 file changed, 9 insertions(+), 23 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index a3a1b94e01..c523dddfb8 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -6,15 +6,6 @@ lenv = env.Clone() libs = [cereal, messaging, common, visionipc, gpucommon, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv'] -def get_dlsym_offset(): - """Returns the offset between dlopen and dlsym in libdl.so""" - import ctypes - libdl = ctypes.PyDLL('libdl.so') - dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value - dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value - return dlsym - dlopen - - common_src = [ "models/commonmodel.cc", "runners/snpemodel.cc", @@ -36,9 +27,7 @@ if arch == "larch64": if use_thneed: common_src += thneed_src - dlsym_offset = get_dlsym_offset() lenv['CXXFLAGS'].append("-DUSE_THNEED") - lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}") else: libs += ['pthread'] @@ -60,12 +49,9 @@ else: del libs[libs.index('SNPE')] del common_src[common_src.index('runners/snpemodel.cc')] -onnxrunner_path = File("runners/onnx_runner.py").abspath -transform_path = File("transforms/transform.cl").abspath -loadyuv_path = File("transforms/loadyuv.cl").abspath -lenv['CXXFLAGS'].append(f'-DTRANSFORM_PATH=\\"{transform_path}\\"') -lenv['CXXFLAGS'].append(f'-DLOADYUV_PATH=\\"{loadyuv_path}\\"') -lenv['CXXFLAGS'].append(f'-DONNXRUNNER_PATH=\\"{onnxrunner_path}\\"') +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items(): + path = File(fn).abspath + lenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{path}\\"') common_model = lenv.Object(common_src) @@ -74,8 +60,13 @@ lenv.Program('_dmonitoringmodeld', [ "models/dmonitoring.cc", ]+common_model, LIBS=libs) +lenv.Program('_navmodeld', [ + "navmodeld.cc", + "models/nav.cc", + ]+common_model, LIBS=libs) + # build thneed model -if use_thneed and arch == "larch64" or GetOption('pc_thneed'): +if (use_thneed and arch == "larch64") or GetOption('pc_thneed'): fn = File("models/supercombo").abspath tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"] @@ -104,8 +95,3 @@ llenv.Program('_modeld', [ "modeld.cc", "models/driving.cc", ]+common_model, LIBS=libs + transformations) - -lenv.Program('_navmodeld', [ - "navmodeld.cc", - "models/nav.cc", - ]+common_model, LIBS=libs + transformations) From b9d77afd7e91d46916b471bdc067f83edb2d64de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 14:53:47 -0700 Subject: [PATCH 124/410] ui/map: initialize speed filter with current speed (#29605) fix map starting from 0 zoom --- selfdrive/ui/qt/maps/map.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 38bcc1a54e..162fc799ad 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -18,7 +18,7 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { +MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) { QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState); map_overlay = new QWidget (this); From 4917e22615adbfcc9b3c3ec89b00d240e0b48883 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Aug 2023 14:58:30 -0700 Subject: [PATCH 125/410] Minimal build (#29600) * add build flag for minimum build * add minimal build * update * fix pj * bump opendbc * update subaru --- .github/workflows/selfdrive_tests.yaml | 4 +++- .github/workflows/tools_tests.yaml | 2 +- SConstruct | 12 ++++-------- cereal | 2 +- common/SConscript | 2 +- opendbc | 2 +- panda | 2 +- selfdrive/boardd/SConscript | 2 +- selfdrive/car/subaru/subarucan.py | 2 +- selfdrive/manager/build.py | 2 +- selfdrive/ui/SConscript | 11 +++++------ system/camerad/SConscript | 2 +- system/loggerd/SConscript | 2 +- system/proclogd/SConscript | 2 +- system/ubloxd/SConscript | 2 +- tools/cabana/SConscript | 2 +- tools/replay/SConscript | 2 +- 17 files changed, 26 insertions(+), 29 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e3f060b0dd..61d1602a4c 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -79,7 +79,9 @@ jobs: - uses: ./.github/workflows/setup - name: Build openpilot with all flags timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache - run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" + run: | + ${{ env.RUN }} "scons -j$(nproc)" + ${{ env.RUN }} "release/check-dirty.sh" - name: Cleanup scons cache and rebuild timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache run: | diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 8209c14126..f1f4868dcb 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -40,7 +40,7 @@ jobs: - name: Unit test timeout-minutes: 2 run: | - ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \ + ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot cereal && \ apt-get update && \ apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \ cd /tmp/openpilot/tools/plotjuggler && \ diff --git a/SConstruct b/SConstruct index 0f720fcba7..8d98eeae39 100644 --- a/SConstruct +++ b/SConstruct @@ -14,10 +14,6 @@ AGNOS = TICI Decider('MD5-timestamp') -AddOption('--extras', - action='store_true', - help='build misc extras, like setup and installer files') - AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers') @@ -58,11 +54,11 @@ AddOption('--pc-thneed', dest='pc_thneed', help='use thneed on pc') -AddOption('--no-test', +AddOption('--minimal', action='store_false', - dest='test', + dest='extras', default=os.path.islink(Dir('#laika/').abspath), - help='skip building test files') + help='the minimum build to run openpilot. no tests, tools, etc.') ## Architecture name breakdown (arch) ## - larch64: linux tici aarch64 @@ -436,7 +432,7 @@ SConscript(['selfdrive/navd/SConscript']) SConscript(['selfdrive/modeld/SConscript']) SConscript(['selfdrive/ui/SConscript']) -if (arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'): +if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'): SConscript(['tools/replay/SConscript']) SConscript(['tools/cabana/SConscript']) diff --git a/cereal b/cereal index eb1b2ce255..82bca3a971 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit eb1b2ce255371d7529e1b4341600ecca5052e1f4 +Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d diff --git a/common/SConscript b/common/SConscript index bece09947a..2f2b919154 100644 --- a/common/SConscript +++ b/common/SConscript @@ -27,7 +27,7 @@ files = [ _gpucommon = fxn('gpucommon', files) Export('_common', '_gpucommon') -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common]) env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) env.Program('tests/test_ratekeeper', ['tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) diff --git a/opendbc b/opendbc index a1582f5e28..a30a6775a5 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit a1582f5e28fe0df23b6821c907188be477aac11c +Subproject commit a30a6775a5013bd42626ae7e36a1d21c9082a333 diff --git a/panda b/panda index 57ec466a91..0587f22bf3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 57ec466a91d1e2d51b43d54417091a50f0c9dc78 +Subproject commit 0587f22bf359c77296f9b03bef6c3bbcbc820f87 diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index 2fe4591484..666763d9b0 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -7,5 +7,5 @@ env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 890473a243..4ae5023281 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -25,7 +25,7 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable "Cruise_Throttle", "Signal2", "Car_Follow", - "Signal3", + "Low_Speed_Follow", "Cruise_Soft_Disable", "Signal7", "Cruise_Brake_Active", diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 96501051a8..be37b3e7e4 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -31,7 +31,7 @@ def build(spinner: Spinner, dirty: bool = False) -> None: compile_output: List[bytes] = [] for n in (nproc, nproc/2, 1): compile_output.clear() - scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", "--minimal"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) assert scons.stderr is not None # Read progress from stderr and update spinner diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 7e90423fc2..6d5a502e05 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -46,7 +46,7 @@ asset_obj = qt_env.Object("assets", assets) # build soundd qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) -if GetOption('test'): +if GetOption('extras'): qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs) qt_env.Program('tests/test_sound', ['tests/test_runner.cc', 'soundd/sound.cc', 'tests/test_sound.cc'], LIBS=qt_libs) @@ -62,7 +62,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) -if GetOption('test'): +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.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) @@ -82,14 +82,13 @@ qt_env.NoClean(translation_sources) qt_env.Precious(translation_sources) qt_env.NoCache(lupdate) -# setup and factory resetter -if GetOption('extras'): + +if GetOption('extras') and arch != "Darwin": + # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], LIBS=qt_libs + ['curl', 'common', 'json11']) - -if GetOption('extras'): # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 3ecc3f6d72..ffd7278bbb 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -8,7 +8,7 @@ env.Program('camerad', [ camera_obj, ], LIBS=libs) -if GetOption("test") and arch == "x86_64": +if GetOption("extras") and arch == "x86_64": env.Program('test/ae_gray_test', ['test/ae_gray_test.cc', camera_obj], LIBS=libs) diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index 3b961bce6e..d4f52fb5f1 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -23,5 +23,5 @@ env.Program('loggerd', ['loggerd.cc'], LIBS=libs) env.Program('encoderd', ['encoderd.cc'], LIBS=libs) env.Program('bootlog.cc', LIBS=libs) -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto']) diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index 1b94a32f1b..1f4b767011 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -2,5 +2,5 @@ Import('env', 'cereal', 'messaging', 'common') libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_proclog', ['tests/test_proclog.cc', 'proclog.cc'], LIBS=libs) diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript index fff0986efd..67d9856dad 100644 --- a/system/ubloxd/SConscript +++ b/system/ubloxd/SConscript @@ -16,5 +16,5 @@ if GetOption('kaitai'): glonass_obj = env.Object('generated/glonass.cpp') env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) -if GetOption('test'): +if GetOption('extras'): env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index a713b612fc..be1f613e22 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -35,7 +35,7 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) -if GetOption('test'): +if GetOption('extras'): cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) generate_dbc = cabana_env.Command('generate_dbc_json', diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 3abed43dde..bce7512e44 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -21,5 +21,5 @@ Export('replay_lib') replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) -if GetOption('test'): +if GetOption('extras'): qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs]) From e7418cfa397ec2185e4b12baaa481017b7b23322 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Thu, 24 Aug 2023 15:04:47 -0700 Subject: [PATCH 126/410] KF1D: add steady state kalman code --- common/kalman/simple_kalman.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py index 31ad76c5b2..669da3919a 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -1,3 +1,13 @@ # pylint: skip-file from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D assert KF1D +import numpy as np + +def get_kalman_gain(dt, A, C, Q, R, iterations=100): + P = np.zeros_like(Q) + for _ in range(iterations): + P = A.dot(P).dot(A.T) + dt * Q + S = C.dot(P).dot(C.T) + R + K = P.dot(C.T).dot(np.linalg.inv(S)) + P = (np.eye(len(P)) - K.dot(C)).dot(P) + return K \ No newline at end of file From b8fb26055825f4ee35f647b6d84c2e6e6878a93f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 15:09:30 -0700 Subject: [PATCH 127/410] ui/map: clip vehicle speed to min of 10 m/s (#29601) * all the changes I want to make * Revert "all the changes I want to make" This reverts commit c18132b73eb9bba4d7871631d7cd4155eb7efcd0. * add initialized * clip to 10 m/s * fix bug * rm * here? --- selfdrive/ui/qt/maps/map.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 162fc799ad..d5e81bc9e0 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/maps/map.h" +#include #include #include @@ -151,7 +152,7 @@ void MapWindow::updateState(const UIState &s) { if (locationd_valid) { last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); last_bearing = RAD2DEG(locationd_orientation.getValue()[2]); - velocity_filter.update(locationd_velocity.getValue()[0]); + velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0])); } } From 7dae580441ddad32bab13bea9b2fd87edbe5d887 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 24 Aug 2023 15:11:11 -0700 Subject: [PATCH 128/410] Moved thneed src to top of modeld sconscript --- selfdrive/modeld/SConscript | 17 +++++++---------- 1 file changed, 7 insertions(+), 10 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index c523dddfb8..863626967b 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -13,20 +13,23 @@ common_src = [ "transforms/transform.cc" ] -thneed_src = [ +thneed_src_common = [ "thneed/thneed_common.cc", - "thneed/thneed_qcom2.cc", "thneed/serialize.cc", "runners/thneedmodel.cc", ] +thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] +thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"] +thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc + use_thneed = not GetOption('no_thneed') if arch == "larch64": libs += ['gsl', 'CB', 'pthread', 'dl'] if use_thneed: - common_src += thneed_src + common_src += thneed_src_qcom lenv['CXXFLAGS'].append("-DUSE_THNEED") else: libs += ['pthread'] @@ -80,15 +83,9 @@ if (use_thneed and arch == "larch64") or GetOption('pc_thneed'): llenv = lenv.Clone() if GetOption('pc_thneed'): - pc_thneed_src = [ - "thneed/thneed_common.cc", - "thneed/thneed_pc.cc", - "thneed/serialize.cc", - "runners/thneedmodel.cc", - ] llenv['CFLAGS'].append("-DUSE_THNEED") llenv['CXXFLAGS'].append("-DUSE_THNEED") - common_model += llenv.Object(pc_thneed_src) + common_model += llenv.Object(thneed_src_pc) libs += ['dl'] llenv.Program('_modeld', [ From 3d9f238bf9a1f27c5a9a44df1b0f116182829be0 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 24 Aug 2023 16:09:08 -0700 Subject: [PATCH 129/410] CI: use scripts for docker build (#29599) * use scripts * remove common * do login in the workflow * separate step * cleanup * one script is cleaner * keep it consistent * review suggestions * move in ci too * PR cleanup --- .github/workflows/prebuilt.yaml | 18 +++-------- .github/workflows/selfdrive_tests.yaml | 25 +++++----------- .github/workflows/tools_tests.yaml | 34 ++++++++++----------- selfdrive/test/docker_build.sh | 41 ++++++++++++++++++++++++++ 4 files changed, 67 insertions(+), 51 deletions(-) create mode 100755 selfdrive/test/docker_build.sh diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 3b88011f5e..8b16ea90b9 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -5,12 +5,8 @@ on: workflow_dispatch: env: - BASE_IMAGE: openpilot-base - DOCKER_REGISTRY: ghcr.io/commaai - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD: selfdrive/test/docker_build.sh prebuilt jobs: build_prebuilt: @@ -18,7 +14,7 @@ jobs: runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' env: - IMAGE_NAME: openpilot-prebuilt + PUSH_IMAGE: true steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} @@ -31,13 +27,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: | - eval "$BUILD" - DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot . - - name: Push to container registry + - name: Build and Push docker image run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest - docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA - docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA + eval "$BUILD" diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 61d1602a4c..64c96280f8 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -12,20 +12,17 @@ concurrency: env: PYTHONWARNINGS: error - BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_REGISTRY: ghcr.io/commaai AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD: selfdrive/test/docker_build.sh base RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c - BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + BUILD_CL: selfdrive/test/docker_build.sh cl + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover @@ -190,6 +187,8 @@ jobs: name: docker push runs-on: ubuntu-20.04 if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + env: + PUSH_IMAGE: true steps: - uses: actions/checkout@v3 with: @@ -197,20 +196,10 @@ jobs: - uses: ./.github/workflows/setup with: git-lfs: false - - name: Push to container registry - run: | - $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest - docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA - docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA - - name: Build CL Docker image - run: eval "$BUILD_CL" - - name: Push to container registry + - name: Build and push CL Docker image run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest - docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA - docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA + eval "$BUILD_CL" static_analysis: name: static analysis diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index f1f4868dcb..470c7662a4 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -13,16 +13,14 @@ concurrency: env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_REGISTRY: ghcr.io/commaai DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD: selfdrive/test/docker_build.sh base RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c - BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + BUILD_CL: selfdrive/test/docker_build.sh cl + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c @@ -49,8 +47,6 @@ jobs: simulator: name: simulator runs-on: ubuntu-20.04 - env: - IMAGE_NAME: openpilot-sim if: github.repository == 'commaai/openpilot' timeout-minutes: 45 steps: @@ -62,14 +58,14 @@ jobs: setup_docker_scons_cache: true - name: Build base cl image run: eval "$BUILD_CL" - - name: Build simulator image - run: | - DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - - name: Push to container registry + - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - run: | + run: + export PUSH_IMAGE=true $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest + - name: Build and push sim image + run: | + selfdrive/test/docker_build.sh sim docs: name: build docs @@ -83,14 +79,14 @@ jobs: with: setup_docker_scons_cache: true git_lfs: false - - name: Build docs image - run: | - DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - - name: Push docker container + - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - run: | + run: + export PUSH_IMAGE=true $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/openpilot-docs:latest + - name: Build and push docs image + run: | + selfdrive/test/docker_build.sh docs devcontainer: name: devcontainer diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh new file mode 100755 index 0000000000..b18c48123a --- /dev/null +++ b/selfdrive/test/docker_build.sh @@ -0,0 +1,41 @@ +#!/bin/bash +set -e + +if [ $1 = "base" ]; then + export DOCKER_IMAGE=openpilot-base + export DOCKER_FILE=Dockerfile.openpilot_base +elif [ $1 = "docs" ]; then + export DOCKER_IMAGE=openpilot-docs + export DOCKER_FILE=docs/docker/Dockerfile +elif [ $1 = "sim" ]; then + export DOCKER_IMAGE=openpilot-sim + export DOCKER_FILE=tools/sim/Dockerfile.sim +elif [ $1 = "prebuilt" ]; then + export DOCKER_IMAGE=openpilot-prebuilt + export DOCKER_FILE=Dockerfile.openpilot +elif [ $1 = "cl" ]; then + export DOCKER_IMAGE=openpilot-base-cl + export DOCKER_FILE=Dockerfile.openpilot_base_cl +else + echo "Invalid docker build image $1" + exit 1 +fi + +export DOCKER_REGISTRY=ghcr.io/commaai +export COMMIT_SHA=$(git rev-parse HEAD) + +LOCAL_TAG=$DOCKER_IMAGE +REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG +REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA + +SCRIPT_DIR=$(dirname "$0") +OPENPILOT_DIR=$SCRIPT_DIR/../../ + +DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR + +if [[ ! -z "$PUSH_IMAGE" ]]; +then + docker push $REMOTE_TAG + docker tag $REMOTE_TAG $REMOTE_SHA_TAG + docker push $REMOTE_SHA_TAG +fi \ No newline at end of file From ede9f2cda5500d9e094e89a32518c88b56c3335b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 24 Aug 2023 16:30:33 -0700 Subject: [PATCH 130/410] CI: fix docker push (#29614) * fix those * fix docker push too * dont need that twice --- .github/workflows/selfdrive_tests.yaml | 7 ++++--- .github/workflows/tools_tests.yaml | 4 ++-- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 64c96280f8..0f68f425b6 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -187,18 +187,19 @@ jobs: name: docker push runs-on: ubuntu-20.04 if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - env: - PUSH_IMAGE: true steps: - uses: actions/checkout@v3 with: submodules: true + - name: Setup to push to repo + run: | + export PUSH_IMAGE=true + $DOCKER_LOGIN - uses: ./.github/workflows/setup with: git-lfs: false - name: Build and push CL Docker image run: | - $DOCKER_LOGIN eval "$BUILD_CL" static_analysis: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 470c7662a4..7a7acb1c87 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -60,7 +60,7 @@ jobs: run: eval "$BUILD_CL" - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - run: + run: | export PUSH_IMAGE=true $DOCKER_LOGIN - name: Build and push sim image @@ -81,7 +81,7 @@ jobs: git_lfs: false - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - run: + run: | export PUSH_IMAGE=true $DOCKER_LOGIN - name: Build and push docs image From 1ee6ed4b16e2ade0dd887c0687243aee769043e5 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 24 Aug 2023 16:30:54 -0700 Subject: [PATCH 131/410] Linter: remove pylint (#29611) remove pylint --- common/kalman/simple_kalman.py | 1 - common/logging_extra.py | 2 +- common/params.py | 2 +- common/realtime.py | 4 ++-- common/transformations/coordinates.py | 1 - common/transformations/orientation.py | 1 - common/window.py | 4 ++-- docs/conf.py | 1 - scripts/pyqt_demo.py | 2 +- selfdrive/boardd/boardd.py | 2 -- selfdrive/car/tests/test_models.py | 1 - selfdrive/controls/tests/test_cruise_speed.py | 2 +- selfdrive/controls/tests/test_startup.py | 2 +- selfdrive/debug/toyota_eps_factor.py | 2 +- selfdrive/locationd/models/car_kf.py | 4 ++-- selfdrive/locationd/models/gnss_kf.py | 4 ++-- selfdrive/manager/process.py | 6 +++--- selfdrive/modeld/tests/tf_test/pb_loader.py | 2 +- selfdrive/modeld/tests/timing/benchmark.py | 1 - selfdrive/monitoring/test_monitoring.py | 1 - selfdrive/test/ciui.py | 4 ++-- selfdrive/test/openpilotci.py | 4 ++-- selfdrive/test/profiling/lib.py | 4 ++-- selfdrive/test/profiling/profiler.py | 2 +- selfdrive/test/test_valgrind_replay.py | 2 +- selfdrive/test/update_ci_routes.py | 6 +++--- selfdrive/thermald/thermald.py | 4 ++-- selfdrive/tombstoned.py | 4 ++-- selfdrive/ui/qt/python_helpers.py | 2 +- system/hardware/tici/hardware.py | 2 +- system/micd.py | 2 +- system/ubloxd/tests/ublox.py | 1 - system/ubloxd/tests/ubloxd.py | 1 - tools/bodyteleop/bodyav.py | 4 ++-- tools/camerastream/compressed_vipc.py | 2 +- tools/gpstest/fuzzy_testing.py | 2 +- tools/gpstest/rpc_server.py | 4 ++-- tools/lib/auth.py | 2 +- tools/lib/framereader.py | 1 - tools/lib/url_file.py | 2 -- tools/replay/lib/ui_helpers.py | 2 +- tools/replay/ui.py | 4 ++-- tools/replay/unlog_ci_segment.py | 1 - tools/sim/bridge.py | 2 +- tools/sim/lib/can.py | 2 +- tools/sim/lib/manual_ctrl.py | 4 ++-- tools/webcam/front_mount_helper.py | 2 +- tools/webcam/warp_vis.py | 2 +- 48 files changed, 52 insertions(+), 67 deletions(-) diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py index 669da3919a..5e1b6ce1fb 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -1,4 +1,3 @@ -# pylint: skip-file from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D assert KF1D import numpy as np diff --git a/common/logging_extra.py b/common/logging_extra.py index e2637d2e05..5e0584c7bc 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -197,7 +197,7 @@ class SwagLogger(logging.Logger): filename = os.path.normcase(co.co_filename) # TODO: is this pylint exception correct? - if filename == _srcfile: # pylint: disable=comparison-with-callable + if filename == _srcfile: f = f.f_back continue sinfo = None diff --git a/common/params.py b/common/params.py index bc1422dd81..ea8ac7514a 100644 --- a/common/params.py +++ b/common/params.py @@ -1,5 +1,5 @@ from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ - put_bool_nonblocking # pylint: disable=no-name-in-module, import-error + put_bool_nonblocking assert Params assert ParamKeyType assert UnknownKeyName diff --git a/common/realtime.py b/common/realtime.py index 7549a7ef52..05e19e770f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -30,12 +30,12 @@ class Priority: def set_realtime_priority(level: int) -> None: if not PC: - os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # pylint: disable=no-member + os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) def set_core_affinity(cores: List[int]) -> None: if not PC: - os.sched_setaffinity(0, cores) # pylint: disable=no-member + os.sched_setaffinity(0, cores) def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None: diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py index 7e7b56522a..696e7de2e5 100644 --- a/common/transformations/coordinates.py +++ b/common/transformations/coordinates.py @@ -1,4 +1,3 @@ -# pylint: skip-file from openpilot.common.transformations.orientation import numpy_wrap from openpilot.common.transformations.transformations import (ecef2geodetic_single, geodetic2ecef_single) diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py index 657a86a574..ce4378738d 100644 --- a/common/transformations/orientation.py +++ b/common/transformations/orientation.py @@ -1,4 +1,3 @@ -# pylint: skip-file import numpy as np from typing import Callable diff --git a/common/window.py b/common/window.py index 613b3b201b..95886c0c92 100644 --- a/common/window.py +++ b/common/window.py @@ -1,6 +1,6 @@ import sys -import pygame # pylint: disable=import-error -import cv2 # pylint: disable=import-error +import pygame +import cv2 class Window: def __init__(self, w, h, caption="window", double=False, halve=False): diff --git a/docs/conf.py b/docs/conf.py index a4ed00c919..9a8d646697 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,5 +1,4 @@ # type: ignore -# pylint: skip-file # Configuration file for the Sphinx documentation builder. # diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py index b73d7dfad7..783728bdb8 100755 --- a/scripts/pyqt_demo.py +++ b/scripts/pyqt_demo.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 -from PyQt5.QtWidgets import QApplication, QLabel # pylint: disable=no-name-in-module, import-error +from PyQt5.QtWidgets import QApplication, QLabel from openpilot.selfdrive.ui.qt.python_helpers import set_main_window diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py index 702c46565f..0cdaf5e912 100644 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/boardd/boardd.py @@ -1,5 +1,3 @@ -# pylint: skip-file - # Cython, now uses scons to build from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp assert can_list_to_can_capnp diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 0147725291..57b7037530 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# pylint: disable=E1101 import capnp import os import importlib diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index c7221cfcfa..1d43b49ccf 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -52,7 +52,7 @@ class TestCruiseSpeed(unittest.TestCase): @parameterized_class(('pcm_cruise',), [(False,)]) class TestVCruiseHelper(unittest.TestCase): def setUp(self): - self.CP = car.CarParams(pcmCruise=self.pcm_cruise) # pylint: disable=E1101 + self.CP = car.CarParams(pcmCruise=self.pcm_cruise) self.v_cruise_helper = VCruiseHelper(self.CP) self.reset_cruise_speed_state() diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 72a5b4b48f..6eb803e8aa 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -6,7 +6,7 @@ from parameterized import parameterized from cereal import log, car import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.mazda.values import CAR as MAZDA diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index e1156c05aa..d60d2d372b 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -2,7 +2,7 @@ import sys import numpy as np import matplotlib.pyplot as plt -from sklearn import linear_model # pylint: disable=import-error +from sklearn import linear_model from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD from openpilot.tools.lib.route import Route diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 6c02257a1f..b87c83cac2 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -15,7 +15,7 @@ if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module, import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx i = 0 @@ -160,7 +160,7 @@ class CarKalman(KalmanFilter): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars) - def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): # pylint: disable=super-init-not-called + def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): dim_state = self.initial_x.shape[0] dim_state_err = self.P_initial.shape[0] x_init = self.initial_x diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index f98434c909..c4f3b2e210 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -11,8 +11,8 @@ if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module,import-error - from rednose.helpers.ekf_sym import EKF_sym # pylint: disable=no-name-in-module,import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx + from rednose.helpers.ekf_sym import EKF_sym class States(): diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index c56ffeab98..82cc8d74a3 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -8,7 +8,7 @@ from typing import Optional, Callable, List, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process -from setproctitle import setproctitle # pylint: disable=no-name-in-module +from setproctitle import setproctitle from cereal import car, log import cereal.messaging as messaging @@ -96,7 +96,7 @@ class ManagerProcess(ABC): fn = WATCHDOG_FN + str(self.proc.pid) with open(fn, "rb") as f: # TODO: why can't pylint find struct.unpack? - self.last_watchdog_time = struct.unpack('Q', f.read())[0] # pylint: disable=no-member + self.last_watchdog_time = struct.unpack('Q', f.read())[0] except Exception: pass @@ -261,7 +261,7 @@ class DaemonProcess(ManagerProcess): pass cloudlog.info(f"starting daemon {self.name}") - proc = subprocess.Popen(['python', '-m', self.module], # pylint: disable=subprocess-popen-preexec-fn + proc = subprocess.Popen(['python', '-m', self.module], stdin=open('/dev/null'), stdout=open('/dev/null', 'w'), stderr=open('/dev/null', 'w'), diff --git a/selfdrive/modeld/tests/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py index 78fd33aef2..3e476628eb 100755 --- a/selfdrive/modeld/tests/tf_test/pb_loader.py +++ b/selfdrive/modeld/tests/tf_test/pb_loader.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import sys -import tensorflow as tf # pylint: disable=import-error +import tensorflow as tf with open(sys.argv[1], "rb") as f: graph_def = tf.compat.v1.GraphDef() diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index 1463342a6a..4ab0afacbc 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 # type: ignore -# pylint: skip-file import os import time diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index b1011fb306..c02d44849f 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -54,7 +54,6 @@ always_false = [False] * int(TEST_TIMESPAN / DT_DMON) # TODO: this only tests DriverStatus class TestMonitoring(unittest.TestCase): - # pylint: disable=no-member def _run_seq(self, msgs, interaction, engaged, standstill): DS = DriverStatus() events = [] diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py index ba55f3af24..3f33847b29 100755 --- a/selfdrive/test/ciui.py +++ b/selfdrive/test/ciui.py @@ -5,8 +5,8 @@ import subprocess signal.signal(signal.SIGINT, signal.SIG_DFL) signal.signal(signal.SIGTERM, signal.SIG_DFL) -from PyQt5.QtCore import QTimer # pylint: disable=no-name-in-module, import-error -from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel # pylint: disable=no-name-in-module, import-error +from PyQt5.QtCore import QTimer +from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel from openpilot.selfdrive.ui.qt.python_helpers import set_main_window class Window(QWidget): diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 3a7868aaa6..fe1a0b0335 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -24,13 +24,13 @@ def get_sas_token(): return sas_token def upload_bytes(data, name): - from azure.storage.blob import BlockBlobService # pylint: disable=import-error + from azure.storage.blob import BlockBlobService service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) service.create_blob_from_bytes("openpilotci", name, data) return BASE_URL + name def upload_file(path, name): - from azure.storage.blob import BlockBlobService # pylint: disable=import-error + from azure.storage.blob import BlockBlobService service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) service.create_blob_from_path("openpilotci", name, path) return BASE_URL + name diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py index f28346f3f0..843bf52211 100644 --- a/selfdrive/test/profiling/lib.py +++ b/selfdrive/test/profiling/lib.py @@ -34,7 +34,7 @@ class PubSocket(): class SubMaster(messaging.SubMaster): - def __init__(self, msgs, trigger, services, check_averag_freq=False): # pylint: disable=super-init-not-called + def __init__(self, msgs, trigger, services, check_averag_freq=False): self.frame = 0 self.data = {} self.ignore_alive = [] @@ -87,5 +87,5 @@ class SubMaster(messaging.SubMaster): class PubMaster(messaging.PubMaster): - def __init__(self): # pylint: disable=super-init-not-called + def __init__(self): self.sock = defaultdict(PubSocket) diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 984907b870..1d380ba5eb 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -import cProfile # pylint: disable=import-error +import cProfile import pprofile import pyprof2calltree diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index dbcf3b18d4..a8a3463104 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -53,7 +53,7 @@ class TestValgrind(unittest.TestCase): os.chdir(os.path.join(BASEDIR, cwd)) # Run valgrind on a process command = "valgrind --leak-check=full " + arg - p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid) # pylint: disable=W1509 + p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid) while not self.replay_done: time.sleep(0.1) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index a69eb80cef..dda8568fa8 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -3,13 +3,13 @@ from functools import lru_cache import sys import subprocess from tqdm import tqdm -from azure.storage.blob import BlockBlobService # pylint: disable=import-error +from azure.storage.blob import BlockBlobService from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from xx.chffr.lib import azureutil # pylint: disable=import-error -from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error +from xx.chffr.lib import azureutil +from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION SOURCES = [ (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION), diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 266b28db04..32cfe11c39 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -118,8 +118,8 @@ def hw_state_thread(end_event, hw_queue): # Log modem version once if AGNOS and ((modem_version is None) or (modem_nv is None)): - modem_version = HARDWARE.get_modem_version() # pylint: disable=assignment-from-none - modem_nv = HARDWARE.get_modem_nv() # pylint: disable=assignment-from-none + modem_version = HARDWARE.get_modem_version() + modem_nv = HARDWARE.get_modem_nv() if (modem_version is not None) and (modem_nv is not None): cloudlog.event("modem version", version=modem_version, nv=modem_nv) diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 25f2a61f98..3f99e16831 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -38,7 +38,7 @@ def clear_apport_folder(): def get_apport_stacktrace(fn): try: cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")' - return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash') # pylint: disable=unexpected-keyword-arg + return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash') except subprocess.CalledProcessError: return "Error getting stacktrace" except subprocess.TimeoutExpired: @@ -95,7 +95,7 @@ def report_tombstone_apport(fn): try: sig_num = int(line.strip().split(': ')[-1]) - message += " (" + signal.Signals(sig_num).name + ")" # pylint: disable=no-member + message += " (" + signal.Signals(sig_num).name + ")" except ValueError: pass diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py index 59e51a5517..88c36290d9 100644 --- a/selfdrive/ui/qt/python_helpers.py +++ b/selfdrive/ui/qt/python_helpers.py @@ -1,7 +1,7 @@ import os from cffi import FFI -import sip # pylint: disable=import-error +import sip from openpilot.common.ffi_wrapper import suffix from openpilot.common.basedir import BASEDIR diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 3cd3427842..952693dd3a 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -97,7 +97,7 @@ def get_device_type(): class Tici(HardwareBase): @cached_property def bus(self): - import dbus # pylint: disable=import-error + import dbus return dbus.SystemBus() @cached_property diff --git a/system/micd.py b/system/micd.py index ae2bf86730..c7af1b0ad2 100755 --- a/system/micd.py +++ b/system/micd.py @@ -85,7 +85,7 @@ class Mic: def micd_thread(self): # sounddevice must be imported after forking processes - import sounddevice as sd # pylint: disable=import-outside-toplevel + import sounddevice as sd with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py index eeb6cde30a..3243500e74 100644 --- a/system/ubloxd/tests/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# pylint: skip-file ''' UBlox binary protocol handling diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py index 783eb1eb0d..4ee99dc28a 100755 --- a/system/ubloxd/tests/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 # type: ignore -# pylint: skip-file from openpilot.selfdrive.locationd.test import ublox import struct diff --git a/tools/bodyteleop/bodyav.py b/tools/bodyteleop/bodyav.py index fc9559f8dc..3f11f8d4f2 100644 --- a/tools/bodyteleop/bodyav.py +++ b/tools/bodyteleop/bodyav.py @@ -90,12 +90,12 @@ class WebClientSpeaker(MediaBlackhole): self.buffer.write(bio) async def start(self): - for track, task in self._MediaBlackhole__tracks.items(): # pylint: disable=access-member-before-definition + for track, task in self._MediaBlackhole__tracks.items(): if task is None: self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track)) async def stop(self): - for task in self._MediaBlackhole__tracks.values(): # pylint: disable=access-member-before-definition + for task in self._MediaBlackhole__tracks.values(): if task is not None: task.cancel() self._MediaBlackhole__tracks = {} diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 495397d242..ac7ca2520b 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -26,7 +26,7 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False): if nvidia: os.environ["NV_LOW_LATENCY"] = "3" # both bLowLatency and CUVID_PKT_ENDOFPICTURE sys.path += os.environ["LD_LIBRARY_PATH"].split(":") - import PyNvCodec as nvc # pylint: disable=import-error + import PyNvCodec as nvc nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0) cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG) diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index a2e130342c..3bad2770cd 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse import multiprocessing -import rpyc # pylint: disable=import-error +import rpyc from collections import defaultdict from helper import download_rinex, exec_LimeGPS_bin diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index 060446370b..cdedd8ea57 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -4,8 +4,8 @@ import shutil from datetime import datetime from collections import defaultdict -import rpyc # pylint: disable=import-error -from rpyc.utils.server import ThreadedServer # pylint: disable=import-error +import rpyc +from rpyc.utils.server import ThreadedServer #from openpilot.common.params import Params import cereal.messaging as messaging diff --git a/tools/lib/auth.py b/tools/lib/auth.py index 7fc71b6895..997d1f860d 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler): self.end_headers() self.wfile.write(b'Return to the CLI to continue') - def log_message(self, *args): # pylint: disable=redefined-builtin + def log_message(self, *args): pass # this prevent http server from dumping messages to stdout diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 27984514e9..cbc9310790 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -1,4 +1,3 @@ -# pylint: skip-file import json import os import pickle diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index c2c7fc9d38..e93f8e715c 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,5 +1,3 @@ -# pylint: skip-file - import os import time import tempfile diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index aa13502143..e350b89bac 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -3,7 +3,7 @@ from typing import Any, Dict, Tuple import matplotlib.pyplot as plt import numpy as np -import pygame # pylint: disable=import-error +import pygame from matplotlib.backends.backend_agg import FigureCanvasAgg diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 1659a024a4..43195a481d 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -3,9 +3,9 @@ import argparse import os import sys -import cv2 # pylint: disable=import-error +import cv2 import numpy as np -import pygame # pylint: disable=import-error +import pygame import cereal.messaging as messaging from openpilot.common.numpy_fast import clip diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index 8d69ae954b..ae97ad45d6 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# pylint: skip-file import argparse import bisect diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index bacf38296e..33fb2c020e 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -8,7 +8,7 @@ import time from multiprocessing import Process, Queue from typing import Any -import carla # pylint: disable=import-error +import carla import numpy as np import pyopencl as cl import pyopencl.array as cl_array diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index 4cecbb2a67..db321d3193 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -2,7 +2,7 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp from openpilot.selfdrive.car import crc8_pedal packer = CANPacker("honda_civic_touring_2016_can_generated") diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 8f1bcc2b57..1687a2e6ba 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -135,8 +135,8 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: print('%d buttons found: %s' % (num_buttons, ', '.join(button_map))) # Enable FF - import evdev # pylint: disable=import-error - from evdev import ecodes, InputDevice # pylint: disable=import-error + import evdev + from evdev import ecodes, InputDevice device = evdev.list_devices()[0] evtdev = InputDevice(device) val = 24000 diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py index d4f7d71b41..0b7b676f6e 100755 --- a/tools/webcam/front_mount_helper.py +++ b/tools/webcam/front_mount_helper.py @@ -18,7 +18,7 @@ webcam_intrinsics = np.array([ cam_id = 2 if __name__ == "__main__": - import cv2 # pylint: disable=import-error + import cv2 trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py index a9ae25ee67..e3f1284a45 100755 --- a/tools/webcam/warp_vis.py +++ b/tools/webcam/warp_vis.py @@ -23,7 +23,7 @@ webcam_intrinsics = np.array([ [ 0., 0., 1.]]) if __name__ == "__main__": - import cv2 # pylint: disable=import-error + import cv2 trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics)) trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear) From 8205590624913b927d7abb1d214ea25886d7c1ea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 24 Aug 2023 16:51:45 -0700 Subject: [PATCH 132/410] Locationd: enable laikad (#29570) * experiment * llk back * update refs * update ref * no internet * Update ref --- selfdrive/locationd/liblocationd.cc | 2 +- selfdrive/locationd/locationd.cc | 129 +++--------------- selfdrive/locationd/locationd.h | 13 +- selfdrive/locationd/test/test_locationd.py | 29 ++-- .../test/process_replay/process_replay.py | 12 +- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 32 insertions(+), 155 deletions(-) diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index e2b85d93a1..47c6c150b4 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -4,7 +4,7 @@ extern "C" { typedef Localizer* Localizer_t; Localizer *localizer_init(bool has_ublox) { - return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); + return new Localizer(); } void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 401de0cfdd..c22230a049 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -15,7 +15,6 @@ const double ACCEL_SANITY_CHECK = 100.0; // m/s^2 const double ROTATION_SANITY_CHECK = 10.0; // rad/s const double TRANS_SANITY_CHECK = 200.0; // m/s const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg) -const double ALTITUDE_SANITY_CHECK = 10000; // m const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad const double VALID_TIME_SINCE_RESET = 1.0; // s const double VALID_POS_STD = 50.0; // m @@ -25,15 +24,11 @@ const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker const double DECAY = 0.99995; // same as reset tracker const double MAX_FILTER_REWIND_TIME = 0.8; // s -// TODO: GPS sensor time offsets are empirically calculated -// They should be replaced with synced time from a real clock -const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s -const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s const float GPS_POS_STD_THRESHOLD = 50.0; const float GPS_VEL_STD_THRESHOLD = 5.0; const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; -const float GPS_POS_STD_RESET_THRESHOLD = 2.0; -const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; +const float GPS_POS_STD_RESET_THRESHOLD = 10.0; +const float GPS_VEL_STD_RESET_THRESHOLD = 1.0; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; @@ -72,7 +67,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); } -Localizer::Localizer(LocalizerGnssSource gnss_source) { +Localizer::Localizer() { this->kf = std::make_unique(); this->reset_kalman(); @@ -86,7 +81,6 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) { VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); - this->configure_gnss_source(gnss_source); } void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { @@ -299,64 +293,6 @@ void Localizer::input_fake_gps_observations(double current_time) { this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); } -void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) { - // ignore the message if the fix is invalid - bool gps_invalid_flag = (log.getFlags() % 2 == 0); - bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); - bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)); - bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); - bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - - if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { - //this->gps_valid = false; - this->determine_gps_mode(current_time); - return; - } - - double sensor_time = current_time - sensor_time_offset; - - // Process message - //this->gps_valid = true; - this->gps_mode = true; - Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; - this->converter = std::make_unique(geodetic); - - VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); - VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; - float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); - MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); - MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); - - this->unix_timestamp_millis = log.getUnixTimestampMillis(); - double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); - - VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); - VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef); - VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg())); - VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI; - for (int i = 0; i < orientation_error.size(); i++) { - orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI); - if (orientation_error(i) < 0.0) { - orientation_error(i) += 2.0 * M_PI; - } - orientation_error(i) -= M_PI; - } - VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - - if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) { - LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); - } else if (gps_est_error > 100.0) { - LOGE("Locationd vs ubloxLocation position difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - } - - this->last_gps_msg = sensor_time; - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); -} - void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { @@ -365,21 +301,22 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } double sensor_time = log.getMeasTime() * 1e-9; - sensor_time -= this->gps_time_offset; auto ecef_pos_v = log.getPositionECEF().getValue(); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); - // indexed at 0 cause all std values are the same MAE - auto ecef_pos_std = log.getPositionECEF().getStd()[0]; - MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal(); + auto ecef_pos_std = log.getPositionECEF().getStd(); + VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix(); + double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum()); + MatrixXdr ecef_pos_R = ecef_pos_var.asDiagonal(); auto ecef_vel_v = log.getVelocityECEF().getValue(); VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]); - // indexed at 0 cause all std values are the same MAE - auto ecef_vel_std = log.getVelocityECEF().getStd()[0]; - MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); + auto ecef_vel_std = log.getVelocityECEF().getStd(); + VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix(); + double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum()); + MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); @@ -402,13 +339,13 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { + if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) { this->determine_gps_mode(current_time); return; } // prevent jumping gnss measurements (covered lots, standstill...) - bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD; + bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD; orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD; orientation_reset &= !this->standstill; if (orientation_reset) { @@ -417,7 +354,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: this->orientation_reset_count = 0; } - if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { + if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { // always reset on first gps message and if the location is off but the accuracy is high LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset"); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); @@ -587,12 +524,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->handle_sensor(t, log.getAccelerometer()); } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); - } else if (log.isGpsLocation()) { - this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); - } else if (log.isGpsLocationExternal()) { - this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); - //} else if (log.isGnssMeasurements()) { - // this->handle_gnss(t, log.getGnssMeasurements()); + } else if (log.isGnssMeasurements()) { + this->handle_gnss(t, log.getGnssMeasurements()); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -653,38 +586,12 @@ void Localizer::determine_gps_mode(double current_time) { } } -void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { - this->gnss_source = source; - if (source == LocalizerGnssSource::UBLOX) { - this->gps_std_factor = 10.0; - this->gps_variance_factor = 1.0; - this->gps_vertical_variance_factor = 1.0; - this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; - } else { - this->gps_std_factor = 2.0; - this->gps_variance_factor = 0.0; - this->gps_vertical_variance_factor = 3.0; - this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; - } -} - int Localizer::locationd_thread() { - LocalizerGnssSource source; - const char* gps_location_socket; - if (Params().getBool("UbloxAvailable")) { - source = LocalizerGnssSource::UBLOX; - gps_location_socket = "gpsLocationExternal"; - } else { - source = LocalizerGnssSource::QCOM; - gps_location_socket = "gpsLocation"; - } - - this->configure_gnss_source(source); - const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", + const std::initializer_list service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); + SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index f3069048cd..615251668d 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -22,13 +22,10 @@ #define POSENET_STD_HIST_HALF 20 -enum LocalizerGnssSource { - UBLOX, QCOM -}; class Localizer { public: - Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); + Localizer(); int locationd_thread(); @@ -56,7 +53,6 @@ public: void handle_msg_bytes(const char *data, const size_t size); void handle_msg(const cereal::Event::Reader& log); void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); - void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log); void handle_car_state(double current_time, const cereal::CarState::Reader& log); void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); @@ -85,15 +81,8 @@ private: double first_valid_log_time = NAN; double ttff = NAN; double last_gps_msg = 0; - LocalizerGnssSource gnss_source; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; - float gps_std_factor; - float gps_variance_factor; - float gps_vertical_variance_factor; - double gps_time_offset; - - void configure_gnss_source(const LocalizerGnssSource &source); }; diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 6c6ac33431..1fb36bf2fa 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -14,7 +14,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): - LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', + LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): @@ -35,25 +35,14 @@ class TestLocationdProc(unittest.TestCase): msg = messaging.new_message(name) except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - - if name == "gpsLocationExternal": - msg.gpsLocationExternal.flags = 1 - msg.gpsLocationExternal.verticalAccuracy = 1.0 - msg.gpsLocationExternal.speedAccuracy = 1.0 - msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 - msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] - msg.gpsLocationExternal.latitude = float(self.lat) - msg.gpsLocationExternal.longitude = float(self.lon) - msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 - msg.gpsLocationExternal.altitude = float(self.alt) - #if name == "gnssMeasurements": - # msg.gnssMeasurements.measTime = t - # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - # msg.gnssMeasurements.positionECEF.std = [0,0,0] - # msg.gnssMeasurements.positionECEF.valid = True - # msg.gnssMeasurements.velocityECEF.value = [] - # msg.gnssMeasurements.velocityECEF.std = [0,0,0] - # msg.gnssMeasurements.velocityECEF.valid = True + if name == "gnssMeasurements": + msg.gnssMeasurements.measTime = t + msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] + msg.gnssMeasurements.positionECEF.std = [0,0,0] + msg.gnssMeasurements.positionECEF.valid = True + msg.gnssMeasurements.velocityECEF.value = [] + msg.gnssMeasurements.velocityECEF.std = [0,0,0] + msg.gnssMeasurements.velocityECEF.valid = True elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9256b6015c..c0a49e3324 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -433,13 +433,6 @@ def laikad_config_pubsub_callback(params, cfg, lr): cfg.main_pub_drained = True -def locationd_config_pubsub_callback(params, cfg, lr): - ublox = params.get_bool("UbloxAvailable") - sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) - - cfg.pubs = set(cfg.pubs) - sub_keys - - CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -494,12 +487,11 @@ CONFIGS = [ ProcessConfig( proc_name="locationd", pubs=[ - "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", - "liveCalibration", "carState", "carParams", "gpsLocation" + "cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements", + "liveCalibration", "carState", "carParams" ], subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], - config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, ), ProcessConfig( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 51c84c4bdd..d5ff4b6069 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4846f6f416128ba74837829643aa3fe0897c5621 \ No newline at end of file +9d6369c5aa88c37499c330a06aa7a81a5f4f3283 \ No newline at end of file From e2e39d100b32a6706e83c81a1ef3dcdd7ea4001f Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Thu, 24 Aug 2023 17:00:26 -0700 Subject: [PATCH 133/410] Added cython bindings for model runners and commonmodel (#29607) * Added cython bindings for model runners and commonmodel * Removed cython language_level=3 * loop to set CXXFLAGS for both envs --- release/files_common | 9 ++++ selfdrive/modeld/SConscript | 27 ++++++++++-- selfdrive/modeld/models/__init__.py | 0 selfdrive/modeld/models/commonmodel.pxd | 23 ++++++++++ selfdrive/modeld/models/commonmodel_pyx.pxd | 13 ++++++ selfdrive/modeld/models/commonmodel_pyx.pyx | 46 ++++++++++++++++++++ selfdrive/modeld/runners/__init__.py | 0 selfdrive/modeld/runners/onnxmodel.pxd | 9 ++++ selfdrive/modeld/runners/onnxmodel_pyx.pyx | 14 ++++++ selfdrive/modeld/runners/runmodel.pxd | 10 +++++ selfdrive/modeld/runners/runmodel_pyx.pxd | 6 +++ selfdrive/modeld/runners/runmodel_pyx.pyx | 32 ++++++++++++++ selfdrive/modeld/runners/snpemodel.pxd | 9 ++++ selfdrive/modeld/runners/snpemodel_pyx.pyx | 14 ++++++ selfdrive/modeld/runners/thneedmodel.pxd | 9 ++++ selfdrive/modeld/runners/thneedmodel_pyx.pyx | 14 ++++++ 16 files changed, 232 insertions(+), 3 deletions(-) create mode 100644 selfdrive/modeld/models/__init__.py create mode 100644 selfdrive/modeld/models/commonmodel.pxd create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx create mode 100644 selfdrive/modeld/runners/__init__.py create mode 100644 selfdrive/modeld/runners/onnxmodel.pxd create mode 100644 selfdrive/modeld/runners/onnxmodel_pyx.pyx create mode 100644 selfdrive/modeld/runners/runmodel.pxd create mode 100644 selfdrive/modeld/runners/runmodel_pyx.pxd create mode 100644 selfdrive/modeld/runners/runmodel_pyx.pyx create mode 100644 selfdrive/modeld/runners/snpemodel.pxd create mode 100644 selfdrive/modeld/runners/snpemodel_pyx.pyx create mode 100644 selfdrive/modeld/runners/thneedmodel.pxd create mode 100644 selfdrive/modeld/runners/thneedmodel_pyx.pyx diff --git a/release/files_common b/release/files_common index a229954221..f9acce8852 100644 --- a/release/files_common +++ b/release/files_common @@ -354,6 +354,7 @@ selfdrive/manager/process.py selfdrive/manager/test/__init__.py selfdrive/manager/test/test_manager.py +selfdrive/modeld/.gitignore selfdrive/modeld/__init__.py selfdrive/modeld/SConscript selfdrive/modeld/modeld.cc @@ -364,6 +365,10 @@ selfdrive/modeld/modeld selfdrive/modeld/navmodeld selfdrive/modeld/dmonitoringmodeld +selfdrive/modeld/models/__init__.py +selfdrive/modeld/models/*.pxd +selfdrive/modeld/models/*.pyx + selfdrive/modeld/models/commonmodel.cc selfdrive/modeld/models/commonmodel.h @@ -392,6 +397,10 @@ selfdrive/modeld/thneed/thneed_common.cc selfdrive/modeld/thneed/thneed_qcom2.cc selfdrive/modeld/thneed/serialize.cc +selfdrive/modeld/runners/__init__.py +selfdrive/modeld/runners/*.pxd +selfdrive/modeld/runners/*.pyx + selfdrive/modeld/runners/snpemodel.cc selfdrive/modeld/runners/snpemodel.h selfdrive/modeld/runners/thneedmodel.cc diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 863626967b..61898645e5 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,7 +1,8 @@ import os -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') lenv = env.Clone() +lenvCython = envCython.Clone() libs = [cereal, messaging, common, visionipc, gpucommon, 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv'] @@ -53,8 +54,28 @@ else: del common_src[common_src.index('runners/snpemodel.cc')] for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items(): - path = File(fn).abspath - lenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{path}\\"') + for xenv in (lenv, lenvCython): + xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') + +if (use_thneed and arch == "larch64") or GetOption('pc_thneed'): + lenvCython['CFLAGS'].append("-DUSE_THNEED") + lenvCython['CXXFLAGS'].append("-DUSE_THNEED") + +common_frameworks = [] +common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq'] +if arch == "Darwin": + common_frameworks.append('OpenCL') +else: + common_libs.append('OpenCL') + +onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) +snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) +commonmodel_lib = lenv.Library('commonmodel', common_src) + +lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks) +lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks) common_model = lenv.Object(common_src) diff --git a/selfdrive/modeld/models/__init__.py b/selfdrive/modeld/models/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd new file mode 100644 index 0000000000..d313dbef90 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -0,0 +1,23 @@ +# distutils: language = c++ + +from cereal.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + +cdef extern from "selfdrive/modeld/models/commonmodel.h": + cppclass ModelFrame: + int buf_size + ModelFrame(cl_device_id, cl_context) + float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) + +cdef extern from "selfdrive/modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd new file mode 100644 index 0000000000..21c0716de4 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from cereal.visionipc.visionipc cimport cl_mem +from cereal.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem; + + @staticmethod + cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx new file mode 100644 index 0000000000..c5576a5acb --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,46 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy + +from cereal.visionipc.visionipc cimport cl_mem +from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context +from .commonmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME +from .commonmodel cimport mat3, ModelFrame as cppModelFrame + +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + +cdef class ModelFrame: + cdef cppModelFrame * frame + + def __cinit__(self, CLContext context): + self.frame = new cppModelFrame(context.device_id, context.context) + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection, CLMem output): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef float * data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + if not data: + return None + return np.asarray( data) diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd new file mode 100644 index 0000000000..165f043da8 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from cereal.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/onnxmodel.h": + cdef cppclass ONNXModel: + ONNXModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx new file mode 100644 index 0000000000..27aa22d1c6 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .onnxmodel cimport ONNXModel as cppONNXModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ONNXModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd new file mode 100644 index 0000000000..f12f3e7ab9 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel.pxd @@ -0,0 +1,10 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +cdef extern from "selfdrive/modeld/runners/runmodel.h": + cdef cppclass RunModel: + void addInput(string, float*, int) + void setInputBuffer(string, float*, int) + void * getCLBuffer(string) + void execute() diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd new file mode 100644 index 0000000000..b6ede7cf37 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.pxd @@ -0,0 +1,6 @@ +# distutils: language = c++ + +from .runmodel cimport RunModel as cppRunModel + +cdef class RunModel: + cdef cppRunModel * model diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx new file mode 100644 index 0000000000..a35f0fa280 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -0,0 +1,32 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp.string cimport string +from libc.string cimport memcpy + +from selfdrive.modeld.models.commonmodel_pyx cimport CLMem + +cdef class RunModel: + def __dealloc__(self): + del self.model + + def addInput(self, string name, float[:] buffer): + if buffer is not None: + self.model.addInput(name, &buffer[0], len(buffer)) + else: + self.model.addInput(name, NULL, 0) + + def setInputBuffer(self, string name, float[:] buffer): + if buffer is not None: + self.model.setInputBuffer(name, &buffer[0], len(buffer)) + else: + self.model.setInputBuffer(name, NULL, 0) + + def getCLBuffer(self, string name): + cdef void * cl_buf = self.model.getCLBuffer(name) + if not cl_buf: + return None + return CLMem.create(cl_buf) + + def execute(self): + self.model.execute() diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd new file mode 100644 index 0000000000..1f928da332 --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from cereal.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/snpemodel.h": + cdef cppclass SNPEModel: + SNPEModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx new file mode 100644 index 0000000000..a454aa7b92 --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .snpemodel cimport SNPEModel as cppSNPEModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class SNPEModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd new file mode 100644 index 0000000000..90af972865 --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from cereal.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/thneedmodel.h": + cdef cppclass ThneedModel: + ThneedModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx new file mode 100644 index 0000000000..53487afa1b --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .thneedmodel cimport ThneedModel as cppThneedModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ThneedModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) From 90cb417caa049261797449d7e75eea01093e073d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 24 Aug 2023 17:03:25 -0700 Subject: [PATCH 134/410] CI: use GITHUB_ENV for env variables (#29616) export doesn't work across steps --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 4 ++-- selfdrive/test/docker_build.sh | 6 +++--- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0f68f425b6..5c55420508 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -193,7 +193,7 @@ jobs: submodules: true - name: Setup to push to repo run: | - export PUSH_IMAGE=true + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - uses: ./.github/workflows/setup with: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 7a7acb1c87..e92a99dba1 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -61,7 +61,7 @@ jobs: - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | - export PUSH_IMAGE=true + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - name: Build and push sim image run: | @@ -82,7 +82,7 @@ jobs: - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | - export PUSH_IMAGE=true + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - name: Build and push docs image run: | diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index b18c48123a..c9be11ffa7 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -35,7 +35,7 @@ DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from type=registry if [[ ! -z "$PUSH_IMAGE" ]]; then - docker push $REMOTE_TAG - docker tag $REMOTE_TAG $REMOTE_SHA_TAG - docker push $REMOTE_SHA_TAG + docker push $REMOTE_TAG + docker tag $REMOTE_TAG $REMOTE_SHA_TAG + docker push $REMOTE_SHA_TAG fi \ No newline at end of file From e8638280518938e7029c576be421e7fc35ddc695 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Aug 2023 17:18:11 -0700 Subject: [PATCH 135/410] CI: workaround syntax error in azure lib (#29618) --- .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 5c55420508..a046250ec2 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -317,7 +317,7 @@ jobs: - name: Upload reference logs if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | - ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 From 36cc41f619a50e21b90171bab1eedf1f15dd61a9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Aug 2023 17:32:15 -0700 Subject: [PATCH 136/410] CI: remove redundant apt installs (#29617) * CI: remove redundant apt installs * split build and test * faster build --- .github/workflows/tools_tests.yaml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e92a99dba1..e1ad67f930 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -20,7 +20,7 @@ env: RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: selfdrive/test/docker_build.sh cl - + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c @@ -35,14 +35,13 @@ jobs: submodules: true - name: Build Docker image run: eval "$BUILD" - - name: Unit test + - name: Build openpilot + timeout-minutes: 5 + run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal" + - name: Test PlotJuggler timeout-minutes: 2 run: | - ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot cereal && \ - apt-get update && \ - apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \ - cd /tmp/openpilot/tools/plotjuggler && \ - ./test_plotjuggler.py" + ${{ env.RUN }} "pytest tools/plotjuggler/" simulator: name: simulator From 465a72a87d9cfc058a256268ec0117d90aef35ed Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Aug 2023 19:22:48 -0700 Subject: [PATCH 137/410] bump panda (#29619) Co-authored-by: Comma Device --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 0587f22bf3..09cd81752d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0587f22bf359c77296f9b03bef6c3bbcbc820f87 +Subproject commit 09cd81752d1d53de4cc1c63f950dc717acc20ad8 From ae2a6537b7eb13a03820bc449e3448e97f0bd38b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Aug 2023 21:11:01 -0700 Subject: [PATCH 138/410] fingerprinting: log FW query time (#27880) * Update car_helpers.py * put in carParams * bumpcereal * rename * bump cereal * add cached * bump cereal * just add to fingerprinted event --- selfdrive/car/car_helpers.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 81a8c7eacd..7017580368 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -1,4 +1,5 @@ import os +import time from typing import Callable, Dict, List, Optional, Tuple from cereal import car @@ -125,6 +126,7 @@ def fingerprint(logcan, sendcan, num_pandas): ecu_rx_addrs = set() params = Params() + start_time = time.monotonic() if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 @@ -165,6 +167,8 @@ def fingerprint(logcan, sendcan, num_pandas): set_obd_multiplexing(params, False) params.put_bool("FirmwareQueryDone", True) + fw_query_time = time.monotonic() - start_time + # CAN fingerprint # drain CAN socket so we get the latest messages messaging.drain_sock_raw(logcan) @@ -185,7 +189,7 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger, - error=True) + fw_query_time=fw_query_time, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match From ed6e72ae1fbc5605cac693d58b3143dd33c0d6fc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Aug 2023 00:43:29 -0700 Subject: [PATCH 139/410] car/__init__: missing ending newline --- selfdrive/car/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c5f4a41520..773d990fac 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -232,4 +232,4 @@ class CanSignalRateCalculator: self.previous_counter = current_counter self.previous_value = current_value - return self.rate \ No newline at end of file + return self.rate From c0b9458a45f208c9773f859169a7de56d19b1bec Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 25 Aug 2023 01:41:04 -0700 Subject: [PATCH 140/410] CI: move cache dir to workspace directory (#29622) * comma dir * mkdir * fix issues * test * fix that * fix * do the other ones too * missed that * fix * fix pr comments by moving into two different directories * fix location * fix that * only change current * fix --- .github/workflows/badges.yaml | 2 +- .github/workflows/selfdrive_tests.yaml | 12 +++++++----- .github/workflows/setup/action.yaml | 11 ++++++++--- .github/workflows/tools_tests.yaml | 4 ++-- .gitignore | 1 + 5 files changed, 19 insertions(+), 11 deletions(-) diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 581c88be15..2ab3bded6a 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,7 +7,7 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c jobs: badges: diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a046250ec2..911060b05d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -19,11 +19,11 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover @@ -88,7 +88,7 @@ jobs: uses: actions/cache/save@v3 if: github.ref == 'refs/heads/master' with: - path: ~/scons_cache + path: .ci_cache/scons_cache key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} build_mac: @@ -294,7 +294,7 @@ jobs: id: dependency-cache uses: actions/cache@v3 with: - path: ~/comma_download_cache + path: .ci_cache/comma_download_cache key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} - name: Build openpilot run: | @@ -369,7 +369,7 @@ jobs: id: dependency-cache uses: actions/cache@v3 with: - path: ~/comma_download_cache + path: .ci_cache/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" @@ -401,9 +401,11 @@ jobs: - uses: actions/checkout@v3 with: submodules: true + path: current - name: Save car docs diff id: save_diff run: | + cd current ${{ env.RUN }} "scons -j$(nproc)" output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") output="${output//$'\n'/'%0A'}" diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 1181008f7e..12cded493d 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -27,11 +27,16 @@ runs: - id: restore-scons-cache uses: actions/cache/restore@v3 with: - path: ~/scons_cache + path: .ci_cache/scons_cache key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | scons-${{ env.CACHE_COMMIT_DATE }}- scons- + # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + if: steps.restore-scons-cache.outputs.cache-hit != 'true' + run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - id: normalize-file-permissions shell: bash @@ -47,6 +52,6 @@ runs: shell: bash if: ${{ inputs.setup_docker_scons_cache == 'true' }} run: | - cp selfdrive/test/Dockerfile.scons_cache ~ - cd ~ + cp selfdrive/test/Dockerfile.scons_cache $GITHUB_WORKSPACE/.ci_cache + cd $GITHUB_WORKSPACE/.ci_cache DOCKER_BUILDKIT=1 docker build -t scons-cache -f Dockerfile.scons_cache . \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e1ad67f930..0ce1e39861 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -17,11 +17,11 @@ env: BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/sh -c BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c jobs: diff --git a/.gitignore b/.gitignore index a7c8c1c6f0..a0c8df3142 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ venv/ .venv/ +.ci_cache .env .clang-format .DS_Store From 7270c6487237ee56e8a41c593ff7b3d8aa35a92c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Aug 2023 23:20:43 +0800 Subject: [PATCH 141/410] common/gpio: use util::safe_ioctl (#29624) use util::safe_ioctl --- common/gpio.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/gpio.cc b/common/gpio.cc index 5088362380..dd7ba34b6d 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -70,7 +70,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1); - int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); + int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); if (ret == -1) { LOGE("Unable to get line event from ioctl : %s", strerror(errno)); close(fd); From 2709cd6538363e439b3de39a9f4df05619dfbaa0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 01:35:39 +0800 Subject: [PATCH 142/410] common/tests: combine multiple test binaries into one (#29623) --- .github/workflows/selfdrive_tests.yaml | 4 +--- common/SConscript | 6 +++--- common/tests/.gitignore | 4 +--- common/tests/test_ratekeeper.cc | 1 - common/tests/test_runner.cc | 2 ++ common/tests/test_swaglog.cc | 6 +++--- common/tests/test_util.cc | 2 +- 7 files changed, 11 insertions(+), 14 deletions(-) create mode 100644 common/tests/test_runner.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 911060b05d..a3826be6c3 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -268,9 +268,7 @@ jobs: ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ - ./common/tests/test_util && \ - ./common/tests/test_ratekeeper && \ - ./common/tests/test_swaglog && \ + ./common/tests/test_common && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./system/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ diff --git a/common/SConscript b/common/SConscript index 2f2b919154..c703434993 100644 --- a/common/SConscript +++ b/common/SConscript @@ -28,9 +28,9 @@ _gpucommon = fxn('gpucommon', files) Export('_common', '_gpucommon') if GetOption('extras'): - env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common]) - env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) - env.Program('tests/test_ratekeeper', ['tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) + env.Program('tests/test_common', + ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) diff --git a/common/tests/.gitignore b/common/tests/.gitignore index 984c505f92..6cddfc7bdf 100644 --- a/common/tests/.gitignore +++ b/common/tests/.gitignore @@ -1,3 +1 @@ -test_ratekeeper -test_util -test_swaglog +test_common diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc index 66d229bdbb..f5aa16a859 100644 --- a/common/tests/test_ratekeeper.cc +++ b/common/tests/test_ratekeeper.cc @@ -1,4 +1,3 @@ -#define CATCH_CONFIG_MAIN #include "catch2/catch.hpp" #include "common/ratekeeper.h" #include "common/timing.h" diff --git a/common/tests/test_runner.cc b/common/tests/test_runner.cc new file mode 100644 index 0000000000..62bf7476a1 --- /dev/null +++ b/common/tests/test_runner.cc @@ -0,0 +1,2 @@ +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index 021656a78b..322354d730 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -1,13 +1,13 @@ #include + #include -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" -#include "third_party/json11/json11.hpp" +#include "catch2/catch.hpp" #include "common/swaglog.h" #include "common/util.h" #include "common/version.h" #include "system/hardware/hw.h" +#include "third_party/json11/json11.hpp" const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage"; std::string daemon_name = "testy"; diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index 25ecf09aa9..68fced19c2 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -5,10 +5,10 @@ #include #include +#include #include #include -#define CATCH_CONFIG_MAIN #include "catch2/catch.hpp" #include "common/util.h" From 86386fd87f3d4bda7303957d543c772f4dda5e1a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 01:39:55 +0800 Subject: [PATCH 143/410] scons: fix always generating car_fingerprint_to_dbc.json (#29625) --- tools/cabana/SConscript | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index be1f613e22..f1a7581870 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -38,7 +38,8 @@ cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs if GetOption('extras'): cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) -generate_dbc = cabana_env.Command('generate_dbc_json', - [], - "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json") +output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json' +generate_dbc = cabana_env.Command('#' + output_json_file, + ['dbc/generate_dbc_json.py'], + "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file) cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"]) From 1e62999e75b2ba85b7c443af0d8b3132e8e909d2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 02:05:22 +0800 Subject: [PATCH 144/410] v4l_encoder: convert macro `checked_ioctl` to funtion (#29609) * break to multiple lines * convert to function * format errno * use safe_ioctl * cleanup --- system/loggerd/encoder/v4l_encoder.cc | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index c6ee792265..6e5cefa87d 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -19,7 +19,13 @@ // echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; -#define checked_ioctl(x, y, z) { int _ret = HANDLE_EINTR(ioctl(x, y, z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); } +static void checked_ioctl(int fd, unsigned long request, void *argp) { + int ret = util::safe_ioctl(fd, request, argp); + if (ret != 0) { + LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp); + assert(0); + } +} static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) { v4l2_plane plane = {0}; From 6b5a0b349851ec5cb6600e7b690cf9a4aac677f7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Aug 2023 12:02:22 -0700 Subject: [PATCH 145/410] include all model runners in release --- release/files_common | 10 +++------- release/files_pc | 2 -- 2 files changed, 3 insertions(+), 9 deletions(-) diff --git a/release/files_common b/release/files_common index f9acce8852..2a555f33b5 100644 --- a/release/files_common +++ b/release/files_common @@ -400,13 +400,9 @@ selfdrive/modeld/thneed/serialize.cc selfdrive/modeld/runners/__init__.py selfdrive/modeld/runners/*.pxd selfdrive/modeld/runners/*.pyx - -selfdrive/modeld/runners/snpemodel.cc -selfdrive/modeld/runners/snpemodel.h -selfdrive/modeld/runners/thneedmodel.cc -selfdrive/modeld/runners/thneedmodel.h -selfdrive/modeld/runners/runmodel.h -selfdrive/modeld/runners/run.h +selfdrive/modeld/runners/*.cc +selfdrive/modeld/runners/*.h +selfdrive/modeld/runners/*.py selfdrive/monitoring/dmonitoringd.py selfdrive/monitoring/driver_monitor.py diff --git a/release/files_pc b/release/files_pc index a331a45c0f..13f1b52166 100644 --- a/release/files_pc +++ b/release/files_pc @@ -1,5 +1,3 @@ -selfdrive/modeld/runners/onnx* - third_party/mapbox-gl-native-qt/x86_64/*.so third_party/libyuv/x86_64/** From 47a839ab1f57c7ccaf0118b58ae4f6ed2949d15f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 25 Aug 2023 13:14:16 -0700 Subject: [PATCH 146/410] bump laika (#29628) --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index a028f6a2c9..6d547801a5 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit a028f6a2c95adf03fa240a9479ad33290969055e +Subproject commit 6d547801a5790431b42396a1d48226ff730ba74b From f1b8a8646438008b35c0445812b818745ad01fc2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 25 Aug 2023 13:44:03 -0700 Subject: [PATCH 147/410] K1FD: generate kalman gain at init (#29610) * K1FD: generate kalman gain at init * Update interfaces.py * Update interfaces.py * Update interfaces.py * Update ref_commit --- selfdrive/car/interfaces.py | 16 +++++++++------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 53b3e381f6..1b68b1dbcf 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,13 +1,14 @@ import yaml import os import time +import numpy as np from abc import abstractmethod, ABC from typing import Any, Dict, Optional, Tuple, List, Callable from cereal import car from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV -from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG @@ -335,12 +336,13 @@ class CarStateBase(ABC): self.cluster_speed_hyst_gap = 0.0 self.cluster_min_speed = 0.0 # min speed before dropping to 0 - # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]]) - # R = 0.3 - self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], - A=[[1.0, DT_CTRL], [0.0, 1.0]], - C=[1.0, 0.0], - K=[[0.17406039], [1.65925647]]) + Q = [[0.0, 0.0], [0.0, 100.0]] + R = 0.3 + A = [[1.0, DT_CTRL], [0.0, 1.0]] + C = [[1.0, 0.0]] + x0=[[0.0], [0.0]] + K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R) + self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K) def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d5ff4b6069..955c5c7e94 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9d6369c5aa88c37499c330a06aa7a81a5f4f3283 \ No newline at end of file +3fd85c41e61044a86bf364b9a7a0470e5758f231 From c9e227a9c062aa5e9569472e88d720d1160819de Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Aug 2023 14:01:10 -0700 Subject: [PATCH 148/410] update azure-storage-blob (#29411) Co-authored-by: Cameron Clough --- poetry.lock | 159 ++++++++++++++++++++++++----- pyproject.toml | 3 +- selfdrive/test/openpilotci.py | 79 ++++++++------ selfdrive/test/update_ci_routes.py | 44 ++++---- 4 files changed, 212 insertions(+), 73 deletions(-) diff --git a/poetry.lock b/poetry.lock index 60e1de7266..c5d7b0e28f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -313,47 +313,60 @@ files = [ ] [[package]] -name = "azure-common" -version = "1.1.28" -description = "Microsoft Azure Client Library for Python (Common)" +name = "azure-core" +version = "1.29.3" +description = "Microsoft Azure Core Library for Python" optional = false -python-versions = "*" +python-versions = ">=3.7" files = [ - {file = "azure-common-1.1.28.zip", hash = "sha256:4ac0cd3214e36b6a1b6a442686722a5d8cc449603aa833f3f0f40bda836704a3"}, - {file = "azure_common-1.1.28-py2.py3-none-any.whl", hash = "sha256:5c12d3dcf4ec20599ca6b0d3e09e86e146353d443e7fcc050c9a19c1f9df20ad"}, + {file = "azure-core-1.29.3.tar.gz", hash = "sha256:c92700af982e71c8c73de9f4c20da8b3f03ce2c22d13066e4d416b4629c87903"}, + {file = "azure_core-1.29.3-py3-none-any.whl", hash = "sha256:f8b2910f92b66293d93bd00564924ad20ad48f4a1e150577cf18d1e7d4f9263c"}, ] +[package.dependencies] +requests = ">=2.18.4" +six = ">=1.11.0" +typing-extensions = ">=4.6.0" + +[package.extras] +aio = ["aiohttp (>=3.0)"] + [[package]] -name = "azure-storage-blob" -version = "2.1.0" -description = "Microsoft Azure Storage Blob Client Library for Python" +name = "azure-identity" +version = "1.14.0" +description = "Microsoft Azure Identity Library for Python" optional = false -python-versions = "*" +python-versions = ">=3.7" files = [ - {file = "azure-storage-blob-2.1.0.tar.gz", hash = "sha256:b90323aad60f207f9f90a0c4cf94c10acc313c20b39403398dfba51f25f7b454"}, - {file = "azure_storage_blob-2.1.0-py2.py3-none-any.whl", hash = "sha256:a8e91a51d4f62d11127c7fd8ba0077385c5b11022f0269f8a2a71b9fc36bef31"}, + {file = "azure-identity-1.14.0.zip", hash = "sha256:72441799f8c5c89bfe21026965e266672a7c5d050c2c65119ef899dd5362e2b1"}, + {file = "azure_identity-1.14.0-py3-none-any.whl", hash = "sha256:edabf0e010eb85760e1dd19424d5e8f97ba2c9caff73a16e7b30ccbdbcce369b"}, ] [package.dependencies] -azure-common = ">=1.1.5" -azure-storage-common = ">=2.1,<3.0" +azure-core = ">=1.11.0,<2.0.0" +cryptography = ">=2.5" +msal = ">=1.20.0,<2.0.0" +msal-extensions = ">=0.3.0,<2.0.0" [[package]] -name = "azure-storage-common" -version = "2.1.0" -description = "Microsoft Azure Storage Common Client Library for Python" +name = "azure-storage-blob" +version = "12.17.0" +description = "Microsoft Azure Blob Storage Client Library for Python" optional = false -python-versions = "*" +python-versions = ">=3.7" files = [ - {file = "azure-storage-common-2.1.0.tar.gz", hash = "sha256:ccedef5c67227bc4d6670ffd37cec18fb529a1b7c3a5e53e4096eb0cf23dc73f"}, - {file = "azure_storage_common-2.1.0-py2.py3-none-any.whl", hash = "sha256:b01a491a18839b9d05a4fe3421458a0ddb5ab9443c14e487f40d16f9a1dc2fbe"}, + {file = "azure-storage-blob-12.17.0.zip", hash = "sha256:c14b785a17050b30fc326a315bdae6bc4a078855f4f94a4c303ad74a48dc8c63"}, + {file = "azure_storage_blob-12.17.0-py3-none-any.whl", hash = "sha256:0016e0c549a80282d7b4920c03f2f4ba35c53e6e3c7dbcd2a4a8c8eb3882c1e7"}, ] [package.dependencies] -azure-common = ">=1.1.5" -cryptography = "*" -python-dateutil = "*" -requests = "*" +azure-core = ">=1.28.0,<2.0.0" +cryptography = ">=2.1.4" +isodate = ">=0.6.1" +typing-extensions = ">=4.3.0" + +[package.extras] +aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"] [[package]] name = "babel" @@ -1524,6 +1537,20 @@ files = [ {file = "ioctl-opt-1.3.tar.gz", hash = "sha256:5ed4f9a80d2e02e152a43d3648d7ed8821a0aac5ea88ecc5fcc14460ff7cf2f9"}, ] +[[package]] +name = "isodate" +version = "0.6.1" 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Concurrent data access will be coordinated by a file lock mechanism." +optional = false +python-versions = "*" +files = [ + {file = "msal-extensions-1.0.0.tar.gz", hash = "sha256:c676aba56b0cce3783de1b5c5ecfe828db998167875126ca4b47dc6436451354"}, + {file = "msal_extensions-1.0.0-py2.py3-none-any.whl", hash = "sha256:91e3db9620b822d0ed2b4d1850056a0f133cba04455e62f11612e40f5502f2ee"}, +] + +[package.dependencies] +msal = ">=0.4.1,<2.0.0" +portalocker = [ + {version = ">=1.0,<3", markers = "python_version >= \"3.5\" and platform_system != \"Windows\""}, + {version = ">=1.6,<3", markers = "python_version >= \"3.5\" and platform_system == \"Windows\""}, +] + [[package]] name = "multidict" version = "6.0.4" @@ -2553,6 +2617,25 @@ files = [ dev = ["pylint (>=2.15.10,<2.16.0)", "pytest (>=7.0,<8.0)", "pytest-cov (>=4.0,<5.0)", "sphinx (>=4.2.0,<4.3.0)", "sphinx-rtd-theme (>=1.0.0,<1.1.0)", "toml (>=0.10.2,<0.11.0)"] publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"] +[[package]] +name = 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{file = "pywin32-306-cp38-cp38-win_amd64.whl", hash = "sha256:e8ac1ae3601bee6ca9f7cb4b5363bf1c0badb935ef243c4733ff9a393b1690c0"}, + {file = "pywin32-306-cp39-cp39-win32.whl", hash = "sha256:e25fd5b485b55ac9c057f67d94bc203f3f6595078d1fb3b458c9c28b7153a802"}, + {file = "pywin32-306-cp39-cp39-win_amd64.whl", hash = "sha256:39b61c15272833b5c329a2989999dcae836b1eed650252ab1b7bfbe1d59f30f4"}, +] + [[package]] name = "pyyaml" version = "6.0.1" @@ -4213,4 +4322,4 @@ multidict = ">=4.0" [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "320aa5cc075d746403abb872211ebdaf55e9504face8dab8c9b270c71953675d" +content-hash = "7e2bfde2719e7d7bb4b1627b0657e9ab4a9f4e1637d8b8ae6d5c80c7861e2052" diff --git a/pyproject.toml b/pyproject.toml index b5d03e9b4d..e350f070c4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -96,7 +96,8 @@ sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} [tool.poetry.group.dev.dependencies] av = "*" -azure-storage-blob = "~2.1" +azure-identity = "*" +azure-storage-blob = "*" breathe = "*" carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" } coverage = "*" diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index fe1a0b0335..f590b66e54 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -1,43 +1,64 @@ #!/usr/bin/env python3 import os -import sys -import subprocess +from datetime import datetime, timedelta +from functools import lru_cache +from pathlib import Path +from typing import IO, Union -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -TOKEN_PATH = "/data/azure_token" +DATA_CI_ACCOUNT = "commadataci" +DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net" +DATA_CI_CONTAINER = "openpilotci" +BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{DATA_CI_CONTAINER}/" +TOKEN_PATH = Path("/data/azure_token") -def get_url(route_name, segment_num, log_type="rlog"): + +def get_url(route_name: str, segment_num, log_type="rlog") -> str: ext = "hevc" if log_type.endswith('camera') else "bz2" return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" -def get_sas_token(): - sas_token = os.environ.get("AZURE_TOKEN", None) - if os.path.isfile(TOKEN_PATH): - sas_token = open(TOKEN_PATH).read().strip() - if sas_token is None: - sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci \ - --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') \ - --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n") +@lru_cache +def get_azure_credential(): + if "AZURE_TOKEN" in os.environ: + return os.environ["AZURE_TOKEN"] + elif TOKEN_PATH.is_file(): + return TOKEN_PATH.read_text().strip() + else: + from azure.identity import AzureCliCredential + return AzureCliCredential() + - return sas_token +@lru_cache +def get_container_sas(account_name: str, container_name: str): + from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas + start_time = datetime.utcnow() + expiry_time = start_time + timedelta(hours=1) + blob_service = BlobServiceClient( + account_url=f"https://{account_name}.blob.core.windows.net", + credential=get_azure_credential(), + ) + return generate_container_sas( + account_name, + container_name, + user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), + permission=ContainerSasPermissions(read=True, write=True, list=True), + expiry=expiry_time, + ) -def upload_bytes(data, name): - from azure.storage.blob import BlockBlobService - service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) - service.create_blob_from_bytes("openpilotci", name, data) - return BASE_URL + name -def upload_file(path, name): - from azure.storage.blob import BlockBlobService - service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) - service.create_blob_from_path("openpilotci", name, path) - return BASE_URL + name +def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: + from azure.storage.blob import BlobClient + blob = BlobClient( + account_url=DATA_CI_ACCOUNT_URL, + container_name=DATA_CI_CONTAINER, + blob_name=blob_name, + credential=get_azure_credential(), + ) + blob.upload_blob(data) + return BASE_URL + blob_name -if __name__ == "__main__": - for f in sys.argv[1:]: - name = os.path.basename(f) - url = upload_file(f, name) - print(url) +def upload_file(path: Union[str, os.PathLike], blob_name: str) -> str: + with open(path, "rb") as f: + return upload_bytes(f, blob_name) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index dda8568fa8..8157066334 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,32 +1,38 @@ #!/usr/bin/env python3 -from functools import lru_cache -import sys import subprocess +import sys +from functools import lru_cache +from typing import Iterable, Optional + +from azure.storage.blob import ContainerClient from tqdm import tqdm -from azure.storage.blob import BlockBlobService from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from xx.chffr.lib import azureutil -from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION +from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, + get_azure_credential, get_container_sas) + +DATA_PROD_ACCOUNT = "commadata2" +DATA_PROD_CONTAINER = "commadata2" SOURCES = [ - (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION), - (_DATA_ACCOUNT_CI, "commadataci"), + (DATA_PROD_ACCOUNT, DATA_PROD_CONTAINER), + (DATA_CI_ACCOUNT, DATA_CI_CONTAINER), ] @lru_cache def get_azure_keys(): - dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") - source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] - service = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=dest_key) - return dest_key, source_keys, service + dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, credential=get_azure_credential()) + dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) + source_keys = [get_container_sas(*s) for s in SOURCES] + return dest_container, dest_key, source_keys -def upload_route(path, exclude_patterns=None): - dest_key, _, _ = get_azure_keys() +def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: + # TODO: use azure-storage-blob instead of azcopy, simplifies auth + dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) if exclude_patterns is None: exclude_patterns = ['*/dcamera.hevc'] @@ -37,28 +43,30 @@ def upload_route(path, exclude_patterns=None): "azcopy", "copy", f"{path}/*", - f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{dest_key}", + f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{destpath}?{dest_key}", "--recursive=false", "--overwrite=false", ] + [f"--exclude-pattern={p}" for p in exclude_patterns] subprocess.check_call(cmd) -def sync_to_ci_public(route): - dest_key, source_keys, service = get_azure_keys() + +def sync_to_ci_public(route: str) -> bool: + dest_container, dest_key, source_keys = get_azure_keys() key_prefix = route.replace('|', '/') dongle_id = key_prefix.split('/')[0] - if next(azureutil.list_all_blobs(service, "openpilotci", prefix=key_prefix), None) is not None: + if next(dest_container.list_blob_names(name_starts_with=key_prefix), None) is not None: return True print(f"Uploading {route}") for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True): + # assumes az login has been run print(f"Trying {source_account}/{source_bucket}") cmd = [ "azcopy", "copy", f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{dest_key}", + f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", From c6c6877263f66bc55c966fa32d40724a80979cdc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 05:34:46 +0800 Subject: [PATCH 149/410] util.cc: remove duplidate #include (#29632) remove duplidate #include --- common/util.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/common/util.cc b/common/util.cc index 11e8ad4555..8af9f5884c 100644 --- a/common/util.cc +++ b/common/util.cc @@ -3,7 +3,6 @@ #include #include #include -#include #include #include From 72a3c987c0d9de6a0cd7a02bba032ccd5e1efe43 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Fri, 25 Aug 2023 14:36:26 -0700 Subject: [PATCH 150/410] Rewrite modeld in python (#29230) * Added modeld.py (WIP) * No more VisionIpcBufExtra * Started work on cython bindings for runmodel * Got ONNXModel cython bindings mostly working, added ModelFrame bindings * Got modeld main loop running without model eval * Move everything into ModelState * Doesn't crash! * Moved ModelState into modeld.py * Added driving_pyx * Added cython bindings for message generation * Moved CLContext definition to visionipc.pxd * *facepalm* * Move cl_pyx into commonmodel_pyx * Split out ONNXModel into a subclass of RunModel * Added snpemodel/thneedmodel bindings * Removed modeld.cc * Fixed scons for macOS * Fixed sconscript * Added flag for thneedmodel * paths are now relative to openpilot root dir * Set cl kernel paths in SConscript * Set LD_PRELOAD=libthneed.so to fix ioctl interception * Run from root dir * A few more fixes * A few more minor fixes * Use C update_calibration for now to exactly match refs * Add nav_instructions input * Link driving_pyx.pyx with transformations * Checked python FirstOrderFilter against C++ FirstOrderFilter * Set process name to fix test_onroad * Revert changes to onnxmodel.cc * Fixed bad onnx_runner.py path in onnxmodel.cc * Import all constants from driving.h * logging -> cloudlog * pylint import-error suppressions no longer needed? * Loop in SConscript * Added parens * Bump modeld cpu usage in test_onroad * Get rid of use_nav * use config_realtime_process * error message from ioctl sniffer was messing up pyenv * cast distance_idx to int * Removed cloudlog.infos in model.run * Fixed rebase conflicts * Clean up driving.pxd/pyx * Fixed linter error --- release/files_common | 2 +- selfdrive/modeld/SConscript | 21 +- selfdrive/modeld/modeld | 10 +- selfdrive/modeld/modeld.cc | 271 ----------------------- selfdrive/modeld/modeld.py | 279 ++++++++++++++++++++++++ selfdrive/modeld/models/driving.cc | 201 ++++++----------- selfdrive/modeld/models/driving.h | 57 +---- selfdrive/modeld/models/driving.pxd | 29 +++ selfdrive/modeld/models/driving_pyx.pyx | 60 +++++ selfdrive/test/test_onroad.py | 2 +- 10 files changed, 452 insertions(+), 480 deletions(-) delete mode 100644 selfdrive/modeld/modeld.cc create mode 100755 selfdrive/modeld/modeld.py create mode 100644 selfdrive/modeld/models/driving.pxd create mode 100644 selfdrive/modeld/models/driving_pyx.pyx diff --git a/release/files_common b/release/files_common index 2a555f33b5..b375c18dce 100644 --- a/release/files_common +++ b/release/files_common @@ -357,7 +357,7 @@ selfdrive/manager/test/test_manager.py selfdrive/modeld/.gitignore selfdrive/modeld/__init__.py selfdrive/modeld/SConscript -selfdrive/modeld/modeld.cc +selfdrive/modeld/modeld.py selfdrive/modeld/navmodeld.cc selfdrive/modeld/dmonitoringmodeld.cc selfdrive/modeld/constants.py diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 61898645e5..0b89f8a64f 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -17,7 +17,6 @@ common_src = [ thneed_src_common = [ "thneed/thneed_common.cc", "thneed/serialize.cc", - "runners/thneedmodel.cc", ] thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] @@ -28,10 +27,6 @@ use_thneed = not GetOption('no_thneed') if arch == "larch64": libs += ['gsl', 'CB', 'pthread', 'dl'] - - if use_thneed: - common_src += thneed_src_qcom - lenv['CXXFLAGS'].append("-DUSE_THNEED") else: libs += ['pthread'] @@ -71,11 +66,13 @@ else: onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) commonmodel_lib = lenv.Library('commonmodel', common_src) +driving_lib = lenv.Library('driving', ['models/driving.cc']) lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks) lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks) lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks) +lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, cereal, messaging, *common_libs, 'capnp', 'kj'] + transformations, FRAMEWORKS=common_frameworks) common_model = lenv.Object(common_src) @@ -102,14 +99,6 @@ if (use_thneed and arch == "larch64") or GetOption('pc_thneed'): tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], []) lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) -llenv = lenv.Clone() -if GetOption('pc_thneed'): - llenv['CFLAGS'].append("-DUSE_THNEED") - llenv['CXXFLAGS'].append("-DUSE_THNEED") - common_model += llenv.Object(thneed_src_pc) - libs += ['dl'] - -llenv.Program('_modeld', [ - "modeld.cc", - "models/driving.cc", - ]+common_model, LIBS=libs + transformations) + thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl']) + thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) + lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'zmq', 'OpenCL']) diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index c067cf3d62..7c1025a72f 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -1,11 +1,7 @@ #!/bin/sh DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR +cd "$DIR/../../" -if [ -f /TICI ]; then - export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH" -else - export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH" -fi -exec ./_modeld +export LD_PRELOAD="$DIR/libthneed.so" +exec "$DIR/modeld.py" diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc deleted file mode 100644 index 9a5862fbf5..0000000000 --- a/selfdrive/modeld/modeld.cc +++ /dev/null @@ -1,271 +0,0 @@ -#include -#include -#include -#include - -#include - -#include "cereal/messaging/messaging.h" -#include "common/transformations/orientation.hpp" - -#include "cereal/visionipc/visionipc_client.h" -#include "common/clutil.h" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/modeld/models/driving.h" -#include "selfdrive/modeld/models/nav.h" - - -ExitHandler do_exit; - -mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { - /* - import numpy as np - from openpilot.common.transformations.model import medmodel_frame_from_calib_frame - medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] - calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) - */ - static const auto calib_from_medmodel = (Eigen::Matrix() << - 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, - 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, - -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished(); - - static const auto calib_from_sbigmodel = (Eigen::Matrix() << - 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, - 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, - -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); - - static const auto view_from_device = (Eigen::Matrix() << - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0, - 1.0, 0.0, 0.0).finished(); - - - const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v); - Eigen::Matrix device_from_calib = euler2rot(device_from_calib_euler).cast (); - auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel; - auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib; - auto warp_matrix = camera_from_calib * calib_from_model; - - mat3 transform = {}; - for (int i=0; i<3*3; i++) { - transform.v[i] = warp_matrix(i / 3, i % 3); - } - return transform; -} - - -void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) { - // messaging - PubMaster pm({"modelV2", "cameraOdometry"}); - SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"}); - - Params params; - PublishState ps = {}; - - // setup filter to track dropped frames - FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ); - - uint32_t frame_id = 0, last_vipc_frame_id = 0; - // double last = 0; - uint32_t run_count = 0; - - mat3 model_transform_main = {}; - mat3 model_transform_extra = {}; - bool nav_enabled = false; - bool live_calib_seen = false; - float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0}; - float nav_features[NAV_FEATURE_LEN] = {0}; - float nav_instructions[NAV_INSTRUCTION_LEN] = {0}; - - VisionBuf *buf_main = nullptr; - VisionBuf *buf_extra = nullptr; - - VisionIpcBufExtra meta_main = {0}; - VisionIpcBufExtra meta_extra = {0}; - - while (!do_exit) { - // Keep receiving frames until we are at least 1 frame ahead of previous extra frame - while (meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000ULL) { - buf_main = vipc_client_main.recv(&meta_main); - if (buf_main == nullptr) break; - } - - if (buf_main == nullptr) { - LOGE("vipc_client_main no frame"); - continue; - } - - if (use_extra_client) { - // Keep receiving extra frames until frame id matches main camera - do { - buf_extra = vipc_client_extra.recv(&meta_extra); - } while (buf_extra != nullptr && meta_main.timestamp_sof > meta_extra.timestamp_sof + 25000000ULL); - - if (buf_extra == nullptr) { - LOGE("vipc_client_extra no frame"); - continue; - } - - if (std::abs((int64_t)meta_main.timestamp_sof - (int64_t)meta_extra.timestamp_sof) > 10000000ULL) { - LOGE("frames out of sync! main: %d (%.5f), extra: %d (%.5f)", - meta_main.frame_id, double(meta_main.timestamp_sof) / 1e9, - meta_extra.frame_id, double(meta_extra.timestamp_sof) / 1e9); - } - } else { - // Use single camera - buf_extra = buf_main; - meta_extra = meta_main; - } - - // TODO: path planner timeout? - sm.update(0); - int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); - bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); - frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); - if (sm.updated("liveCalibration")) { - auto rpy_calib = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); - Eigen::Vector3d device_from_calib_euler; - for (int i=0; i<3; i++) { - device_from_calib_euler(i) = rpy_calib[i]; - } - model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, false); - model_transform_extra = update_calibration(device_from_calib_euler, true, true); - live_calib_seen = true; - } - - float vec_desire[DESIRE_LEN] = {0}; - if (desire >= 0 && desire < DESIRE_LEN) { - vec_desire[desire] = 1.0; - } - - // Enable/disable nav features - uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime(); - bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9); - bool use_nav = nav_valid && params.getBool("ExperimentalMode"); - if (!nav_enabled && use_nav) { - nav_enabled = true; - } else if (nav_enabled && !use_nav) { - memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN); - memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN); - nav_enabled = false; - } - - if (nav_enabled && sm.updated("navModel")) { - auto nav_model_features = sm["navModel"].getNavModel().getFeatures(); - for (int i=0; i= 0 && distance_idx < 50) { - nav_instructions[distance_idx*3 + direction_idx] = 1; - } - } - } - - // tracked dropped frames - uint32_t vipc_dropped_frames = meta_main.frame_id - last_vipc_frame_id - 1; - float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U)); - if (run_count < 10) { // let frame drops warm up - frame_dropped_filter.reset(0); - frames_dropped = 0.; - } - run_count++; - - float frame_drop_ratio = frames_dropped / (1 + frames_dropped); - bool prepare_only = vipc_dropped_frames > 0; - - if (prepare_only) { - LOGE("skipping model eval. Dropped %d frames", vipc_dropped_frames); - } - - double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, nav_instructions, prepare_only); - double mt2 = millis_since_boot(); - float model_execution_time = (mt2 - mt1) / 1000.0; - - if (model_output != nullptr) { - model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, model, ps, meta_main.timestamp_eof, timestamp_llk, model_execution_time, - nav_enabled, live_calib_seen); - posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen); - } - - // printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); - // last = mt1; - last_vipc_frame_id = meta_main.frame_id; - } -} - -int main(int argc, char **argv) { - if (!Hardware::PC()) { - int ret; - ret = util::set_realtime_priority(54); - assert(ret == 0); - util::set_core_affinity({7}); - assert(ret == 0); - } - - // cl init - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); - - // init the models - ModelState model; - model_init(&model, device_id, context); - LOGW("models loaded, modeld starting"); - - bool main_wide_camera = false; - bool use_extra_client = true; // set to false to use single camera - while (!do_exit) { - auto streams = VisionIpcClient::getAvailableStreams("camerad", false); - if (!streams.empty()) { - use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0; - main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0; - break; - } - - util::sleep_for(100); - } - - VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context); - VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context); - LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client); - - while (!do_exit && !vipc_client_main.connect(false)) { - util::sleep_for(100); - } - - while (!do_exit && use_extra_client && !vipc_client_extra.connect(false)) { - util::sleep_for(100); - } - - // run the models - // vipc_client.connected is false only when do_exit is true - if (!do_exit) { - const VisionBuf *b = &vipc_client_main.buffers[0]; - LOGW("connected main cam with buffer size: %zu (%zu x %zu)", b->len, b->width, b->height); - - if (use_extra_client) { - const VisionBuf *wb = &vipc_client_extra.buffers[0]; - LOGW("connected extra cam with buffer size: %zu (%zu x %zu)", wb->len, wb->width, wb->height); - } - - run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra_client); - } - - model_free(&model); - CL_CHECK(clReleaseContext(context)); - return 0; -} diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py new file mode 100755 index 0000000000..68afa453a9 --- /dev/null +++ b/selfdrive/modeld/modeld.py @@ -0,0 +1,279 @@ +#!/usr/bin/env python3 +import sys +import time +import numpy as np +from pathlib import Path +from typing import Dict, Optional +from setproctitle import setproctitle +from cereal.messaging import PubMaster, SubMaster +from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.system.hardware import PC +from openpilot.system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import config_realtime_process +from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime +from openpilot.selfdrive.modeld.models.driving_pyx import ( + PublishState, create_model_msg, create_pose_msg, update_calibration, + FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, + OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ, USE_THNEED) + +if USE_THNEED: + from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner +else: + from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner + +MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}") + +# NOTE: numpy matmuls don't seem to perfectly match eigen matmuls so the ref test fails, but we should switch to the np version after checking compare_runtime +# from common.transformations.orientation import rot_from_euler +# from common.transformations.model import medmodel_frame_from_calib_frame, sbigmodel_frame_from_calib_frame +# from common.transformations.camera import view_frame_from_device_frame, tici_fcam_intrinsics, tici_ecam_intrinsics +# calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) +# calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) +# +# def update_calibration(device_from_calib_euler: np.ndarray, wide_camera: bool, bigmodel_frame: bool) -> np.ndarray: +# cam_intrinsics = tici_ecam_intrinsics if wide_camera else tici_fcam_intrinsics +# calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel +# device_from_calib = rot_from_euler(device_from_calib_euler) +# camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib +# warp_matrix: np.ndarray = camera_from_calib @ calib_from_model +# return warp_matrix + +class FrameMeta: + frame_id: int = 0 + timestamp_sof: int = 0 + timestamp_eof: int = 0 + + def __init__(self, vipc=None): + if vipc is not None: + self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof + +class ModelState: + frame: ModelFrame + wide_frame: ModelFrame + inputs: Dict[str, np.ndarray] + output: np.ndarray + prev_desire: np.ndarray # for tracking the rising edge of the pulse + model: ModelRunner + + def __init__(self, context: CLContext): + self.frame = ModelFrame(context) + self.wide_frame = ModelFrame(context) + self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32) + self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32) + self.inputs = { + 'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32), + 'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32), + 'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32), + 'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32), + } + + self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context) + self.model.addInput("input_imgs", None) + self.model.addInput("big_input_imgs", None) + for k,v in self.inputs.items(): + self.model.addInput(k, v) + + def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]: + # Model decides when action is completed, so desire input is just a pulse triggered on rising edge + inputs['desire_pulse'][0] = 0 + self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:] + self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) + self.prev_desire[:] = inputs['desire_pulse'] + + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['nav_features'][:] = inputs['nav_features'] + self.inputs['nav_instructions'][:] = inputs['nav_instructions'] + # self.inputs['driving_style'][:] = inputs['driving_style'] + + # if getCLBuffer is not None, frame will be None + self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) + if wbuf is not None: + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + + if prepare_only: + return None + + self.model.execute() + self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:] + self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN] + return self.output + + +def main(): + cloudlog.bind(daemon="selfdrive.modeld.modeld") + setproctitle("selfdrive.modeld.modeld") + if not PC: + config_realtime_process(7, 54) + + cl_context = CLContext() + model = ModelState(cl_context) + cloudlog.warning("models loaded, modeld starting") + + # visionipc clients + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") + + while not vipc_client_main.connect(False): + time.sleep(0.1) + while not vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") + if use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") + + # messaging + pm = PubMaster(["modelV2", "cameraOdometry"]) + sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"]) + + state = PublishState() + params = Params() + + # setup filter to track dropped frames + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / MODEL_FREQ) + frame_id = 0 + last_vipc_frame_id = 0 + run_count = 0 + # last = 0.0 + + model_transform_main = np.zeros((3, 3), dtype=np.float32) + model_transform_extra = np.zeros((3, 3), dtype=np.float32) + live_calib_seen = False + driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) + nav_features = np.zeros(NAV_FEATURE_LEN, dtype=np.float32) + nav_instructions = np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32) + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() + + while True: + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = vipc_client_main.recv() + meta_main = FrameMeta(vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.error("vipc_client_main no frame") + continue + + if use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = vipc_client_extra.recv() + meta_extra = FrameMeta(vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.error("vipc_client_extra no frame") + continue + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( + meta_main.frame_id, meta_main.timestamp_sof / 1e9, + meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + + # TODO: path planner timeout? + sm.update(0) + desire = sm["lateralPlan"].desire.raw + is_rhd = sm["driverMonitoringState"].isRHD + frame_id = sm["roadCameraState"].frameId + if sm.updated["liveCalibration"]: + device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) + model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, False) + model_transform_extra = update_calibration(device_from_calib_euler, True, True) + live_calib_seen = True + + traffic_convention = np.zeros(2) + traffic_convention[int(is_rhd)] = 1 + + vec_desire = np.zeros(DESIRE_LEN, dtype=np.float32) + if desire >= 0 and desire < DESIRE_LEN: + vec_desire[desire] = 1 + + # Enable/disable nav features + timestamp_llk = sm["navModel"].locationMonoTime + nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) + nav_enabled = nav_valid and params.get_bool("ExperimentalMode") + + if not nav_enabled: + nav_features[:] = 0 + nav_instructions[:] = 0 + + if nav_enabled and sm.updated["navModel"]: + nav_features = np.array(sm["navModel"].features) + + if nav_enabled and sm.updated["navInstruction"]: + nav_instructions[:] = 0 + for maneuver in sm["navInstruction"].allManeuvers: + distance_idx = 25 + int(maneuver.distance / 20) + direction_idx = 0 + if maneuver.modifier in ("left", "slight left", "sharp left"): + direction_idx = 1 + if maneuver.modifier in ("right", "slight right", "sharp right"): + direction_idx = 2 + if 0 <= distance_idx < 50: + nav_instructions[distance_idx*3 + direction_idx] = 1 + + # tracked dropped frames + vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) + frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) + if run_count < 10: # let frame drops warm up + frame_dropped_filter.x = 0. + frames_dropped = 0. + run_count = run_count + 1 + + frame_drop_ratio = frames_dropped / (1 + frames_dropped) + prepare_only = vipc_dropped_frames > 0 + if prepare_only: + cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + + inputs:Dict[str, np.ndarray] = { + 'desire_pulse': vec_desire, + 'traffic_convention': traffic_convention, + 'driving_style': driving_style, + 'nav_features': nav_features, + 'nav_instructions': nav_instructions} + + mt1 = time.perf_counter() + model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + mt2 = time.perf_counter() + model_execution_time = mt2 - mt1 + + if model_output is not None: + pm.send("modelV2", create_model_msg(model_output, state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)) + pm.send("cameraOdometry", create_pose_msg(model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)) + + # print("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f" % + # ((mt2 - mt1)*1000, (mt1 - last)*1000, meta_extra.frame_id, frame_id, frame_drop_ratio)) + # last = mt1 + last_vipc_frame_id = meta_main.frame_id + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + sys.exit() diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 136bd255c3..b4b15c2970 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -12,112 +12,47 @@ #include "common/params.h" #include "common/timing.h" #include "common/swaglog.h" - - -// #define DUMP_YUV - -void model_init(ModelState* s, cl_device_id device_id, cl_context context) { - s->frame = new ModelFrame(device_id, context); - s->wide_frame = new ModelFrame(device_id, context); - -#ifdef USE_THNEED - s->m = std::make_unique("models/supercombo.thneed", -#elif USE_ONNX_MODEL - s->m = std::make_unique("models/supercombo.onnx", -#else - s->m = std::make_unique("models/supercombo.dlc", -#endif - &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, false, context); - - s->m->addInput("input_imgs", NULL, 0); - s->m->addInput("big_input_imgs", NULL, 0); - - // TODO: the input is important here, still need to fix this -#ifdef DESIRE - s->m->addInput("desire_pulse", s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1)); -#endif - -#ifdef TRAFFIC_CONVENTION - s->m->addInput("traffic_convention", s->traffic_convention, TRAFFIC_CONVENTION_LEN); -#endif - -#ifdef DRIVING_STYLE - s->m->addInput("driving_style", s->driving_style, DRIVING_STYLE_LEN); -#endif - -#ifdef NAV - s->m->addInput("nav_features", s->nav_features, NAV_FEATURE_LEN); - s->m->addInput("nav_instructions", s->nav_instructions, NAV_INSTRUCTION_LEN); -#endif - -#ifdef TEMPORAL - s->m->addInput("feature_buffer", &s->feature_buffer[0], TEMPORAL_SIZE); -#endif - -} - -ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, const mat3 &transform, const mat3 &transform_wide, - float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only) { -#ifdef DESIRE - std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN); - if (desire_in != NULL) { - for (int i = 1; i < DESIRE_LEN; i++) { - // Model decides when action is completed - // so desire input is just a pulse triggered on rising edge - if (desire_in[i] - s->prev_desire[i] > .99) { - s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i]; - } else { - s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0; - } - s->prev_desire[i] = desire_in[i]; - } - } -LOGT("Desire enqueued"); -#endif - -#ifdef NAV - std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN); - std::memcpy(s->nav_instructions, nav_instructions, sizeof(float)*NAV_INSTRUCTION_LEN); -#endif - -#ifdef DRIVING_STYLE - std::memcpy(s->driving_style, driving_style, sizeof(float)*DRIVING_STYLE_LEN); -#endif - - int rhd_idx = is_rhd; - s->traffic_convention[rhd_idx] = 1.0; - s->traffic_convention[1-rhd_idx] = 0.0; - - // if getInputBuf is not NULL, net_input_buf will be - auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast(s->m->getCLBuffer("input_imgs"))); - s->m->setInputBuffer("input_imgs", net_input_buf, s->frame->buf_size); - LOGT("Image added"); - - if (wbuf != nullptr) { - auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast(s->m->getCLBuffer("big_input_imgs"))); - s->m->setInputBuffer("big_input_imgs", net_extra_buf, s->wide_frame->buf_size); - LOGT("Extra image added"); - } - - if (prepare_only) { - return nullptr; +#include "common/transformations/orientation.hpp" + + +mat3 update_calibration(float *device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { + /* + import numpy as np + from common.transformations.model import medmodel_frame_from_calib_frame + medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] + calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) + */ + static const auto calib_from_medmodel = (Eigen::Matrix() << + 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, + 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, + -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished(); + + static const auto calib_from_sbigmodel = (Eigen::Matrix() << + 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, + 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, + -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); + + static const auto view_from_device = (Eigen::Matrix() << + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0, + 1.0, 0.0, 0.0).finished(); + + Eigen::Vector3d device_from_calib_euler_vec; + for (int i=0; i<3; i++) { + device_from_calib_euler_vec(i) = device_from_calib_euler[i]; } - s->m->execute(); - LOGT("Execution finished"); - - #ifdef TEMPORAL - std::memmove(&s->feature_buffer[0], &s->feature_buffer[FEATURE_LEN], sizeof(float) * FEATURE_LEN*(HISTORY_BUFFER_LEN-1)); - std::memcpy(&s->feature_buffer[FEATURE_LEN*(HISTORY_BUFFER_LEN-1)], &s->output[OUTPUT_SIZE], sizeof(float) * FEATURE_LEN); - LOGT("Features enqueued"); - #endif + const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v); + Eigen::Matrix device_from_calib = euler2rot(device_from_calib_euler_vec).cast (); + auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel; + auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib; + auto warp_matrix = camera_from_calib * calib_from_model; - return (ModelOutput*)&s->output; -} - -void model_free(ModelState* s) { - delete s->frame; - delete s->wide_frame; + mat3 transform = {}; + for (int i=0; i<3*3; i++) { + transform.v[i] = warp_matrix(i / 3, i % 3); + } + return transform; } void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputLeads &leads, int t_idx, float prob_t) { @@ -403,11 +338,9 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out temporal_pose.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); } -void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, - const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk, - float model_execution_time, const bool nav_enabled, const bool valid) { +void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, + uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid) { const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0; - MessageBuilder msg; auto framed = msg.initEvent(valid).initModelV2(); framed.setFrameId(vipc_frame_id); framed.setFrameIdExtra(vipc_frame_id_extra); @@ -418,36 +351,32 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id framed.setModelExecutionTime(model_execution_time); framed.setNavEnabled(nav_enabled); if (send_raw_pred) { - framed.setRawPredictions((kj::ArrayPtr(s.output.data(), s.output.size())).asBytes()); + framed.setRawPredictions(kj::ArrayPtr(net_output_data, NET_OUTPUT_SIZE).asBytes()); } - fill_model(framed, net_outputs, ps); - pm.send("modelV2", msg); + fill_model(framed, *((ModelOutput*) net_output_data), ps); } -void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid) { - MessageBuilder msg; - const auto &v_mean = net_outputs.pose.velocity_mean; - const auto &r_mean = net_outputs.pose.rotation_mean; - const auto &t_mean = net_outputs.wide_from_device_euler.mean; - const auto &v_std = net_outputs.pose.velocity_std; - const auto &r_std = net_outputs.pose.rotation_std; - const auto &t_std = net_outputs.wide_from_device_euler.std; - const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; - const auto &road_transform_trans_std = net_outputs.road_transform.position_std; - - auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); - posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); - posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); - posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); - posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); - posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); - posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); - posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); - posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); - - posenetd.setTimestampEof(timestamp_eof); - posenetd.setFrameId(vipc_frame_id); - - pm.send("cameraOdometry", msg); +void fill_pose_msg(MessageBuilder &msg, float *net_output_data, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid) { + const ModelOutput &net_outputs = *((ModelOutput*) net_output_data); + const auto &v_mean = net_outputs.pose.velocity_mean; + const auto &r_mean = net_outputs.pose.rotation_mean; + const auto &t_mean = net_outputs.wide_from_device_euler.mean; + const auto &v_std = net_outputs.pose.velocity_std; + const auto &r_std = net_outputs.pose.rotation_std; + const auto &t_std = net_outputs.wide_from_device_euler.std; + const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; + const auto &road_transform_trans_std = net_outputs.road_transform.position_std; + + auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); + posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); + posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); + posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); + posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); + posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); + posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); + posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); + posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); + + posenetd.setTimestampEof(timestamp_eof); + posenetd.setFrameId(vipc_frame_id); } diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 53f81ccde1..422d0e197f 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -4,19 +4,16 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc_client.h" #include "common/mat.h" #include "common/modeldata.h" #include "common/util.h" -#include "selfdrive/modeld/models/commonmodel.h" #include "selfdrive/modeld/models/nav.h" -#include "selfdrive/modeld/runners/run.h" -// gate this here -#define TEMPORAL -#define DESIRE -#define TRAFFIC_CONVENTION -#define NAV +#ifdef USE_THNEED + constexpr bool CPP_USE_THNEED = true; +#else + constexpr bool CPP_USE_THNEED = false; +#endif constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; @@ -31,10 +28,8 @@ constexpr int BLINKER_LEN = 6; constexpr int META_STRIDE = 7; constexpr int PLAN_MHP_N = 5; - constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; -constexpr int LEAD_PRED_DIM = 4; constexpr int LEAD_MHP_SELECTION = 3; // Padding to get output shape as multiple of 4 constexpr int PAD_SIZE = 2; @@ -253,49 +248,15 @@ struct ModelOutput { }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); - -#ifdef TEMPORAL - constexpr int TEMPORAL_SIZE = HISTORY_BUFFER_LEN * FEATURE_LEN; -#else - constexpr int TEMPORAL_SIZE = 0; -#endif constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE; -// TODO: convert remaining arrays to std::array and update model runners -struct ModelState { - ModelFrame *frame = nullptr; - ModelFrame *wide_frame = nullptr; - std::array feature_buffer = {}; - std::array output = {}; - std::unique_ptr m; -#ifdef DESIRE - float prev_desire[DESIRE_LEN] = {}; - float pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN+1)] = {}; -#endif -#ifdef TRAFFIC_CONVENTION - float traffic_convention[TRAFFIC_CONVENTION_LEN] = {}; -#endif -#ifdef DRIVING_STYLE - float driving_style[DRIVING_STYLE_LEN] = {}; -#endif -#ifdef NAV - float nav_features[NAV_FEATURE_LEN] = {}; - float nav_instructions[NAV_INSTRUCTION_LEN] = {}; -#endif -}; - struct PublishState { std::array disengage_buffer = {}; std::array prev_brake_5ms2_probs = {}; std::array prev_brake_3ms2_probs = {}; }; -void model_init(ModelState* s, cl_device_id device_id, cl_context context); -ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, const mat3 &transform, const mat3 &transform_wide, - float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only); -void model_free(ModelState* s); -void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, - const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk, - float model_execution_time, const bool nav_enabled, const bool valid); -void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid); +mat3 update_calibration(float *device_from_calib_euler, bool wide_camera, bool bigmodel_frame); +void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, + uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid); +void fill_pose_msg(MessageBuilder &msg, float *net_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid); diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd new file mode 100644 index 0000000000..7ecb2d8f9d --- /dev/null +++ b/selfdrive/modeld/models/driving.pxd @@ -0,0 +1,29 @@ +# distutils: language = c++ + +from libcpp cimport bool +from libc.stdint cimport uint32_t, uint64_t + +from .commonmodel cimport mat3 + +cdef extern from "cereal/messaging/messaging.h": + cdef cppclass MessageBuilder: + size_t getSerializedSize() + int serializeToBuffer(unsigned char *, size_t) + +cdef extern from "selfdrive/modeld/models/driving.h": + cdef int FEATURE_LEN + cdef int HISTORY_BUFFER_LEN + cdef int DESIRE_LEN + cdef int TRAFFIC_CONVENTION_LEN + cdef int DRIVING_STYLE_LEN + cdef int NAV_FEATURE_LEN + cdef int NAV_INSTRUCTION_LEN + cdef int OUTPUT_SIZE + cdef int NET_OUTPUT_SIZE + cdef int MODEL_FREQ + cdef bool CPP_USE_THNEED + cdef struct PublishState: pass + + mat3 update_calibration(float *, bool, bool) + void fill_model_msg(MessageBuilder, float *, PublishState, uint32_t, uint32_t, uint32_t, float, uint64_t, uint64_t, float, bool, bool) + void fill_pose_msg(MessageBuilder, float *, uint32_t, uint32_t, uint64_t, bool) diff --git a/selfdrive/modeld/models/driving_pyx.pyx b/selfdrive/modeld/models/driving_pyx.pyx new file mode 100644 index 0000000000..c9e09eb609 --- /dev/null +++ b/selfdrive/modeld/models/driving_pyx.pyx @@ -0,0 +1,60 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import numpy as np +cimport numpy as cnp +from libcpp cimport bool +from libc.string cimport memcpy +from libc.stdint cimport uint32_t, uint64_t + +from .commonmodel cimport mat3 +from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \ + TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \ + NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \ + OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ, CPP_USE_THNEED +from .driving cimport MessageBuilder, PublishState as cppPublishState +from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration + +FEATURE_LEN = CPP_FEATURE_LEN +HISTORY_BUFFER_LEN = CPP_HISTORY_BUFFER_LEN +DESIRE_LEN = CPP_DESIRE_LEN +TRAFFIC_CONVENTION_LEN = CPP_TRAFFIC_CONVENTION_LEN +DRIVING_STYLE_LEN = CPP_DRIVING_STYLE_LEN +NAV_FEATURE_LEN = CPP_NAV_FEATURE_LEN +NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN +OUTPUT_SIZE = CPP_OUTPUT_SIZE +NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE +MODEL_FREQ = CPP_MODEL_FREQ +USE_THNEED = CPP_USE_THNEED + +cdef class PublishState: + cdef cppPublishState state + +def update_calibration(float[:] device_from_calib_euler, bool wide_camera, bool bigmodel_frame): + cdef mat3 result = cpp_update_calibration(&device_from_calib_euler[0], wide_camera, bigmodel_frame) + np_result = np.empty(9, dtype=np.float32) + cdef float[:] np_result_view = np_result + memcpy(&np_result_view[0], &result.v[0], 9*sizeof(float)) + return np_result.reshape(3, 3) + +def create_model_msg(float[:] model_outputs, PublishState ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, + uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, bool nav_enabled, bool valid): + cdef MessageBuilder msg + fill_model_msg(msg, &model_outputs[0], ps.state, vipc_frame_id, vipc_frame_id_extra, frame_id, frame_drop, + timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, valid) + + output_size = msg.getSerializedSize() + output_data = bytearray(output_size) + cdef unsigned char * output_ptr = output_data + assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize" + return bytes(output_data) + +def create_pose_msg(float[:] model_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, bool valid): + cdef MessageBuilder msg + fill_pose_msg(msg, &model_outputs[0], vipc_frame_id, vipc_dropped_frames, timestamp_eof, valid) + + output_size = msg.getSerializedSize() + output_data = bytearray(output_size) + cdef unsigned char * output_ptr = output_data + assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize" + return bytes(output_data) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index fe5137f9a4..22055d8f20 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -36,7 +36,7 @@ PROCS = { "selfdrive.locationd.paramsd": 9.0, "./_sensord": 7.0, "selfdrive.controls.radard": 4.5, - "./_modeld": 4.48, + "selfdrive.modeld.modeld": 8.0, "./_dmonitoringmodeld": 5.0, "./_navmodeld": 1.0, "selfdrive.thermald.thermald": 3.87, From ef8e0fef55c51a54cc218b41081a99ec94554f3f Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Fri, 25 Aug 2023 14:33:04 -0700 Subject: [PATCH 151/410] Remove thneed logic from snpemodel --- selfdrive/modeld/runners/snpemodel.cc | 6 ------ selfdrive/modeld/runners/snpemodel.h | 9 --------- 2 files changed, 15 deletions(-) diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 5ed2d1270e..15c1db0086 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -75,12 +75,6 @@ SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size std::vector output_strides = {output_size * sizeof(float), sizeof(float)}; output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float); output_map.add(output_tensor_name, output_buffer.get()); - -#ifdef USE_THNEED - if (snpe_runtime == zdl::DlSystem::Runtime_t::GPU) { - thneed.reset(new Thneed()); - } -#endif } void SNPEModel::addInput(const std::string name, float *buffer, int size) { diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index 559b15f8b6..86b2c86084 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -17,10 +17,6 @@ #include "selfdrive/modeld/runners/runmodel.h" -#ifdef USE_THNEED -#include "selfdrive/modeld/thneed/thneed.h" -#endif - struct SNPEModelInput : public ModelInput { std::unique_ptr snpe_buffer; @@ -37,11 +33,6 @@ public: void addInput(const std::string name, float *buffer, int size); void execute(); -#ifdef USE_THNEED - std::unique_ptr thneed; - bool thneed_recorded = false; -#endif - private: std::string model_data; From 4d6bb32df250a65ef92ad82dce812b91a73896c4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Aug 2023 14:41:43 -0700 Subject: [PATCH 152/410] process replay: parallel by default (#29633) * process replay: parallel by default * more is helpful --- selfdrive/test/process_replay/test_processes.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 9c8b5bfcd8..ab51948dd0 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -158,6 +158,8 @@ if __name__ == "__main__": all_cars = {car for car, _ in segments} all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS} + cpu_count = os.cpu_count() or 1 + parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output") parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs, help="Whitelist given processes from the test (e.g. controlsd)") @@ -175,7 +177,8 @@ if __name__ == "__main__": help="Updates reference logs using current commit") parser.add_argument("--upload-only", action="store_true", help="Skips testing processes and uploads logs from previous test run") - parser.add_argument("-j", "--jobs", type=int, default=1) + parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1), + help="Max amount of parallel jobs") args = parser.parse_args() tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs) From 2484548fddd1de51a75c52736b1709081ea61eb9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 06:15:16 +0800 Subject: [PATCH 153/410] cabana: improve frequency accuracy (#29631) * improve frequency accuracy * apply review * 2 less lines! * another! --------- Co-authored-by: Shane Smiskol --- tools/cabana/historylog.cc | 4 +- tools/cabana/messageswidget.cc | 2 +- tools/cabana/streams/abstractstream.cc | 55 ++++++++++++++++++++------ tools/cabana/streams/abstractstream.h | 5 ++- 4 files changed, 49 insertions(+), 17 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 2b57e9d007..7381884cf3 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -155,7 +155,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); + hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); it->colors = hex_colors.colors; } } @@ -168,7 +168,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events.cend(), 0); if (update_colors) { for (auto it = msgs.begin(); it != msgs.end(); ++it) { - hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); + hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); it->colors = hex_colors.colors; } } diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index cd663f0e45..4e9e0173d7 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -174,7 +174,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { auto getFreq = [](const CanData &d) -> QString { if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) { - return d.freq >= 1 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); + return d.freq >= 0.95 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); } else { return "--"; } diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 1d35e96c99..f78c1efc75 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -62,7 +62,7 @@ void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t std::lock_guard lk(mutex); auto mask_it = masks.find(id); std::vector *mask = mask_it == masks.end() ? nullptr : &mask_it->second; - all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask); + all_msgs[id].compute(id, (const char *)data, size, sec, getSpeed(), mask); if (!new_msgs->contains(id)) { new_msgs->insert(id, {}); } @@ -113,9 +113,8 @@ void AbstractStream::updateLastMsgsTo(double sec) { if (it != ev.crend()) { double ts = (*it)->mono_time / 1e9 - routeStartTime(); auto &m = all_msgs[id]; - m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); + m.compute(id, (const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); m.count = std::distance(it, ev.crend()); - m.freq = m.count / std::max(1.0, ts); } } @@ -165,18 +164,20 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std } } + auto compare = [](const CanEvent *l, const CanEvent *r) { + return l->mono_time < r->mono_time; + }; + bool append = new_events.front()->mono_time > lastest_event_ts; for (auto &[id, new_e] : new_events_map) { auto &e = events_[id]; - auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) { - return l->mono_time < r->mono_time; - }); + auto pos = append ? e.end() + : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare); e.insert(pos, new_e.cbegin(), new_e.cend()); } - auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) { - return l->mono_time < r->mono_time; - }); + auto pos = append ? all_events_.end() + : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), compare); all_events_.insert(pos, new_events.cbegin(), new_events.cend()); lastest_event_ts = all_events_.back()->mono_time; @@ -185,6 +186,8 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std // CanData +namespace { + constexpr int periodic_threshold = 10; constexpr int start_alpha = 128; constexpr float fade_time = 2.0; @@ -195,15 +198,41 @@ const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135); const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135); const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135); -static inline QColor blend(const QColor &a, const QColor &b) { +inline QColor blend(const QColor &a, const QColor &b) { return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); } -void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const std::vector *mask, uint32_t in_freq) { +// Calculate the frequency of the past minute. +double calc_freq(const MessageId &msg_id, double current_sec) { + auto compare = [](const CanEvent *e, uint64_t mono_time) { + return e->mono_time < mono_time; + }; + + const auto &events = can->events(msg_id); + uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9; + uint64_t first_mono_time = std::max(0, cur_mono_time - 59 * 1e9); + auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, compare); + auto second = std::lower_bound(first, events.end(), cur_mono_time, compare); + if (first != events.end() && second != events.end()) { + double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9; + uint32_t count = std::distance(first, second); + return count / std::max(1.0, duration); + } + return 0; +} + +} // namespace + +void CanData::compute(const MessageId &msg_id, const char *can_data, const int size, double current_sec, + double playback_speed, const std::vector *mask, double in_freq) { ts = current_sec; ++count; - const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime()); - freq = in_freq == 0 ? count / std::max(1.0, sec_to_first_event) : in_freq; + + if (auto sec = seconds_since_boot(); (sec - last_freq_update_ts) >= 1) { + last_freq_update_ts = sec; + freq = !in_freq ? calc_freq(msg_id, ts) : in_freq; + } + if (dat.size() != size) { dat.resize(size); bit_change_counts.resize(size); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e883f45d46..e56b2ed41f 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -11,13 +11,15 @@ #include #include +#include "common/timing.h" #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/settings.h" #include "tools/cabana/util.h" #include "tools/replay/replay.h" struct CanData { - void compute(const char *dat, const int size, double current_sec, double playback_speed, const std::vector *mask, uint32_t in_freq = 0); + void compute(const MessageId &msg_id, const char *dat, const int size, double current_sec, + double playback_speed, const std::vector *mask = nullptr, double in_freq = 0); double ts = 0.; uint32_t count = 0; @@ -28,6 +30,7 @@ struct CanData { std::vector> bit_change_counts; std::vector last_delta; std::vector same_delta_counter; + double last_freq_update_ts = seconds_since_boot(); }; struct CanEvent { From 584239ceb586ab3336b33d667c6620e874455e51 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 25 Aug 2023 15:49:07 -0700 Subject: [PATCH 154/410] CI: add comment about building locally (#29635) add comment about build --- selfdrive/test/docker_build.sh | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index c9be11ffa7..cbbf8efe81 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -1,6 +1,10 @@ #!/bin/bash set -e +# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: +# mkdir -p .ci_cache/scons_cache +# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache + if [ $1 = "base" ]; then export DOCKER_IMAGE=openpilot-base export DOCKER_FILE=Dockerfile.openpilot_base From c46965fc27ecfe76e02affca2aacbe410a55196a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 25 Aug 2023 16:06:17 -0700 Subject: [PATCH 155/410] CI: use local scons cache instead of building a separate image (#29634) * use local * added ci_sim * revert scons * dont need these anymore * same for sim * fix dockerfiles --- .github/workflows/setup/action.yaml | 14 +------------- .github/workflows/tools_tests.yaml | 3 --- docs/docker/Dockerfile | 6 ++---- selfdrive/test/Dockerfile.scons_cache | 3 --- tools/sim/Dockerfile.sim | 4 +--- 5 files changed, 4 insertions(+), 26 deletions(-) delete mode 100644 selfdrive/test/Dockerfile.scons_cache diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 12cded493d..eb7c12a34c 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -1,10 +1,6 @@ name: 'openpilot env setup' inputs: - setup_docker_scons_cache: - description: 'Whether or not to build the scons-cache docker image' - required: false - default: 'false' git_lfs: description: 'Whether or not to pull the git lfs' required: false @@ -46,12 +42,4 @@ runs: find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; # build our docker image - shell: bash - run: eval ${{ env.BUILD }} - - id: setup-scons-cache-docker - name: Sets up a docker image with scons cache that can by mounted as a buildkit cache mount - shell: bash - if: ${{ inputs.setup_docker_scons_cache == 'true' }} - run: | - cp selfdrive/test/Dockerfile.scons_cache $GITHUB_WORKSPACE/.ci_cache - cd $GITHUB_WORKSPACE/.ci_cache - DOCKER_BUILDKIT=1 docker build -t scons-cache -f Dockerfile.scons_cache . \ No newline at end of file + run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 0ce1e39861..e71a4e397f 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -53,8 +53,6 @@ jobs: with: submodules: true - uses: ./.github/workflows/setup - with: - setup_docker_scons_cache: true - name: Build base cl image run: eval "$BUILD_CL" - name: Setup to push to repo @@ -76,7 +74,6 @@ jobs: submodules: true - uses: ./.github/workflows/setup with: - setup_docker_scons_cache: true git_lfs: false - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 94ddd3c3ad..e079fe6223 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -1,5 +1,3 @@ -FROM scons-cache as scons-cache - FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 @@ -31,7 +29,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system COPY ./*.md ${OPENPILOT_PATH}/ -RUN --mount=type=bind,from=scons-cache,source=/tmp/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) +RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) RUN apt update && apt install doxygen -y COPY ./docs ${OPENPILOT_PATH}/docs @@ -40,5 +38,5 @@ WORKDIR ${OPENPILOT_PATH}/docs RUN make html FROM nginx:1.21 -COPY --from=1 /home/batman/openpilot/build/docs/html /usr/share/nginx/html +COPY --from=0 /home/batman/openpilot/build/docs/html /usr/share/nginx/html COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf diff --git a/selfdrive/test/Dockerfile.scons_cache b/selfdrive/test/Dockerfile.scons_cache deleted file mode 100644 index 6e320d243c..0000000000 --- a/selfdrive/test/Dockerfile.scons_cache +++ /dev/null @@ -1,3 +0,0 @@ -FROM alpine:3 - -COPY ./scons_cache /tmp/scons_cache \ No newline at end of file diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 96630c9e6f..8de5266841 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -1,5 +1,3 @@ -FROM scons-cache as scons-cache - FROM ghcr.io/commaai/openpilot-base-cl:latest RUN apt-get update && apt-get install -y --no-install-recommends \ @@ -31,6 +29,6 @@ COPY ./system $HOME/openpilot/system COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot -RUN --mount=type=bind,from=scons-cache,source=/tmp/scons_cache,target=/tmp/scons_cache,rw scons -j12 +RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" From 24f5a6170dc2e3bea9565115a09a1e20e18572de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Aug 2023 16:47:10 -0700 Subject: [PATCH 156/410] car interfaces: handle buttons changing state without going unpressed (#26463) * rename function first and foremost * the function * comment * move usages over * probably fine * comments * btn * single line * not comments * fix keyword * is it not clear? * noEntry while holding cancel * bumpo * remove * better? * better? * try this * try this * loop * better * more clear * Revert "more clear" This reverts commit 37e0277e4bfe6f1c553dbbcece6f532a280be62e. * no optional * fine * add comment * clean up honda * one line * can also do this * but unclear This reverts commit 1984a72cc8680b23c202695b8aeeb1aa28f7160c. * bumppanda --- panda | 2 +- selfdrive/car/__init__.py | 25 ++++++++++++++----------- selfdrive/car/gm/interface.py | 13 +++++-------- selfdrive/car/honda/interface.py | 15 +++++---------- selfdrive/car/hyundai/interface.py | 11 +++-------- 5 files changed, 28 insertions(+), 38 deletions(-) diff --git a/panda b/panda index 09cd81752d..cca252c8d4 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 09cd81752d1d53de4cc1c63f950dc717acc20ad8 +Subproject commit cca252c8d497f52494b5c21aa30f915e9ffc6ce8 diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 773d990fac..89828a5cf5 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,6 +1,6 @@ # functions common among cars from collections import namedtuple -from typing import Dict, Optional +from typing import Dict, List, Optional import capnp @@ -24,16 +24,19 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float: return val_steady -def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], - unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder: - if cur_but != unpressed: - be = car.CarState.ButtonEvent(pressed=True) - but = cur_but - else: - be = car.CarState.ButtonEvent(pressed=False) - but = prev_but - be.type = buttons_dict.get(but, ButtonType.unknown) - return be +def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], + unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]: + events: List[capnp.lib.capnp._DynamicStructBuilder] = [] + + if cur_btn == prev_btn: + return events + + # Add events for button presses, multiple when a button switches without going to unpressed + for pressed, btn in ((False, prev_btn), (True, cur_btn)): + if btn != unpressed_btn: + events.append(car.CarState.ButtonEvent(pressed=pressed, + type=buttons_dict.get(btn, ButtonType.unknown))) + return events def gen_empty_fingerprint(): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 75465b8dde..9b5cae0961 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -4,7 +4,7 @@ from math import fabs, exp from panda import Panda from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD @@ -253,13 +253,10 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback) - if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: - buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)] - # Handle ACCButtons changing buttons mid-press - if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS: - buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)) - - ret.buttonEvents = buttonEvents + # Don't add event if transitioning from INIT, unless it's to an actual button + if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT: + ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, + unpressed_btn=CruiseButtons.UNPRESS) # The ECM allows enabling on falling edge of set, but only rising edge of resume events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 3b87009a24..d1a287a76a 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu @@ -308,15 +308,10 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) - buttonEvents = [] - - if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: - buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT)) - - if self.CS.cruise_setting != self.CS.prev_cruise_setting: - buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1})) - - ret.buttonEvents = buttonEvents + ret.buttonEvents = [ + *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT), + *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}), + ] # events events = self.create_common_events(ret, pcm_enable=False) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 16e93e1623..2c8b478838 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \ Buttons from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR -from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu @@ -320,13 +320,8 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons: - buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)] - # Handle CF_Clu_CruiseSwState changing buttons mid-press - if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0: - buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT)) - - ret.buttonEvents = buttonEvents + if self.CS.CP.openpilotLongitudinalControl: + ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT) # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons From 517499294afdc16e0178526c5c65f4b29e1226c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 25 Aug 2023 16:51:57 -0700 Subject: [PATCH 157/410] mpc_lib: fix dependencies (#29621) * Remove common dependency of lateral mpc * Replace cereal dir dependency with cereal lib in long mpc * Add missing files to generated sources * Typo fix * messaging_python dep --- SConstruct | 3 ++- selfdrive/controls/lib/lateral_mpc_lib/SConscript | 8 +++++--- selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 9 ++++++--- 3 files changed, 13 insertions(+), 7 deletions(-) diff --git a/SConstruct b/SConstruct index 8d98eeae39..b5c3f38a7b 100644 --- a/SConstruct +++ b/SConstruct @@ -364,8 +364,9 @@ else: cereal = [File('#cereal/libcereal.a')] messaging = [File('#cereal/libmessaging.a')] visionipc = [File('#cereal/libvisionipc.a')] +messaging_python = [File('#cereal/messaging/messaging_pyx.so')] -Export('cereal', 'messaging', 'visionipc') +Export('cereal', 'messaging', 'messaging_python', 'visionipc') # Build rednose library and ekf models diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index a923baca62..49666abe69 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'common') +Import('env', 'envCython', 'arch') gen = "c_generated_code" @@ -32,7 +32,10 @@ generated_files = [ f'{gen}/Makefile', f'{gen}/main_lat.c', + f'{gen}/main_sim_lat.c', f'{gen}/acados_solver_lat.h', + f'{gen}/acados_sim_solver_lat.h', + f'{gen}/acados_sim_solver_lat.c', f'{gen}/acados_solver.pxd', f'{gen}/lat_model/lat_expl_vde_adj.c', @@ -46,7 +49,7 @@ acados_dir = '#third_party/acados' acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['lat_mpc.py', - '#/selfdrive/modeld/constants.py', + '#selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', f'{acados_templates_dir}/acados_solver.in.c', ] @@ -57,7 +60,6 @@ lenv.Clean(generated_files, Dir(gen)) generated_lat = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 lat_mpc.py") -lenv.Depends(generated_lat, "#common") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index c78be70fe3..5ce47eab1c 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'common') +Import('env', 'envCython', 'arch', 'messaging_python') gen = "c_generated_code" @@ -38,7 +38,10 @@ generated_files = [ f'{gen}/Makefile', f'{gen}/main_long.c', + f'{gen}/main_sim_long.c', f'{gen}/acados_solver_long.h', + f'{gen}/acados_sim_solver_long.h', + f'{gen}/acados_sim_solver_long.c', f'{gen}/acados_solver.pxd', f'{gen}/long_model/long_expl_vde_adj.c', @@ -52,7 +55,7 @@ acados_dir = '#third_party/acados' acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['long_mpc.py', - '#/selfdrive/modeld/constants.py', + '#selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', f'{acados_templates_dir}/acados_solver.in.c', ] @@ -63,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, "#cereal") +lenv.Depends(generated_long, messaging_python) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") From 683b3b596678b6acd491493901e71b018e8e5d51 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Aug 2023 17:03:00 -0700 Subject: [PATCH 158/410] pandad: recover from bad bootstub (#29638) * pandad: recover from bad bootstub * more * adjust that * ugh guess multipanda is still a thing * reset --------- Co-authored-by: Comma Device --- selfdrive/boardd/pandad.py | 22 ++++++++---- selfdrive/boardd/tests/test_pandad.py | 48 +++++++++++++++++---------- system/hardware/tici/hardware.py | 6 ++-- 3 files changed, 48 insertions(+), 28 deletions(-) diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index ce9137a30b..e614432fad 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -129,6 +129,7 @@ def main() -> NoReturn: count = 0 first_run = True params = Params() + no_internal_panda_count = 0 while True: try: @@ -136,6 +137,16 @@ def main() -> NoReturn: cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") + # Handle missing internal panda + if no_internal_panda_count > 0: + if no_internal_panda_count == 3: + cloudlog.info("No pandas found, putting internal panda into DFU") + HARDWARE.recover_internal_panda() + else: + cloudlog.info("No pandas found, resetting internal panda") + HARDWARE.reset_internal_panda() + time.sleep(3) # wait to come back up + # Flash all Pandas in DFU mode dfu_serials = PandaDFU.list() if len(dfu_serials) > 0: @@ -146,10 +157,7 @@ def main() -> NoReturn: panda_serials = Panda.list() if len(panda_serials) == 0: - if first_run: - cloudlog.info("No pandas found, resetting internal panda") - HARDWARE.reset_internal_panda() - time.sleep(2) # wait to come back up + no_internal_panda_count += 1 continue cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") @@ -162,10 +170,10 @@ def main() -> NoReturn: # Ensure internal panda is present if expected internal_pandas = [panda for panda in pandas if panda.is_internal()] if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: - cloudlog.error("Internal panda is missing, resetting") - HARDWARE.reset_internal_panda() - time.sleep(2) # wait to come back up + cloudlog.error("Internal panda is missing, trying again") + no_internal_panda_count += 1 continue + no_internal_panda_count = 0 # sort pandas to have deterministic order pandas.sort(key=cmp_to_key(panda_sort_cmp)) diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 970af385d8..30a4a9b868 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -25,13 +25,17 @@ class TestPandad(unittest.TestCase): def tearDown(self): managed_processes['pandad'].stop() - def _wait_for_boardd(self, timeout=30): + def _run_test(self, timeout=30): + managed_processes['pandad'].start() + sm = messaging.SubMaster(['peripheralState']) for _ in range(timeout*10): sm.update(100) if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: break + managed_processes['pandad'].stop() + if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: raise Exception("boardd failed to start") @@ -43,7 +47,11 @@ class TestPandad(unittest.TestCase): HARDWARE.recover_internal_panda() assert Panda.wait_for_dfu(None, 10) - def _flash_and_test(self, fn, expect_mismatch=False): + def _assert_no_panda(self): + assert not Panda.wait_for_dfu(None, 3) + assert not Panda.wait_for_panda(None, 3) + + def _flash_bootstub_and_test(self, fn, expect_mismatch=False): self._go_to_dfu() pd = PandaDFU(None) if fn is None: @@ -61,22 +69,19 @@ class TestPandad(unittest.TestCase): with Panda() as p: assert p.bootstub - managed_processes['pandad'].start() - self._wait_for_boardd(45) + self._run_test(45) @phone_only def test_in_dfu(self): HARDWARE.recover_internal_panda() - managed_processes['pandad'].start() - self._wait_for_boardd(60) + self._run_test(60) @phone_only def test_in_bootstub(self): with Panda() as p: p.reset(enter_bootstub=True) assert p.bootstub - managed_processes['pandad'].start() - self._wait_for_boardd() + self._run_test() @phone_only def test_internal_panda_reset(self): @@ -84,22 +89,17 @@ class TestPandad(unittest.TestCase): gpio_set(GPIO.STM_RST_N, 1) time.sleep(0.5) assert all(not Panda(s).is_internal() for s in Panda.list()) - - managed_processes['pandad'].start() - self._wait_for_boardd() + self._run_test() assert any(Panda(s).is_internal() for s in Panda.list()) @phone_only def test_best_case_startup_time(self): # run once so we're setup - managed_processes['pandad'].start() - self._wait_for_boardd() - managed_processes['pandad'].stop() + self._run_test() # should be fast this time - managed_processes['pandad'].start() - self._wait_for_boardd(8) + self._run_test(8) @phone_only def test_protocol_version_check(self): @@ -108,11 +108,23 @@ class TestPandad(unittest.TestCase): # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") - self._flash_and_test(fn, expect_mismatch=True) + self._flash_bootstub_and_test(fn, expect_mismatch=True) @phone_only def test_release_to_devel_bootstub(self): - self._flash_and_test(None) + self._flash_bootstub_and_test(None) + + @phone_only + def test_recover_from_bad_bootstub(self): + self._go_to_dfu() + with PandaDFU(None) as pd: + pd.program_bootstub(b"\x00"*1024) + pd.reset() + HARDWARE.reset_internal_panda() + self._assert_no_panda() + + self._run_test(60) + if __name__ == "__main__": unittest.main() diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 952693dd3a..7f8ef37f1a 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -586,7 +586,7 @@ class Tici(HardwareBase): gpio_init(GPIO.STM_RST_N, True) gpio_set(GPIO.STM_RST_N, 1) - time.sleep(2) + time.sleep(1) gpio_set(GPIO.STM_RST_N, 0) def recover_internal_panda(self): @@ -595,9 +595,9 @@ class Tici(HardwareBase): gpio_set(GPIO.STM_RST_N, 1) gpio_set(GPIO.STM_BOOT0, 1) - time.sleep(1) + time.sleep(0.5) gpio_set(GPIO.STM_RST_N, 0) - time.sleep(1) + time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) From 2b4255b19ef3c1511eb3b18942aa98e60166c02f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Aug 2023 17:25:38 -0700 Subject: [PATCH 159/410] ui: rebuild translations when widgets are modified (#29640) fix translations not being updated for widgets --- selfdrive/ui/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 6d5a502e05..3fba7115f3 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -75,7 +75,7 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' -lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py") +lupdate = qt_env.Command(translation_sources, qt_src + widgets_src, "selfdrive/ui/update_translations.py") lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") qt_env.Depends(lrelease, lupdate) qt_env.NoClean(translation_sources) From d35beffbcec1524ff4c4096079208b109fede3f0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Aug 2023 18:50:21 -0700 Subject: [PATCH 160/410] CI: use buildjet for process replay (#29277) * squash for pr * backoff to 4vcpu * review suggestions * simplify --------- Co-authored-by: Justin Newberry Co-authored-by: Justin Newberry --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/setup/action.yaml | 6 ++++++ selfdrive/test/docker_build.sh | 2 +- 3 files changed, 8 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a3826be6c3..78b957a468 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -282,7 +282,7 @@ jobs: process_replay: name: process replay - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v3 with: diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index eb7c12a34c..263432ea98 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -40,6 +40,12 @@ runs: run: | find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; + - id: setup-buildx-action + if: contains(runner.name, 'buildjet') + name: Set up Docker Buildx on buildjet to ensure a consistent cache + uses: docker/setup-buildx-action@v2 + with: + driver: docker-container # build our docker image - shell: bash run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index cbbf8efe81..3851e2b1e3 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -35,7 +35,7 @@ REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA SCRIPT_DIR=$(dirname "$0") OPENPILOT_DIR=$SCRIPT_DIR/../../ -DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [[ ! -z "$PUSH_IMAGE" ]]; then From a4a0429fca82a79118238695a04d888498ca0376 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 25 Aug 2023 18:56:06 -0700 Subject: [PATCH 161/410] modeld: fix bash scripts (#29643) Fix shebang. Fix LD_PRELOAD --- selfdrive/modeld/dmonitoringmodeld | 2 +- selfdrive/modeld/modeld | 7 +++++-- selfdrive/modeld/navmodeld | 2 +- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld index f292fe4c0b..fc007470b2 100755 --- a/selfdrive/modeld/dmonitoringmodeld +++ b/selfdrive/modeld/dmonitoringmodeld @@ -1,4 +1,4 @@ -#!/bin/sh +#!/usr/bin/env bash DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index 7c1025a72f..14048ec9fd 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -1,7 +1,10 @@ -#!/bin/sh +#!/usr/bin/env bash DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd "$DIR/../../" -export LD_PRELOAD="$DIR/libthneed.so" +if [ -f "$DIR/libthneed.so" ]; then + export LD_PRELOAD="$DIR/libthneed.so" +fi + exec "$DIR/modeld.py" diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld index 079afd9677..58215c2e9d 100755 --- a/selfdrive/modeld/navmodeld +++ b/selfdrive/modeld/navmodeld @@ -1,4 +1,4 @@ -#!/bin/sh +#!/usr/bin/env bash DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR From 17bfff8e10582d6a15088004662d7cf11b903793 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 10:05:35 +0800 Subject: [PATCH 162/410] ui: add translation files to assets.qrc (#29597) * move translation files to assets.qrc * cleanup * add main_en * dynamically add * not sure if required * revert to master * move translations above assets * add translations to qrc file * comment * now add translations_assets_src to assets sources * this is built * add to .gitignore * consistent name --------- Co-authored-by: Shane Smiskol --- selfdrive/assets/.gitignore | 1 + selfdrive/assets/assets.qrc | 2 ++ selfdrive/ui/SConscript | 49 +++++++++++++++++++++---------------- selfdrive/ui/main.cc | 2 +- selfdrive/ui/qt/util.cc | 2 +- 5 files changed, 33 insertions(+), 23 deletions(-) diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore index 283034ca8b..1f90a2a932 100644 --- a/selfdrive/assets/.gitignore +++ b/selfdrive/assets/.gitignore @@ -1 +1,2 @@ *.cc +translations_assets.qrc diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc index 79a1a1e272..6d8d8df334 100644 --- a/selfdrive/assets/assets.qrc +++ b/selfdrive/assets/assets.qrc @@ -14,5 +14,7 @@ offroad/icon_wifi_strength_medium.svg offroad/icon_wifi_strength_high.svg offroad/icon_wifi_strength_full.svg + + ../ui/translations/languages.json diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 3fba7115f3..796f85f1e7 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -37,11 +37,37 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) Export('widgets') qt_libs = [widgets, qt_util] + base_libs +qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", + "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", + "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", + "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] + +# build translation files +with open(File("translations/languages.json").abspath) as f: + languages = json.loads(f.read()) +translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()] +translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] +lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' + +lupdate = qt_env.Command(translation_sources, qt_src + widgets_src, "selfdrive/ui/update_translations.py") +lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") +qt_env.Depends(lrelease, lupdate) +qt_env.NoClean(translation_sources) +qt_env.Precious(translation_sources) +qt_env.NoCache(lupdate) + +# create qrc file for compiled translations to include with assets +translations_assets_src = "#selfdrive/assets/translations_assets.qrc" +with open(File(translations_assets_src).abspath, 'w') as f: + f.write('\n\n') + f.write('\n'.join([f'../ui/translations/{l}.qm' for l in languages.values()])) + f.write('\n\n') + # build assets assets = "#selfdrive/assets/assets.cc" assets_src = "#selfdrive/assets/assets.qrc" -qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") -qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"])) +qt_env.Command(assets, [assets_src, translations_assets_src], f"rcc $SOURCES -o $TARGET") +qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, translations_assets_src, "#selfdrive/assets/assets.o"]) + [lrelease]) asset_obj = qt_env.Object("assets", assets) # build soundd @@ -57,10 +83,6 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs) qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) # build main UI -qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", - "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", - "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", - "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('extras'): qt_src.remove("main.cc") # replaced by test_runner @@ -68,21 +90,6 @@ if GetOption('extras'): qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) -# build translation files -with open(File("translations/languages.json").abspath) as f: - languages = json.loads(f.read()) -translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()] -translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] -lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' - -lupdate = qt_env.Command(translation_sources, qt_src + widgets_src, "selfdrive/ui/update_translations.py") -lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") -qt_env.Depends(lrelease, lupdate) -qt_env.NoClean(translation_sources) -qt_env.Precious(translation_sources) -qt_env.NoCache(lupdate) - - if GetOption('extras') and arch != "Darwin": # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc index ed54d5aa19..4903a3db3d 100644 --- a/selfdrive/ui/main.cc +++ b/selfdrive/ui/main.cc @@ -16,7 +16,7 @@ int main(int argc, char *argv[]) { QTranslator translator; QString translation_file = QString::fromStdString(Params().get("LanguageSetting")); - if (!translator.load(translation_file, "translations") && translation_file.length()) { + if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) { qCritical() << "Failed to load translation file:" << translation_file; } diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 7bd168121a..78da183503 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -43,7 +43,7 @@ std::optional getDongleId() { } QMap getSupportedLanguages() { - QFile f("translations/languages.json"); + QFile f(":/languages.json"); f.open(QIODevice::ReadOnly | QIODevice::Text); QString val = f.readAll(); From e0287fa93e79754b00953faa621b9979c2f14832 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Fri, 25 Aug 2023 19:04:41 -0700 Subject: [PATCH 163/410] Remove USE_THNEED check from run.h --- selfdrive/modeld/runners/run.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h index 7f6e1aa569..cae2f5b27a 100644 --- a/selfdrive/modeld/runners/run.h +++ b/selfdrive/modeld/runners/run.h @@ -3,8 +3,6 @@ #include "selfdrive/modeld/runners/runmodel.h" #include "selfdrive/modeld/runners/snpemodel.h" -#if defined(USE_THNEED) -#include "selfdrive/modeld/runners/thneedmodel.h" -#elif defined(USE_ONNX_MODEL) +#if defined(USE_ONNX_MODEL) #include "selfdrive/modeld/runners/onnxmodel.h" #endif From 807410e0accc7486575885fbe324538ce7e6ece0 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Fri, 25 Aug 2023 19:09:25 -0700 Subject: [PATCH 164/410] Remove no-thneed build flag --- SConstruct | 5 ----- selfdrive/modeld/SConscript | 6 ++---- 2 files changed, 2 insertions(+), 9 deletions(-) diff --git a/SConstruct b/SConstruct index b5c3f38a7b..478bc885a4 100644 --- a/SConstruct +++ b/SConstruct @@ -44,11 +44,6 @@ AddOption('--external-sconscript', dest='external_sconscript', help='add an external SConscript to the build') -AddOption('--no-thneed', - action='store_true', - dest='no_thneed', - help='avoid using thneed') - AddOption('--pc-thneed', action='store_true', dest='pc_thneed', diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 0b89f8a64f..10718c696b 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -23,8 +23,6 @@ thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"] thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc -use_thneed = not GetOption('no_thneed') - if arch == "larch64": libs += ['gsl', 'CB', 'pthread', 'dl'] else: @@ -52,7 +50,7 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor for xenv in (lenv, lenvCython): xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') -if (use_thneed and arch == "larch64") or GetOption('pc_thneed'): +if arch == "larch64" or GetOption('pc_thneed'): lenvCython['CFLAGS'].append("-DUSE_THNEED") lenvCython['CXXFLAGS'].append("-DUSE_THNEED") @@ -87,7 +85,7 @@ lenv.Program('_navmodeld', [ ]+common_model, LIBS=libs) # build thneed model -if (use_thneed and arch == "larch64") or GetOption('pc_thneed'): +if arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"] From 5c6a8ac7cc9f11adab7e17ece6ed47ce07140884 Mon Sep 17 00:00:00 2001 From: multikyd <72329880+multikyd@users.noreply.github.com> Date: Sat, 26 Aug 2023 11:20:49 +0900 Subject: [PATCH 165/410] HKG: Add Optima Hybrid to HEV and legacy safety mode lists (#29644) * add Optima H FW * undashcam * HKG: Add to Hev and Legacy safety mode for Optima Hybrid * remove extras --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5f5b48dba7..99c5113942 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1946,14 +1946,15 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, - CAR.KIA_SORENTO_HEV_4TH_GEN} + CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, - CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} + CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, + CAR.KIA_OPTIMA_H} # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL} From 3b69187b67357cbcba7a665af626147d8f52a347 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Aug 2023 20:12:57 -0700 Subject: [PATCH 166/410] Kia: add test route for Optima Hybrid (#29520) * add Optima H FW * undashcam * add to routes, but keep in dashcam mode for now * rearrange --- selfdrive/car/hyundai/interface.py | 1 + selfdrive/car/hyundai/tests/test_hyundai.py | 2 +- selfdrive/car/hyundai/values.py | 8 ++++++++ selfdrive/car/tests/routes.py | 2 +- 4 files changed, 11 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 2c8b478838..d2c91ad45a 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -28,6 +28,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. + # FIXME: the Optima Hybrid uses a different SCC12 checksum ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6} hda2 = Ecu.adas in [fw.ecu for fw in car_fw] diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index b61b09a897..39a9aaf627 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -70,7 +70,7 @@ class TestHyundaiFingerprint(unittest.TestCase): # fingerprint in the absence of full FW matches: def test_platform_code_ecus_available(self): # TODO: add queries for these non-CAN FD cars to get EPS - no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, + no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80} # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 99c5113942..e7fe5a583b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1578,6 +1578,14 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, + CAR.KIA_OPTIMA_H: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', + ], + }, CAR.ELANTRA: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 2c6a7472b5..e471090e17 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -23,7 +23,6 @@ non_tested_cars = [ GM.EQUINOX, HYUNDAI.GENESIS_G90, HYUNDAI.IONIQ_6, - HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, @@ -111,6 +110,7 @@ routes = [ CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), + CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), From b3e4eb15dc7a41385a7bbd26a3cbba10a8139f2d Mon Sep 17 00:00:00 2001 From: Irene <12470297+cydia2020@users.noreply.github.com> Date: Sat, 26 Aug 2023 13:17:05 +1000 Subject: [PATCH 167/410] Toyota: forward openpilot FCW to cluster when engaged (#25677) * move ui message handling out of condition * relay openpilot fcw to car * only send normal fcw if DSU is unplugged * add comment --------- Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carcontroller.py | 11 ++++++----- selfdrive/car/toyota/toyotacan.py | 3 ++- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index b765d70b9a..01896f1421 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -125,6 +125,10 @@ class CarController: self.last_standstill = CS.out.standstill + # handle UI messages + fcw_alert = hud_control.visualAlert == VisualAlert.fcw + steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + # we can spam can to cancel the system even if we are using lat only control if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged @@ -133,10 +137,10 @@ class CarController: if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: can_sends.append(create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: - can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type)) + can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert)) self.accel = pcm_accel_cmd else: - can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type)) + can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False)) if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. @@ -149,9 +153,6 @@ class CarController: # ui mesg is at 1Hz but we send asap if: # - there is something to display # - there is something to stop displaying - fcw_alert = hud_control.visualAlert == VisualAlert.fcw - steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) - send_ui = False if ((fcw_alert or steer_alert) and not self.alert_active) or \ (not (fcw_alert or steer_alert) and self.alert_active): diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 0792ac869f..ed0237c1be 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64): return packer.make_can_msg("STEERING_LTA", 0, values) -def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type): +def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert): # TODO: find the exact canceling bit that does not create a chime values = { "ACCEL_CMD": accel, @@ -38,6 +38,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty "RELEASE_STANDSTILL": not standstill_req, "CANCEL_REQ": pcm_cancel, "ALLOW_LONG_PRESS": 1, + "ACC_CUT_IN": fcw_alert, # only shown when ACC enabled } return packer.make_can_msg("ACC_CONTROL", 0, values) From a1bf66a0d26574eabf322ce139142a6db92c9098 Mon Sep 17 00:00:00 2001 From: martinl Date: Sat, 26 Aug 2023 06:55:21 +0300 Subject: [PATCH 168/410] Subaru: Ascent 2023 dashcam mode (#27583) * Subaru: Add support for 2023 Ascent * Update supported cars list * Remove tester present from fw query * merge master * fix merge issues * minimize diff * add comment about 23 ascent * add comment * correct spot * fix name * nocap --------- Co-authored-by: Justin Newberry Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/interface.py | 2 +- selfdrive/car/subaru/values.py | 25 +++++++++++++++++++++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 26 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index d9f3c5f41d..5d03a920a8 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -40,7 +40,7 @@ class CarInterface(CarInterfaceBase): else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate == CAR.ASCENT: + if candidate in (CAR.ASCENT, CAR.ASCENT_2023): ret.mass = 2031. ret.wheelbase = 2.89 ret.centerToFront = ret.wheelbase * 0.5 diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 33ac2b390e..73ad6aebcc 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -66,6 +66,7 @@ class CanBus: class CAR: # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" + ASCENT_2023 = "SUBARU ASCENT 2023" IMPREZA = "SUBARU IMPREZA LIMITED 2019" IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" FORESTER = "SUBARU FORESTER 2019" @@ -122,6 +123,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])), CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), + CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ @@ -136,6 +138,7 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], ), # Some Eyesight modules fail on TESTER_PRESENT_REQUEST + # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars Request( [SUBARU_VERSION_REQUEST], [SUBARU_VERSION_RESPONSE], @@ -177,6 +180,23 @@ FW_VERSIONS = { b'\x01\xfe\xfa\x00\x00', ], }, + CAR.ASCENT_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 #\x03\x00', + ], + (Ecu.eps, 0x746, None): [ + b'%\xc0\xd0\x11', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x05!\x08\x1dK\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xe5,\xa0P\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\x04\xfe\xf3\x00\x00', + ], + }, CAR.LEGACY: { (Ecu.abs, 0x7b0, None): [ b'\xa1\\ x04\x01', @@ -663,6 +683,7 @@ FW_VERSIONS = { DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), + CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), @@ -678,7 +699,7 @@ DBC = { CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } -LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023} -GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023} +LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} +GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e471090e17..a6c6d9b6dc 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -244,6 +244,7 @@ routes = [ CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2), CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4), CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7), + CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.ASCENT_2023, segment=7), # Pre-global, dashcam CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 372484fa6e..c87eb2865a 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -10,6 +10,7 @@ NISSAN ROGUE 2019: [.nan, 1.5, .nan] # New subarus angle based controllers SUBARU FORESTER 2022: [.nan, 3.0, .nan] SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] +SUBARU ASCENT 2023: [.nan, 3.0, .nan] # Toyota LTA also has torque TOYOTA RAV4 2023: [.nan, 3.0, .nan] From 6bb97c416ff7a2cbbd5bbde6e49757f7db6f1523 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 26 Aug 2023 01:50:18 -0700 Subject: [PATCH 169/410] wifiManager: empty path helper (#29648) empty helper --- selfdrive/ui/qt/offroad/wifiManager.cc | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 391cc9fb50..0a3e91a603 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -37,6 +37,10 @@ QDBusPendingCall asyncCall(const QString &path, const QString &interface, const return nm.asyncCall(method, args...); } +bool emptyPath(const QString &path) { + return path == "" || path == "/"; +} + WifiManager::WifiManager(QObject *parent) : QObject(parent) { qDBusRegisterMetaType(); qDBusRegisterMetaType(); @@ -190,7 +194,7 @@ void WifiManager::connect(const Network &n, const QString &password, const QStri void WifiManager::deactivateConnectionBySsid(const QString &ssid) { for (QDBusObjectPath active_connection : getActiveConnections()) { auto pth = call(active_connection.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "SpecificObject"); - if (pth.path() != "" && pth.path() != "/") { + if (!emptyPath(pth.path())) { QString Ssid = get_property(pth.path(), "Ssid"); if (Ssid == ssid) { deactivateConnection(active_connection); @@ -273,7 +277,7 @@ void WifiManager::propertyChange(const QString &interface, const QVariantMap &pr } void WifiManager::deviceAdded(const QDBusObjectPath &path) { - if (getAdapterType(path) == NM_DEVICE_TYPE_WIFI && (adapter.isEmpty() || adapter == "/")) { + if (getAdapterType(path) == NM_DEVICE_TYPE_WIFI && emptyPath(adapter)) { adapter = path.path(); setup(); } @@ -450,7 +454,7 @@ void WifiManager::setTetheringEnabled(bool enabled) { } bool WifiManager::isTetheringEnabled() { - if (activeAp != "" && activeAp != "/") { + if (!emptyPath(activeAp)) { return get_property(activeAp, "Ssid") == tethering_ssid; } return false; From 547f69f5f38768dcbc62c9e42a7ef250d233fe01 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 18:19:30 +0800 Subject: [PATCH 170/410] ui/networking: fix icon label alignment issue (#29650) fix align issue --- selfdrive/ui/qt/offroad/networking.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 0a5c07af70..07197ec4bf 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -12,6 +12,7 @@ #include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/scrollview.h" +static const int ICON_WIDTH = 49; // Networking functions @@ -217,9 +218,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg"); strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation)); } - lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(49, Qt::SmoothTransformation); - checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation); - circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation); + lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); scanningLabel = new QLabel(tr("Scanning for networks...")); scanningLabel->setStyleSheet("font-size: 65px;"); @@ -335,6 +336,7 @@ WifiItem::WifiItem(const QString &connecting_text, const QString &forget_text, Q hlayout->addWidget(iconLabel = new QLabel(), 0, Qt::AlignRight); hlayout->addWidget(strengthLabel = new QLabel(), 0, Qt::AlignRight); + iconLabel->setFixedWidth(ICON_WIDTH); QObject::connect(forgetBtn, &QPushButton::clicked, [this]() { emit forgotNetwork(network); }); QObject::connect(ssidLabel, &ElidedLabel::clicked, [this]() { if (network.connected == ConnectedType::DISCONNECTED) emit connectToNetwork(network); From 9fe3df5d75bcaca3ea5be9e1d22bc00515c6e018 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 18:54:19 +0800 Subject: [PATCH 171/410] ui/networking: show "connecting" immediately after clicking on a network (#29378) * fix connecting not show * clear connect state * pass network by value * add comment * move pass by value to anoter pr * should always use function to set connecting_to_network * remove connecting when forgetting * out here * can't do this :( * Revert "can't do this :(" This reverts commit e06145202de34142e74667c876dc22442eb30796. Revert "out here" This reverts commit 8ca7b47a28854a92d95fcb5c5fc435e140f9af2c. Revert "remove connecting when forgetting" This reverts commit 671db0b5e76b6266a48f20bf4a1fd40cad4f90a4. Revert "should always use function to set connecting_to_network" This reverts commit a220b518fa2a4103046f9522afada80db76ae90d. * makes sense to keep this the same * not in between slots --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/offroad/networking.cc | 1 - selfdrive/ui/qt/offroad/wifiManager.cc | 13 ++++++++++--- selfdrive/ui/qt/offroad/wifiManager.h | 1 + 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 07197ec4bf..420bc5a2cf 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -80,7 +80,6 @@ void Networking::refresh() { void Networking::connectToNetwork(const Network n) { if (wifi->isKnownConnection(n.ssid)) { wifi->activateWifiConnection(n.ssid); - wifiWidget->refresh(); } else if (n.security_type == SecurityType::OPEN) { wifi->connect(n); } else if (n.security_type == SecurityType::WPA) { diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 0a3e91a603..858de15bfe 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -166,8 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) { } void WifiManager::connect(const Network &n, const QString &password, const QString &username) { - connecting_to_network = n.ssid; - seenNetworks[n.ssid].connected = ConnectedType::CONNECTING; + setCurrentConnecting(n.ssid); forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting Connection connection; connection["connection"]["type"] = "802-11-wireless"; @@ -232,6 +231,14 @@ void WifiManager::forgetConnection(const QString &ssid) { } } +void WifiManager::setCurrentConnecting(const QString &ssid) { + connecting_to_network = ssid; + for (auto &network : seenNetworks) { + network.connected = (network.ssid == ssid) ? ConnectedType::CONNECTING : ConnectedType::DISCONNECTED; + } + emit refreshSignal(); +} + uint WifiManager::getAdapterType(const QDBusObjectPath &path) { return call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "DeviceType"); } @@ -320,7 +327,7 @@ void WifiManager::initConnections() { std::optional WifiManager::activateWifiConnection(const QString &ssid) { const QDBusObjectPath &path = getConnectionPath(ssid); if (!path.path().isEmpty()) { - connecting_to_network = ssid; + setCurrentConnecting(ssid); return asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/"))); } return std::nullopt; diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h index 244a3cec4a..c444b2abc1 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/offroad/wifiManager.h @@ -85,6 +85,7 @@ private: void refreshNetworks(); void activateModemConnection(const QDBusObjectPath &path); void addTetheringConnection(); + void setCurrentConnecting(const QString &ssid); signals: void wrongPassword(const QString &ssid); From 6ea564b33ec6066bea1cc9829ce7c3078fdd735d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 26 Aug 2023 04:13:19 -0700 Subject: [PATCH 172/410] ui/network: don't refresh on connect (#29651) * don't refresh when showing connected status * fix * fix * can remove that nowe --- selfdrive/ui/qt/offroad/wifiManager.cc | 15 ++++++++------- selfdrive/ui/qt/offroad/wifiManager.h | 2 +- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 858de15bfe..eea8e77e86 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -166,7 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) { } void WifiManager::connect(const Network &n, const QString &password, const QString &username) { - setCurrentConnecting(n.ssid); + setCurrentSsid(n.ssid); forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting Connection connection; connection["connection"]["type"] = "802-11-wireless"; @@ -231,11 +231,13 @@ void WifiManager::forgetConnection(const QString &ssid) { } } -void WifiManager::setCurrentConnecting(const QString &ssid) { - connecting_to_network = ssid; +void WifiManager::setCurrentSsid(const QString &connecting_ssid, const QString &connected_ssid) { + // Allows the network connected statuses to be updated between AP refreshes for (auto &network : seenNetworks) { - network.connected = (network.ssid == ssid) ? ConnectedType::CONNECTING : ConnectedType::DISCONNECTED; + network.connected = (network.ssid == connecting_ssid) ? ConnectedType::CONNECTING : + ((network.ssid == connected_ssid) ? ConnectedType::CONNECTED : ConnectedType::DISCONNECTED); } + connecting_to_network = connecting_ssid; emit refreshSignal(); } @@ -269,8 +271,7 @@ void WifiManager::stateChange(unsigned int new_state, unsigned int previous_stat forgetConnection(connecting_to_network); emit wrongPassword(connecting_to_network); } else if (new_state == NM_DEVICE_STATE_ACTIVATED) { - connecting_to_network = ""; - refreshNetworks(); + setCurrentSsid("", connecting_to_network); } } @@ -327,7 +328,7 @@ void WifiManager::initConnections() { std::optional WifiManager::activateWifiConnection(const QString &ssid) { const QDBusObjectPath &path = getConnectionPath(ssid); if (!path.path().isEmpty()) { - setCurrentConnecting(ssid); + setCurrentSsid(ssid); return asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/"))); } return std::nullopt; diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h index c444b2abc1..1c6f37376f 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/offroad/wifiManager.h @@ -85,7 +85,7 @@ private: void refreshNetworks(); void activateModemConnection(const QDBusObjectPath &path); void addTetheringConnection(); - void setCurrentConnecting(const QString &ssid); + void setCurrentSsid(const QString &connecting_ssid, const QString &connected_ssid = ""); signals: void wrongPassword(const QString &ssid); From 46c32613fccd22e356c0b3092b61132ce264ae49 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 26 Aug 2023 05:15:05 -0700 Subject: [PATCH 173/410] ui/network: refresh IP address on connect --- selfdrive/ui/qt/offroad/wifiManager.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index eea8e77e86..cf697bd420 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -271,6 +271,7 @@ void WifiManager::stateChange(unsigned int new_state, unsigned int previous_stat forgetConnection(connecting_to_network); emit wrongPassword(connecting_to_network); } else if (new_state == NM_DEVICE_STATE_ACTIVATED) { + ipv4_address = getIp4Address(); setCurrentSsid("", connecting_to_network); } } From 74a0a8f7b7f915a3fbb7bd26d77030ee89c02c6b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 26 Aug 2023 05:23:20 -0700 Subject: [PATCH 174/410] Revert "ui/network: don't refresh on connect (#29651)" (#29653) This reverts commit 6ea564b33ec6066bea1cc9829ce7c3078fdd735d. Revert "ui/network: refresh IP address on connect" This reverts commit 46c32613fccd22e356c0b3092b61132ce264ae49. --- selfdrive/ui/qt/offroad/wifiManager.cc | 16 +++++++--------- selfdrive/ui/qt/offroad/wifiManager.h | 2 +- 2 files changed, 8 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index cf697bd420..858de15bfe 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -166,7 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) { } void WifiManager::connect(const Network &n, const QString &password, const QString &username) { - setCurrentSsid(n.ssid); + setCurrentConnecting(n.ssid); forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting Connection connection; connection["connection"]["type"] = "802-11-wireless"; @@ -231,13 +231,11 @@ void WifiManager::forgetConnection(const QString &ssid) { } } -void WifiManager::setCurrentSsid(const QString &connecting_ssid, const QString &connected_ssid) { - // Allows the network connected statuses to be updated between AP refreshes +void WifiManager::setCurrentConnecting(const QString &ssid) { + connecting_to_network = ssid; for (auto &network : seenNetworks) { - network.connected = (network.ssid == connecting_ssid) ? ConnectedType::CONNECTING : - ((network.ssid == connected_ssid) ? ConnectedType::CONNECTED : ConnectedType::DISCONNECTED); + network.connected = (network.ssid == ssid) ? ConnectedType::CONNECTING : ConnectedType::DISCONNECTED; } - connecting_to_network = connecting_ssid; emit refreshSignal(); } @@ -271,8 +269,8 @@ void WifiManager::stateChange(unsigned int new_state, unsigned int previous_stat forgetConnection(connecting_to_network); emit wrongPassword(connecting_to_network); } else if (new_state == NM_DEVICE_STATE_ACTIVATED) { - ipv4_address = getIp4Address(); - setCurrentSsid("", connecting_to_network); + connecting_to_network = ""; + refreshNetworks(); } } @@ -329,7 +327,7 @@ void WifiManager::initConnections() { std::optional WifiManager::activateWifiConnection(const QString &ssid) { const QDBusObjectPath &path = getConnectionPath(ssid); if (!path.path().isEmpty()) { - setCurrentSsid(ssid); + setCurrentConnecting(ssid); return asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/"))); } return std::nullopt; diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h index 1c6f37376f..c444b2abc1 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/offroad/wifiManager.h @@ -85,7 +85,7 @@ private: void refreshNetworks(); void activateModemConnection(const QDBusObjectPath &path); void addTetheringConnection(); - void setCurrentSsid(const QString &connecting_ssid, const QString &connected_ssid = ""); + void setCurrentConnecting(const QString &ssid); signals: void wrongPassword(const QString &ssid); From a160f1a6241ef71a0816fd604052f49efe2e0dd5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 26 Aug 2023 07:00:46 -0700 Subject: [PATCH 175/410] IsoTpParallelQuery: extend timeout for every frame type (#29654) * recv returns updated * bump panda * bump * bump --- panda | 2 +- selfdrive/car/isotp_parallel_query.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index cca252c8d4..0eb04fae67 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit cca252c8d497f52494b5c21aa30f915e9ffc6ce8 +Subproject commit 0eb04fae67646e283b7d750d1e2119e37c398f95 diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index adbc598ea6..339857a291 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -104,14 +104,14 @@ class IsoTpParallelQuery: for tx_addr, msg in msgs.items(): try: - dat, rx_in_progress = msg.recv() + dat, updated = msg.recv() except Exception: cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue - # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses - if rx_in_progress: + # Extend timeout for each valid ISO-TP frame to avoid timing out on long responses + if updated: addrs_responded.add(tx_addr) response_timeouts[tx_addr] = time.monotonic() + timeout From b6b255c10355c40fd8c53703720f8e1b12958855 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 22:47:18 +0800 Subject: [PATCH 176/410] ui/driverview: hide on interactive timeout (#29464) * hide on interactiveTimeout * cleanup * requestDone->closeView * dont reset timeout on hideEvent --------- Co-authored-by: sshane --- selfdrive/ui/qt/offroad/driverview.cc | 13 ++++++++++--- selfdrive/ui/qt/offroad/driverview.h | 5 +---- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 4d09d914d3..ec4b567ca6 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -20,11 +20,19 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); layout->addWidget(scene); layout->setCurrentWidget(scene); + + QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView); +} + +void DriverViewWindow::closeView() { + if (isVisible()) { + cameraView->stopVipcThread(); + emit done(); + } } void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { - cameraView->stopVipcThread(); - emit done(); + closeView(); } DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { @@ -39,7 +47,6 @@ void DriverViewScene::showEvent(QShowEvent* event) { void DriverViewScene::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - device()->resetInteractiveTimeout(); } void DriverViewScene::frameUpdated() { diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 255857970d..a6ea2cbee7 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,10 +1,7 @@ #pragma once -#include - #include -#include "common/util.h" #include "selfdrive/ui/qt/widgets/cameraview.h" class DriverViewScene : public QWidget { @@ -40,8 +37,8 @@ signals: protected: void mouseReleaseEvent(QMouseEvent* e) override; + void closeView(); -private: CameraWidget *cameraView; DriverViewScene *scene; QStackedLayout *layout; From 0767a6dee5355d1d7c0b6aaed8f358d9045268a9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 23:17:07 +0800 Subject: [PATCH 177/410] AGNOS setup: multi-lang support (#25680) * multilang * update translations * Specifies dependency * load lang from json file * update translations * fix white border * remove stretch * update translations * fix tr * no default language * update translations * rm main_en.qm * cleanup * cleanup * add language files * remove type=unfinish * build languages before assets * depends lrelease --- selfdrive/ui/qt/setup/setup.cc | 20 ++++++++++++++++++-- selfdrive/ui/qt/setup/setup.h | 3 +++ selfdrive/ui/qt/widgets/scrollview.cc | 2 +- selfdrive/ui/translations/main_de.ts | 4 ++++ selfdrive/ui/translations/main_fr.ts | 4 ++++ selfdrive/ui/translations/main_ja.ts | 4 ++++ selfdrive/ui/translations/main_ko.ts | 4 ++++ selfdrive/ui/translations/main_pt-BR.ts | 4 ++++ selfdrive/ui/translations/main_th.ts | 4 ++++ selfdrive/ui/translations/main_tr.ts | 4 ++++ selfdrive/ui/translations/main_zh-CHS.ts | 4 ++++ selfdrive/ui/translations/main_zh-CHT.ts | 4 ++++ 12 files changed, 58 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index cdb49f1dfc..269874f115 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -10,13 +11,12 @@ #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/offroad/networking.h" +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/input.h" const std::string USER_AGENT = "AGNOSSetup-"; @@ -308,6 +308,10 @@ void Setup::nextPage() { } 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.; @@ -370,6 +374,18 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { )"); } +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; diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index bf5d97070d..8c33acc380 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -3,6 +3,7 @@ #include #include #include +#include #include class Setup : public QStackedWidget { @@ -12,6 +13,7 @@ public: explicit Setup(QWidget *parent = 0); private: + void selectLanguage(); QWidget *low_voltage(); QWidget *getting_started(); QWidget *network_setup(); @@ -20,6 +22,7 @@ private: QWidget *failed_widget; QWidget *downloading_widget; + QTranslator translator; signals: void finished(const QString &url, const QString &error = ""); diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index 5536593016..978bf83a63 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -10,7 +10,7 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { setWidgetResizable(true); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setStyleSheet("background-color: transparent;"); + setStyleSheet("background-color: transparent; border:none"); QString style = R"( QScrollBar:vertical { diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 17871ce58f..d1820fd423 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -751,6 +751,10 @@ This may take up to a minute. Something went wrong. Reboot the device. + + Select a language + Sprache wählen + SetupWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 14ca4df954..5908db1b2e 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -753,6 +753,10 @@ Cela peut prendre jusqu'à une minute. Start over Recommencer + + Select a language + Choisir une langue + SetupWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 799aa84a2e..16595f8ebf 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -747,6 +747,10 @@ This may take up to a minute. Something went wrong. Reboot the device. + + Select a language + 言語を選択 + SetupWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 31190c25b9..cbd8e668ac 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -749,6 +749,10 @@ This may take up to a minute. No custom software found at this URL. 이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다. + + Select a language + 언어를 선택하세요 + SetupWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 7aa0c7c49b..a55d31034e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -753,6 +753,10 @@ Isso pode levar até um minuto. Something went wrong. Reboot the device. Algo deu errado. Reinicie o dispositivo. + + Select a language + Selecione o Idioma + SetupWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 9ef2d8a913..abc6210956 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -749,6 +749,10 @@ This may take up to a minute. No custom software found at this URL. ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้ + + Select a language + เลือกภาษา + SetupWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 906884f640..febded8f59 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -747,6 +747,10 @@ This may take up to a minute. No custom software found at this URL. + + Select a language + Dil seçin + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 48eb63338b..040dae0b30 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -749,6 +749,10 @@ This may take up to a minute. 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 + SetupWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6eacb6428c..57d9f91fec 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -749,6 +749,10 @@ This may take up to a minute. Something went wrong. Reboot the device. 發生了一些錯誤。請重新啟動您的設備。 + + Select a language + 選擇語言 + SetupWidget From 57ad4f02f8e693639262aa3a982be8ed6c433ee0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 26 Aug 2023 23:42:50 +0800 Subject: [PATCH 178/410] cabana: use a monotonic buffer to allocate CanEvent (#29652) * use a monotonic buffer to allocate CanEvent * set the next buffer size to 6MB * static * cleanup * use const iter * rename to insert_pos --- tools/cabana/streams/abstractstream.cc | 42 ++++++++++---------------- tools/cabana/streams/abstractstream.h | 2 +- tools/cabana/util.cc | 26 +++++++++++++++- tools/cabana/util.h | 16 ++++++++++ 4 files changed, 58 insertions(+), 28 deletions(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index f78c1efc75..8887084578 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -5,6 +5,8 @@ #include +static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB + AbstractStream *can = nullptr; StreamNotifier *StreamNotifier::instance() { @@ -12,8 +14,11 @@ StreamNotifier *StreamNotifier::instance() { return ¬ifier; } -AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash()), QObject(parent) { +AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); + new_msgs = std::make_unique>(); + event_buffer = std::make_unique(EVENT_NEXT_BUFFER_SIZE); + QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); @@ -129,37 +134,25 @@ void AbstractStream::updateLastMsgsTo(double sec) { } void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) { - size_t memory_size = 0; - size_t events_cnt = 0; - for (auto it = first; it != last; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size(); - ++events_cnt; - } - } - } - if (memory_size == 0) return; + static std::unordered_map> new_events_map; + static std::vector new_events; + new_events_map.clear(); + new_events.clear(); - char *ptr = memory_blocks.emplace_back(new char[memory_size]).get(); - std::unordered_map> new_events_map; - std::vector new_events; - new_events.reserve(events_cnt); for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { uint64_t ts = (*it)->mono_time; for (const auto &c : (*it)->event.getCan()) { - CanEvent *e = (CanEvent *)ptr; + auto dat = c.getDat(); + CanEvent *e = (CanEvent *)event_buffer->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size()); e->src = c.getSrc(); e->address = c.getAddress(); e->mono_time = ts; - auto dat = c.getDat(); e->size = dat.size(); memcpy(e->dat, (uint8_t *)dat.begin(), e->size); new_events_map[{.source = e->src, .address = e->address}].push_back(e); new_events.push_back(e); - ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size; } } } @@ -168,17 +161,14 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std return l->mono_time < r->mono_time; }; - bool append = new_events.front()->mono_time > lastest_event_ts; for (auto &[id, new_e] : new_events_map) { auto &e = events_[id]; - auto pos = append ? e.end() - : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare); - e.insert(pos, new_e.cbegin(), new_e.cend()); + auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare); + e.insert(insert_pos, new_e.cbegin(), new_e.cend()); } - auto pos = append ? all_events_.end() - : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), compare); - all_events_.insert(pos, new_events.cbegin(), new_events.cend()); + auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare); + all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); lastest_event_ts = all_events_.back()->mono_time; emit eventsMerged(); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e56b2ed41f..62ab3f2f4b 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -101,7 +101,7 @@ protected: QHash all_msgs; std::unordered_map> events_; std::vector all_events_; - std::deque> memory_blocks; + std::unique_ptr event_buffer; std::mutex mutex; std::unordered_map> masks; }; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 278e776e9c..951856e32d 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -4,12 +4,13 @@ #include #include #include +#include #include #include #include -#include #include +#include #include #include #include @@ -264,3 +265,26 @@ QString signalToolTip(const cabana::Signal *sig) { )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb) .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); } + +// MonotonicBuffer + +void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) { + assert(bytes > 0); + void *p = std::align(alignment, bytes, current_buf, available); + if (p == nullptr) { + available = next_buffer_size = std::max(next_buffer_size, bytes); + current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size)); + next_buffer_size *= growth_factor; + p = current_buf; + } + + current_buf = (char *)current_buf + bytes; + available -= bytes; + return p; +} + +MonotonicBuffer::~MonotonicBuffer() { + for (auto buf : buffers) { + free(buf); + } +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index db681f80f9..9e93e74833 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -153,5 +154,20 @@ private: QSocketNotifier *sn; }; +class MonotonicBuffer { +public: + MonotonicBuffer(size_t initial_size) : next_buffer_size(initial_size) {} + ~MonotonicBuffer(); + void *allocate(size_t bytes, size_t alignment = 16ul); + void deallocate(void *p) {} + +private: + void *current_buf = nullptr; + size_t next_buffer_size = 0; + size_t available = 0; + std::deque buffers; + static constexpr float growth_factor = 1.5; +}; + int num_decimals(double num); QString signalToolTip(const cabana::Signal *sig); From 12073c07afbd0de42ed475c9368ad9f51fd0c631 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 27 Aug 2023 22:13:43 +0800 Subject: [PATCH 179/410] ui/MapSettings: sort destinations by recent activity (#29079) --- common/params.cc | 1 + selfdrive/ui/qt/maps/map_settings.cc | 138 +++++++++++++++++---------- selfdrive/ui/qt/maps/map_settings.h | 22 ++--- 3 files changed, 98 insertions(+), 63 deletions(-) diff --git a/common/params.cc b/common/params.cc index e8ab42c0b0..63baa30315 100644 --- a/common/params.cc +++ b/common/params.cc @@ -158,6 +158,7 @@ std::unordered_map keys = { {"LongitudinalPersonality", PERSISTENT}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavSettingTime24h", PERSISTENT}, {"NavdRender", PERSISTENT}, diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index a4386ded72..52756abdc3 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -9,6 +9,12 @@ #include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/widgets/scrollview.h" +static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); } + +static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) { + return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"]; +} + MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { setContentsMargins(0, 0, 0, 0); setAttribute(Qt::WA_NoMousePropagation); @@ -61,11 +67,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { frame->addSpacing(32); current_widget = new DestinationWidget(this); - QObject::connect(current_widget, &DestinationWidget::actionClicked, [=]() { - if (current_destination.empty()) return; - params.remove("NavDestination"); - updateCurrentRoute(); - }); + QObject::connect(current_widget, &DestinationWidget::actionClicked, + []() { NavManager::instance()->setCurrentDestination({}); }); frame->addWidget(current_widget); frame->addSpacing(32); @@ -84,40 +87,16 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { frame->addWidget(destinations_scroller); setStyleSheet("MapSettings { background-color: #333333; }"); - - QObject::connect(NavigationRequest::instance(), &NavigationRequest::locationsUpdated, this, &MapSettings::updateLocations); - QObject::connect(NavigationRequest::instance(), &NavigationRequest::nextDestinationUpdated, this, &MapSettings::updateCurrentRoute); - - current_locations = NavigationRequest::instance()->currentLocations(); + QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh); } void MapSettings::showEvent(QShowEvent *event) { - updateCurrentRoute(); -} - -void MapSettings::updateCurrentRoute() { - auto dest = QString::fromStdString(params.get("NavDestination")); - if (dest.size()) { - QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8()); - if (doc.isNull()) { - qWarning() << "JSON Parse failed on NavDestination" << dest; - return; - } - current_destination = doc.object(); - current_widget->set(current_destination, true); - } else { - current_destination = {}; - current_widget->unset("", true); - } - if (isVisible()) refresh(); -} - -void MapSettings::updateLocations(const QJsonArray &locations) { - current_locations = locations; refresh(); } void MapSettings::refresh() { + if (!isVisible()) return; + setUpdatesEnabled(false); auto get_w = [this](int i) { @@ -129,11 +108,17 @@ void MapSettings::refresh() { return w; }; + const auto current_dest = NavManager::instance()->currentDestination(); + if (!current_dest.isEmpty()) { + current_widget->set(current_dest, true); + } else { + current_widget->unset("", true); + } home_widget->unset(NAV_FAVORITE_LABEL_HOME); work_widget->unset(NAV_FAVORITE_LABEL_WORK); int n = 0; - for (auto location : current_locations) { + for (auto location : NavManager::instance()->currentLocations()) { DestinationWidget *w = nullptr; auto dest = location.toObject(); if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) { @@ -143,7 +128,7 @@ void MapSettings::refresh() { } w = w ? w : get_w(n++); w->set(dest, false); - w->setVisible(dest != current_destination); + w->setVisible(!locationEqual(dest, current_dest)); } for (; n < widgets.size(); ++n) widgets[n]->setVisible(false); @@ -151,9 +136,7 @@ void MapSettings::refresh() { } void MapSettings::navigateTo(const QJsonObject &place) { - QJsonDocument doc(place); - params.put("NavDestination", doc.toJson().toStdString()); - updateCurrentRoute(); + NavManager::instance()->setCurrentDestination(place); emit closeSettings(); } @@ -279,24 +262,26 @@ void DestinationWidget::unset(const QString &label, bool current) { setVisible(true); } -// singleton NavigationRequest +// singleton NavManager -NavigationRequest *NavigationRequest::instance() { - static NavigationRequest *request = new NavigationRequest(qApp); +NavManager *NavManager::instance() { + static NavManager *request = new NavManager(qApp); return request; } -NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) { +NavManager::NavManager(QObject *parent) : QObject(parent) { + locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array(); + current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object(); if (auto dongle_id = getDongleId()) { { // Fetch favorite and recent locations QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations"; RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavigationRequest::parseLocationsResponse); + QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse); } { auto param_watcher = new ParamWatcher(this); - QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavigationRequest::nextDestinationUpdated); + QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated); // Destination set while offline QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next"; @@ -316,14 +301,14 @@ NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) { // athena can set destination at any time param_watcher->addParam("NavDestination"); + current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object(); + emit updated(); }); } } } -static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); } - -void NavigationRequest::parseLocationsResponse(const QString &response, bool success) { +void NavManager::parseLocationsResponse(const QString &response, bool success) { if (!success || response == prev_response) return; prev_response = response; @@ -333,13 +318,62 @@ void NavigationRequest::parseLocationsResponse(const QString &response, bool suc return; } - // Sort: alphabetical FAVORITES, and then most recent (as returned by API). + // set last activity time. + auto remote_locations = doc.array(); + for (QJsonValueRef loc : remote_locations) { + auto obj = loc.toObject(); + obj.insert("time", getLastActivity(obj)); + loc = obj; + } + + locations = remote_locations; + sortLocations(); + emit updated(); +} + +void NavManager::sortLocations() { + // Sort: alphabetical FAVORITES, and then most recent. // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top. - locations = doc.array(); std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) { - bool has_favorite = a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE; - return has_favorite && (std::tuple(a["save_type"].toString(), a["place_name"].toString()) < - std::tuple(b["save_type"].toString(), b["place_name"].toString())); + if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) { + return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) < + std::tuple(b["save_type"].toString(), b["place_name"].toString())); + } else { + return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong(); + } + }); + + write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() { + Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString()); }); - emit locationsUpdated(locations); +} + +qint64 NavManager::getLastActivity(const QJsonObject &loc) const { + qint64 last_activity = 0; + auto it = std::find_if(locations.begin(), locations.end(), + [&loc](const QJsonValue &l) { return locationEqual(loc, l); }); + if (it != locations.end()) { + auto tm = it->toObject().value("time"); + if (!tm.isUndefined() && !tm.isNull()) { + last_activity = tm.toVariant().toLongLong(); + } + } + return last_activity; +} + +void NavManager::setCurrentDestination(const QJsonObject &loc) { + current_dest = loc; + if (!current_dest.isEmpty()) { + current_dest["time"] = QDateTime::currentSecsSinceEpoch(); + auto it = std::find_if(locations.begin(), locations.end(), + [&loc](const QJsonValue &l) { return locationEqual(loc, l); }); + if (it != locations.end()) { + *it = current_dest; + sortLocations(); + } + params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString()); + } else { + params.remove("NavDestination"); + } + emit updated(); } diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index bee0061932..0e151df4ad 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -22,42 +23,41 @@ const QString NAV_FAVORITE_LABEL_WORK = "work"; class DestinationWidget; -class NavigationRequest : public QObject { +class NavManager : public QObject { Q_OBJECT public: - static NavigationRequest *instance(); + static NavManager *instance(); QJsonArray currentLocations() const { return locations; } + QJsonObject currentDestination() const { return current_dest; } + void setCurrentDestination(const QJsonObject &loc); + qint64 getLastActivity(const QJsonObject &loc) const; signals: - void locationsUpdated(const QJsonArray &locations); - void nextDestinationUpdated(); + void updated(); private: - NavigationRequest(QObject *parent); + NavManager(QObject *parent); void parseLocationsResponse(const QString &response, bool success); + void sortLocations(); Params params; QString prev_response; QJsonArray locations; + QJsonObject current_dest; + std::future write_param_future; }; class MapSettings : public QFrame { Q_OBJECT public: explicit MapSettings(bool closeable = false, QWidget *parent = nullptr); - void navigateTo(const QJsonObject &place); - void updateLocations(const QJsonArray &locations); - void updateCurrentRoute(); private: void showEvent(QShowEvent *event) override; void refresh(); - Params params; - QJsonArray current_locations; - QJsonObject current_destination; QVBoxLayout *destinations_layout; DestinationWidget *current_widget; DestinationWidget *home_widget; From 3d1a6f61463f022462c93a331add64af1cb48e94 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 27 Aug 2023 16:18:42 +0100 Subject: [PATCH 180/410] ui/NavManager: parse location timestamp from API (#29665) --- selfdrive/ui/qt/maps/map_settings.cc | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 52756abdc3..4d655be36c 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -15,6 +15,11 @@ static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) { return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"]; } +static qint64 convertTimestampToEpoch(const QString ×tamp) { + QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate); + return dt.isValid() ? dt.toSecsSinceEpoch() : 0; +} + MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { setContentsMargins(0, 0, 0, 0); setAttribute(Qt::WA_NoMousePropagation); @@ -322,7 +327,8 @@ void NavManager::parseLocationsResponse(const QString &response, bool success) { auto remote_locations = doc.array(); for (QJsonValueRef loc : remote_locations) { auto obj = loc.toObject(); - obj.insert("time", getLastActivity(obj)); + auto serverTime = convertTimestampToEpoch(obj["modified"].toString()); + obj.insert("time", qMax(serverTime, getLastActivity(obj))); loc = obj; } From ab05bff07ded3d3cd932c59beaaa75c698195692 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 27 Aug 2023 09:45:16 -0700 Subject: [PATCH 181/410] CI: fix proc replay download cache permissions (#29636) chmod that --- .github/workflows/selfdrive_tests.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 78b957a468..5c5f8d78d7 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -301,6 +301,7 @@ jobs: timeout-minutes: 30 run: | ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + chmod -R 777 /tmp/comma_download_cache && \ coverage xml" - name: Print diff id: print-diff From 4f915f4f1a2ed4c62069e03b176d2a4906479c51 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 28 Aug 2023 00:56:49 +0800 Subject: [PATCH 182/410] cabana/MessageListModel: replace `match |=` with `match = match ||` (#29667) --- tools/cabana/messageswidget.cc | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 4e9e0173d7..6a3d11cda1 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -281,7 +281,8 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co case Column::NAME: { const auto msg = dbc()->msg(id); match = re.match(msg ? msg->name : UNTITLED).hasMatch(); - match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); }); + match = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), + [&re](const auto &s) { return re.match(s->name).hasMatch(); })); break; } case Column::SOURCE: @@ -289,7 +290,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co break; case Column::ADDRESS: { match = re.match(QString::number(id.address, 16)).hasMatch(); - match |= parseRange(txt, id.address, 16); + match = match || parseRange(txt, id.address, 16); break; } case Column::FREQ: @@ -301,8 +302,8 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co break; case Column::DATA: { match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive); - match |= re.match(QString(data.dat.toHex())).hasMatch(); - match |= re.match(QString(data.dat.toHex(' '))).hasMatch(); + match = match || re.match(QString(data.dat.toHex())).hasMatch(); + match = match || re.match(QString(data.dat.toHex(' '))).hasMatch(); break; } } From 3a46a853cb22efe0053cf7e99fc7c8e7e676a455 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 28 Aug 2023 01:57:31 +0800 Subject: [PATCH 183/410] ui/driverview: use common SubMaster (#29660) --- selfdrive/ui/qt/offroad/driverview.cc | 4 ++-- selfdrive/ui/qt/offroad/driverview.h | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index ec4b567ca6..693a0253b4 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -35,7 +35,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { closeView(); } -DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { +DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } @@ -51,7 +51,6 @@ void DriverViewScene::hideEvent(QHideEvent* event) { void DriverViewScene::frameUpdated() { frame_updated = true; - sm.update(0); update(); } @@ -67,6 +66,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { return; } + const auto &sm = *(uiState()->sm); cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::DriverData::Reader driver_data; diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index a6ea2cbee7..8bfc7a4b7b 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -20,7 +20,6 @@ protected: private: Params params; - SubMaster sm; QPixmap face_img; bool is_rhd = false; bool frame_updated = false; From 7f4b588495c2432b0d726fb87e8252a1d58253f8 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 27 Aug 2023 13:58:18 -0400 Subject: [PATCH 184/410] Docs: Hyundai R Harness (#29662) --- selfdrive/car/docs_definitions.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 3319ba31c8..58545b886c 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -110,6 +110,7 @@ class CarHarness(EnumBase): hyundai_o = BaseCarHarness("Hyundai O connector") hyundai_p = BaseCarHarness("Hyundai P connector") hyundai_q = BaseCarHarness("Hyundai Q connector") + hyundai_r = BaseCarHarness("Hyundai R connector") custom = BaseCarHarness("Developer connector") obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False) gm = BaseCarHarness("GM connector") From 4005b6addeda8d58b32f7aa7f96264ef7072887e Mon Sep 17 00:00:00 2001 From: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Date: Sun, 27 Aug 2023 15:21:06 -0700 Subject: [PATCH 185/410] Docs: Toyota B harness connector (#29669) --- selfdrive/car/docs_definitions.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 58545b886c..71353efac9 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -85,6 +85,7 @@ class CarHarness(EnumBase): bosch_a = BaseCarHarness("Honda Bosch A connector") bosch_b = BaseCarHarness("Honda Bosch B connector") toyota_a = BaseCarHarness("Toyota A connector") + toyota_b = BaseCarHarness("Toyota B connector") subaru_a = BaseCarHarness("Subaru A connector") subaru_b = BaseCarHarness("Subaru B connector") subaru_c = BaseCarHarness("Subaru C connector") From 125bd2cd9ef930f23c8d435ccf2a76b91228abe8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 28 Aug 2023 06:23:19 +0800 Subject: [PATCH 186/410] ui/network: move to selfdrive/ui/qt/network/ (#29656) * move to ui/qt/network * wifimanager->wifi_manager --- release/files_common | 2 ++ selfdrive/ui/SConscript | 2 +- selfdrive/ui/qt/{offroad => network}/networking.cc | 2 +- selfdrive/ui/qt/{offroad => network}/networking.h | 2 +- selfdrive/ui/qt/{offroad => network}/networkmanager.h | 0 .../ui/qt/{offroad/wifiManager.cc => network/wifi_manager.cc} | 2 +- .../ui/qt/{offroad/wifiManager.h => network/wifi_manager.h} | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/setup/setup.cc | 2 +- selfdrive/ui/qt/setup/updater.cc | 2 +- 10 files changed, 10 insertions(+), 8 deletions(-) rename selfdrive/ui/qt/{offroad => network}/networking.cc (99%) rename selfdrive/ui/qt/{offroad => network}/networking.h (97%) rename selfdrive/ui/qt/{offroad => network}/networkmanager.h (100%) rename selfdrive/ui/qt/{offroad/wifiManager.cc => network/wifi_manager.cc} (99%) rename selfdrive/ui/qt/{offroad/wifiManager.h => network/wifi_manager.h} (98%) diff --git a/release/files_common b/release/files_common index b375c18dce..54aece8530 100644 --- a/release/files_common +++ b/release/files_common @@ -318,6 +318,8 @@ selfdrive/ui/tests/test_translations.py selfdrive/ui/qt/*.cc selfdrive/ui/qt/*.h +selfdrive/ui/qt/network/*.cc +selfdrive/ui/qt/network/*.h selfdrive/ui/qt/offroad/*.cc selfdrive/ui/qt/offroad/*.h selfdrive/ui/qt/offroad/*.qml diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 796f85f1e7..017ce66793 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -24,7 +24,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/ "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", - "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"] + "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] qt_env['CPPDEFINES'] = [] if maps: diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/network/networking.cc similarity index 99% rename from selfdrive/ui/qt/offroad/networking.cc rename to selfdrive/ui/qt/network/networking.cc index 420bc5a2cf..98ecc90fe3 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" #include diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/network/networking.h similarity index 97% rename from selfdrive/ui/qt/offroad/networking.h rename to selfdrive/ui/qt/network/networking.h index 81ffb3cf2d..4ff7380f42 100644 --- a/selfdrive/ui/qt/offroad/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -2,7 +2,7 @@ #include -#include "selfdrive/ui/qt/offroad/wifiManager.h" +#include "selfdrive/ui/qt/network/wifi_manager.h" #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/toggle.h" diff --git a/selfdrive/ui/qt/offroad/networkmanager.h b/selfdrive/ui/qt/network/networkmanager.h similarity index 100% rename from selfdrive/ui/qt/offroad/networkmanager.h rename to selfdrive/ui/qt/network/networkmanager.h diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/network/wifi_manager.cc similarity index 99% rename from selfdrive/ui/qt/offroad/wifiManager.cc rename to selfdrive/ui/qt/network/wifi_manager.cc index 858de15bfe..03c6896f7a 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/qt/offroad/wifiManager.h" +#include "selfdrive/ui/qt/network/wifi_manager.h" #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/widgets/prime.h" diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/network/wifi_manager.h similarity index 98% rename from selfdrive/ui/qt/offroad/wifiManager.h rename to selfdrive/ui/qt/network/wifi_manager.h index c444b2abc1..7debffa452 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/network/wifi_manager.h @@ -4,7 +4,7 @@ #include #include -#include "selfdrive/ui/qt/offroad/networkmanager.h" +#include "selfdrive/ui/qt/network/networkmanager.h" enum class SecurityType { OPEN, diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 8b0f9c1f36..0af027ca90 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -8,7 +8,7 @@ #include -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" #include "common/params.h" #include "common/watchdog.h" diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 269874f115..3b3666b19a 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -15,7 +15,7 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/input.h" diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index ae5f26c77e..ed47590aa3 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -6,7 +6,7 @@ #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/setup/updater.h" -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent) : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) { From 5716dfc9b54f9f24e412ae020ac572ccec6ae1c9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 27 Aug 2023 19:52:38 -0700 Subject: [PATCH 187/410] CI: fix sim/docs scons cache invalidation (#29639) * fix sim and docs images * fix that * that's a weird issue * exists should work fine * as little diff as possible --- docs/docker/Dockerfile | 8 +++---- tools/sim/Dockerfile.sim | 45 +++++++++++++++++++++------------------- 2 files changed, 28 insertions(+), 25 deletions(-) diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index e079fe6223..240f828912 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 -ENV OPENPILOT_PATH /home/batman/openpilot/ +ENV OPENPILOT_PATH /tmp/openpilot ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} ENV POETRY_VIRUALENVS_CREATE false @@ -15,8 +15,8 @@ COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./laika ${OPENPILOT_PATH}/laika COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo +RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika COPY ./rednose ${OPENPILOT_PATH}/rednose COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo COPY ./tools ${OPENPILOT_PATH}/tools @@ -29,7 +29,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system COPY ./*.md ${OPENPILOT_PATH}/ -RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) +RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly RUN apt update && apt install doxygen -y COPY ./docs ${OPENPILOT_PATH}/docs @@ -38,5 +38,5 @@ WORKDIR ${OPENPILOT_PATH}/docs RUN make html FROM nginx:1.21 -COPY --from=0 /home/batman/openpilot/build/docs/html /usr/share/nginx/html +COPY --from=0 /tmp/openpilot/build/docs/html /usr/share/nginx/html COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 8de5266841..800e9dac74 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -9,26 +9,29 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ RUN cd $HOME && \ curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf -ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH} -RUN mkdir -p $HOME/openpilot - -COPY SConstruct $HOME/openpilot/ - -COPY ./openpilot $HOME/openpilot/openpilot -COPY ./body $HOME/openpilot/body -COPY ./third_party $HOME/openpilot/third_party -COPY ./site_scons $HOME/openpilot/site_scons -COPY ./rednose $HOME/openpilot/rednose -COPY ./laika $HOME/openpilot/laika -COPY ./common $HOME/openpilot/common -COPY ./opendbc $HOME/openpilot/opendbc -COPY ./cereal $HOME/openpilot/cereal -COPY ./panda $HOME/openpilot/panda -COPY ./selfdrive $HOME/openpilot/selfdrive -COPY ./system $HOME/openpilot/system -COPY ./tools $HOME/openpilot/tools - -WORKDIR $HOME/openpilot -RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) +ENV OPENPILOT_PATH /tmp/openpilot +ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} + +RUN mkdir -p ${OPENPILOT_PATH} +WORKDIR ${OPENPILOT_PATH} + +COPY SConstruct ${OPENPILOT_PATH} + +COPY ./openpilot ${OPENPILOT_PATH}/openpilot +COPY ./body ${OPENPILOT_PATH}/body +COPY ./third_party ${OPENPILOT_PATH}/third_party +COPY ./site_scons ${OPENPILOT_PATH}/site_scons +COPY ./rednose ${OPENPILOT_PATH}/rednose +COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo +RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika +COPY ./common ${OPENPILOT_PATH}/common +COPY ./opendbc ${OPENPILOT_PATH}/opendbc +COPY ./cereal ${OPENPILOT_PATH}/cereal +COPY ./panda ${OPENPILOT_PATH}/panda +COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive +COPY ./system ${OPENPILOT_PATH}/system +COPY ./tools ${OPENPILOT_PATH}/tools + +RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" From c36774dfba513f6ea64cff06b215c355ee059dff Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 28 Aug 2023 16:57:49 +0800 Subject: [PATCH 188/410] ui: rename QDialogBase to DialogBase (#29675) rename QDialogBase to DialogBase --- selfdrive/ui/qt/widgets/input.cc | 14 +++++++------- selfdrive/ui/qt/widgets/input.h | 10 +++++----- selfdrive/ui/qt/widgets/prime.cc | 2 +- selfdrive/ui/qt/widgets/prime.h | 2 +- 4 files changed, 14 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 49fbdff222..52d0c5cd6e 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -9,7 +9,7 @@ #include "selfdrive/ui/qt/widgets/scrollview.h" -QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) { +DialogBase::DialogBase(QWidget *parent) : QDialog(parent) { Q_ASSERT(parent != nullptr); parent->installEventFilter(this); @@ -19,7 +19,7 @@ QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) { color: white; font-family: Inter; } - QDialogBase { + DialogBase { background-color: black; } QPushButton { @@ -36,19 +36,19 @@ QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) { )"); } -bool QDialogBase::eventFilter(QObject *o, QEvent *e) { +bool DialogBase::eventFilter(QObject *o, QEvent *e) { if (o == parent() && e->type() == QEvent::Hide) { reject(); } return QDialog::eventFilter(o, e); } -int QDialogBase::exec() { +int DialogBase::exec() { setMainWindow(this); return QDialog::exec(); } -InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : QDialogBase(parent) { +InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : DialogBase(parent) { main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(50, 55, 50, 50); main_layout->setSpacing(0); @@ -188,7 +188,7 @@ void InputDialog::setMinLength(int length) { // ConfirmationDialog ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, - const bool rich, QWidget *parent) : QDialogBase(parent) { + const bool rich, QWidget *parent) : DialogBase(parent) { QFrame *container = new QFrame(this); container->setStyleSheet(R"( QFrame { background-color: #1B1B1B; color: #C9C9C9; } @@ -245,7 +245,7 @@ bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) { // MultiOptionDialog -MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) : QDialogBase(parent) { +MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) : DialogBase(parent) { QFrame *container = new QFrame(this); container->setStyleSheet(R"( QFrame { background-color: #1B1B1B; } diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index e6c0fba86d..917ea21b57 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -10,18 +10,18 @@ #include "selfdrive/ui/qt/widgets/keyboard.h" -class QDialogBase : public QDialog { +class DialogBase : public QDialog { Q_OBJECT protected: - QDialogBase(QWidget *parent); + DialogBase(QWidget *parent); bool eventFilter(QObject *o, QEvent *e) override; public slots: int exec() override; }; -class InputDialog : public QDialogBase { +class InputDialog : public DialogBase { Q_OBJECT public: @@ -50,7 +50,7 @@ signals: void emitText(const QString &text); }; -class ConfirmationDialog : public QDialogBase { +class ConfirmationDialog : public DialogBase { Q_OBJECT public: @@ -61,7 +61,7 @@ public: static bool rich(const QString &prompt_text, QWidget *parent); }; -class MultiOptionDialog : public QDialogBase { +class MultiOptionDialog : public DialogBase { Q_OBJECT public: diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 57d9d87a64..324d6cf6ae 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -68,7 +68,7 @@ void PairingQRWidget::paintEvent(QPaintEvent *e) { } -PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { +PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) { QHBoxLayout *hlayout = new QHBoxLayout(this); hlayout->setContentsMargins(0, 0, 0, 0); hlayout->setSpacing(0); diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index 227a0f31c1..63341c4cea 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -28,7 +28,7 @@ private slots: // pairing popup widget -class PairingPopup : public QDialogBase { +class PairingPopup : public DialogBase { Q_OBJECT public: From 72e2e2c9ec4e3a42cf35c23dfc0d66ea0565ace6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 28 Aug 2023 10:26:19 -0700 Subject: [PATCH 189/410] pytest: strict config (#29676) * pytest: strict config * collection works * fixes --- poetry.lock | 45 ++++++++++++++++++--------- pyproject.toml | 6 ++-- system/loggerd/tests/test_uploader.py | 4 +-- tools/plotjuggler/test_plotjuggler.py | 25 +++++++-------- 4 files changed, 49 insertions(+), 31 deletions(-) diff --git a/poetry.lock b/poetry.lock index c5d7b0e28f..b021e0011e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -2383,14 +2383,7 @@ files = [ ] [package.dependencies] -numpy = [ - {version = ">=1.21.2", markers = "python_version >= \"3.10\""}, - {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, - {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, - {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""}, - {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, - {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, -] +numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} [[package]] name = "packaging" @@ -2438,10 +2431,7 @@ files = [ ] [package.dependencies] -numpy = [ - {version = ">=1.21.0", markers = "python_version >= \"3.10\""}, - {version = ">=1.23.2", markers = "python_version >= \"3.11\""}, -] +numpy = {version = ">=1.23.2", markers = "python_version >= \"3.11\""} python-dateutil = ">=2.8.2" pytz = ">=2020.1" tzdata = ">=2022.1" @@ -3243,6 +3233,33 @@ files = [ attrs = ">=19.2.0" pytest = ">=7.0" +[[package]] +name = "pytest-timeout" +version = "2.1.0" +description = "pytest plugin to abort hanging tests" +optional = false +python-versions = ">=3.6" +files = [ + {file = "pytest-timeout-2.1.0.tar.gz", hash = "sha256:c07ca07404c612f8abbe22294b23c368e2e5104b521c1790195561f37e1ac3d9"}, + {file = "pytest_timeout-2.1.0-py3-none-any.whl", hash = "sha256:f6f50101443ce70ad325ceb4473c4255e9d74e3c7cd0ef827309dfa4c0d975c6"}, +] + +[package.dependencies] +pytest = ">=5.0.0" + +[[package]] +name = "pytest-timeouts" +version = "1.2.1" +description = "Linux-only Pytest plugin to control durations of various test case execution phases" +optional = false +python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" +files = [ + {file = "pytest-timeouts-1.2.1.tar.gz", hash = "sha256:390351afc7ecb422ea0ec38081e0acd91cad416b383944a9a3358087de50c2fb"}, +] + +[package.dependencies] +pytest = ">=3.1" + [[package]] name = "pytest-xdist" version = "3.3.1" @@ -4322,4 +4339,4 @@ multidict = ">=4.0" [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "7e2bfde2719e7d7bb4b1627b0657e9ab4a9f4e1637d8b8ae6d5c80c7861e2052" +content-hash = "799e03aa1f3098c94a383f17b56275cd4140179bc457ff837b793fbcf7eb4b1e" diff --git a/pyproject.toml b/pyproject.toml index e350f070c4..b7952d3fa8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,8 +1,8 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/" +addopts = "--ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" python_files = "test_*.py" -timeout = "30" # you get this long by default +#timeout = "30" # you get this long by default [tool.mypy] python_version = "3.11" @@ -124,6 +124,8 @@ pytest = "*" pytest-cov = "*" pytest-subtests = "*" pytest-xdist = "*" +pytest-timeout = "*" +pytest-timeouts = "*" scipy = "*" sphinx = "*" sphinx-rtd-theme = "*" diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index bf21d8d7a9..6e2f86d6ca 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -14,7 +14,7 @@ from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPL from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase -class TestLogHandler(logging.Handler): +class FakeLogHandler(logging.Handler): def __init__(self): logging.Handler.__init__(self) self.reset() @@ -33,7 +33,7 @@ class TestLogHandler(logging.Handler): except Exception: pass -log_handler = TestLogHandler() +log_handler = FakeLogHandler() cloudlog.addHandler(log_handler) diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index e29e33f921..b002331cd7 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -18,19 +18,18 @@ class TestPlotJuggler(unittest.TestCase): install() pj = os.path.join(PJ_DIR, "juggle.py") - p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', - stderr=subprocess.PIPE, shell=True, start_new_session=True) - - # Wait for "Done reading Rlog data" signal from the plugin - output = "\n" - with Timeout(180, error_msg=output): - while output.splitlines()[-1] != "Done reading Rlog data": - output += p.stderr.readline().decode("utf-8") - - # ensure plotjuggler didn't crash after exiting the plugin - time.sleep(15) - self.assertEqual(p.poll(), None) - os.killpg(os.getpgid(p.pid), signal.SIGTERM) + with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', + stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: + # Wait for "Done reading Rlog data" signal from the plugin + output = "\n" + with Timeout(180, error_msg=output): + while output.splitlines()[-1] != "Done reading Rlog data": + output += p.stderr.readline().decode("utf-8") + + # ensure plotjuggler didn't crash after exiting the plugin + time.sleep(15) + self.assertEqual(p.poll(), None) + os.killpg(os.getpgid(p.pid), signal.SIGTERM) # TODO: also test that layouts successfully load def test_layouts(self): From eafdcb89e4a7b411a553da86eff3662ca1218acd Mon Sep 17 00:00:00 2001 From: Joshua Mack Date: Mon, 28 Aug 2023 13:30:15 -0400 Subject: [PATCH 190/410] Car docs: update alpha longitudinal name (#29670) * Update Footnote 1 Updated Footnote 1 for new name for toggle "openpilot Longitudinal Control (Alpha)" as well as made it clearer on how to change to devel or master-ci branches, taken from comma.ai blog (https://blog.comma.ai/090release/#experimental-longitudinal-control). * Add 3X * Added to Docs_definitions * just update name * fix * fix --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/docs_definitions.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9ded53f201..ae977f16e3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -268,7 +268,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes -1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
+1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
4Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 71353efac9..60f9494708 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -176,8 +176,8 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo class CommonFootnote(Enum): EXP_LONG_AVAIL = CarFootnote( - "Experimental openpilot longitudinal control is available behind a toggle; " + - "the toggle is only available in non-release branches such as `devel` or `master-ci`. ", + "openpilot Longitudinal Control (Alpha) is available behind a toggle; " + + "the toggle is only available in non-release branches such as `devel` or `master-ci`.", Column.LONGITUDINAL, docs_only=True) EXP_LONG_DSU = CarFootnote( "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " + From 4755a30e75b6336ff9b430e2392e71d32b5befb6 Mon Sep 17 00:00:00 2001 From: Korben Date: Mon, 28 Aug 2023 19:38:42 +0200 Subject: [PATCH 191/410] Update French translation (#29664) * Update French translation - main_fr.ts Hello I noticed that some translations were sticking out a bit in the new interface, so I'm proposing an update to correct this. I've arranged for the translations that cause problems to have the same number of letters including spaces as the original sentence so that they fit in the UI. @maxime-desroches if you can give me your feedback, that would be very kind. Thank you. * Update selfdrive/ui/translations/main_fr.ts Co-authored-by: Maxime Desroches --------- Co-authored-by: Shane Smiskol Co-authored-by: Maxime Desroches --- selfdrive/ui/translations/main_fr.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 5908db1b2e..79c4ae5596 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -517,7 +517,7 @@ PrimeAdWidget Upgrade Now - Mettre à niveau maintenant + Mettre à niveau Become a comma prime member at connect.comma.ai @@ -860,7 +860,7 @@ Cela peut prendre jusqu'à une minute. SoftwarePanel Updates are only downloaded while the car is off. - Les mises à jour sont téléchargées uniquement lorsque la voiture est éteinte. + Les MàJ sont téléchargées uniquement si la voiture est éteinte. Current Version @@ -1174,7 +1174,7 @@ Cela peut prendre jusqu'à une minute. WiFiPromptWidget Setup Wi-Fi - Configurer le Wi-Fi + Configurer Wi-Fi Connect to Wi-Fi to upload driving data and help improve openpilot From a49dfa2969df29d49e7bd1d9dbfeb2627c5c398c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 29 Aug 2023 02:40:51 +0800 Subject: [PATCH 192/410] ui/networkmanager: add #pragma once (#29678) #pragma once --- selfdrive/ui/qt/network/networkmanager.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/network/networkmanager.h b/selfdrive/ui/qt/network/networkmanager.h index 31b33fc9f5..2896b0fff7 100644 --- a/selfdrive/ui/qt/network/networkmanager.h +++ b/selfdrive/ui/qt/network/networkmanager.h @@ -1,3 +1,5 @@ +#pragma once + /** * We are using a NetworkManager DBUS API : https://developer.gnome.org/NetworkManager/1.26/spec.html * */ From 17bd792eee36ff678b2c2a4376e0e5cf53468b2a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 28 Aug 2023 14:49:59 -0700 Subject: [PATCH 193/410] pycurl is no longer just a dev dependency (#29684) --- poetry.lock | 18 ++++++++++++++---- pyproject.toml | 2 +- 2 files changed, 15 insertions(+), 5 deletions(-) diff --git a/poetry.lock b/poetry.lock index b021e0011e..3f3a33901f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -2383,7 +2383,14 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.21.2", markers = "python_version >= \"3.10\""}, + {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, + {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""}, + {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, + {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, +] [[package]] name = "packaging" @@ -2431,7 +2438,10 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.2", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.21.0", markers = "python_version >= \"3.10\""}, + {version = ">=1.23.2", markers = "python_version >= \"3.11\""}, +] python-dateutil = ">=2.8.2" pytz = ">=2020.1" tzdata = ">=2022.1" @@ -4339,4 +4349,4 @@ multidict = ">=4.0" [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "799e03aa1f3098c94a383f17b56275cd4140179bc457ff837b793fbcf7eb4b1e" +content-hash = "f8caec155fce3e3f41d961eb35919c3132e73c518324850839957d1020cf709f" diff --git a/pyproject.toml b/pyproject.toml index b7952d3fa8..d860dbb6bf 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -71,6 +71,7 @@ psutil = "*" pyaudio = "*" pycapnp = "*" pycryptodome = "*" +pycurl = "*" pydub = "*" PyJWT = "*" pyopencl = "*" @@ -117,7 +118,6 @@ pandas = "*" parameterized = "^0.8" pprofile = "*" pre-commit = "*" -pycurl = "*" pygame = "*" pyprof2calltree = "*" pytest = "*" From 21ffd807b6f258d6f30c1228100bf2ed93e66309 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 28 Aug 2023 15:14:07 -0700 Subject: [PATCH 194/410] Hyundai CAN FD: rename LKAS signal (#29685) * bump * now fix * comment --- opendbc | 2 +- selfdrive/car/hyundai/hyundaicanfd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index a30a6775a5..25dd2b50fc 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit a30a6775a5013bd42626ae7e36a1d21c9082a333 +Subproject commit 25dd2b50fc93ff6a25b99b72c664b9c37413097d diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 7aca5b850c..1ad0963024 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -46,7 +46,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): "LKA_ASSIST": 0, "STEER_REQ": 1 if lat_active else 0, "STEER_MODE": 0, - "SET_ME_1": 0, + "HAS_LANE_SAFETY": 0, # hide LKAS settings "NEW_SIGNAL_1": 0, "NEW_SIGNAL_2": 0, } From 5aed2e01e80b067c859d7655812065f0a4271ed9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 28 Aug 2023 18:23:02 -0400 Subject: [PATCH 195/410] Hyundai: consolidate button messages creation (#29663) * Hyundai: refactor button messages creation and consolidation * one bool should be enough * Use CLU11|0x4F1 to determine * grammar pls * action * fix duplication * move to bottom * one area * type * Revert "one area" This reverts commit c2b794f964b3df09a5ae9f35a3853e6cec69f93a. --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carcontroller.py | 67 +++++++++++++++----------- 1 file changed, 38 insertions(+), 29 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 1ff211e860..8dcf89c4d5 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -131,26 +131,7 @@ class CarController: self.accel_last = accel else: # button presses - if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: - # cruise cancel - if CC.cruiseControl.cancel: - if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) - self.last_button_frame = self.frame - else: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) - self.last_button_frame = self.frame - - # cruise standstill resume - elif CC.cruiseControl.resume: - if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - # TODO: resume for alt button cars - pass - else: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) - self.last_button_frame = self.frame + can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, @@ -158,15 +139,7 @@ class CarController: left_lane_warning, right_lane_warning)) if not self.CP.openpilotLongitudinalControl: - if CC.cruiseControl.cancel: - can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) - elif CC.cruiseControl.resume: - # send resume at a max freq of 10Hz - if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: - # send 25 messages at a time to increases the likelihood of resume being accepted - can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) - if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: - self.last_button_frame = self.frame + can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True)) if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: # TODO: unclear if this is needed @@ -195,3 +168,39 @@ class CarController: self.frame += 1 return new_actuators, can_sends + + def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool): + can_sends = [] + if use_clu11: + if CC.cruiseControl.cancel: + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) + elif CC.cruiseControl.resume: + # send resume at a max freq of 10Hz + if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: + # send 25 messages at a time to increases the likelihood of resume being accepted + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) + if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: + self.last_button_frame = self.frame + else: + if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: + # cruise cancel + if CC.cruiseControl.cancel: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) + self.last_button_frame = self.frame + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) + self.last_button_frame = self.frame + + # cruise standstill resume + elif CC.cruiseControl.resume: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + # TODO: resume for alt button cars + pass + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) + self.last_button_frame = self.frame + + return can_sends From 55b391509d94c45000df6754f173ad446dc1b34c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 28 Aug 2023 16:27:11 -0700 Subject: [PATCH 196/410] Revert: Locationd: enable laikad (#29687) * Revert: Locationd: enable laikad * update ref --- selfdrive/locationd/liblocationd.cc | 2 +- selfdrive/locationd/locationd.cc | 129 +++++++++++++++--- selfdrive/locationd/locationd.h | 13 +- selfdrive/locationd/test/test_locationd.py | 29 ++-- .../test/process_replay/process_replay.py | 12 +- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 155 insertions(+), 32 deletions(-) diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index 47c6c150b4..e2b85d93a1 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -4,7 +4,7 @@ extern "C" { typedef Localizer* Localizer_t; Localizer *localizer_init(bool has_ublox) { - return new Localizer(); + return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); } void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index c22230a049..401de0cfdd 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -15,6 +15,7 @@ const double ACCEL_SANITY_CHECK = 100.0; // m/s^2 const double ROTATION_SANITY_CHECK = 10.0; // rad/s const double TRANS_SANITY_CHECK = 200.0; // m/s const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg) +const double ALTITUDE_SANITY_CHECK = 10000; // m const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad const double VALID_TIME_SINCE_RESET = 1.0; // s const double VALID_POS_STD = 50.0; // m @@ -24,11 +25,15 @@ const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker const double DECAY = 0.99995; // same as reset tracker const double MAX_FILTER_REWIND_TIME = 0.8; // s +// TODO: GPS sensor time offsets are empirically calculated +// They should be replaced with synced time from a real clock +const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s +const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s const float GPS_POS_STD_THRESHOLD = 50.0; const float GPS_VEL_STD_THRESHOLD = 5.0; const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; -const float GPS_POS_STD_RESET_THRESHOLD = 10.0; -const float GPS_VEL_STD_RESET_THRESHOLD = 1.0; +const float GPS_POS_STD_RESET_THRESHOLD = 2.0; +const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; @@ -67,7 +72,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); } -Localizer::Localizer() { +Localizer::Localizer(LocalizerGnssSource gnss_source) { this->kf = std::make_unique(); this->reset_kalman(); @@ -81,6 +86,7 @@ Localizer::Localizer() { VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); + this->configure_gnss_source(gnss_source); } void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { @@ -293,6 +299,64 @@ void Localizer::input_fake_gps_observations(double current_time) { this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); } +void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) { + // ignore the message if the fix is invalid + bool gps_invalid_flag = (log.getFlags() % 2 == 0); + bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); + bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)); + bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); + bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); + + if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { + //this->gps_valid = false; + this->determine_gps_mode(current_time); + return; + } + + double sensor_time = current_time - sensor_time_offset; + + // Process message + //this->gps_valid = true; + this->gps_mode = true; + Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; + this->converter = std::make_unique(geodetic); + + VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); + VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; + float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); + MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); + MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); + + this->unix_timestamp_millis = log.getUnixTimestampMillis(); + double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); + + VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); + VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef); + VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg())); + VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI; + for (int i = 0; i < orientation_error.size(); i++) { + orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI); + if (orientation_error(i) < 0.0) { + orientation_error(i) += 2.0 * M_PI; + } + orientation_error(i) -= M_PI; + } + VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); + + if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) { + LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset"); + this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); + } else if (gps_est_error > 100.0) { + LOGE("Locationd vs ubloxLocation position difference too large, kalman reset"); + this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); + } + + this->last_gps_msg = sensor_time; + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); +} + void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { @@ -301,22 +365,21 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } double sensor_time = log.getMeasTime() * 1e-9; + sensor_time -= this->gps_time_offset; auto ecef_pos_v = log.getPositionECEF().getValue(); VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); - auto ecef_pos_std = log.getPositionECEF().getStd(); - VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix(); - double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum()); - MatrixXdr ecef_pos_R = ecef_pos_var.asDiagonal(); + // indexed at 0 cause all std values are the same MAE + auto ecef_pos_std = log.getPositionECEF().getStd()[0]; + MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal(); auto ecef_vel_v = log.getVelocityECEF().getValue(); VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]); - auto ecef_vel_std = log.getVelocityECEF().getStd(); - VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix(); - double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum()); - MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal(); + // indexed at 0 cause all std values are the same MAE + auto ecef_vel_std = log.getVelocityECEF().getStd()[0]; + MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); @@ -339,13 +402,13 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: } VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) { + if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { this->determine_gps_mode(current_time); return; } // prevent jumping gnss measurements (covered lots, standstill...) - bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD; + bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD; orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD; orientation_reset &= !this->standstill; if (orientation_reset) { @@ -354,7 +417,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: this->orientation_reset_count = 0; } - if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { + if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { // always reset on first gps message and if the location is off but the accuracy is high LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset"); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); @@ -524,8 +587,12 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->handle_sensor(t, log.getAccelerometer()); } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); - } else if (log.isGnssMeasurements()) { - this->handle_gnss(t, log.getGnssMeasurements()); + } else if (log.isGpsLocation()) { + this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); + } else if (log.isGpsLocationExternal()) { + this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); + //} else if (log.isGnssMeasurements()) { + // this->handle_gnss(t, log.getGnssMeasurements()); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -586,12 +653,38 @@ void Localizer::determine_gps_mode(double current_time) { } } +void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { + this->gnss_source = source; + if (source == LocalizerGnssSource::UBLOX) { + this->gps_std_factor = 10.0; + this->gps_variance_factor = 1.0; + this->gps_vertical_variance_factor = 1.0; + this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; + } else { + this->gps_std_factor = 2.0; + this->gps_variance_factor = 0.0; + this->gps_vertical_variance_factor = 3.0; + this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; + } +} + int Localizer::locationd_thread() { - const std::initializer_list service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration", + LocalizerGnssSource source; + const char* gps_location_socket; + if (Params().getBool("UbloxAvailable")) { + source = LocalizerGnssSource::UBLOX; + gps_location_socket = "gpsLocationExternal"; + } else { + source = LocalizerGnssSource::QCOM; + gps_location_socket = "gpsLocation"; + } + + this->configure_gnss_source(source); + const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"}); + SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index 615251668d..f3069048cd 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -22,10 +22,13 @@ #define POSENET_STD_HIST_HALF 20 +enum LocalizerGnssSource { + UBLOX, QCOM +}; class Localizer { public: - Localizer(); + Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); int locationd_thread(); @@ -53,6 +56,7 @@ public: void handle_msg_bytes(const char *data, const size_t size); void handle_msg(const cereal::Event::Reader& log); void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); + void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log); void handle_car_state(double current_time, const cereal::CarState::Reader& log); void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); @@ -81,8 +85,15 @@ private: double first_valid_log_time = NAN; double ttff = NAN; double last_gps_msg = 0; + LocalizerGnssSource gnss_source; bool observation_timings_invalid = false; std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; + float gps_std_factor; + float gps_variance_factor; + float gps_vertical_variance_factor; + double gps_time_offset; + + void configure_gnss_source(const LocalizerGnssSource &source); }; diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 1fb36bf2fa..6c6ac33431 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -14,7 +14,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): - LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration', + LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): @@ -35,14 +35,25 @@ class TestLocationdProc(unittest.TestCase): msg = messaging.new_message(name) except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - if name == "gnssMeasurements": - msg.gnssMeasurements.measTime = t - msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - msg.gnssMeasurements.positionECEF.std = [0,0,0] - msg.gnssMeasurements.positionECEF.valid = True - msg.gnssMeasurements.velocityECEF.value = [] - msg.gnssMeasurements.velocityECEF.std = [0,0,0] - msg.gnssMeasurements.velocityECEF.valid = True + + if name == "gpsLocationExternal": + msg.gpsLocationExternal.flags = 1 + msg.gpsLocationExternal.verticalAccuracy = 1.0 + msg.gpsLocationExternal.speedAccuracy = 1.0 + msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 + msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] + msg.gpsLocationExternal.latitude = float(self.lat) + msg.gpsLocationExternal.longitude = float(self.lon) + msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 + msg.gpsLocationExternal.altitude = float(self.alt) + #if name == "gnssMeasurements": + # msg.gnssMeasurements.measTime = t + # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] + # msg.gnssMeasurements.positionECEF.std = [0,0,0] + # msg.gnssMeasurements.positionECEF.valid = True + # msg.gnssMeasurements.velocityECEF.value = [] + # msg.gnssMeasurements.velocityECEF.std = [0,0,0] + # msg.gnssMeasurements.velocityECEF.valid = True elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c0a49e3324..9256b6015c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -433,6 +433,13 @@ def laikad_config_pubsub_callback(params, cfg, lr): cfg.main_pub_drained = True +def locationd_config_pubsub_callback(params, cfg, lr): + ublox = params.get_bool("UbloxAvailable") + sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) + + cfg.pubs = set(cfg.pubs) - sub_keys + + CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -487,11 +494,12 @@ CONFIGS = [ ProcessConfig( proc_name="locationd", pubs=[ - "cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements", - "liveCalibration", "carState", "carParams" + "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", + "liveCalibration", "carState", "carParams", "gpsLocation" ], subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], + config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, ), ProcessConfig( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 955c5c7e94..cee528c62d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3fd85c41e61044a86bf364b9a7a0470e5758f231 +20022e4a1b5f5df343465180a3865b0c78890544 \ No newline at end of file From 3cc328163baaf3087c95e5f89f363807b218f052 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 28 Aug 2023 17:52:49 -0700 Subject: [PATCH 197/410] FW query timing test: fix refs (#29692) * fix refs * don't round added values * fix --- selfdrive/car/tests/test_fw_fingerprint.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 883a72897c..8809994981 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -197,7 +197,7 @@ class TestFwFingerprintTiming(unittest.TestCase): kwargs=dict(num_pandas=num_pandas)) brand_time += self._run_thread(thread) - return round(brand_time / self.N, 2) + return brand_time / self.N def _assert_timing(self, avg_time, ref_time): self.assertLess(avg_time, ref_time + self.TOL) @@ -225,14 +225,14 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = 6.1 + total_ref_time = 6.07 brand_ref_times = { 1: { - 'body': 0.1, + 'body': 0.11, 'chrysler': 0.3, 'ford': 0.2, - 'honda': 0.5, - 'hyundai': 0.7, + 'honda': 0.52, + 'hyundai': 0.72, 'mazda': 0.2, 'nissan': 0.4, 'subaru': 0.2, @@ -242,7 +242,7 @@ class TestFwFingerprintTiming(unittest.TestCase): }, 2: { 'ford': 0.3, - 'hyundai': 1.1, + 'hyundai': 1.12, } } @@ -256,10 +256,12 @@ class TestFwFingerprintTiming(unittest.TestCase): avg_time = self._benchmark_brand(brand, num_pandas) total_time += avg_time + avg_time = round(avg_time, 2) self._assert_timing(avg_time, brand_ref_times[num_pandas][brand]) print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') with self.subTest(brand='all_brands'): + total_time = round(total_time, 2) self._assert_timing(total_time, total_ref_time) print(f'all brands, total FW query time={total_time} seconds') From 3348cd3825d33a6026ef92a526e54ff8cf41ce5e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 28 Aug 2023 19:37:04 -0700 Subject: [PATCH 198/410] Subaru: cleanup and fix preglobal (#29690) * cleanup and fix preglobal * those are also duplicates --- selfdrive/car/subaru/carcontroller.py | 2 +- selfdrive/car/subaru/carstate.py | 38 ++++++++++----------------- selfdrive/car/subaru/subarucan.py | 7 ++--- 3 files changed, 19 insertions(+), 28 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 6de5bf89e2..ec443dfd4d 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -36,7 +36,7 @@ class CarController: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive)) else: can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive)) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index ff203f387d..027f317a09 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags from openpilot.selfdrive.car import CanSignalRateCalculator @@ -24,7 +24,7 @@ class CarState(CarStateBase): ret.gasPressed = ret.gas > 1e-5 if self.car_fingerprint in PREGLOBAL_CARS: - ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2 + ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0 else: cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1 @@ -144,6 +144,17 @@ class CarState(CarStateBase): return messages + @staticmethod + def get_common_preglobal_body_messages(): + messages = [ + ("CruiseControl", 50), + ("Wheel_Speeds", 50), + ("Dash_State2", 1), + ("Dashlights", 10), + ] + + return messages + @staticmethod def get_can_parser(CP): messages = [ @@ -166,29 +177,8 @@ class CarState(CarStateBase): if CP.carFingerprint not in PREGLOBAL_CARS: if CP.carFingerprint not in GLOBAL_GEN2: messages += CarState.get_common_global_body_messages(CP) - - messages += [ - ("Dashlights", 10), - ("BodyInfo", 10), - ] else: - messages += [ - ("Wheel_Speeds", 50), - ("Dash_State2", 1), - ] - - if CP.carFingerprint == CAR.FORESTER_PREGLOBAL: - messages += [ - ("Dashlights", 20), - ("BodyInfo", 1), - ("CruiseControl", 50), - ] - - if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): - messages += [ - ("Dashlights", 10), - ("CruiseControl", 50), - ] + messages += CarState.get_common_preglobal_body_messages() return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 4ae5023281..79ff3c8c56 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -239,13 +239,14 @@ def create_es_infotainment(packer, es_infotainment_msg, visual_alert): # *** Subaru Pre-global *** -def subaru_preglobal_checksum(packer, values, addr): +def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7): dat = packer.make_can_msg(addr, 0, values)[2] - return (sum(dat[:7])) % 256 + return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256 -def create_preglobal_steering_control(packer, apply_steer, steer_req): +def create_preglobal_steering_control(packer, frame, apply_steer, steer_req): values = { + "COUNTER": frame % 0x08, "LKAS_Command": apply_steer, "LKAS_Active": steer_req, } From bb14ba4e5e5bd229bde42a14d1c9a7bbc02297b5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 28 Aug 2023 19:44:40 -0700 Subject: [PATCH 199/410] process_replay: clean env vars after run (#29694) Clean environ vars at the end of replay --- selfdrive/test/process_replay/process_replay.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9256b6015c..8ad27d5135 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -143,6 +143,7 @@ class ProcessContainer: self.sockets: Optional[List[messaging.SubSocket]] = None self.rc: Optional[ReplayContext] = None self.vipc_server: Optional[VisionIpcServer] = None + self.environ_config: Optional[Dict[str, Any]] = None self.capture: Optional[ProcessOutputCapture] = None @property @@ -157,6 +158,15 @@ class ProcessContainer: def subs(self) -> List[str]: return self.cfg.subs + def _clean_env(self): + for k in self.environ_config.keys(): + if k in os.environ: + del os.environ[k] + + for k in ["PROC_NAME", "SIMULATION"]: + if k in os.environ: + del os.environ[k] + def _setup_env(self, params_config: Dict[str, Any], environ_config: Dict[str, Any]): for k, v in environ_config.items(): if len(v) != 0: @@ -177,6 +187,8 @@ class ProcessContainer: else: params.put(k, v) + self.environ_config = environ_config + def _setup_vision_ipc(self, all_msgs): assert len(self.cfg.vision_pubs) != 0 @@ -238,6 +250,7 @@ class ProcessContainer: self.process.stop() self.rc.close_context() self.prefix.clean_dirs() + self._clean_env() def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]: assert self.rc and self.pm and self.sockets and self.process.proc From 97865d751fcc40baa0cfb4450496348902b16c9e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 28 Aug 2023 22:34:47 -0700 Subject: [PATCH 200/410] radard: radar fault test (#29673) * Radar fault test * Remove i * Add radar fault case for car interfaces * Removed empty whitespace * Fix typo --- selfdrive/car/tests/test_car_interfaces.py | 8 ++++- selfdrive/controls/tests/test_leads.py | 36 ++++++++++++++++++++++ 2 files changed, 43 insertions(+), 1 deletion(-) create mode 100644 selfdrive/controls/tests/test_leads.py diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index d44c50ed90..490c849863 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -7,7 +7,7 @@ from hypothesis import Phase, given, settings import importlib from parameterized import parameterized -from cereal import car +from cereal import car, messaging from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces @@ -119,6 +119,12 @@ class TestCarInterfaces(unittest.TestCase): hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): radar_interface._update([radar_interface.trigger_msg]) + # Test radar fault + if not car_params.radarUnavailable and radar_interface.rcp is not None: + cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] + rr = radar_interface.update(cans) + self.assertTrue(rr is None or len(rr.errors) > 0) + def test_interface_attrs(self): """Asserts basic behavior of interface attribute getter""" num_brands = len(get_interface_attr('CAR')) diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py new file mode 100644 index 0000000000..bd8baf096e --- /dev/null +++ b/selfdrive/controls/tests/test_leads.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +import unittest + +import cereal.messaging as messaging + +from selfdrive.test.process_replay import replay_process_with_name +from selfdrive.car.toyota.values import CAR as TOYOTA + + +class TestLeads(unittest.TestCase): + def test_radar_fault(self): + # if there's no radar-related can traffic, radard should either not respond or respond with an error + # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check + def single_iter_pkg(): + # single iter package, with meaningless cans and empty carState/modelV2 + msgs = [] + for _ in range(5): + can = messaging.new_message("can", 1) + cs = messaging.new_message("carState") + msgs.append(can.as_reader()) + msgs.append(cs.as_reader()) + model = messaging.new_message("modelV2") + msgs.append(model.as_reader()) + + return msgs + + msgs = [m for _ in range(3) for m in single_iter_pkg()] + out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.COROLLA_TSS2) + states = [m for m in out if m.which() == "radarState"] + failures = [not state.valid and len(state.radarState.radarErrors) for state in states] + + self.assertTrue(len(states) == 0 or all(failures)) + + +if __name__ == "__main__": + unittest.main() From 67177b2ca393f51a45a97fcdac14be454b224c8c Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 29 Aug 2023 01:58:43 -0400 Subject: [PATCH 201/410] Hyundai CAN-FD HDA2: specify signals to suppress LFA (#29658) * Hyundai CAN-FD HDA2: specify signals to suppress LFA * bump opendbc * Fix * Update comment * fix * closer to original * preserve behavior * Revert "preserve behavior" This reverts commit 6549c085ab6bdd093f7668e7df79cd85350bc028. * preserve behavior --------- Co-authored-by: Shane Smiskol --- opendbc | 2 +- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaicanfd.py | 9 ++++++--- 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/opendbc b/opendbc index 25dd2b50fc..814763889d 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 25dd2b50fc93ff6a25b99b72c664b9c37413097d +Subproject commit 814763889df3d1f19112a9628dfb4d1f17c0c533 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 8dcf89c4d5..b66deb5239 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -110,7 +110,7 @@ class CarController: # steering control can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer)) - # disable LFA on HDA2 + # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU if self.frame % 5 == 0 and hda2: can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4)) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 1ad0963024..b70486b99f 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -61,9 +61,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): return ret def create_cam_0x2a4(packer, CAN, cam_0x2a4): - values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)} - values['COUNTER'] = cam_0x2a4['COUNTER'] - values["BYTE7"] = 0 + values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24) if i != 7} + values["COUNTER"] = cam_0x2a4["COUNTER"] + values["SET_ME_0"] = 0 + values["SET_ME_0_2"] = 0 + values["LEFT_LANE_LINE"] = 0 + values["RIGHT_LANE_LINE"] = 0 return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) def create_buttons(packer, CP, CAN, cnt, btn): From ddddc7a8cbb9de28b24cc7d762c25b57ad43e620 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 28 Aug 2023 23:27:58 -0700 Subject: [PATCH 202/410] Revert "IsoTpParallelQuery: extend timeout for every frame type" (#29693) * Revert "IsoTpParallelQuery: extend timeout for every frame type (#29654)" This reverts commit a160f1a6241ef71a0816fd604052f49efe2e0dd5. * bump * bump to master * figure out a clean way to exclude segments * revert * bump --- panda | 2 +- selfdrive/car/isotp_parallel_query.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 0eb04fae67..ca9d8675b9 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0eb04fae67646e283b7d750d1e2119e37c398f95 +Subproject commit ca9d8675b90e637051786057ad80fe7e534b2ae4 diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 339857a291..adbc598ea6 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -104,14 +104,14 @@ class IsoTpParallelQuery: for tx_addr, msg in msgs.items(): try: - dat, updated = msg.recv() + dat, rx_in_progress = msg.recv() except Exception: cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue - # Extend timeout for each valid ISO-TP frame to avoid timing out on long responses - if updated: + # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses + if rx_in_progress: addrs_responded.add(tx_addr) response_timeouts[tx_addr] = time.monotonic() + timeout From dd9b0231c696607c14a8c10adeeb4d047c5ff782 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 29 Aug 2023 10:06:32 -0700 Subject: [PATCH 203/410] Tests: test_caching reduce global state (#29681) --- tools/lib/tests/__init__.py | 12 ++++++++++++ tools/lib/tests/test_caching.py | 10 ++++------ 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/tools/lib/tests/__init__.py b/tools/lib/tests/__init__.py index e69de29bb2..32219c6ce9 100644 --- a/tools/lib/tests/__init__.py +++ b/tools/lib/tests/__init__.py @@ -0,0 +1,12 @@ +import tempfile + +from unittest import mock + +def temporary_cache_dir(func): + def wrapper(*args, **kwargs): + with tempfile.TemporaryDirectory() as temp_dir: + cache_dir_patch = mock.patch("openpilot.tools.lib.url_file.CACHE_DIR", temp_dir) + cache_dir_patch.start() + func(*args, **kwargs) + cache_dir_patch.stop() + return wrapper \ No newline at end of file diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 1e44b96489..0cb7d66d54 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,18 +1,14 @@ #!/usr/bin/env python3 import os -import shutil import unittest - -os.environ["COMMA_CACHE"] = "/tmp/__test_cache__" -from openpilot.tools.lib.url_file import URLFile, CACHE_DIR +from openpilot.tools.lib.url_file import URLFile +from tools.lib.tests import temporary_cache_dir class TestFileDownload(unittest.TestCase): def compare_loads(self, url, start=0, length=None): """Compares range between cached and non cached version""" - shutil.rmtree(CACHE_DIR) - file_cached = URLFile(url, cache=True) file_downloaded = URLFile(url, cache=False) @@ -35,6 +31,7 @@ class TestFileDownload(unittest.TestCase): self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) self.assertEqual(response_cached, response_downloaded) + @temporary_cache_dir def test_small_file(self): # Make sure we don't force cache os.environ["FILEREADER_CACHE"] = "0" @@ -55,6 +52,7 @@ class TestFileDownload(unittest.TestCase): for i in range(length // 100): self.compare_loads(small_file_url, 100 * i, 100) + @temporary_cache_dir def test_large_file(self): large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" # Load the end 100 bytes of both files From 7fbb7254fa13e0f219a1d8cd2d32c71388e93eb0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 29 Aug 2023 13:51:50 -0400 Subject: [PATCH 204/410] Carcontroller: consolidate can sends method imports (#29695) * Carcontroller: consolidate can sends method imports * fix * ruff --- selfdrive/car/chrysler/carcontroller.py | 11 +++++----- selfdrive/car/ford/carcontroller.py | 27 ++++++++++++------------- selfdrive/car/toyota/carcontroller.py | 22 +++++++++----------- 3 files changed, 29 insertions(+), 31 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index a568f927b8..050eb41b1a 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_meas_steer_torque_limits -from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons +from openpilot.selfdrive.car.chrysler import chryslercan from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags @@ -31,17 +31,18 @@ class CarController: # ACC cancellation if CC.cruiseControl.cancel: self.last_button_frame = self.frame - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) # ACC resume from standstill elif CC.cruiseControl.resume: self.last_button_frame = self.frame - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) # HUD alerts if self.frame % 25 == 0: if CS.lkas_car_model != -1: - can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) + can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, + self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) self.hud_count += 1 # steering @@ -72,7 +73,7 @@ class CarController: apply_steer = 0 self.apply_steer_last = apply_steer - can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) + can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) self.frame += 1 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 86008c6352..fe9ee404a4 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,8 +2,7 @@ from cereal import car from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_std_steer_angle_limits -from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ - create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg +from openpilot.selfdrive.car.ford import fordcan from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState @@ -27,7 +26,7 @@ class CarController: self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) - self.CAN = CanBus(CP) + self.CAN = fordcan.CanBus(CP) self.frame = 0 self.apply_curvature_last = 0 @@ -47,15 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### # send steer msg at 20Hz @@ -73,13 +72,13 @@ class CarController: # TODO: extended mode mode = 1 if CC.latActive else 0 counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF - can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) + can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: - can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) + can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) # send lka msg at 33Hz if (self.frame % CarControllerParams.LKA_STEP) == 0: - can_sends.append(create_lka_msg(self.packer, self.CAN)) + can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) ### longitudinal control ### # send acc msg at 50Hz @@ -91,16 +90,16 @@ class CarController: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, + can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, fcw_alert, CS.out.cruiseState.standstill, hud_control, CS.acc_tja_status_stock_values)) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 01896f1421..2a02a57d86 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -2,9 +2,7 @@ from cereal import car from openpilot.common.numpy_fast import clip, interp from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ create_gas_interceptor_command, make_can_msg -from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ - create_accel_command, create_acc_cancel_command, \ - create_fcw_command, create_lta_steer_command +from openpilot.selfdrive.car.toyota import toyotacan from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \ UNSUPPORTED_DSU_CAR @@ -85,13 +83,13 @@ class CarController: # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed # on consecutive messages - can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) + can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req)) if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) setme_x64 = 100 if lta_active and full_torque_condition else 0 - can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) # *** gas and brake *** if self.CP.enableGasInterceptor and CC.longActive: @@ -135,12 +133,12 @@ class CarController: # Lexus IS uses a different cancellation message if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: - can_sends.append(create_acc_cancel_command(self.packer)) + can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: - can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert)) + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert)) self.accel = pcm_accel_cmd else: - can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False)) + can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False)) if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. @@ -163,12 +161,12 @@ class CarController: send_ui = True if self.frame % 20 == 0 or send_ui: - can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, - hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) + can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, + hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): - can_sends.append(create_fcw_command(self.packer, fcw_alert)) + can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) # *** static msgs *** for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: From 5f0729791ab6bdb22b3e971f0153a88441f8831a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 29 Aug 2023 10:53:21 -0700 Subject: [PATCH 205/410] Parser: assert no duplicate message checks (#29696) * assert no duplicate checks * bump * remove duplicates * are both messages present? * guess we need this extra check * this makes it more clear * bump opendbc * fix preglobal --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 6 +++++- selfdrive/car/subaru/carstate.py | 1 - selfdrive/car/subaru/subarucan.py | 2 +- 4 files changed, 7 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 814763889d..034ca989bd 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 814763889df3d1f19112a9628dfb4d1f17c0c533 +Subproject commit 034ca989bd19e1dc2f6f5be903c037bc1aca750a diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index ee35bf6663..7a3c59e8d3 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -305,7 +305,6 @@ class CarState(CarStateBase): def get_can_parser_canfd(self, CP): messages = [ (self.gear_msg_canfd, 100), - (self.cruise_btns_msg_canfd, 50), (self.accelerator_msg_canfd, 100), ("WHEEL_SPEEDS", 100), ("STEERING_SENSORS", 100), @@ -316,6 +315,11 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] + if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + messages += [ + ("CRUISE_BUTTONS", 50) + ] + if CP.enableBsm: messages += [ ("BLINDSPOTS_REAR_CORNERS", 20), diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 027f317a09..c8a6dfe1e6 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -150,7 +150,6 @@ class CarState(CarStateBase): ("CruiseControl", 50), ("Wheel_Speeds", 50), ("Dash_State2", 1), - ("Dashlights", 10), ] return messages diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 79ff3c8c56..0f297d9635 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -261,7 +261,7 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): "Signal1", "Car_Follow", "Signal2", - "Brake_On", + "Cruise_Brake_Active", "Distance_Swap", "Standstill", "Signal3", From d37d179b5da8c30a3b8d74ba13396f2b27324121 Mon Sep 17 00:00:00 2001 From: Saber <81108166+Saber422@users.noreply.github.com> Date: Wed, 30 Aug 2023 02:58:29 +0800 Subject: [PATCH 206/410] VW MQB: Add FW for 2016 Skoda Superb (#29701) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 3ffc09a43d..36cb5ef534 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1315,6 +1315,7 @@ FW_VERSIONS = { }, CAR.SKODA_SUPERB_MK3: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027BT\xf1\x899042', b'\xf1\x8704L906026ET\xf1\x891343', b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', @@ -1327,6 +1328,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300049Q \xf1\x890906', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300013A \xf1\x894905', @@ -1350,6 +1352,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', From 2d4f5ac8eaa0a960d47ea34c9f404a755224d790 Mon Sep 17 00:00:00 2001 From: eFini Date: Wed, 30 Aug 2023 03:00:24 +0800 Subject: [PATCH 207/410] ui/map: fix icon naming (#29699) --- ...n_right.png => direction_notification_right.png} | Bin ...t.png => direction_notification_sharp_right.png} | Bin 2 files changed, 0 insertions(+), 0 deletions(-) rename selfdrive/assets/navigation/{direction_notificaiton_right.png => direction_notification_right.png} (100%) rename selfdrive/assets/navigation/{direction_notificaiton_sharp_right.png => direction_notification_sharp_right.png} (100%) diff --git a/selfdrive/assets/navigation/direction_notificaiton_right.png b/selfdrive/assets/navigation/direction_notification_right.png similarity index 100% rename from selfdrive/assets/navigation/direction_notificaiton_right.png rename to selfdrive/assets/navigation/direction_notification_right.png diff --git a/selfdrive/assets/navigation/direction_notificaiton_sharp_right.png b/selfdrive/assets/navigation/direction_notification_sharp_right.png similarity index 100% rename from selfdrive/assets/navigation/direction_notificaiton_sharp_right.png rename to selfdrive/assets/navigation/direction_notification_sharp_right.png From 5dc7028f91079dfa07347a4d24ff56b72c24bd20 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 29 Aug 2023 13:36:26 -0700 Subject: [PATCH 208/410] Tests: logmessaged reduce global state (#29680) * reduce global state * use a decorator here too * use that one * use base imports * ipchandler in setup * move to common dir * move to helpers * wip * fix the decorator --- selfdrive/test/helpers.py | 19 +++++++++++++++++++ system/swaglog.py | 7 ++++++- system/tests/test_logmessaged.py | 23 ++++++++++++++--------- tools/lib/tests/__init__.py | 12 ------------ tools/lib/tests/test_caching.py | 6 +++--- 5 files changed, 42 insertions(+), 25 deletions(-) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index f5ba67b407..3f4e4e1661 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,5 +1,8 @@ import os import time +import tempfile + +from unittest import mock from functools import wraps import cereal.messaging as messaging @@ -67,3 +70,19 @@ def with_processes(processes, init_time=0, ignore_stopped=None): return wrap return wrapper + + +def temporary_mock_dir(mock_path): + def wrapper(func): + @wraps(func) + def wrap(*args, **kwargs): + with tempfile.TemporaryDirectory() as temp_dir: + cache_dir_patch = mock.patch(mock_path, temp_dir) + cache_dir_patch.start() + func(*args, **kwargs, temp_dir=temp_dir) + cache_dir_patch.stop() + return wrap + return wrapper + +temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR") +temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR") \ No newline at end of file diff --git a/system/swaglog.py b/system/swaglog.py index 5fe1c2f27f..3d45ad9826 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -77,6 +77,9 @@ class UnixDomainSocketHandler(logging.Handler): self.sock = None def __del__(self): + self.close() + + def close(self): if self.sock is not None: self.sock.close() if self.zctx is not None: @@ -129,6 +132,8 @@ elif print_level == 'info': elif print_level == 'warning': outhandler.setLevel(logging.WARNING) +ipchandler = UnixDomainSocketHandler(SwagFormatter(log)) + log.addHandler(outhandler) # logs are sent through IPC before writing to disk to prevent disk I/O blocking -log.addHandler(UnixDomainSocketHandler(SwagFormatter(log))) +log.addHandler(ipchandler) diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 955272d403..330f151368 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -1,21 +1,22 @@ #!/usr/bin/env python3 import glob import os -import shutil import time import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.system.swaglog import cloudlog, SWAGLOG_DIR +from openpilot.system.swaglog import cloudlog, ipchandler +from selfdrive.test.helpers import temporary_swaglog_dir class TestLogmessaged(unittest.TestCase): + def _setup(self, temp_dir): + # clear the IPC buffer in case some other tests used cloudlog and filled it + ipchandler.close() + ipchandler.connect() - def setUp(self): - if os.path.exists(SWAGLOG_DIR): - shutil.rmtree(SWAGLOG_DIR) - + self.temp_dir = temp_dir managed_processes['logmessaged'].start() self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) @@ -31,9 +32,11 @@ class TestLogmessaged(unittest.TestCase): managed_processes['logmessaged'].stop(block=True) def _get_log_files(self): - return list(glob.glob(os.path.join(SWAGLOG_DIR, "swaglog.*"))) + return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*"))) - def test_simple_log(self): + @temporary_swaglog_dir + def test_simple_log(self, temp_dir): + self._setup(temp_dir) msgs = [f"abc {i}" for i in range(10)] for m in msgs: cloudlog.error(m) @@ -42,7 +45,9 @@ class TestLogmessaged(unittest.TestCase): assert len(m) == len(msgs) assert len(self._get_log_files()) >= 1 - def test_big_log(self): + @temporary_swaglog_dir + def test_big_log(self, temp_dir): + self._setup(temp_dir) n = 10 msg = "a"*3*1024*1024 for _ in range(n): diff --git a/tools/lib/tests/__init__.py b/tools/lib/tests/__init__.py index 32219c6ce9..e69de29bb2 100644 --- a/tools/lib/tests/__init__.py +++ b/tools/lib/tests/__init__.py @@ -1,12 +0,0 @@ -import tempfile - -from unittest import mock - -def temporary_cache_dir(func): - def wrapper(*args, **kwargs): - with tempfile.TemporaryDirectory() as temp_dir: - cache_dir_patch = mock.patch("openpilot.tools.lib.url_file.CACHE_DIR", temp_dir) - cache_dir_patch.start() - func(*args, **kwargs) - cache_dir_patch.stop() - return wrapper \ No newline at end of file diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 0cb7d66d54..bd93cd93ec 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -2,7 +2,7 @@ import os import unittest from openpilot.tools.lib.url_file import URLFile -from tools.lib.tests import temporary_cache_dir +from openpilot.selfdrive.test.helpers import temporary_cache_dir class TestFileDownload(unittest.TestCase): @@ -32,7 +32,7 @@ class TestFileDownload(unittest.TestCase): self.assertEqual(response_cached, response_downloaded) @temporary_cache_dir - def test_small_file(self): + def test_small_file(self, temp_dir): # Make sure we don't force cache os.environ["FILEREADER_CACHE"] = "0" small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md" @@ -53,7 +53,7 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(small_file_url, 100 * i, 100) @temporary_cache_dir - def test_large_file(self): + def test_large_file(self, temp_dir): large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" # Load the end 100 bytes of both files file_large = URLFile(large_file_url) From d998fd88a80e61e44692c50deefc91a7f94b59a2 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Tue, 29 Aug 2023 14:07:57 -0700 Subject: [PATCH 209/410] Added USE_THNEED environment variable and removed build flag (#29645) --- selfdrive/modeld/modeld.py | 6 ++++-- selfdrive/modeld/models/driving.h | 6 ------ selfdrive/modeld/models/driving.pxd | 1 - selfdrive/modeld/models/driving_pyx.pyx | 3 +-- 4 files changed, 5 insertions(+), 11 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 68afa453a9..61edcfb006 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import os import sys import time import numpy as np @@ -7,7 +8,7 @@ from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.hardware import PC +from openpilot.system.hardware import PC, TICI from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter @@ -16,8 +17,9 @@ from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLCont from openpilot.selfdrive.modeld.models.driving_pyx import ( PublishState, create_model_msg, create_pose_msg, update_calibration, FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, - OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ, USE_THNEED) + OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ) +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) if USE_THNEED: from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner else: diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 422d0e197f..39083dd6a9 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -9,12 +9,6 @@ #include "common/util.h" #include "selfdrive/modeld/models/nav.h" -#ifdef USE_THNEED - constexpr bool CPP_USE_THNEED = true; -#else - constexpr bool CPP_USE_THNEED = false; -#endif - constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd index 7ecb2d8f9d..1b815267db 100644 --- a/selfdrive/modeld/models/driving.pxd +++ b/selfdrive/modeld/models/driving.pxd @@ -21,7 +21,6 @@ cdef extern from "selfdrive/modeld/models/driving.h": cdef int OUTPUT_SIZE cdef int NET_OUTPUT_SIZE cdef int MODEL_FREQ - cdef bool CPP_USE_THNEED cdef struct PublishState: pass mat3 update_calibration(float *, bool, bool) diff --git a/selfdrive/modeld/models/driving_pyx.pyx b/selfdrive/modeld/models/driving_pyx.pyx index c9e09eb609..be96df1658 100644 --- a/selfdrive/modeld/models/driving_pyx.pyx +++ b/selfdrive/modeld/models/driving_pyx.pyx @@ -11,7 +11,7 @@ from .commonmodel cimport mat3 from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \ TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \ NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \ - OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ, CPP_USE_THNEED + OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ from .driving cimport MessageBuilder, PublishState as cppPublishState from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration @@ -25,7 +25,6 @@ NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN OUTPUT_SIZE = CPP_OUTPUT_SIZE NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE MODEL_FREQ = CPP_MODEL_FREQ -USE_THNEED = CPP_USE_THNEED cdef class PublishState: cdef cppPublishState state From 82ea2c568871297cbc65c9c85b53493ba190c8fe Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 29 Aug 2023 15:05:17 -0700 Subject: [PATCH 210/410] Devcontainer: add recommended extensions (#29703) * add recommended extensions * add cython and jupter --- .devcontainer/devcontainer.json | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 7c4d53960e..2dfe46b4f0 100755 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -19,5 +19,16 @@ "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", "--shm-size=1G" - ] + ], + "customizations": { + "vscode": { + "extensions": [ + "ms-python.python", + "ms-vscode.cpptools", + "ms-toolsai.jupyter", + "guyskk.language-cython", + "lharri73.dbc" + ] + } + } } \ No newline at end of file From 5058f31908ec10e1dad10fc8f1e9921d6df52efe Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 29 Aug 2023 15:24:37 -0700 Subject: [PATCH 211/410] rename GPIO pin with ublox in the name that is not ublox specific (#29702) * rename UBLOX_PWR_EN to GNSS_PWR_EN * add schematic label as comment --- common/gpio.h | 4 ++-- system/hardware/tici/pins.py | 2 +- system/hardware/tici/power_draw_test.py | 6 +++--- system/sensord/pigeond.py | 4 ++-- system/sensord/rawgps/rawgpsd.py | 6 +++--- system/sensord/tests/test_pigeond.py | 2 +- 6 files changed, 12 insertions(+), 12 deletions(-) diff --git a/common/gpio.h b/common/gpio.h index b2f67f8ba3..89cdedd66c 100644 --- a/common/gpio.h +++ b/common/gpio.h @@ -5,7 +5,7 @@ #define GPIO_HUB_RST_N 30 #define GPIO_UBLOX_RST_N 32 #define GPIO_UBLOX_SAFEBOOT_N 33 - #define GPIO_UBLOX_PWR_EN 34 + #define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ #define GPIO_STM_RST_N 124 #define GPIO_STM_BOOT0 134 #define GPIO_BMX_ACCEL_INT 21 @@ -17,7 +17,7 @@ #define GPIO_HUB_RST_N 0 #define GPIO_UBLOX_RST_N 0 #define GPIO_UBLOX_SAFEBOOT_N 0 - #define GPIO_UBLOX_PWR_EN 0 + #define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ #define GPIO_STM_RST_N 0 #define GPIO_STM_BOOT0 0 #define GPIO_BMX_ACCEL_INT 0 diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 5ac0158082..4388351e1f 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -6,7 +6,7 @@ class GPIO: HUB_RST_N = 30 UBLOX_RST_N = 32 UBLOX_SAFEBOOT_N = 33 - UBLOX_PWR_EN = 34 + GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN STM_RST_N = 124 STM_BOOT0 = 134 diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py index 28113ad073..a0520638b7 100755 --- a/system/hardware/tici/power_draw_test.py +++ b/system/hardware/tici/power_draw_test.py @@ -53,7 +53,7 @@ if __name__ == "__main__": t.set_screen_brightness(0) gpio_init(GPIO.STM_RST_N, True) gpio_init(GPIO.HUB_RST_N, True) - gpio_init(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.GNSS_PWR_EN, True) gpio_init(GPIO.LTE_RST_N, True) gpio_init(GPIO.LTE_PWRKEY, True) gpio_init(GPIO.CAM0_AVDD_EN, True) @@ -65,7 +65,7 @@ if __name__ == "__main__": os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'") # cam 1v2 off gpio_set(GPIO.CAM0_AVDD_EN, False) # cam 2v8 off gpio_set(GPIO.LTE_RST_N, True) # quectel off - gpio_set(GPIO.UBLOX_PWR_EN, False) # gps off + gpio_set(GPIO.GNSS_PWR_EN, False) # gps off gpio_set(GPIO.STM_RST_N, True) # panda off gpio_set(GPIO.HUB_RST_N, False) # hub off # cameras in reset @@ -92,7 +92,7 @@ if __name__ == "__main__": gpio_set(GPIO.STM_RST_N, False) time.sleep(5) print("panda: ", read_power_avg()) - gpio_set(GPIO.UBLOX_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) time.sleep(5) print("gps: ", read_power_avg()) gpio_set(GPIO.LTE_RST_N, False) diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index a2b6b08de0..fc5c05e64f 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -27,11 +27,11 @@ UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00" def set_power(enabled: bool) -> None: gpio_init(GPIO.UBLOX_SAFEBOOT_N, True) - gpio_init(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.GNSS_PWR_EN, True) gpio_init(GPIO.UBLOX_RST_N, True) gpio_set(GPIO.UBLOX_SAFEBOOT_N, True) - gpio_set(GPIO.UBLOX_PWR_EN, enabled) + gpio_set(GPIO.GNSS_PWR_EN, enabled) gpio_set(GPIO.UBLOX_RST_N, enabled) def add_ubx_checksum(msg: bytes) -> bytes: diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index bb228812dc..e710a16920 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -271,7 +271,7 @@ def main() -> NoReturn: def cleanup(sig, frame): cloudlog.warning("caught sig disabling quectel gps") - gpio_set(GPIO.UBLOX_PWR_EN, False) + gpio_set(GPIO.GNSS_PWR_EN, False) teardown_quectel(diag) cloudlog.warning("quectel cleanup done") @@ -289,8 +289,8 @@ def main() -> NoReturn: want_assistance = not r current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) cloudlog.warning("quectel setup done") - gpio_init(GPIO.UBLOX_PWR_EN, True) - gpio_set(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py index d7c7567e4f..90cbf06340 100755 --- a/system/sensord/tests/test_pigeond.py +++ b/system/sensord/tests/test_pigeond.py @@ -56,7 +56,7 @@ class TestPigeond(unittest.TestCase): managed_processes['pigeond'].stop() assert gpio_read(GPIO.UBLOX_RST_N) == 0 - assert gpio_read(GPIO.UBLOX_PWR_EN) == 0 + assert gpio_read(GPIO.GNSS_PWR_EN) == 0 if __name__ == "__main__": From 39d2517d3d9de8175aa2c95491b043580e28500f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 29 Aug 2023 16:01:04 -0700 Subject: [PATCH 212/410] macOS: generate .pyenvrc during setup (#29698) * Create .pyenvrc if it does not exist * Replace source zshrc with pyenvrc * Remove unnecessary variables if pyenv wasn't installed * Add check fo PYENV_SHELL * source instead of eval * printf instead of echo * leave previous pyenvrc path to source * Add newline * Change shebang * Dont source the file after setup * eval virtualenv-init too * modify comment * Just unset broken function on macos --- tools/install_python_dependencies.sh | 20 +++++++++++++++----- tools/mac_setup.sh | 2 +- tools/ubuntu_setup.sh | 2 +- 3 files changed, 17 insertions(+), 7 deletions(-) diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index 79c36d57d9..07bb8ac9a4 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -13,20 +13,30 @@ fi if ! command -v "pyenv" > /dev/null 2>&1; then echo "pyenv install ..." curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash + PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH" +fi +if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then + echo "pyenvrc setup ..." cat < "${HOME}/.pyenvrc" if [ -z "\$PYENV_ROOT" ]; then - export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH + $PYENV_PATH_SETUP export PYENV_ROOT="\$HOME/.pyenv" - eval "\$(pyenv init --path)" eval "\$(pyenv init -)" eval "\$(pyenv virtualenv-init -)" fi EOF - echo -e "\nsource ~/.pyenvrc" >> $RC_FILE - # activate pyenv now - source $RC_FILE + SOURCE_PYENVRC="source ~/.pyenvrc" + if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then + printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE + fi + + eval "$SOURCE_PYENVRC" + # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS + if [ $(uname) == "Darwin" ]; then + unset -f pyenv + fi fi export MAKEFLAGS="-j$(nproc)" diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 3892efd6bb..c767131f51 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -1,4 +1,4 @@ -#!/bin/bash +#!/usr/bin/env bash set -e diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 6b9cf7eff6..1bdeb50e0d 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -1,4 +1,4 @@ -#!/bin/bash +#!/usr/bin/env bash set -e From 7a4eaeaf9f5facdf897fe2404d9bd26ef03a31ec Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 29 Aug 2023 17:02:38 -0700 Subject: [PATCH 213/410] bump submodules (#29705) * bump submodules * bump rednose * fix dockerfiles --- body | 2 +- docs/docker/Dockerfile | 2 +- laika_repo | 2 +- panda | 2 +- rednose_repo | 2 +- tools/sim/Dockerfile.sim | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/body b/body index 396fa7b923..6ff44357a3 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 396fa7b923099640d6843f338950ed41300793ec +Subproject commit 6ff44357a3e416d29044b1d085a3e9223db9691a diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 240f828912..1bae2be24a 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -16,7 +16,7 @@ COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo -RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika +RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika COPY ./rednose ${OPENPILOT_PATH}/rednose COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo COPY ./tools ${OPENPILOT_PATH}/tools diff --git a/laika_repo b/laika_repo index 6d547801a5..c9baa95ca9 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 6d547801a5790431b42396a1d48226ff730ba74b +Subproject commit c9baa95ca9b58222370fcccb24bce1d3722c8e73 diff --git a/panda b/panda index ca9d8675b9..91d457cbb1 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ca9d8675b90e637051786057ad80fe7e534b2ae4 +Subproject commit 91d457cbb13836aa12084b56c732ea27fcf14eef diff --git a/rednose_repo b/rednose_repo index 22f02dd650..e32658ed91 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 22f02dd650361e091f09f1ae94c5c96a9419c2d4 +Subproject commit e32658ed9164d6e8dde882c05c5ece9707acde82 diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 800e9dac74..9fd8a56101 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -23,7 +23,7 @@ COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./rednose ${OPENPILOT_PATH}/rednose COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo -RUN ln -s ${OPENPILOT_PATH}/laika_repo ${OPENPILOT_PATH}/laika +RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika COPY ./common ${OPENPILOT_PATH}/common COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal From d3befb2e04dfd12752fc98599800e911ef6a15d4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 29 Aug 2023 17:04:42 -0700 Subject: [PATCH 214/410] CI: prepare for pytest by adding marker and avoiding duplicated tests (#29682) prepare for pytest --- pyproject.toml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index d860dbb6bf..6555c7d5c3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,8 +1,11 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" python_files = "test_*.py" #timeout = "30" # you get this long by default +markers = [ + "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)" +] [tool.mypy] python_version = "3.11" From 6333ff94e76376e315ba08b0691b5dea5ec03d3c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 29 Aug 2023 18:34:30 -0700 Subject: [PATCH 215/410] common/i2c: make thread safe (#29706) Co-authored-by: Comma Device --- common/i2c.cc | 8 +++++++- common/i2c.h | 2 ++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/common/i2c.cc b/common/i2c.cc index 9508179c6e..3d6c79efc5 100644 --- a/common/i2c.cc +++ b/common/i2c.cc @@ -31,10 +31,14 @@ I2CBus::I2CBus(uint8_t bus_id) { } I2CBus::~I2CBus() { - if (i2c_fd >= 0) { close(i2c_fd); } + if (i2c_fd >= 0) { + close(i2c_fd); + } } int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { + std::lock_guard lk(m); + int ret = 0; ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); @@ -48,6 +52,8 @@ fail: } int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) { + std::lock_guard lk(m); + int ret = 0; ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); diff --git a/common/i2c.h b/common/i2c.h index 0669116bb8..ca0d4635b8 100644 --- a/common/i2c.h +++ b/common/i2c.h @@ -1,12 +1,14 @@ #pragma once #include +#include #include class I2CBus { private: int i2c_fd; + std::mutex m; public: I2CBus(uint8_t bus_id); From fafca0e44d52e91b5fc30972390d57f340bafaaa Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 30 Aug 2023 03:02:19 -0400 Subject: [PATCH 216/410] Hyundai: Car Port for Kona EV 2nd Generation (HDA2, 2023 Korean Ver.) (#28725) * Hyundai: Car Port for Kona EV 2nd Generation (2023 Korean Ver.) Co-authored-by: Shane Smiskol * gate with flag * new blinker signals for 2nd Gen Kona * add test route * Update CARS.md * bump opendbc * match opendbc definition * Attempt to block laneline information to suppress LFA * Try 0x364 * Block 0x364|BYTE7 * Block all bus 2/6 messages * Lowercase to match DBC * Aight * we don't use this * Final test to block LFA * No byte 7 * Fix * Fix tx * cleanup * HDA2 support * Update RELEASES.md * bump opendbc * from `liveTorqueParameters` * add test route * bump panda * official spec * Check for new LKAS addr instead * Update comment * sync with dbc * Combine LFA suppress can sends * bump opendbc * Add new tx to unit test * linter * Consolidate * rename and update torque params * add note for blinker weirdness * bump * bump * clean up block msg * it uses LFA if long * not used in multiple places * bump panda * correct name --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- opendbc | 2 +- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 3 ++- selfdrive/car/hyundai/carstate.py | 14 ++++++++++---- selfdrive/car/hyundai/hyundaicanfd.py | 14 +++++++++----- selfdrive/car/hyundai/interface.py | 12 ++++++++---- selfdrive/car/hyundai/values.py | 18 +++++++++++++++--- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 11 files changed, 51 insertions(+), 20 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 1b439c0fc8..e8476107bc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.9.5 (202X-XX-XX) ======================== +* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Lexus IS 2023 support thanks to L3R5! diff --git a/docs/CARS.md b/docs/CARS.md index ae977f16e3..a15a0ef2f9 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 three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 258 Supported Cars +# 259 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -89,6 +89,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| diff --git a/opendbc b/opendbc index 034ca989bd..ef302f7183 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 034ca989bd19e1dc2f6f5be903c037bc1aca750a +Subproject commit ef302f7183cb05820b27e41cd4919cb6c319cd52 diff --git a/panda b/panda index 91d457cbb1..e6c1648835 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 91d457cbb13836aa12084b56c732ea27fcf14eef +Subproject commit e6c16488351762cd2aa096b523b09b009892c8c4 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index b66deb5239..0b5f724ab9 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -112,7 +112,8 @@ class CarController: # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU if self.frame % 5 == 0 and hda2: - can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4)) + can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg, + self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING)) # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 7a3c59e8d3..b4ff0e9e6e 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -202,8 +202,12 @@ class CarState(CarStateBase): ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 - ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], - cp.vl["BLINKERS"]["RIGHT_LAMP"]) + # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP'] + left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP" + if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN: + left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT" + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig], + cp.vl["BLINKERS"][right_blinker_sig]) if self.CP.enableBsm: ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 @@ -229,7 +233,8 @@ class CarState(CarStateBase): ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: - self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) + self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING + else cp_cam.vl["CAM_0x2a4"]) return ret @@ -336,7 +341,8 @@ class CarState(CarStateBase): def get_cam_can_parser_canfd(CP): messages = [] if CP.flags & HyundaiFlags.CANFD_HDA2: - messages += [("CAM_0x2a4", 20)] + block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4" + messages += [(block_lfa_msg, 20)] elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: messages += [ ("SCC_CONTROL", 50), diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index b70486b99f..a35fcb7779 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -52,22 +52,26 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): } if CP.flags & HyundaiFlags.CANFD_HDA2: + hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS" if CP.openpilotLongitudinalControl: ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) - ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values)) + ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values)) else: ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) return ret -def create_cam_0x2a4(packer, CAN, cam_0x2a4): - values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24) if i != 7} - values["COUNTER"] = cam_0x2a4["COUNTER"] +def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering): + suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4" + msg_bytes = 32 if hda2_alt_steering else 24 + + values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7} + values["COUNTER"] = hda2_lfa_block_msg["COUNTER"] values["SET_ME_0"] = 0 values["SET_ME_0_2"] = 0 values["LEFT_LANE_LINE"] = 0 values["RIGHT_LANE_LINE"] = 0 - return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) + return packer.make_can_msg(suppress_msg, CAN.ACAN, values) def create_buttons(packer, CP, CAN, cnt, btn): values = { diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index d2c91ad45a..3c254597a1 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -38,6 +38,8 @@ class CarInterface(CarInterfaceBase): # detect HDA2 with ADAS Driving ECU if hda2: ret.flags |= HyundaiFlags.CANFD_HDA2.value + if 0x110 in fingerprint[CAN.CAM]: + ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value else: # non-HDA2 if 0x1cf not in fingerprint[CAN.ECAN]: @@ -104,10 +106,10 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.minSteerSpeed = 60 * CV.KPH_TO_MS - elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): - ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) - ret.wheelbase = 2.6 - ret.steerRatio = 13.42 # Spec + elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN): + ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.) + ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6) + ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec ret.tireStiffnessFactor = 0.385 elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV): ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx @@ -277,6 +279,8 @@ class CarInterface(CarInterfaceBase): if ret.flags & HyundaiFlags.CANFD_HDA2: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index e7fe5a583b..979a9fca05 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -64,6 +64,7 @@ class HyundaiFlags(IntFlag): CANFD_ALT_GEARS_2 = 64 SEND_LFA = 128 USE_FCA = 256 + CANFD_HDA2_ALT_STEERING = 512 class CAR: @@ -81,6 +82,7 @@ class CAR: KONA = "HYUNDAI KONA 2020" KONA_EV = "HYUNDAI KONA ELECTRIC 2019" KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022" + KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN" KONA_HEV = "HYUNDAI KONA HYBRID 2020" SANTA_FE = "HYUNDAI SANTA FE 2019" SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" @@ -174,6 +176,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), @@ -1430,6 +1433,14 @@ FW_VERSIONS = { b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', ], }, + CAR.KONA_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', + ], + }, CAR.KIA_NIRO_EV: { (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', @@ -1941,11 +1952,11 @@ CAN_GEARS = { CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, - CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} + CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } @@ -1957,7 +1968,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, - CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN} + CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, @@ -2029,4 +2040,5 @@ DBC = { CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index a6c6d9b6dc..651d668a58 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -133,6 +133,7 @@ routes = [ CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), + CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13), CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index c87eb2865a..3019fc5ddf 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -57,6 +57,7 @@ KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15] GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] LEXUS IS 2023: [2.0, 2.0, 0.1] KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] +HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From f31b4ad25ef3aa2faf90116dcc9c44a459f2b676 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 30 Aug 2023 00:02:55 -0700 Subject: [PATCH 217/410] Tests: remove sleep and prints from maneuver tests (#29711) remove sleep and prints --- selfdrive/test/longitudinal_maneuvers/plant.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 9373eb6d89..0dce1a0f9b 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -43,7 +43,7 @@ class Plant: self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0) self.ts = 1. / self.rate - time.sleep(1) + time.sleep(0.1) self.sm = messaging.SubMaster(['longitudinalPlan']) from openpilot.selfdrive.car.honda.values import CAR @@ -144,9 +144,9 @@ class Plant: v_rel = 0. # print at 5hz - if (self.rk.frame % (self.rate // 5)) == 0: - print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" - % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) + # if (self.rk.frame % (self.rate // 5)) == 0: + # print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" + # % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) # ******** update prevs ******** From 030b47fd24c21fb5a479bdae9b37cb1a167e58ca Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 30 Aug 2023 03:13:05 -0400 Subject: [PATCH 218/410] HKG: Add FW Versions for Kia Sorento ICE 2023 (#29707) --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 979a9fca05..3d95bb0899 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1890,10 +1890,12 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', ], }, CAR.KIA_NIRO_HEV_2ND_GEN: { From 395be482a1cbe438f04112f122ef82e718631a50 Mon Sep 17 00:00:00 2001 From: baldwalker Date: Wed, 30 Aug 2023 08:16:50 +0100 Subject: [PATCH 219/410] HKG: Add FW Versions for Kona EV 2022 (#29683) * Update values.py * shorter request already exists --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3d95bb0899..fffb9314a7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1423,11 +1423,13 @@ FW_VERSIONS = { b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', From c65027635cc760498f7a83b667e22601d823bbdc Mon Sep 17 00:00:00 2001 From: leZudiste Date: Wed, 30 Aug 2023 09:23:41 +0200 Subject: [PATCH 220/410] HKG: Add FW versions for EU Tucson Hybrid 2021 (#29655) * Add Tucson Hybrid 2021 fingerprint * Fix missing doc * revert --------- Co-authored-by: florian alles Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index fffb9314a7..cdcd987ded 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1830,10 +1830,12 @@ FW_VERSIONS = { b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', ], }, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { From 7bc2667ab6d412e4b57b20e9654a3cda623acfcb Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 30 Aug 2023 04:10:28 -0400 Subject: [PATCH 221/410] Hyundai: Car Port for Ioniq 6 2023 (HDA2) (#29486) * Hyundai: Car Port for Ioniq 6 2023 * Update docs * bump panda * Attempt to block laneline information to suppress LFA * Try 0x364 * Block 0x364|BYTE7 * Attempt to block LFA on 0x364 * Block all bus 2/6 messages * Lowercase to match DBC * Aight * we don't use this * Final test to block LFA * No byte 7 * Fix * Fix tx * This platform does SCC from radar * Generate CARS.md * cleanup * Fix * Fix 2 * bump submodules * add test route for HDA2 * Support non-HDA2 trims in future PR * segment 6 * bump opendbc * Update username * Check for new LKAS addr instead * Update comment * sync with dbc * Combine LFA suppress can sends * Add new tx to unit test * bump opendbc * we'd need a new DBC for that * update docs --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/values.py | 4 +--- selfdrive/car/tests/routes.py | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index e8476107bc..0a7925200e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.9.5 (202X-XX-XX) ======================== +* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Lexus IS 2023 support thanks to L3R5! diff --git a/docs/CARS.md b/docs/CARS.md index a15a0ef2f9..b5c42519e8 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 three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 259 Supported Cars +# 260 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -80,6 +80,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[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 Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|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 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 6 (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 3c254597a1..ff278d54e8 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase): # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. # FIXME: the Optima Hybrid uses a different SCC12 checksum - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6} + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } hda2 = Ecu.adas in [fw.ecu for fw in car_fw] CAN = CanBus(None, hda2, fingerprint) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cdcd987ded..524cdee159 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -201,8 +201,6 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], CAR.IONIQ_6: [ - # TODO: unknown - HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), ], CAR.TUCSON_4TH_GEN: [ @@ -1962,7 +1960,7 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCS # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, - CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN} + CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 651d668a58..b5fe615200 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -22,7 +22,6 @@ non_tested_cars = [ GM.MALIBU, GM.EQUINOX, HYUNDAI.GENESIS_G90, - HYUNDAI.IONIQ_6, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, @@ -124,6 +123,7 @@ routes = [ CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN), CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 + CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), From 059cb0130dd5a6cc3b44495799abb491c668c4bb Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 30 Aug 2023 12:05:10 +0100 Subject: [PATCH 222/410] athenad: update typing --- selfdrive/athena/athenad.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 15088f69b1..49b214f5e9 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -75,7 +75,7 @@ class UploadFile: allow_cellular: bool @classmethod - def from_dict(cls, d: Dict) -> UploadFile: + def from_dict(cls, d: dict) -> UploadFile: return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False)) @@ -92,7 +92,7 @@ class UploadItem: allow_cellular: bool = False @classmethod - def from_dict(cls, d: Dict) -> UploadItem: + def from_dict(cls, d: dict) -> UploadItem: return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"], d["progress"], d["allow_cellular"]) @@ -309,7 +309,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> # security: user should be able to request any message from their car @dispatcher.add_method -def getMessage(service: str, timeout: int = 1000) -> Dict: +def getMessage(service: str, timeout: int = 1000) -> dict: if service is None or service not in service_list: raise Exception("invalid service") @@ -320,7 +320,7 @@ def getMessage(service: str, timeout: int = 1000) -> Dict: raise TimeoutError # this is because capnp._DynamicStructReader doesn't have typing information - return cast(Dict, ret.to_dict()) + return cast(dict, ret.to_dict()) @dispatcher.add_method From 6c73a924fa7780fc31776060cf63cce3b85981cb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 30 Aug 2023 23:41:58 +0800 Subject: [PATCH 223/410] ui/driverview: inherit from CameraWidget (#29661) --- selfdrive/ui/qt/offroad/driverview.cc | 51 +++++------------------- selfdrive/ui/qt/offroad/driverview.h | 33 +++------------ selfdrive/ui/translations/main_de.ts | 2 +- selfdrive/ui/translations/main_fr.ts | 2 +- selfdrive/ui/translations/main_ja.ts | 2 +- selfdrive/ui/translations/main_ko.ts | 2 +- selfdrive/ui/translations/main_pt-BR.ts | 2 +- selfdrive/ui/translations/main_th.ts | 2 +- selfdrive/ui/translations/main_tr.ts | 2 +- selfdrive/ui/translations/main_zh-CHS.ts | 2 +- selfdrive/ui/translations/main_zh-CHT.ts | 2 +- 11 files changed, 25 insertions(+), 77 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 693a0253b4..f7954c6827 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -3,62 +3,33 @@ #include #include -#include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - layout = new QStackedLayout(this); - layout->setStackingMode(QStackedLayout::StackAll); - - cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); - layout->addWidget(cameraView); - - scene = new DriverViewScene(this); - connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); - layout->addWidget(scene); - layout->setCurrentWidget(scene); - - QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView); -} - -void DriverViewWindow::closeView() { - if (isVisible()) { - cameraView->stopVipcThread(); - emit done(); - } -} - -void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { - closeView(); -} - -DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); + QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::done); + QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); } -void DriverViewScene::showEvent(QShowEvent* event) { - frame_updated = false; +void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); + CameraWidget::showEvent(event); } -void DriverViewScene::hideEvent(QHideEvent* event) { +void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); + stopVipcThread(); } -void DriverViewScene::frameUpdated() { - frame_updated = true; - update(); -} +void DriverViewWindow::paintGL() { + CameraWidget::paintGL(); -void DriverViewScene::paintEvent(QPaintEvent* event) { QPainter p(this); - // startup msg - if (!frame_updated) { + if (frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -70,7 +41,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::DriverData::Reader driver_data; - is_rhd = driver_state.getWheelOnRightProb() > 0.5; + bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 8bfc7a4b7b..155e4ede32 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,44 +1,21 @@ #pragma once -#include - #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewScene : public QWidget { +class DriverViewWindow : public CameraWidget { Q_OBJECT public: - explicit DriverViewScene(QWidget *parent); + explicit DriverViewWindow(QWidget *parent); -public slots: - void frameUpdated(); +signals: + void done(); protected: void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; - void paintEvent(QPaintEvent *event) override; + void paintGL() override; -private: Params params; QPixmap face_img; - bool is_rhd = false; - bool frame_updated = false; -}; - -class DriverViewWindow : public QWidget { - Q_OBJECT - -public: - explicit DriverViewWindow(QWidget *parent); - -signals: - void done(); - -protected: - void mouseReleaseEvent(QMouseEvent* e) override; - void closeView(); - - CameraWidget *cameraView; - DriverViewScene *scene; - QStackedLayout *layout; }; diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index d1820fd423..8c9cf7127a 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting Kamera startet diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 79c4ae5596..c464df88e1 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting démarrage de la caméra diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 16595f8ebf..e5ab4c25be 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting ｶﾒﾗを起動しています diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index cbd8e668ac..6ca34242d7 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting 카메라 시작중 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a55d31034e..7df3a51660 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting câmera iniciando diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index abc6210956..ba10c91585 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting กำลังเปิดกล้อง diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index febded8f59..691de7501a 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting kamera başlatılıyor diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 040dae0b30..e0eb9b576e 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting 正在启动相机 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 57d9f91fec..978343b1ae 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -302,7 +302,7 @@ - DriverViewScene + DriverViewWindow camera starting 開啟相機中 From 76392f50433c8d0dac9657d1db126edeb43b62f5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Aug 2023 10:42:13 -0700 Subject: [PATCH 224/410] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index e6c1648835..bc2f10da57 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e6c16488351762cd2aa096b523b09b009892c8c4 +Subproject commit bc2f10da579a95ee3a0c54cfab883ce872eb9a32 From 12d1020239c0ab59648fd725ee370ef5e8cb299f Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Wed, 30 Aug 2023 12:58:31 -0700 Subject: [PATCH 225/410] -DUSE_THNEED is dead --- selfdrive/modeld/SConscript | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 10718c696b..18a90dd092 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -50,10 +50,6 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor for xenv in (lenv, lenvCython): xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') -if arch == "larch64" or GetOption('pc_thneed'): - lenvCython['CFLAGS'].append("-DUSE_THNEED") - lenvCython['CXXFLAGS'].append("-DUSE_THNEED") - common_frameworks = [] common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq'] if arch == "Darwin": From a5ef9febb9bb2ddd646ea8051fc31bb7247ad73a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 30 Aug 2023 13:36:55 -0700 Subject: [PATCH 226/410] Tests: loggerd reduce iterations (#29713) * reduce those iterations * sleep time could be decreased too * in case it's negative --- system/loggerd/tests/test_loggerd.py | 58 ++++++++++++++-------------- 1 file changed, 29 insertions(+), 29 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index b43f597c25..816a4d4198 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -154,35 +154,35 @@ class TestLoggerd(unittest.TestCase): vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) vipc_server.start_listener() - for _ in range(5): - num_segs = random.randint(2, 5) - length = random.randint(1, 3) - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - time.sleep(1) - - fps = 20.0 - for n in range(1, int(num_segs*length*fps)+1): - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[2], dtype=np.uint8) - vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) - - camera_state = messaging.new_message(state) - frame = getattr(camera_state, state) - frame.frameId = n - pm.send(state, camera_state) - time.sleep(1.0/fps) - - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() - - route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] - for n in range(num_segs): - p = Path(f"{route_path}--{n}") - logged = {f.name for f in p.iterdir() if f.is_file()} - diff = logged ^ expected_files - self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") + num_segs = random.randint(2, 5) + length = random.randint(1, 3) + os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) + managed_processes["loggerd"].start() + managed_processes["encoderd"].start() + time.sleep(1) + + fps = 20.0 + for n in range(1, int(num_segs*length*fps)+1): + time_start = time.monotonic() + for stream_type, frame_spec, state in streams: + dat = np.empty(frame_spec[2], dtype=np.uint8) + vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) + + camera_state = messaging.new_message(state) + frame = getattr(camera_state, state) + frame.frameId = n + pm.send(state, camera_state) + time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0)) + + managed_processes["loggerd"].stop() + managed_processes["encoderd"].stop() + + route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] + for n in range(num_segs): + p = Path(f"{route_path}--{n}") + logged = {f.name for f in p.iterdir() if f.is_file()} + diff = logged ^ expected_files + self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") def test_bootlog(self): # generate bootlog with fake launch log From 78a4bff4c0aa7affe0420116adb7659f06026e4d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 30 Aug 2023 13:48:44 -0700 Subject: [PATCH 227/410] Docker: split openpilot-base into two stages (#29714) * wip * wip * split base image into ubutuntu and python dependencies * uninstall poetry --- Dockerfile.openpilot_base | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index e21371ca4a..e0581bd46e 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -12,22 +12,28 @@ ENV LANG en_US.UTF-8 ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 +COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ +RUN cd /tmp && \ + tools/install_ubuntu_dependencies.sh && \ + rm -rf /var/lib/apt/lists/* && \ + rm -rf /tmp/* && \ + # remove unused architectures from gcc for panda + cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ + rm -rf arm/ && \ + rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp + ENV POETRY_VIRTUALENVS_CREATE=false ENV PYENV_VERSION=3.11.4 ENV PYENV_ROOT="/root/.pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" COPY pyproject.toml poetry.lock .python-version /tmp/ -COPY tools/ubuntu_setup.sh tools/install_ubuntu_dependencies.sh tools/install_python_dependencies.sh /tmp/tools/ +COPY tools/install_python_dependencies.sh /tmp/tools/ + RUN cd /tmp && \ - tools/ubuntu_setup.sh && \ - rm -rf /var/lib/apt/lists/* && \ + tools/install_python_dependencies.sh && \ rm -rf /tmp/* && \ rm -rf /root/.cache && \ - pip uninstall -y poetry && \ - # remove unused architectures from gcc for panda - cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ - rm -rf arm/ && \ - rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp + pip uninstall -y poetry RUN sudo git config --global --add safe.directory /tmp/openpilot From 1eb60516cbcfa014cfd728123b6b3a5b97fce2df Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Wed, 30 Aug 2023 14:12:52 -0700 Subject: [PATCH 228/410] Move update_calibration to modeld.py (#29688) * Move update_calibration to modeld.py * Updated ref commit --- selfdrive/modeld/modeld.py | 29 +++++------ selfdrive/modeld/models/driving.cc | 52 ------------------- selfdrive/modeld/models/driving.h | 2 - selfdrive/modeld/models/driving.pxd | 1 - selfdrive/modeld/models/driving_pyx.pyx | 9 +--- .../process_replay/model_replay_ref_commit | 2 +- 6 files changed, 16 insertions(+), 79 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 61edcfb006..1f30f52ed0 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -13,9 +13,12 @@ from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process +from openpilot.common.transformations.orientation import rot_from_euler +from openpilot.common.transformations.model import medmodel_frame_from_calib_frame, sbigmodel_frame_from_calib_frame +from openpilot.common.transformations.camera import view_frame_from_device_frame, tici_fcam_intrinsics, tici_ecam_intrinsics from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime from openpilot.selfdrive.modeld.models.driving_pyx import ( - PublishState, create_model_msg, create_pose_msg, update_calibration, + PublishState, create_model_msg, create_pose_msg, FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ) @@ -27,20 +30,16 @@ else: MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}") -# NOTE: numpy matmuls don't seem to perfectly match eigen matmuls so the ref test fails, but we should switch to the np version after checking compare_runtime -# from common.transformations.orientation import rot_from_euler -# from common.transformations.model import medmodel_frame_from_calib_frame, sbigmodel_frame_from_calib_frame -# from common.transformations.camera import view_frame_from_device_frame, tici_fcam_intrinsics, tici_ecam_intrinsics -# calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) -# calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) -# -# def update_calibration(device_from_calib_euler: np.ndarray, wide_camera: bool, bigmodel_frame: bool) -> np.ndarray: -# cam_intrinsics = tici_ecam_intrinsics if wide_camera else tici_fcam_intrinsics -# calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel -# device_from_calib = rot_from_euler(device_from_calib_euler) -# camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib -# warp_matrix: np.ndarray = camera_from_calib @ calib_from_model -# return warp_matrix +calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) +calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) + +def update_calibration(device_from_calib_euler: np.ndarray, wide_camera: bool, bigmodel_frame: bool) -> np.ndarray: + cam_intrinsics = tici_ecam_intrinsics if wide_camera else tici_fcam_intrinsics + calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel + device_from_calib = rot_from_euler(device_from_calib_euler) + camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib + warp_matrix: np.ndarray = camera_from_calib @ calib_from_model + return warp_matrix.astype(np.float32) class FrameMeta: frame_id: int = 0 diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index b4b15c2970..0a7f0c949d 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -1,59 +1,7 @@ #include "selfdrive/modeld/models/driving.h" -#include -#include - -#include #include -#include - -#include "common/clutil.h" -#include "common/params.h" -#include "common/timing.h" -#include "common/swaglog.h" -#include "common/transformations/orientation.hpp" - - -mat3 update_calibration(float *device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { - /* - import numpy as np - from common.transformations.model import medmodel_frame_from_calib_frame - medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] - calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) - */ - static const auto calib_from_medmodel = (Eigen::Matrix() << - 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, - 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, - -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished(); - - static const auto calib_from_sbigmodel = (Eigen::Matrix() << - 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, - 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, - -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); - - static const auto view_from_device = (Eigen::Matrix() << - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0, - 1.0, 0.0, 0.0).finished(); - - Eigen::Vector3d device_from_calib_euler_vec; - for (int i=0; i<3; i++) { - device_from_calib_euler_vec(i) = device_from_calib_euler[i]; - } - - const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v); - Eigen::Matrix device_from_calib = euler2rot(device_from_calib_euler_vec).cast (); - auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel; - auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib; - auto warp_matrix = camera_from_calib * calib_from_model; - - mat3 transform = {}; - for (int i=0; i<3*3; i++) { - transform.v[i] = warp_matrix(i / 3, i % 3); - } - return transform; -} void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputLeads &leads, int t_idx, float prob_t) { std::array lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0}; diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 39083dd6a9..f13cd155f1 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -4,7 +4,6 @@ #include #include "cereal/messaging/messaging.h" -#include "common/mat.h" #include "common/modeldata.h" #include "common/util.h" #include "selfdrive/modeld/models/nav.h" @@ -250,7 +249,6 @@ struct PublishState { std::array prev_brake_3ms2_probs = {}; }; -mat3 update_calibration(float *device_from_calib_euler, bool wide_camera, bool bigmodel_frame); void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid); void fill_pose_msg(MessageBuilder &msg, float *net_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid); diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd index 1b815267db..0de67208e6 100644 --- a/selfdrive/modeld/models/driving.pxd +++ b/selfdrive/modeld/models/driving.pxd @@ -23,6 +23,5 @@ cdef extern from "selfdrive/modeld/models/driving.h": cdef int MODEL_FREQ cdef struct PublishState: pass - mat3 update_calibration(float *, bool, bool) void fill_model_msg(MessageBuilder, float *, PublishState, uint32_t, uint32_t, uint32_t, float, uint64_t, uint64_t, float, bool, bool) void fill_pose_msg(MessageBuilder, float *, uint32_t, uint32_t, uint64_t, bool) diff --git a/selfdrive/modeld/models/driving_pyx.pyx b/selfdrive/modeld/models/driving_pyx.pyx index be96df1658..b98a8f3ff1 100644 --- a/selfdrive/modeld/models/driving_pyx.pyx +++ b/selfdrive/modeld/models/driving_pyx.pyx @@ -13,7 +13,7 @@ from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_ NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \ OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ from .driving cimport MessageBuilder, PublishState as cppPublishState -from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration +from .driving cimport fill_model_msg, fill_pose_msg FEATURE_LEN = CPP_FEATURE_LEN HISTORY_BUFFER_LEN = CPP_HISTORY_BUFFER_LEN @@ -29,13 +29,6 @@ MODEL_FREQ = CPP_MODEL_FREQ cdef class PublishState: cdef cppPublishState state -def update_calibration(float[:] device_from_calib_euler, bool wide_camera, bool bigmodel_frame): - cdef mat3 result = cpp_update_calibration(&device_from_calib_euler[0], wide_camera, bigmodel_frame) - np_result = np.empty(9, dtype=np.float32) - cdef float[:] np_result_view = np_result - memcpy(&np_result_view[0], &result.v[0], 9*sizeof(float)) - return np_result.reshape(3, 3) - def create_model_msg(float[:] model_outputs, PublishState ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, bool nav_enabled, bool valid): cdef MessageBuilder msg diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index e101afb227..e80315133f 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -377ed362faa9410a8b81d50978d74ee60b8e6f6a +4f59f5945633f7a6e54e6f0fcd8ecf0baafa28cd From c830ac0b06b86dd1b0d5b1a4d86e4f3d23166196 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Aug 2023 14:29:27 -0700 Subject: [PATCH 229/410] Hyundai: update default Ioniq 6 torque params (#29715) new ioniq 6 closer to other new can fds --- selfdrive/car/torque_data/override.yaml | 1 + selfdrive/car/torque_data/substitute.yaml | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 3019fc5ddf..d332f7fc3d 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -58,6 +58,7 @@ GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] LEXUS IS 2023: [2.0, 2.0, 0.1] KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] +HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index f02af01609..786fa05aab 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -34,7 +34,6 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 From d9fedaa0a42685868ba262a111d7aec06208764f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Aug 2023 14:49:02 -0700 Subject: [PATCH 230/410] Revert "ui/driverview: inherit from CameraWidget" (#29718) Revert "ui/driverview: inherit from CameraWidget (#29661)" This reverts commit 6c73a924fa7780fc31776060cf63cce3b85981cb. --- selfdrive/ui/qt/offroad/driverview.cc | 51 +++++++++++++++++++----- selfdrive/ui/qt/offroad/driverview.h | 33 ++++++++++++--- selfdrive/ui/translations/main_de.ts | 2 +- selfdrive/ui/translations/main_fr.ts | 2 +- selfdrive/ui/translations/main_ja.ts | 2 +- selfdrive/ui/translations/main_ko.ts | 2 +- selfdrive/ui/translations/main_pt-BR.ts | 2 +- selfdrive/ui/translations/main_th.ts | 2 +- selfdrive/ui/translations/main_tr.ts | 2 +- selfdrive/ui/translations/main_zh-CHS.ts | 2 +- selfdrive/ui/translations/main_zh-CHT.ts | 2 +- 11 files changed, 77 insertions(+), 25 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index f7954c6827..693a0253b4 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -3,33 +3,62 @@ #include #include +#include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { + setAttribute(Qt::WA_OpaquePaintEvent); + layout = new QStackedLayout(this); + layout->setStackingMode(QStackedLayout::StackAll); + + cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); + layout->addWidget(cameraView); + + scene = new DriverViewScene(this); + connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); + layout->addWidget(scene); + layout->setCurrentWidget(scene); + + QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView); +} + +void DriverViewWindow::closeView() { + if (isVisible()) { + cameraView->stopVipcThread(); + emit done(); + } +} + +void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { + closeView(); +} + +DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); - QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::done); - QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); } -void DriverViewWindow::showEvent(QShowEvent* event) { +void DriverViewScene::showEvent(QShowEvent* event) { + frame_updated = false; params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); - CameraWidget::showEvent(event); } -void DriverViewWindow::hideEvent(QHideEvent* event) { +void DriverViewScene::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - stopVipcThread(); } -void DriverViewWindow::paintGL() { - CameraWidget::paintGL(); +void DriverViewScene::frameUpdated() { + frame_updated = true; + update(); +} +void DriverViewScene::paintEvent(QPaintEvent* event) { QPainter p(this); + // startup msg - if (frames.empty()) { + if (!frame_updated) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -41,7 +70,7 @@ void DriverViewWindow::paintGL() { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::DriverData::Reader driver_data; - bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; + is_rhd = driver_state.getWheelOnRightProb() > 0.5; driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 155e4ede32..8bfc7a4b7b 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,21 +1,44 @@ #pragma once +#include + #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewWindow : public CameraWidget { +class DriverViewScene : public QWidget { Q_OBJECT public: - explicit DriverViewWindow(QWidget *parent); + explicit DriverViewScene(QWidget *parent); -signals: - void done(); +public slots: + void frameUpdated(); protected: void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; - void paintGL() override; + void paintEvent(QPaintEvent *event) override; +private: Params params; QPixmap face_img; + bool is_rhd = false; + bool frame_updated = false; +}; + +class DriverViewWindow : public QWidget { + Q_OBJECT + +public: + explicit DriverViewWindow(QWidget *parent); + +signals: + void done(); + +protected: + void mouseReleaseEvent(QMouseEvent* e) override; + void closeView(); + + CameraWidget *cameraView; + DriverViewScene *scene; + QStackedLayout *layout; }; diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 8c9cf7127a..d1820fd423 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting Kamera startet diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index c464df88e1..79c4ae5596 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting démarrage de la caméra diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index e5ab4c25be..16595f8ebf 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting ｶﾒﾗを起動しています diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 6ca34242d7..cbd8e668ac 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting 카메라 시작중 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 7df3a51660..a55d31034e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting câmera iniciando diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index ba10c91585..abc6210956 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting กำลังเปิดกล้อง diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 691de7501a..febded8f59 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting kamera başlatılıyor diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index e0eb9b576e..040dae0b30 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting 正在启动相机 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 978343b1ae..57d9f91fec 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -302,7 +302,7 @@ - DriverViewWindow + DriverViewScene camera starting 開啟相機中 From d138a358ebd0e67302a409a346777fc15aeb5b66 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 30 Aug 2023 15:01:03 -0700 Subject: [PATCH 231/410] scons: fix multithreaded builds (#29716) * common_python export * Single scons call * transformations_python --- SConstruct | 3 --- common/SConscript | 14 ++++++++++++-- common/kalman/SConscript | 4 +++- common/transformations/SConscript | 5 ++--- .../controls/lib/longitudinal_mpc_lib/SConscript | 4 ++-- 5 files changed, 19 insertions(+), 11 deletions(-) diff --git a/SConstruct b/SConstruct index 478bc885a4..f213a5e0bd 100644 --- a/SConstruct +++ b/SConstruct @@ -417,9 +417,6 @@ SConscript([ SConscript(['third_party/SConscript']) -SConscript(['common/kalman/SConscript']) -SConscript(['common/transformations/SConscript']) - SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript']) SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) diff --git a/common/SConscript b/common/SConscript index c703434993..d22aca128b 100644 --- a/common/SConscript +++ b/common/SConscript @@ -32,5 +32,15 @@ if GetOption('extras'): ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) -# Cython -envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) +# Cython bindings +params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) + +SConscript([ + 'kalman/SConscript', + 'transformations/SConscript' +]) + +Import('simple_kalman_python', 'transformations_python') +common_python = [params_python, simple_kalman_python, transformations_python] + +Export('common_python') diff --git a/common/kalman/SConscript b/common/kalman/SConscript index d60354c987..7cba4a9a61 100644 --- a/common/kalman/SConscript +++ b/common/kalman/SConscript @@ -1,3 +1,5 @@ Import('envCython') -envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx') +simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx') + +Export('simple_kalman_python') diff --git a/common/transformations/SConscript b/common/transformations/SConscript index ee9b9a2b73..4ac73a165e 100644 --- a/common/transformations/SConscript +++ b/common/transformations/SConscript @@ -1,6 +1,5 @@ Import('env', 'envCython') transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc']) -Export('transformations') - -envCython.Program('transformations.so', 'transformations.pyx') +transformations_python = envCython.Program('transformations.so', 'transformations.pyx') +Export('transformations', 'transformations_python') diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 5ce47eab1c..79afa1d918 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'messaging_python') +Import('env', 'envCython', 'arch', 'messaging_python', 'common_python') gen = "c_generated_code" @@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, messaging_python) +lenv.Depends(generated_long, [messaging_python, common_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") From 151ac4bf7631a60e05c7490515e58c3309de445b Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Wed, 30 Aug 2023 15:16:29 -0700 Subject: [PATCH 232/410] Combine update_calibration/get_warp_matrix (#29719) --- common/transformations/model.py | 71 ++++++++------------------------- selfdrive/modeld/modeld.py | 19 ++------- 2 files changed, 19 insertions(+), 71 deletions(-) diff --git a/common/transformations/model.py b/common/transformations/model.py index 114f8eae38..7e40767f63 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -1,7 +1,9 @@ import numpy as np -from openpilot.common.transformations.camera import (FULL_FRAME_SIZE, - get_view_frame_from_calib_frame) +from openpilot.common.transformations.orientation import rot_from_euler +from openpilot.common.transformations.camera import ( + FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame, + eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics) # segnet SEGNET_SIZE = (512, 384) @@ -57,61 +59,20 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics, medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) +calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) +calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) -### This function mimics the update_calibration logic in modeld.cc -### Manually verified to give similar results to xx.uncommon.utils.transform_img -def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): - from openpilot.common.transformations.orientation import rot_from_euler - from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics - - if tici and wide_cam: - intrinsics = tici_ecam_intrinsics - elif tici: - intrinsics = tici_fcam_intrinsics - else: - intrinsics = eon_fcam_intrinsics - - if big_model: - sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)] - calib_from_model = np.linalg.inv(sbigmodel_from_calib) - else: - medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)] - calib_from_model = np.linalg.inv(medmodel_from_calib) - device_from_calib = rot_from_euler(rpy_calib) - camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib)) - warp_matrix = camera_from_calib.dot(calib_from_model) - return warp_matrix - - -### This is old, just for debugging -def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True): - from openpilot.common.transformations.orientation import rot_from_euler - from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics - - - def get_view_frame_from_road_frame(roll, pitch, yaw, height): - device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1])) - view_from_road = view_frame_from_device_frame.dot(device_from_road) - return np.hstack((view_from_road, [[0], [height], [0]])) - - if tici and wide_cam: - intrinsics = tici_ecam_intrinsics +# This function is verified to give similar results to xx.uncommon.utils.transform_img +def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray: + if tici and wide_camera: + cam_intrinsics = tici_ecam_intrinsics elif tici: - intrinsics = tici_fcam_intrinsics + cam_intrinsics = tici_fcam_intrinsics else: - intrinsics = eon_fcam_intrinsics + cam_intrinsics = eon_fcam_intrinsics - model_height = 1.22 - if big_model: - model_from_road = np.dot(sbigmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - else: - model_from_road = np.dot(medmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)]) - - E = get_view_frame_from_road_frame(*rpy_calib, 1.22) - camera_frame_from_road_frame = intrinsics.dot(E) - camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)] - warp_matrix = camera_frame_from_ground .dot(ground_from_model) + calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel + device_from_calib = rot_from_euler(device_from_calib_euler) + camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib + warp_matrix: np.ndarray = camera_from_calib @ calib_from_model return warp_matrix diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1f30f52ed0..356ae64866 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -13,9 +13,7 @@ from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process -from openpilot.common.transformations.orientation import rot_from_euler -from openpilot.common.transformations.model import medmodel_frame_from_calib_frame, sbigmodel_frame_from_calib_frame -from openpilot.common.transformations.camera import view_frame_from_device_frame, tici_fcam_intrinsics, tici_ecam_intrinsics +from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime from openpilot.selfdrive.modeld.models.driving_pyx import ( PublishState, create_model_msg, create_pose_msg, @@ -30,17 +28,6 @@ else: MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}") -calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) -calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) - -def update_calibration(device_from_calib_euler: np.ndarray, wide_camera: bool, bigmodel_frame: bool) -> np.ndarray: - cam_intrinsics = tici_ecam_intrinsics if wide_camera else tici_fcam_intrinsics - calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel - device_from_calib = rot_from_euler(device_from_calib_euler) - camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib - warp_matrix: np.ndarray = camera_from_calib @ calib_from_model - return warp_matrix.astype(np.float32) - class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -202,8 +189,8 @@ def main(): frame_id = sm["roadCameraState"].frameId if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) - model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, False) - model_transform_extra = update_calibration(device_from_calib_euler, True, True) + model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) + model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32) live_calib_seen = True traffic_convention = np.zeros(2) From 88a36f44648474c84b4608ed8d4db34bc4e0ee07 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Wed, 30 Aug 2023 15:29:33 -0700 Subject: [PATCH 233/410] Cleaned up modeld SConscript (#29646) --- selfdrive/modeld/SConscript | 72 ++++++++++++++++--------------------- 1 file changed, 31 insertions(+), 41 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 18a90dd092..f76753d6ad 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,17 +1,14 @@ -import os - Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') lenv = env.Clone() lenvCython = envCython.Clone() -libs = [cereal, messaging, common, visionipc, gpucommon, - 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv'] +libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread'] +frameworks = [] common_src = [ "models/commonmodel.cc", - "runners/snpemodel.cc", "transforms/loadyuv.cc", - "transforms/transform.cc" + "transforms/transform.cc", ] thneed_src_common = [ @@ -23,64 +20,57 @@ thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"] thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc -if arch == "larch64": - libs += ['gsl', 'CB', 'pthread', 'dl'] -else: - libs += ['pthread'] - - if not GetOption('snpe'): - # for onnx support - common_src += ['runners/onnxmodel.cc'] +# SNPE except on Mac and ARM Linux +snpe_lib = [] +if arch != "Darwin" and arch != "aarch64": + common_src += ['runners/snpemodel.cc'] + snpe_lib += ['SNPE'] - # tell runners to use onnx - lenv['CFLAGS'].append("-DUSE_ONNX_MODEL") - lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL") - - if arch == "Darwin": - # fix OpenCL - del libs[libs.index('OpenCL')] - lenv['FRAMEWORKS'] = ['OpenCL'] +# OpenCL is a framework on Mac +if arch == "Darwin": + frameworks += ['OpenCL'] +else: + libs += ['OpenCL'] - if arch == "Darwin" or arch == "aarch64": - # no SNPE on Mac and ARM Linux - del libs[libs.index('SNPE')] - del common_src[common_src.index('runners/snpemodel.cc')] +# Use onnx on PC +if arch != "larch64" and not GetOption('snpe'): + common_src += ['runners/onnxmodel.cc'] + lenv['CFLAGS'].append("-DUSE_ONNX_MODEL") + lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL") +# Set path definitions for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items(): for xenv in (lenv, lenvCython): xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') -common_frameworks = [] -common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq'] -if arch == "Darwin": - common_frameworks.append('OpenCL') -else: - common_libs.append('OpenCL') - +# Compile cython +cython_libs = envCython["LIBS"] + libs onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) commonmodel_lib = lenv.Library('commonmodel', common_src) driving_lib = lenv.Library('driving', ['models/driving.cc']) -lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks) -lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks) -lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks) -lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks) -lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, cereal, messaging, *common_libs, 'capnp', 'kj'] + transformations, FRAMEWORKS=common_frameworks) +lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) +lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +# Compile binaries +lenv['FRAMEWORKS'] = frameworks common_model = lenv.Object(common_src) lenv.Program('_dmonitoringmodeld', [ "dmonitoringmodeld.cc", "models/dmonitoring.cc", - ]+common_model, LIBS=libs) + ]+common_model, LIBS=libs + snpe_lib) lenv.Program('_navmodeld', [ "navmodeld.cc", "models/nav.cc", - ]+common_model, LIBS=libs) + ]+common_model, LIBS=libs + snpe_lib) -# build thneed model +# Build thneed model if arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath From f12a1c258448d7c8f6ca847a7725fbe55dd4ee58 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Aug 2023 15:30:37 -0700 Subject: [PATCH 234/410] car intrfaces: no test deadline (#29720) set deadline to None --- selfdrive/car/tests/test_car_interfaces.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 490c849863..0c970f5c75 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -50,7 +50,7 @@ class TestCarInterfaces(unittest.TestCase): # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause # many generated examples to overrun when max_examples > ~20, don't use it @parameterized.expand([(car,) for car in sorted(all_known_cars())]) - @settings(max_examples=MAX_EXAMPLES, deadline=500, + @settings(max_examples=MAX_EXAMPLES, deadline=None, phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_car_interfaces(self, car_name, data): From 6a68944c638029361a7776cff08816919ecac351 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Aug 2023 20:32:00 -0700 Subject: [PATCH 235/410] map renderer: only log map states once fully loaded (#29722) only log once fully loaded --- selfdrive/navd/map_renderer.cc | 14 +++++++++----- selfdrive/navd/map_renderer.h | 1 + 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 44acc67b94..543515c631 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -64,6 +64,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), DEFAULT_ZOOM); m_map->setStyleJson(style.c_str()); m_map->createRenderer(); + ever_loaded = false; m_map->resize(fbo->size()); m_map->setFramebufferObject(fbo->handle(), fbo->size()); @@ -72,11 +73,13 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { // Ignore expected signals // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116 - if (change != QMapboxGL::MapChange::MapChangeRegionWillChange && - change != QMapboxGL::MapChange::MapChangeRegionDidChange && - change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame && - change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { - LOGD("New map state: %d", change); + if (ever_loaded) { + if (change != QMapboxGL::MapChange::MapChangeRegionWillChange && + change != QMapboxGL::MapChange::MapChangeRegionDidChange && + change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame && + change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { + LOGD("New map state: %d", change); + } } }); @@ -188,6 +191,7 @@ void MapRenderer::publish(const double render_time, const bool loaded) { auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman(); bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid(); + ever_loaded = ever_loaded || loaded; uint64_t ts = nanos_since_boot(); VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP); VisionIpcBufExtra extra = { diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 5739ba88f2..dc92c70b0f 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -49,6 +49,7 @@ private: } QTimer* timer; + bool ever_loaded = false; public slots: void updatePosition(QMapbox::Coordinate position, float bearing); From 08903fb4e02b780fefe7b30cf7b87562f492141a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 31 Aug 2023 11:44:48 +0100 Subject: [PATCH 236/410] MapPanel: provide QObject::connect context (#29731) --- selfdrive/ui/qt/maps/map_panel.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc index f1b8f812fa..0a2286ff6f 100644 --- a/selfdrive/ui/qt/maps/map_panel.cc +++ b/selfdrive/ui/qt/maps/map_panel.cc @@ -14,21 +14,21 @@ MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : Q auto map = new MapWindow(mapboxSettings); QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition); - QObject::connect(device(), &Device::interactiveTimeout, [=]() { + QObject::connect(device(), &Device::interactiveTimeout, this, [=]() { content_stack->setCurrentIndex(0); }); - QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) { + QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) { // when we show the map for a new route, signal HomeWindow to hide the sidebar if (visible) { emit mapPanelRequested(); } setVisible(visible); }); - QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) { + QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) { content_stack->setCurrentIndex(settings ? 1 : 0); }); content_stack->addWidget(map); auto settings = new MapSettings(true, parent); - QObject::connect(settings, &MapSettings::closeSettings, [=]() { + QObject::connect(settings, &MapSettings::closeSettings, this, [=]() { content_stack->setCurrentIndex(0); }); content_stack->addWidget(settings); From e7789173d61a89b001dc2d9470bc582e0fcda71d Mon Sep 17 00:00:00 2001 From: fleetingbytes <7075397+fleetingbytes@users.noreply.github.com> Date: Thu, 31 Aug 2023 14:01:37 +0200 Subject: [PATCH 237/410] Add skoda octavia 2016 fingerprint (#29729) Co-authored-by: Cameron Clough --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b5c42519e8..7b29339fb2 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -186,7 +186,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Škoda|Kamiq 2021[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015, 2018-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 36cb5ef534..ebb873c8be 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -265,7 +265,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ - VWCarInfo("Škoda Octavia 2015, 2018-19"), + VWCarInfo("Škoda Octavia 2015-19"), VWCarInfo("Škoda Octavia RS 2016"), ], } @@ -1254,6 +1254,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027HD\xf1\x893742', b'\xf1\x8704E906027MH\xf1\x894786', b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BS\xf1\x891541', b'\xf1\x875G0906259C \xf1\x890002', ], @@ -1263,11 +1264,13 @@ FW_VERSIONS = { b'\xf1\x870CW300043B \xf1\x891601', b'\xf1\x870CW300043P \xf1\x891605', b'\xf1\x870D9300041C \xf1\x894936', + b'\xf1\x870D9300041H \xf1\x895220', b'\xf1\x870D9300041J \xf1\x894902', b'\xf1\x870D9300041P \xf1\x894507', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100', @@ -1279,13 +1282,15 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', - b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], From aebff37593101fbe207f327c3a713f026b449f35 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 11:33:42 -0700 Subject: [PATCH 238/410] Set RPATH for snpemodel --- selfdrive/modeld/SConscript | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index f76753d6ad..03836b6593 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -44,6 +44,10 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') # Compile cython +snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64" +snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang" +snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc] + cython_libs = envCython["LIBS"] + libs onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) @@ -52,7 +56,7 @@ driving_lib = lenv.Library('driving', ['models/driving.cc']) lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) From 18526c58b65959ebcaea9a07e84a55315d10508e Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 13:11:39 -0700 Subject: [PATCH 239/410] Set ADSP_LIBRARY_PATH in snpemodel_pyx --- selfdrive/modeld/runners/snpemodel_pyx.pyx | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx index a454aa7b92..c3b2b7e9bd 100644 --- a/selfdrive/modeld/runners/snpemodel_pyx.pyx +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -1,6 +1,7 @@ # distutils: language = c++ # cython: c_string_encoding=ascii +import os from libcpp cimport bool from libcpp.string cimport string @@ -9,6 +10,8 @@ from selfdrive.modeld.models.commonmodel_pyx cimport CLContext from selfdrive.modeld.runners.runmodel_pyx cimport RunModel from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel +os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + cdef class SNPEModel(RunModel): def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) From d344ed9be9a263fc69c066692e111ae7ed871d8d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 13:38:30 -0700 Subject: [PATCH 240/410] add metadrive sim package (#29736) --- poetry.lock | 712 ++++++++++++++++++++++++++++++++++++++++++++++--- pyproject.toml | 1 + 2 files changed, 672 insertions(+), 41 deletions(-) diff --git a/poetry.lock b/poetry.lock index 3f3a33901f..f793252462 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -657,6 +657,51 @@ files = [ [package.dependencies] colorama = {version = "*", markers = "platform_system == \"Windows\""} +[[package]] +name = "click-plugins" +version = "1.1.1" +description = "An extension module for click to enable registering CLI commands via setuptools entry-points." +optional = false +python-versions = "*" +files = [ + {file = "click-plugins-1.1.1.tar.gz", hash = "sha256:46ab999744a9d831159c3411bb0c79346d94a444df9a3a3742e9ed63645f264b"}, + {file = "click_plugins-1.1.1-py2.py3-none-any.whl", hash = "sha256:5d262006d3222f5057fd81e1623d4443e41dcda5dc815c06b442aa3c02889fc8"}, +] + +[package.dependencies] +click = ">=4.0" + +[package.extras] +dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"] + +[[package]] +name = "cligj" +version = "0.7.2" +description = "Click params for commmand line interfaces to GeoJSON" +optional = false +python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4" +files = [ + {file = "cligj-0.7.2-py3-none-any.whl", hash = "sha256:c1ca117dbce1fe20a5809dc96f01e1c2840f6dcc939b3ddbb1111bf330ba82df"}, + {file = "cligj-0.7.2.tar.gz", hash = "sha256:a4bc13d623356b373c2c27c53dbd9c68cae5d526270bfa71f6c6fa69669c6b27"}, +] + +[package.dependencies] +click = ">=4.0" + +[package.extras] +test = ["pytest-cov"] + +[[package]] +name = "cloudpickle" +version = "2.2.1" +description = "Extended pickling support for Python objects" +optional = false +python-versions = ">=3.6" +files = [ + {file = "cloudpickle-2.2.1-py3-none-any.whl", hash = "sha256:61f594d1f4c295fa5cd9014ceb3a1fc4a70b0de1164b94fbc2d854ccba056f9f"}, + {file = "cloudpickle-2.2.1.tar.gz", hash = "sha256:d89684b8de9e34a2a43b3460fbca07d09d6e25ce858df4d5a44240403b6178f5"}, +] + [[package]] name = "colorama" version = "0.4.6" @@ -1033,6 +1078,17 @@ files = [ [package.extras] testing = ["hatch", "pre-commit", "pytest", "tox"] +[[package]] +name = "farama-notifications" +version = "0.0.4" +description = "Notifications for all 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a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,5 +1,8 @@ #!/usr/bin/env python3 import unittest +import itertools +from parameterized import parameterized_class + from openpilot.common.params import Params from cereal import log @@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): return output[-1,2] - output[-1,1] +@parameterized_class(("e2e", "personality", "speed"), itertools.product( + [True, False], # e2e + [log.LongitudinalPersonality.relaxed, # personality + log.LongitudinalPersonality.standard, + log.LongitudinalPersonality.aggressive], + [0,10,35])) # speed class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): params = Params() - personalities = [log.LongitudinalPersonality.relaxed, - log.LongitudinalPersonality.standard, - log.LongitudinalPersonality.aggressive] - for personality in personalities: - params.put("LongitudinalPersonality", str(personality)) - for e2e in [False, True]: - for speed in [0,10,35]: - print(f'Testing {speed} m/s') - v_lead = float(speed) - simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e) - correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality)) - err_ratio = 0.2 if e2e else 0.1 - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) + params.put("LongitudinalPersonality", str(self.personality)) + v_lead = float(self.speed) + simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e) + correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) + err_ratio = 0.2 if self.e2e else 0.1 + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) if __name__ == "__main__": From 857f747467f3dd1eb92cc39dafc2da4ea0a708c5 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 13:46:14 -0700 Subject: [PATCH 242/410] Remove unnecessary hardware check in modeld --- selfdrive/modeld/modeld.py | 5 ++--- selfdrive/modeld/models/driving.pxd | 2 -- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 356ae64866..6044932cc8 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -8,7 +8,7 @@ from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.hardware import PC, TICI +from openpilot.system.hardware import TICI from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter @@ -94,8 +94,7 @@ class ModelState: def main(): cloudlog.bind(daemon="selfdrive.modeld.modeld") setproctitle("selfdrive.modeld.modeld") - if not PC: - config_realtime_process(7, 54) + config_realtime_process(7, 54) cl_context = CLContext() model = ModelState(cl_context) diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd index 0de67208e6..8d6b8d755e 100644 --- a/selfdrive/modeld/models/driving.pxd +++ b/selfdrive/modeld/models/driving.pxd @@ -3,8 +3,6 @@ from libcpp cimport bool from libc.stdint cimport uint32_t, uint64_t -from .commonmodel cimport mat3 - cdef extern from "cereal/messaging/messaging.h": cdef cppclass MessageBuilder: size_t getSerializedSize() From f91e955a86baaa6ff6ef686bb821177a668034e1 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 13:51:15 -0700 Subject: [PATCH 243/410] Move Runtime into runmodel_pyx --- selfdrive/modeld/modeld.py | 3 ++- selfdrive/modeld/models/commonmodel.pxd | 5 ----- selfdrive/modeld/models/commonmodel_pyx.pyx | 6 ------ selfdrive/modeld/runners/runmodel.pxd | 4 ++++ selfdrive/modeld/runners/runmodel_pyx.pyx | 6 ++++++ 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 6044932cc8..2920a2693c 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -14,7 +14,8 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix -from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime +from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime +from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext from openpilot.selfdrive.modeld.models.driving_pyx import ( PublishState, create_model_msg, create_pose_msg, FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index d313dbef90..9f3f9bf27b 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -16,8 +16,3 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h": int buf_size ModelFrame(cl_device_id, cl_context) float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) - -cdef extern from "selfdrive/modeld/runners/runmodel.h": - cdef int USE_CPU_RUNTIME - cdef int USE_GPU_RUNTIME - cdef int USE_DSP_RUNTIME diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index c5576a5acb..88b0d16c99 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -8,14 +8,8 @@ from libc.string cimport memcpy from cereal.visionipc.visionipc cimport cl_mem from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME from .commonmodel cimport mat3, ModelFrame as cppModelFrame -class Runtime: - CPU = USE_CPU_RUNTIME - GPU = USE_GPU_RUNTIME - DSP = USE_DSP_RUNTIME - cdef class CLContext(BaseCLContext): def __cinit__(self): self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd index f12f3e7ab9..01b2a9cf2c 100644 --- a/selfdrive/modeld/runners/runmodel.pxd +++ b/selfdrive/modeld/runners/runmodel.pxd @@ -3,6 +3,10 @@ from libcpp.string cimport string cdef extern from "selfdrive/modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME + cdef cppclass RunModel: void addInput(string, float*, int) void setInputBuffer(string, float*, int) diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx index a35f0fa280..cdc62a79be 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.pyx +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -4,8 +4,14 @@ from libcpp.string cimport string from libc.string cimport memcpy +from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME from selfdrive.modeld.models.commonmodel_pyx cimport CLMem +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + cdef class RunModel: def __dealloc__(self): del self.model From 405d09714c15956a6d220ff963d07b89c8e790ca Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 14:00:31 -0700 Subject: [PATCH 244/410] Tests: expand temporary directory helpers for more directories (#29735) * create helpers for testing * document it * fix other tests --- selfdrive/test/helpers.py | 42 +++++++++++++++++++++++++++------ tools/lib/tests/test_caching.py | 4 ++-- 2 files changed, 37 insertions(+), 9 deletions(-) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 3f4e4e1661..e376a86706 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,6 +1,7 @@ import os import time import tempfile +from typing import List, Union from unittest import mock from functools import wraps @@ -72,17 +73,44 @@ def with_processes(processes, init_time=0, ignore_stopped=None): return wrapper -def temporary_mock_dir(mock_path): +def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory): + """ + mock_paths_in: string or string list representing the full path of the variable you want to mock. + kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory. + generator: a context to use to generate the temporary directory + """ def wrapper(func): @wraps(func) def wrap(*args, **kwargs): - with tempfile.TemporaryDirectory() as temp_dir: - cache_dir_patch = mock.patch(mock_path, temp_dir) - cache_dir_patch.start() - func(*args, **kwargs, temp_dir=temp_dir) - cache_dir_patch.stop() + mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in] + with generator() as temp_dir: + mocks = [] + for mock_path in mock_paths: + mocks.append(mock.patch(mock_path, str(temp_dir))) + [mock.start() for mock in mocks] + try: + if kwarg is not None: + kwargs[kwarg] = temp_dir + func(*args, **kwargs) + finally: + [mock.stop() for mock in mocks] + return wrap return wrapper +def string_context(context): + class StringContext: + def __enter__(self): + return context + + def __exit__(self, *args): + pass + + return StringContext + +temporary_dir = temporary_mock_dir([], "temp_dir") temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR") -temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR") \ No newline at end of file +temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir") +temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER") +temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"], + generator=string_context("/tmp/test_swaglog_ipc")) \ No newline at end of file diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index bd93cd93ec..7702b52e3e 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -32,7 +32,7 @@ class TestFileDownload(unittest.TestCase): self.assertEqual(response_cached, response_downloaded) @temporary_cache_dir - def test_small_file(self, temp_dir): + def test_small_file(self): # Make sure we don't force cache os.environ["FILEREADER_CACHE"] = "0" small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md" @@ -53,7 +53,7 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(small_file_url, 100 * i, 100) @temporary_cache_dir - def test_large_file(self, temp_dir): + def test_large_file(self): large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" # Load the end 100 bytes of both files file_large = URLFile(large_file_url) From 18fbc1c29a0a8f42b73ecf9fa0b091ff2a9b3ebf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 14:09:52 -0700 Subject: [PATCH 245/410] Update test_camerad.py --- system/camerad/test/test_camerad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 6669df301c..b2aca850d1 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -11,8 +11,8 @@ from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import TICI TEST_TIMESPAN = 30 -LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts - log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame +LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts + log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, log.FrameData.ImageSensor.ox03c10: 1.0} From 2dd7a6fc64d9ac49161e2ccc489b8db28ca73001 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 31 Aug 2023 14:11:51 -0700 Subject: [PATCH 246/410] timezoned: set headers (#29725) * timezoned: set headers * Update system/timezoned.py * this is useful * newline --- system/timezoned.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/system/timezoned.py b/system/timezoned.py index 37e813c561..91424d33b5 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -11,6 +11,9 @@ from timezonefinder import TimezoneFinder from openpilot.common.params import Params from openpilot.system.hardware import AGNOS from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_version + +REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} def set_timezone(valid_timezones, timezone): @@ -18,7 +21,7 @@ def set_timezone(valid_timezones, timezone): cloudlog.error(f"Timezone not supported {timezone}") return - cloudlog.debug(f"Setting timezone to {timezone}") + cloudlog.info(f"Setting timezone to {timezone}") try: if AGNOS: tzpath = os.path.join("/usr/share/zoneinfo/", timezone) @@ -58,7 +61,7 @@ def main() -> NoReturn: if location is None: cloudlog.debug("Setting timezone based on IP lookup") try: - r = requests.get("https://ipapi.co/timezone", timeout=10) + r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) if r.status_code == 200: set_timezone(valid_timezones, r.text) else: From d5a55136a14537ec2b7b280aad4efdb61f38238c Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Thu, 31 Aug 2023 14:19:20 -0700 Subject: [PATCH 247/410] Added ModelRunner helpers in modeld/runners/__init__.py (#29737) * Added ModelRunner helper class * import Runtime in __init__.py --- selfdrive/modeld/modeld.py | 16 +++++----------- selfdrive/modeld/runners/__init__.py | 27 +++++++++++++++++++++++++++ 2 files changed, 32 insertions(+), 11 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 2920a2693c..ece706cfd9 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import os import sys import time import numpy as np @@ -8,26 +7,21 @@ from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.hardware import TICI from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix -from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext from openpilot.selfdrive.modeld.models.driving_pyx import ( PublishState, create_model_msg, create_pose_msg, FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ) -USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) -if USE_THNEED: - from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner -else: - from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner - -MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}") +MODEL_PATHS = { + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', + ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} class FrameMeta: frame_id: int = 0 @@ -59,7 +53,7 @@ class ModelState: 'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32), } - self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context) + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) self.model.addInput("input_imgs", None) self.model.addInput("big_input_imgs", None) for k,v in self.inputs.items(): diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py index e69de29bb2..9193d63e2b 100644 --- a/selfdrive/modeld/runners/__init__.py +++ b/selfdrive/modeld/runners/__init__.py @@ -0,0 +1,27 @@ +import os +from openpilot.system.hardware import TICI +from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime +assert Runtime + +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) +USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI)))) + +class ModelRunner(RunModel): + THNEED = 'THNEED' + SNPE = 'SNPE' + ONNX = 'ONNX' + + def __new__(cls, paths, *args, **kwargs): + if ModelRunner.THNEED in paths and USE_THNEED: + from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner + runner_type = ModelRunner.THNEED + elif ModelRunner.SNPE in paths and USE_SNPE: + from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner + runner_type = ModelRunner.SNPE + elif ModelRunner.ONNX in paths: + from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner + runner_type = ModelRunner.ONNX + else: + raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") + + return Runner(str(paths[runner_type]), *args, **kwargs) From afd35bf7ecf68c2220390f1bb4cbbfbcd81eb00a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 14:27:59 -0700 Subject: [PATCH 248/410] CI: weekly poetry lock (#29738) * CI: weekly poetry lock * add that back * title * cleanup --- .../{repo.yml => repo-maintenance.yaml} | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) rename .github/workflows/{repo.yml => repo-maintenance.yaml} (65%) diff --git a/.github/workflows/repo.yml b/.github/workflows/repo-maintenance.yaml similarity index 65% rename from .github/workflows/repo.yml rename to .github/workflows/repo-maintenance.yaml index 1445aa635d..060b7f3e6c 100644 --- a/.github/workflows/repo.yml +++ b/.github/workflows/repo-maintenance.yaml @@ -1,4 +1,4 @@ -name: repo +name: repo maintenance on: schedule: @@ -6,13 +6,17 @@ on: workflow_dispatch: jobs: - pre-commit-autoupdate: - name: pre-commit autoupdate + updates: + name: updates runs-on: ubuntu-20.04 container: image: ghcr.io/commaai/openpilot-base:latest steps: - uses: actions/checkout@v3 + - name: poetry lock + run: | + pip install poetry + poetry lock - name: pre-commit autoupdate run: | git config --global --add safe.directory '*' @@ -21,8 +25,8 @@ jobs: uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 with: token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update pre-commit hook versions - title: 'pre-commit: autoupdate hooks' - branch: pre-commit-updates + commit-message: Update Python packages and pre-commit hooks + title: 'Update Python packages and pre-commit hooks' + branch: auto-package-updates base: master delete-branch: true From 9719b227611c880c76a60df223ef6c2f14f1a6ab Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 15:00:13 -0700 Subject: [PATCH 249/410] Update Python packages and pre-commit hooks (#29739) * Update Python packages and pre-commit hooks * fix linter --------- Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 970 +++++++++--------- selfdrive/car/__init__.py | 2 +- .../lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 4 files changed, 516 insertions(+), 460 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d4259dec17..2cda93701f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -35,7 +35,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.285 + rev: v0.0.286 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/poetry.lock b/poetry.lock index f793252462..a5f0841ba1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -400,7 +400,9 @@ version = "0.9.14" description = "Python API for communicating with the CARLA server." optional = false python-versions = "*" -files = [] +files = [ + {file = "carla-0.9.14-cp311-cp311-linux_x86_64.whl", hash = "sha256:f0a8ce0c760d1fef3577e2ef90e9d468e3d85e65bd6d68b44bce51f0d5a0723a"}, +] [package.source] type = "url" @@ -645,13 +647,13 @@ files = [ [[package]] name = "click" -version = "8.1.6" +version = "8.1.7" description = "Composable command line interface toolkit" optional = false python-versions = ">=3.7" files = [ - {file = "click-8.1.6-py3-none-any.whl", hash = "sha256:fa244bb30b3b5ee2cae3da8f55c9e5e0c0e86093306301fb418eb9dc40fbded5"}, - {file = "click-8.1.6.tar.gz", hash = "sha256:48ee849951919527a045bfe3bf7baa8a959c423134e1a5b98c05c20ba75a1cbd"}, + {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"}, + {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"}, ] [package.dependencies] @@ -941,69 +943,69 @@ files = [ [[package]] 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"virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"}, ] [package.dependencies] @@ -4839,22 +4895,22 @@ filelock = ">=3.12.2,<4" platformdirs = ">=3.9.1,<4" [package.extras] -docs = ["furo (>=2023.5.20)", "proselint (>=0.13)", "sphinx (>=7.0.1)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"] +docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"] test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"] [[package]] name = "websocket-client" -version = "1.6.1" +version = "1.6.2" description = "WebSocket client for Python with low level API options" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "websocket-client-1.6.1.tar.gz", hash = "sha256:c951af98631d24f8df89ab1019fc365f2227c0892f12fd150e935607c79dd0dd"}, - {file = "websocket_client-1.6.1-py3-none-any.whl", hash = "sha256:f1f9f2ad5291f0225a49efad77abf9e700b6fef553900623060dad6e26503b9d"}, + {file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"}, + {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"}, ] [package.extras] -docs = ["Sphinx (>=3.4)", "sphinx-rtd-theme (>=0.5)"] +docs = ["Sphinx (>=6.0)", "sphinx-rtd-theme (>=1.1.0)"] optional = ["python-socks", "wsaccel"] test = ["websockets"] diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 89828a5cf5..c90ae50ab9 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -40,7 +40,7 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, ca def gen_empty_fingerprint(): - return {i: {} for i in range(0, 8)} + return {i: {} for i in range(8)} # these params were derived for the Civic and used to calculate params for other cars diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index eaa782efee..a23ba1eaf6 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -290,7 +290,7 @@ class LongitudinalMpc: self.x0[1] = v self.x0[2] = a if abs(v_prev - v) > 2.: # probably only helps if v < v_prev - for i in range(0, N+1): + for i in range(N+1): self.solver.set(i, 'x', self.x0) @staticmethod From b0144b129d1ad122eeb8d34d5d011c1382b7f4fc Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 16:47:19 -0700 Subject: [PATCH 250/410] bump panda (#29743) bump it up don't you know --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index bc2f10da57..ef1a9338a1 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit bc2f10da579a95ee3a0c54cfab883ce872eb9a32 +Subproject commit ef1a9338a17f63ad1c666364c695e2b36a47350e From 4c039ab02230c7fcf2439b56fe04ad79df911ad4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 17:17:07 -0700 Subject: [PATCH 251/410] Tests: disable laika tests in CI (#29742) skip laika --- selfdrive/car/tests/test_models.py | 3 +-- selfdrive/locationd/test/test_laikad.py | 3 +++ selfdrive/test/helpers.py | 1 + 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 57b7037530..d2198dc27b 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,6 +21,7 @@ from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py +from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR PandaType = log.PandaState.PandaType @@ -62,8 +63,6 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: return test_cases -SKIP_ENV_VAR = "SKIP_LONG_TESTS" - class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index a8d69502cf..2c4a8a406d 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import os import time import unittest from cereal import log @@ -18,6 +19,7 @@ from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" @@ -92,6 +94,7 @@ def get_measurement_mock(gpstime, sat_ephemeris): return meas +@unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Laika test skipped since it's long and not currently used. Unset {SKIP_ENV_VAR} to run") class TestLaikad(unittest.TestCase): @classmethod diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index e376a86706..1fbf2c4d20 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -12,6 +12,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version +SKIP_ENV_VAR = "SKIP_LONG_TESTS" def set_params_enabled(): os.environ['PASSIVE'] = "0" From 75081b2e54134527735b1b5a7b000f452d180093 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 18:34:20 -0700 Subject: [PATCH 252/410] don't rerun those here --- .github/workflows/selfdrive_tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 5c5f8d78d7..08fcda1585 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,6 @@ jobs: run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $UNIT_TEST common && \ - $UNIT_TEST opendbc/can && \ $UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/monitoring && \ From 05993f50dfe27ce583919c6df68fc67c17f5342e Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 19:40:53 -0700 Subject: [PATCH 253/410] Added cython bindings for commonmodel sigmoid --- selfdrive/modeld/models/commonmodel.pxd | 2 ++ selfdrive/modeld/models/commonmodel_pyx.pyx | 5 ++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index 9f3f9bf27b..57b79aeafb 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -12,6 +12,8 @@ cdef extern from "common/clutil.h": cl_context cl_create_context(cl_device_id) cdef extern from "selfdrive/modeld/models/commonmodel.h": + float sigmoid(float) + cppclass ModelFrame: int buf_size ModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index 88b0d16c99..e33d301aff 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -8,7 +8,10 @@ from libc.string cimport memcpy from cereal.visionipc.visionipc cimport cl_mem from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport mat3, ModelFrame as cppModelFrame +from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame + +def sigmoid(x): + return cppSigmoid(x) cdef class CLContext(BaseCLContext): def __cinit__(self): From 92a4c2f7417a7f2f3808ec39a88d7c4a3acaf769 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 31 Aug 2023 20:07:56 -0700 Subject: [PATCH 254/410] body: make mic optional (#29746) Only request for media that is available --- tools/bodyteleop/static/js/webrtc.js | 60 ++++++++++++++++------------ 1 file changed, 35 insertions(+), 25 deletions(-) diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js index 8bc8e77317..7668c1c1e4 100644 --- a/tools/bodyteleop/static/js/webrtc.js +++ b/tools/bodyteleop/static/js/webrtc.js @@ -108,37 +108,47 @@ export function createDummyVideoTrack() { export function start(pc, dc) { pc = createPeerConnection(pc); - if (constraints.audio || constraints.video) { - // add audio track - navigator.mediaDevices.getUserMedia(constraints).then(function(stream) { - stream.getTracks().forEach(function(track) { - pc.addTrack(track, stream); - // only audio? - // if (track.kind === 'audio'){ - // pc.addTrack(track, stream); - // } - }); - return negotiate(pc); - }, function(err) { - alert('Could not acquire media: ' + err); - }); - - // add a fake video? - // const dummyVideoTrack = createDummyVideoTrack(); - // const dummyMediaStream = new MediaStream(); - // dummyMediaStream.addTrack(dummyVideoTrack); - // pc.addTrack(dummyVideoTrack, dummyMediaStream); - - } else { - negotiate(pc); - } + // add audio track + navigator.mediaDevices.enumerateDevices() + .then(function(devices) { + const hasAudioInput = devices.find((device) => { device.kind === "audioinput" }); + var modifiedConstraints = {}; + modifiedConstraints.video = constraints.video; + modifiedConstraints.audio = hasAudioInput ? constraints.audio : false; + + return Promise.resolve(modifiedConstraints); + }) + .then(function(constraints) { + if (constraints.audio || constraints.video) { + return navigator.mediaDevices.getUserMedia(constraints); + } else{ + return Promise.resolve(null); + } + }) + .then(function(stream) { + if (stream) { + stream.getTracks().forEach(function(track) { + pc.addTrack(track, stream); + }); + } + + return negotiate(pc); + }) + .catch(function(err) { + alert('Could not acquire media: ' + err); + }); + + // add a fake video? + // const dummyVideoTrack = createDummyVideoTrack(); + // const dummyMediaStream = new MediaStream(); + // dummyMediaStream.addTrack(dummyVideoTrack); + // pc.addTrack(dummyVideoTrack, dummyMediaStream); // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000) // var video = document.querySelector('video'); // var print = function (e, f){console.log(e, f); video.requestVideoFrameCallback(print);}; // video.requestVideoFrameCallback(print); - var parameters = {"ordered": true}; dc = pc.createDataChannel('data', parameters); dc.onclose = function() { From a18e97e954f4cafec46f186df635a91576479cc1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 31 Aug 2023 21:50:45 -0700 Subject: [PATCH 255/410] Toyota: fix missing message check with radar disabled (#29747) * add test route for radar-disabled toyota chr hybrid tss 2 * fix bug --- selfdrive/car/tests/routes.py | 1 + selfdrive/car/toyota/carstate.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index b5fe615200..aaf5b48915 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -206,6 +206,7 @@ routes = [ CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), + # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2), # openpilot longitudinal, radar disabled CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index c96df6f10f..076668fffb 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -210,7 +210,7 @@ class CarState(CarStateBase): ("PCS_HUD", 1), ] - if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu: + if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: messages += [ ("PRE_COLLISION", 33), ] From 0bda43d71c46b02b8d9d2043243388f8a2839497 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 1 Sep 2023 11:51:59 -0700 Subject: [PATCH 256/410] encoderd: fix crash when filename is null (#29748) Use publish_name for thread name and debugging messages --- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 6 +++--- system/loggerd/loggerd.cc | 1 + 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index dc20ea8791..f44f2fbed7 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -135,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { } if (env_debug_encoder) { - printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id); + printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id); } publisher_publish(this, segment_num, counter, *extra, diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 6e5cefa87d..571f5979e2 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -75,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) } void V4LEncoder::dequeue_handler(V4LEncoder *e) { - std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename); + std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name); util::set_thread_name(dequeue_thread_name.c_str()); e->segment_num++; @@ -105,7 +105,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { } if (env_debug_encoder >= 2) { - printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot()); + printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot()); } int frame_id = -1; @@ -133,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { if (env_debug_encoder) { printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n", - e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); + e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); } // requeue the buffer diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 053bc6b1eb..84d5632d5a 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -116,6 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } // if we aren't actually recording, don't create the writer if (encoder_info.record) { + assert(encoder_info.filename != NULL); re.writer.reset(new VideoWriter(s->segment_path, encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); From f60ef530ca6571204ad4ac7e29af562cb0911c32 Mon Sep 17 00:00:00 2001 From: haram-KONA <88036668+haram-KONA@users.noreply.github.com> Date: Sat, 2 Sep 2023 03:57:02 +0900 Subject: [PATCH 257/410] CAR docs: add video for Hyundai Kona Electric 2023 (KOR) HDA2 (#29749) * CAR docs: add video for Hyundai Kona Electric 2023 (KOR) HDA2 CAR docs: add video for Hyundai Kona Electric 2023 (KOR) HDA2 update values.py * Update CARS.md * Update values.py * Update values.py --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 7b29339fb2..a23732fa21 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 524cdee159..0a636beb23 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -176,7 +176,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages - CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])), + CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), From a774809fdb8adbf71546ff7a16206e7bb316691c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Sep 2023 16:02:57 -0700 Subject: [PATCH 258/410] Sim: fix openpilot directory (#29754) fix simulator --- tools/sim/start_openpilot_docker.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index dba89b8b70..54f4995e45 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -3,7 +3,7 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR -OPENPILOT_DIR="/openpilot" +OPENPILOT_DIR="/tmp/openpilot" if ! [[ -z "$MOUNT_OPENPILOT" ]]; then OPENPILOT_DIR="$(dirname $(dirname $DIR))" EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH" From 9bef110ca762a8be0dfcff4735f23502dd59dad4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 1 Sep 2023 17:06:31 -0700 Subject: [PATCH 259/410] comma three -> comma device --- docs/CARS.md | 2 +- selfdrive/car/CARS_template.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a23732fa21..1ecb7d5a48 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,7 +2,7 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. +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. # 260 Supported Cars diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index ef64f6aa1e..9d045e7627 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -10,7 +10,7 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. +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. # {{all_car_info | length}} Supported Cars From e51f50b0348ebea6f9496c0817e491c5dd63b9c7 Mon Sep 17 00:00:00 2001 From: Arun Kapil <1875270+arunkapil@users.noreply.github.com> Date: Sat, 2 Sep 2023 00:06:45 -0400 Subject: [PATCH 260/410] HKG: Add fingerprint for US Kia Sorento Hybrid 2023 (#29757) Added fwdCamera ECU fingerprint for US model of 2023 Kia Sorento HEV 4th Gen --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0a636beb23..cabdac4cf3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1930,6 +1930,7 @@ FW_VERSIONS = { CAR.KIA_SORENTO_HEV_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', From de97d32fe0a019186eee03d4bf39d85a2d62dfd8 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 2 Sep 2023 16:58:34 -0700 Subject: [PATCH 261/410] gnss raw measurements through nmea port (#29745) * gnss measurements through nmea port * document values * flags always zero * fix linter errors * fix linter errors --- system/sensord/rawgps/nmeaport.py | 169 ++++++++++++++++++++++++++++++ 1 file changed, 169 insertions(+) create mode 100644 system/sensord/rawgps/nmeaport.py diff --git a/system/sensord/rawgps/nmeaport.py b/system/sensord/rawgps/nmeaport.py new file mode 100644 index 0000000000..01b9b179b9 --- /dev/null +++ b/system/sensord/rawgps/nmeaport.py @@ -0,0 +1,169 @@ +import os +import sys +from dataclasses import dataclass, fields +from subprocess import check_output, CalledProcessError +from time import sleep +from typing import NoReturn + +DEBUG = int(os.environ.get("DEBUG", "0")) + +@dataclass +class GnssClockNmeaPort: + # flags bit mask: + # 0x01 = leap_seconds valid + # 0x02 = time_uncertainty_ns valid + # 0x04 = full_bias_ns valid + # 0x08 = bias_ns valid + # 0x10 = bias_uncertainty_ns valid + # 0x20 = drift_nsps valid + # 0x40 = drift_uncertainty_nsps valid + flags: int + leap_seconds: int + time_ns: int + time_uncertainty_ns: int # 1-sigma + full_bias_ns: int + bias_ns: float + bias_uncertainty_ns: float # 1-sigma + drift_nsps: float + drift_uncertainty_nsps: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +@dataclass +class GnssMeasNmeaPort: + messageCount: int + messageNum: int + svCount: int + # constellation enum: + # 1 = GPS + # 2 = SBAS + # 3 = GLONASS + # 4 = QZSS + # 5 = BEIDOU + # 6 = GALILEO + constellation: int + svId: int + flags: int # always zero + time_offset_ns: int + # state bit mask: + # 0x0001 = CODE LOCK + # 0x0002 = BIT SYNC + # 0x0004 = SUBFRAME SYNC + # 0x0008 = TIME OF WEEK DECODED + # 0x0010 = MSEC AMBIGUOUS + # 0x0020 = SYMBOL SYNC + # 0x0040 = GLONASS STRING SYNC + # 0x0080 = GLONASS TIME OF DAY DECODED + # 0x0100 = BEIDOU D2 BIT SYNC + # 0x0200 = BEIDOU D2 SUBFRAME SYNC + # 0x0400 = GALILEO E1BC CODE LOCK + # 0x0800 = GALILEO E1C 2ND CODE LOCK + # 0x1000 = GALILEO E1B PAGE SYNC + # 0x2000 = GALILEO E1B PAGE SYNC + state: int + time_of_week_ns: int + time_of_week_uncertainty_ns: int # 1-sigma + carrier_to_noise_ratio: float + pseudorange_rate: float + pseudorange_rate_uncertainty: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +def nmea_checksum_ok(s): + checksum = 0 + for i, c in enumerate(s[1:]): + if c == "*": + if i != len(s) - 4: # should be 3rd to last character + print("ERROR: NMEA string does not have checksum delimiter in correct location:", s) + return False + break + checksum ^= ord(c) + else: + print("ERROR: NMEA string does not have checksum delimiter:", s) + return False + + return True + +def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: + while True: + try: + with open(device, "r") as nmeaport: + for line in nmeaport: + line = line.strip() + if DEBUG: + print(line) + if not line.startswith("$"): # all NMEA messages start with $ + continue + if not nmea_checksum_ok(line): + continue + + fields = line.split(",") + match fields[0]: + case "$GNCLK": + # fields at end are reserved (not used) + gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + print(gnss_clock) + case "$GNMEAS": + # fields at end are reserved (not used) + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + print(gnss_meas) + except Exception as e: + print(e) + sleep(1) + +def main() -> NoReturn: + from openpilot.common.gpio import gpio_init, gpio_set + from openpilot.system.hardware.tici.pins import GPIO + from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + + try: + check_output(["pidof", "rawgpsd"]) + print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (boardd not running) + raise e + + print("power up antenna ...") + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) + + if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""): + print("stop location tracking ...") + at_cmd("AT+QGPSEND") + + if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""): + print("configure outport ...") + at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1 + + if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""): + print("configure gnssrawdata ...") + # AT+QGPSCFG="gnssrawdata",,' + # values: + # 0x01 = GPS + # 0x02 = GLONASS + # 0x04 = BEIDOU + # 0x08 = GALILEO + # 0x10 = QZSS + # values: + # 0 = NMEA port + # 1 = AT port + at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port + print("rebooting ...") + at_cmd('AT+CFUN=1,1') + print("re-run this script when it is back up") + sys.exit(2) + + print("starting location tracking ...") + at_cmd("AT+QGPS=1") + + process_nmea_port_messages() + +if __name__ == "__main__": + main() From f4f92f1a2fba9358f7a529b9f5c28d90c9691d08 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 3 Sep 2023 13:12:31 -0700 Subject: [PATCH 262/410] Subaru: impreza 22 fingerprint (#29765) add fingerprint --- selfdrive/car/subaru/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 73ad6aebcc..2037b24a8d 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -310,6 +310,7 @@ FW_VERSIONS = { b'\xa2 !`\000', b'\xf1\x00\xb2\x06\x04', b'\xa2 `\x00', + b'\xa2 !3\x00', ], (Ecu.eps, 0x746, None): [ b'\x9a\xc0\000\000', @@ -323,6 +324,7 @@ FW_VERSIONS = { b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xca!ap\a', @@ -337,6 +339,7 @@ FW_VERSIONS = { b'\xf3"fp\x07', b'\xe6"f0\x07', b'\xe6"fp\x07', + b'\xe6!`@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -348,6 +351,7 @@ FW_VERSIONS = { b'\xe9\xf6F0\x00', b'\xe9\xf5B0\x00', b'\xe9\xf6B0\x00', + b'\xe9\xf5"\x00\x00', ], }, CAR.CROSSTREK_HYBRID: { From 75ead2c38980437c617fbb8c02bf0e53cfbe9682 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 4 Sep 2023 11:15:06 -0700 Subject: [PATCH 263/410] Soundd: Give each alert a volume (#29767) * Give each alert a volume * Update sound.h --- selfdrive/ui/soundd/sound.cc | 3 ++- selfdrive/ui/soundd/sound.h | 21 ++++++++++++--------- selfdrive/ui/tests/test_sound.cc | 2 +- 3 files changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index d3c6486023..a5884f113f 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -15,12 +15,13 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { QSoundEffect *s = new QSoundEffect(this); QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); }); s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); + s->setVolume(volume); sounds[alert] = {s, loops}; } diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 81a5f1a86b..4fcb2e1bce 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -9,18 +9,21 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/ui.h" -const std::tuple sound_list[] = { + +const float MAX_VOLUME = 1.0; + +const std::tuple sound_list[] = { // AudibleAlert, file name, loop count - {AudibleAlert::ENGAGE, "engage.wav", 0}, - {AudibleAlert::DISENGAGE, "disengage.wav", 0}, - {AudibleAlert::REFUSE, "refuse.wav", 0}, + {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME}, + {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME}, + {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT, "prompt.wav", 0}, - {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite}, - {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite}, + {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME}, + {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite}, + {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME}, }; class Sound : public QObject { diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc index 43599f3828..d9cb5c0a7f 100644 --- a/selfdrive/ui/tests/test_sound.cc +++ b/selfdrive/ui/tests/test_sound.cc @@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) { const int DT_CTRL = 10; // ms for (int i = 0; i < loop_cnt; ++i) { - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { printf("testing %s\n", qPrintable(fn)); for (int j = 0; j < 1000 / DT_CTRL; ++j) { MessageBuilder msg; From ca435d344714f08276f9f9da5039f730987f31fa Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Sep 2023 11:54:35 -0700 Subject: [PATCH 264/410] CI: use pytest for unittesting (#29709) * switch to pytest * static analysis * fix the helpers * static analysis * remove that * more parallel test * cleanup * static analysis * durations min and tolerance * reduce those iterations * sleep time could be decreased too * in case it's negative * try using caching * remove parallelization for first PR * PR Cleanup * reduce diff * fix that * bump panda --- .github/workflows/selfdrive_tests.yaml | 21 ++++---------------- selfdrive/athena/tests/test_athenad.py | 1 + selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/test/pytest-ci.ini | 18 +++++++++++++++++ system/logmessaged.py | 3 ++- system/swaglog.py | 4 +++- system/tests/test_logmessaged.py | 4 +++- system/ubloxd/tests/test_ublox_processing.py | 6 ++++-- 8 files changed, 36 insertions(+), 23 deletions(-) create mode 100644 selfdrive/test/pytest-ci.ini diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 08fcda1585..7d397a147d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -26,6 +26,7 @@ env: RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover + PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 jobs: build_release: @@ -248,22 +249,9 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $UNIT_TEST common && \ - $UNIT_TEST selfdrive/boardd && \ - $UNIT_TEST selfdrive/controls && \ - $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST system/loggerd && \ - $UNIT_TEST selfdrive/car && \ - $UNIT_TEST selfdrive/locationd && \ - $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \ - $UNIT_TEST system/tests && \ - $UNIT_TEST system/ubloxd && \ + $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ - $UNIT_TEST selfdrive/athena && \ - $UNIT_TEST selfdrive/thermald && \ - $UNIT_TEST system/hardware/tici && \ - $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ @@ -274,8 +262,7 @@ jobs: ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ - ./selfdrive/test/process_replay/test_fuzzy.py && \ - coverage xml" + ./selfdrive/test/process_replay/test_fuzzy.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 @@ -374,7 +361,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index f32df74217..e088bcf356 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -48,6 +48,7 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) + dispatcher["listUploadQueue"]() # ensure queue is empty at start # *** test helpers *** diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 8809994981..7d5bd85e99 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -175,7 +175,7 @@ class TestFwFingerprint(unittest.TestCase): class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.1 + TOL: float = 0.12 @staticmethod def _run_thread(thread: threading.Thread) -> float: diff --git a/selfdrive/test/pytest-ci.ini b/selfdrive/test/pytest-ci.ini new file mode 100644 index 0000000000..b96dacc54b --- /dev/null +++ b/selfdrive/test/pytest-ci.ini @@ -0,0 +1,18 @@ +[pytest] +testpaths = + common + selfdrive/athena + selfdrive/boardd + selfdrive/car + selfdrive/controls + selfdrive/locationd + selfdrive/monitoring + selfdrive/thermald + selfdrive/test/longitudinal_maneuvers + system/hardware/tici + system/loggerd + system/tests + system/ubloxd + tools/lib/tests +markers = + parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel) diff --git a/system/logmessaged.py b/system/logmessaged.py index cab8cdd80d..4799348990 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -5,6 +5,7 @@ from typing import NoReturn import cereal.messaging as messaging from openpilot.common.logging_extra import SwagLogFileFormatter from openpilot.system.swaglog import get_file_handler +from system.swaglog import SWAGLOG_IPC def main() -> NoReturn: @@ -14,7 +15,7 @@ def main() -> NoReturn: ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) - sock.bind("ipc:///tmp/logmessage") + sock.bind(f"ipc://{SWAGLOG_IPC}") # and we publish them log_message_sock = messaging.pub_sock('logMessage') diff --git a/system/swaglog.py b/system/swaglog.py index 3d45ad9826..6ccd0d9791 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -15,6 +15,8 @@ if PC: else: SWAGLOG_DIR = "/data/log/" +SWAGLOG_IPC = "/tmp/logmessage" + def get_file_handler(): Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True) base_filename = os.path.join(SWAGLOG_DIR, "swaglog") @@ -89,7 +91,7 @@ class UnixDomainSocketHandler(logging.Handler): self.zctx = zmq.Context() self.sock = self.zctx.socket(zmq.PUSH) self.sock.setsockopt(zmq.LINGER, 10) - self.sock.connect("ipc:///tmp/logmessage") + self.sock.connect(f"ipc://{SWAGLOG_IPC}") self.pid = os.getpid() def emit(self, record): diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 330f151368..0b70774bbb 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -7,7 +7,7 @@ import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.swaglog import cloudlog, ipchandler -from selfdrive.test.helpers import temporary_swaglog_dir +from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc class TestLogmessaged(unittest.TestCase): @@ -35,6 +35,7 @@ class TestLogmessaged(unittest.TestCase): return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*"))) @temporary_swaglog_dir + @temporary_swaglog_ipc def test_simple_log(self, temp_dir): self._setup(temp_dir) msgs = [f"abc {i}" for i in range(10)] @@ -46,6 +47,7 @@ class TestLogmessaged(unittest.TestCase): assert len(self._get_log_files()) >= 1 @temporary_swaglog_dir + @temporary_swaglog_ipc def test_big_log(self, temp_dir): self._setup(temp_dir) n = 10 diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index b1709cd9bb..85a4e0a426 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -9,6 +9,7 @@ from laika.opt import calc_pos_fix from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.helpers import temporary_dir import cereal.messaging as messaging def get_gnss_measurements(log_reader): @@ -54,8 +55,9 @@ class TestUbloxProcessing(unittest.TestCase): self.assertEqual(count_gps, 5036) self.assertEqual(count_glonass, 3651) - def test_get_fix(self): - dog = AstroDog() + @temporary_dir + def test_get_fix(self, temp_dir): + dog = AstroDog(cache_dir=temp_dir) position_fix_found = 0 count_processed_measurements = 0 count_corrected_measurements = 0 From ed7a0bf0f9cb6f0ea6efcf0ab3cf32a2e3dc9f2d Mon Sep 17 00:00:00 2001 From: sgtcurry <143920305+sgtcurry@users.noreply.github.com> Date: Mon, 4 Sep 2023 14:05:57 -0500 Subject: [PATCH 265/410] 2023 Ford Maverick Ecoboost engine firmware (#29762) * Update values.py 23 maverick ecoboost engine fw * Update values.py * Update values.py * sorted --------- Co-authored-by: Justin Newberry --- selfdrive/car/ford/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 8968d1dc29..e6aaa2a952 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -265,6 +265,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, From a08cdfdda7e1a2bc50024bffc45295a322da42f9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 5 Sep 2023 10:59:58 -0700 Subject: [PATCH 266/410] ui: brighten cameraview (#29744) * test * test2 * Revert "test2" This reverts commit 22e38f82ae81f625f00179413f4c5f869a6de23e. * Revert "test" This reverts commit 717490c1bcddcd5339aed85d4716a58495a5c52c. * looks fine * mid * description --------- Co-authored-by: Comma Device --- selfdrive/ui/qt/widgets/cameraview.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 38824aa8db..fea81ab910 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -41,6 +41,8 @@ const char frame_fragment_shader[] = "out vec4 colorOut;\n" "void main() {\n" " colorOut = texture(uTexture, vTexCoord);\n" + // gamma to improve worst case visibility when dark + " colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n" "}\n"; #else const char frame_fragment_shader[] = From e0eb4d726c1f645c3694425662ecb135aa000d79 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Sep 2023 12:02:21 -0700 Subject: [PATCH 267/410] Update Python packages and pre-commit hooks (#29774) Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2cda93701f..e335fb432e 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -35,7 +35,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.286 + rev: v0.0.287 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/poetry.lock b/poetry.lock index a5f0841ba1..95dd089bce 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3152,13 +3152,13 @@ files = [ [[package]] name = "pre-commit" -version = "3.3.3" +version = "3.4.0" description = "A framework for managing and maintaining multi-language pre-commit hooks." optional = false python-versions = ">=3.8" files = [ - {file = "pre_commit-3.3.3-py2.py3-none-any.whl", hash = "sha256:10badb65d6a38caff29703362271d7dca483d01da88f9d7e05d0b97171c136cb"}, - {file = "pre_commit-3.3.3.tar.gz", hash = "sha256:a2256f489cd913d575c145132ae196fe335da32d91a8294b7afe6622335dd023"}, + {file = "pre_commit-3.4.0-py2.py3-none-any.whl", hash = "sha256:96d529a951f8b677f730a7212442027e8ba53f9b04d217c4c67dc56c393ad945"}, + {file = "pre_commit-3.4.0.tar.gz", hash = "sha256:6bbd5129a64cad4c0dfaeeb12cd8f7ea7e15b77028d985341478c8af3c759522"}, ] [package.dependencies] @@ -3745,13 +3745,13 @@ cp2110 = ["hidapi"] [[package]] name = "pytest" -version = "7.4.0" +version = "7.4.1" description = "pytest: simple powerful testing with Python" optional = false python-versions = ">=3.7" files = [ - {file = "pytest-7.4.0-py3-none-any.whl", hash = "sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32"}, - {file = "pytest-7.4.0.tar.gz", hash = "sha256:b4bf8c45bd59934ed84001ad51e11b4ee40d40a1229d2c79f9c592b0a3f6bd8a"}, + {file = "pytest-7.4.1-py3-none-any.whl", hash = "sha256:460c9a59b14e27c602eb5ece2e47bec99dc5fc5f6513cf924a7d03a578991b1f"}, + {file = "pytest-7.4.1.tar.gz", hash = "sha256:2f2301e797521b23e4d2585a0a3d7b5e50fdddaaf7e7d6773ea26ddb17c213ab"}, ] [package.dependencies] @@ -3876,13 +3876,13 @@ numpy = ["numpy (>=1.6.0)"] [[package]] name = "pytz" -version = "2023.3" +version = "2023.3.post1" description = "World timezone definitions, modern and historical" optional = false python-versions = "*" files = [ - {file = "pytz-2023.3-py2.py3-none-any.whl", hash = "sha256:a151b3abb88eda1d4e34a9814df37de2a80e301e68ba0fd856fb9b46bfbbbffb"}, - {file = "pytz-2023.3.tar.gz", hash = "sha256:1d8ce29db189191fb55338ee6d0387d82ab59f3d00eac103412d64e0ebd0c588"}, + {file = "pytz-2023.3.post1-py2.py3-none-any.whl", hash = "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7"}, + {file = "pytz-2023.3.post1.tar.gz", hash = "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b"}, ] [[package]] From dcea56bcf343344818060f0c2e6a8ff8e5119b08 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Sep 2023 12:45:18 -0700 Subject: [PATCH 268/410] Tests: speedup locationd (#29776) * speedup locationd * bump cereal --- cereal | 2 +- selfdrive/locationd/test/test_locationd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 82bca3a971..4291784b4d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d +Subproject commit 4291784b4d372782c95279e9fe7741e38633ca5e diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 6c6ac33431..99047c37f3 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -80,7 +80,7 @@ class TestLocationdProc(unittest.TestCase): for msg in sorted(msgs, key=lambda x: x.logMonoTime): self.pm.send(msg.which(), msg) if msg.which() == "cameraOdometry": - self.pm.wait_for_readers_to_update(msg.which(), 0.1) + self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005) time.sleep(1) # wait for async params write lastGPS = json.loads(self.params.get('LastGPSPosition')) From 16c99e3e7febdac58cc67726768f6413a6cbf74f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Sep 2023 14:06:03 -0700 Subject: [PATCH 269/410] Pytest: don't rerun cereal unittests (#29781) pytest don't rerun cereal --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index f0d0324d53..19b52ff235 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ From a0b49d54222c52ff0112c402bc0e0d9262e77a66 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 5 Sep 2023 17:15:18 -0400 Subject: [PATCH 270/410] Hyundai longitudinal: enable for `IONIQ` (#29778) * Hyundai longitudinal: enable for `IONIQ` * add test route --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/tests/routes.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1ecb7d5a48..e032227c46 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq 6 (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cabdac4cf3..8cae1c6fe1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1976,7 +1976,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, CAR.KIA_OPTIMA_H} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index aaf5b48915..be46f9a807 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -129,6 +129,7 @@ routes = [ CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), + CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ), # openpilot longitudinal enabled CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), From 0908be80bda09d7cc476693ab17208cf0fca4ded Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Sep 2023 15:32:57 -0700 Subject: [PATCH 271/410] sensord: test updates for provisioning (#29768) * sensord: test updates for provisioning * fix --------- Co-authored-by: Comma Device --- system/sensord/tests/test_sensord.py | 27 ++++++++++++++++++--------- 1 file changed, 18 insertions(+), 9 deletions(-) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index e3cd77a1a3..ccdce3b4e5 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -9,6 +9,7 @@ import cereal.messaging as messaging from cereal import log from cereal.services import service_list from openpilot.common.gpio import get_irqs_for_action +from openpilot.common.timeout import Timeout from openpilot.system.hardware import TICI from openpilot.selfdrive.manager.process_config import managed_processes @@ -73,15 +74,24 @@ def get_irq_count(irq: int): def read_sensor_events(duration_sec): sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] - esocks = {} + socks = {} + poller = messaging.Poller() events = defaultdict(list) for stype in sensor_types: - esocks[stype] = messaging.sub_sock(stype, timeout=0.1) - - start_time_sec = time.monotonic() - while time.monotonic() - start_time_sec < duration_sec: - for esock in esocks: - events[esock] += messaging.drain_sock(esocks[esock]) + socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100) + + # wait for sensors to come up + with Timeout(60, "sensors didn't come up"): + while len(poller.poll(250)) == 0: + pass + time.sleep(1) + for s in socks.values(): + messaging.drain_sock_raw(s) + + st = time.monotonic() + while time.monotonic() - st < duration_sec: + for s in socks: + events[s] += messaging.drain_sock(socks[s]) time.sleep(0.1) assert sum(map(len, events.values())) != 0, "No sensor events collected!" @@ -101,8 +111,7 @@ class TestSensord(unittest.TestCase): os.system("pkill -f ./_sensord") try: managed_processes["sensord"].start() - time.sleep(3) - cls.sample_secs = 10 + cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) cls.events = read_sensor_events(cls.sample_secs) # determine sensord's irq From 22487db9c8ad3480152785ab74fd3e1e7c41d6de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Sep 2023 16:01:28 -0700 Subject: [PATCH 272/410] bump panda (#29786) bump --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index ef1a9338a1..3ab4f43de0 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ef1a9338a17f63ad1c666364c695e2b36a47350e +Subproject commit 3ab4f43de06d7abcc4d594ee2a4efc0466e42c94 From 4e69937d0d3fbdc7d1d42cbc18d7ccf8ddb115f1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Sep 2023 16:33:26 -0700 Subject: [PATCH 273/410] Precommit: ensure executable bit is set (#29784) * precommit ensure executable * exclude tinygrad * bump submodules * exclude tinygrad globally --- .devcontainer/devcontainer.json | 0 .pre-commit-config.yaml | 3 +++ README.md | 0 cereal | 2 +- common/params_pyx.pyx | 0 laika_repo | 2 +- opendbc | 2 +- panda | 2 +- rednose_repo | 2 +- selfdrive/car/body/interface.py | 1 - selfdrive/car/body/radar_interface.py | 1 - selfdrive/car/disable_ecu.py | 1 + selfdrive/car/ford/interface.py | 1 - selfdrive/car/ford/radar_interface.py | 1 - selfdrive/car/hyundai/interface.py | 1 - selfdrive/car/hyundai/radar_interface.py | 1 - selfdrive/car/nissan/interface.py | 1 - selfdrive/car/nissan/radar_interface.py | 1 - selfdrive/car/subaru/interface.py | 1 - selfdrive/car/subaru/radar_interface.py | 1 - selfdrive/car/tests/routes.py | 0 selfdrive/car/toyota/interface.py | 1 - selfdrive/car/volkswagen/radar_interface.py | 1 - selfdrive/car/volkswagen/values.py | 0 selfdrive/controls/lib/events.py | 1 + selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 0 selfdrive/controls/tests/test_following_distance.py | 0 selfdrive/controls/tests/test_leads.py | 0 selfdrive/locationd/liblocationd.cc | 0 selfdrive/locationd/locationd.cc | 0 selfdrive/locationd/locationd.h | 0 selfdrive/locationd/models/live_kf.cc | 0 selfdrive/locationd/models/live_kf.h | 0 selfdrive/thermald/fan_controller.py | 0 system/hardware/tici/amplifier.py | 1 + system/loggerd/deleter.py | 0 system/loggerd/uploader.py | 0 system/ubloxd/tests/test_ublox_processing.py | 1 + system/ubloxd/tests/ublox.py | 0 system/version.py | 0 third_party/libyuv/build.sh | 0 tools/gpstest/test_gps.py | 0 tools/gpstest/test_gps_qcom.py | 0 tools/gpstest/test_laikad.py | 0 tools/lib/kbhit.py | 0 tools/lib/tests/test_caching.py | 0 tools/scripts/save_ubloxraw_stream.py | 0 tools/zookeeper/__init__.py | 1 - 48 files changed, 12 insertions(+), 18 deletions(-) mode change 100755 => 100644 .devcontainer/devcontainer.json mode change 100755 => 100644 README.md mode change 100755 => 100644 common/params_pyx.pyx mode change 100644 => 100755 selfdrive/car/tests/routes.py mode change 100755 => 100644 selfdrive/car/volkswagen/values.py mode change 100644 => 100755 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py mode change 100644 => 100755 selfdrive/controls/tests/test_following_distance.py mode change 100644 => 100755 selfdrive/controls/tests/test_leads.py mode change 100755 => 100644 selfdrive/locationd/liblocationd.cc mode change 100755 => 100644 selfdrive/locationd/locationd.cc mode change 100755 => 100644 selfdrive/locationd/locationd.h mode change 100755 => 100644 selfdrive/locationd/models/live_kf.cc mode change 100755 => 100644 selfdrive/locationd/models/live_kf.h mode change 100644 => 100755 selfdrive/thermald/fan_controller.py mode change 100644 => 100755 system/loggerd/deleter.py mode change 100644 => 100755 system/loggerd/uploader.py mode change 100644 => 100755 system/ubloxd/tests/ublox.py mode change 100644 => 100755 system/version.py mode change 100644 => 100755 third_party/libyuv/build.sh mode change 100644 => 100755 tools/gpstest/test_gps.py mode change 100644 => 100755 tools/gpstest/test_gps_qcom.py mode change 100644 => 100755 tools/gpstest/test_laikad.py mode change 100644 => 100755 tools/lib/kbhit.py mode change 100644 => 100755 tools/lib/tests/test_caching.py mode change 100644 => 100755 tools/scripts/save_ubloxraw_stream.py diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json old mode 100755 new mode 100644 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e335fb432e..2ea8d99c14 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,4 @@ +exclude: '^(tinygrad_repo)' repos: - repo: meta hooks: @@ -14,6 +15,8 @@ repos: - id: check-yaml - id: check-merge-conflict - id: check-symlinks + - id: check-executables-have-shebangs + - id: check-shebang-scripts-are-executable - id: check-added-large-files args: ['--maxkb=100'] - repo: https://github.com/codespell-project/codespell diff --git a/README.md b/README.md old mode 100755 new mode 100644 diff --git a/cereal b/cereal index 4291784b4d..d469732b3b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 4291784b4d372782c95279e9fe7741e38633ca5e +Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx old mode 100755 new mode 100644 diff --git a/laika_repo b/laika_repo index c9baa95ca9..8861844c9b 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit c9baa95ca9b58222370fcccb24bce1d3722c8e73 +Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9 diff --git a/opendbc b/opendbc index ef302f7183..5ebf73ebed 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit ef302f7183cb05820b27e41cd4919cb6c319cd52 +Subproject commit 5ebf73ebed8d1693aadffe97bd2dd012da3b3c1c diff --git a/panda b/panda index 3ab4f43de0..104d708547 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3ab4f43de06d7abcc4d594ee2a4efc0466e42c94 +Subproject commit 104d70854717fa7ea7db16ee4db66445d925bd65 diff --git a/rednose_repo b/rednose_repo index e32658ed91..8658bed296 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit e32658ed9164d6e8dde882c05c5ece9707acde82 +Subproject commit 8658bed29686b2ddae191fd18302986c85542431 diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index bf33eea38f..12a2d5f304 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import math from cereal import car from openpilot.common.realtime import DT_CTRL diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/body/radar_interface.py +++ b/selfdrive/car/body/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 1a1252327f..c11075342c 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from openpilot.system.swaglog import cloudlog diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 755d7d1d00..3045c317ff 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.common.conversions import Conversions as CV diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index a166fc20dd..716c9b6e58 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from math import cos, sin from cereal import car from opendbc.can.parser import CANParser diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index ff278d54e8..9b4ae508e5 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.common.conversions import Conversions as CV diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index e1cae9ffaf..754993a459 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import math from cereal import car diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 3d6b6cb70c..d65771a2ba 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/nissan/radar_interface.py +++ b/selfdrive/car/nissan/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 5d03a920a8..75bbc8ae91 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/subaru/radar_interface.py +++ b/selfdrive/car/subaru/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py old mode 100644 new mode 100755 diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index ab242a09a2..101e446e9c 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from openpilot.common.conversions import Conversions as CV from panda import Panda diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/volkswagen/radar_interface.py +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py old mode 100755 new mode 100644 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 7c30effce5..1095c880cb 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import math import os from enum import IntEnum diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py old mode 100644 new mode 100755 diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py old mode 100644 new mode 100755 diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py old mode 100644 new mode 100755 diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h old mode 100755 new mode 100644 diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py old mode 100644 new mode 100755 diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 5b656a40fa..e003f131cc 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import time from smbus2 import SMBus from collections import namedtuple diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py old mode 100644 new mode 100755 diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py old mode 100644 new mode 100755 diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index 85a4e0a426..01be79f0d4 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import unittest import time import numpy as np diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py old mode 100644 new mode 100755 diff --git a/system/version.py b/system/version.py old mode 100644 new mode 100755 diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh old mode 100644 new mode 100755 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py old mode 100644 new mode 100755 diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py old mode 100644 new mode 100755 diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py old mode 100644 new mode 100755 diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py old mode 100644 new mode 100755 diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py old mode 100644 new mode 100755 diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py old mode 100644 new mode 100755 diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py index 42438cb209..598e0a0587 100644 --- a/tools/zookeeper/__init__.py +++ b/tools/zookeeper/__init__.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import ft4222 import ft4222.I2CMaster From 7b6afbc1623b8c159a92f6a5a951fb4d688045ee Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Sep 2023 18:52:40 -0700 Subject: [PATCH 274/410] pytest: use a clean environment for all tests (#29788) * pytest: use a clean environment for all tests * rm that * fix pj * put build back * fix params * fix that * handle no key * that was removed --------- Co-authored-by: Justin Newberry --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 5 ++-- .../helpers.py => common/prefix.py | 23 +++++-------------- common/tests/test_params.py | 17 ++++---------- conftest.py | 10 ++++++++ pyproject.toml | 16 +++++++++++++ .../test/process_replay/process_replay.py | 14 ++++++++++- selfdrive/test/process_replay/regen_all.py | 2 +- selfdrive/test/pytest-ci.ini | 18 --------------- .../thermald/tests/test_power_monitoring.py | 3 --- 10 files changed, 54 insertions(+), 56 deletions(-) rename selfdrive/test/process_replay/helpers.py => common/prefix.py (70%) create mode 100644 conftest.py delete mode 100644 selfdrive/test/pytest-ci.ini diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7d397a147d..b2c1bac822 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,7 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \ + $PYTEST && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ ./selfdrive/ui/tests/create_test_translations.sh && \ diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e71a4e397f..ccdbef0044 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -33,11 +33,10 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Build openpilot timeout-minutes: 5 - run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal" + run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal" - name: Test PlotJuggler timeout-minutes: 2 run: | diff --git a/selfdrive/test/process_replay/helpers.py b/common/prefix.py similarity index 70% rename from selfdrive/test/process_replay/helpers.py rename to common/prefix.py index 0af8ff6c76..702b0feae4 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/common/prefix.py @@ -2,11 +2,11 @@ import os import shutil import uuid -from typing import List, Optional +from typing import Optional from openpilot.common.params import Params -class OpenpilotPrefix(object): +class OpenpilotPrefix: def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): self.prefix = prefix if prefix else str(uuid.uuid4()) self.msgq_path = os.path.join('/dev/shm', self.prefix) @@ -24,7 +24,10 @@ class OpenpilotPrefix(object): def __exit__(self, exc_type, exc_obj, exc_tb): if self.clean_dirs_on_exit: self.clean_dirs() - del os.environ['OPENPILOT_PREFIX'] + try: + del os.environ['OPENPILOT_PREFIX'] + except KeyError: + pass return False def clean_dirs(self): @@ -33,17 +36,3 @@ class OpenpilotPrefix(object): shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) - - -class DummySocket: - def __init__(self): - self.data: List[bytes] = [] - - def receive(self, non_blocking: bool = False) -> Optional[bytes]: - if non_blocking: - return None - - return self.data.pop() - - def send(self, data: bytes): - self.data.append(data) diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 72fa4e3f72..fb6f320ea4 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,8 +1,6 @@ import os import threading import time -import tempfile -import shutil import uuid import unittest @@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no class TestParams(unittest.TestCase): def setUp(self): - self.tmpdir = tempfile.mkdtemp() - print("using", self.tmpdir) - self.params = Params(self.tmpdir) - - def tearDown(self): - shutil.rmtree(self.tmpdir) + self.params = Params() def test_params_put_and_get(self): self.params.put("DongleId", "cb38263377b873ee") @@ -90,19 +83,19 @@ class TestParams(unittest.TestCase): self.assertFalse(self.params.get_bool("IsMetric")) def test_put_non_blocking_with_get_block(self): - q = Params(self.tmpdir) + q = Params() def _delayed_writer(): time.sleep(0.1) - put_nonblocking("CarParams", "test", self.tmpdir) + put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" def test_put_bool_non_blocking_with_get_block(self): - q = Params(self.tmpdir) + q = Params() def _delayed_writer(): time.sleep(0.1) - put_bool_nonblocking("CarParams", True, self.tmpdir) + put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/conftest.py b/conftest.py new file mode 100644 index 0000000000..e139ab8400 --- /dev/null +++ b/conftest.py @@ -0,0 +1,10 @@ +import pytest + +from openpilot.common.prefix import OpenpilotPrefix + + +@pytest.fixture(scope="function", autouse=True) +def global_setup_and_teardown(): + # setup a clean environment for each test + with OpenpilotPrefix(): + yield diff --git a/pyproject.toml b/pyproject.toml index 19b52ff235..ebcf350ce6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -6,6 +6,22 @@ python_files = "test_*.py" markers = [ "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)" ] +testpaths = [ + "common", + "selfdrive/athena", + "selfdrive/boardd", + "selfdrive/car", + "selfdrive/controls", + "selfdrive/locationd", + "selfdrive/monitoring", + "selfdrive/thermald", + "selfdrive/test/longitudinal_maneuvers", + "system/hardware/tici", + "system/loggerd", + "system/tests", + "system/ubloxd", + "tools/lib/tests" +] [tool.mypy] python_version = "3.11" diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8ad27d5135..eb49d0dedb 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,12 +17,12 @@ from cereal import car from cereal.services import service_list from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from openpilot.common.params import Params +from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.car.car_helpers import get_car, interfaces from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture @@ -33,6 +33,18 @@ NUMPY_TOLERANCE = 1e-7 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") +class DummySocket: + def __init__(self): + self.data: List[bytes] = [] + + def receive(self, non_blocking: bool = False) -> Optional[bytes]: + if non_blocking: + return None + + return self.data.pop() + + def send(self, data: bytes): + self.data.append(data) class LauncherWithCapture: def __init__(self, capture: ProcessOutputCapture, launcher: Callable): diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f42686ac6a..df7c76a14d 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -6,7 +6,7 @@ import random import traceback from tqdm import tqdm -from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix +from openpilot.common.prefix import OpenpilotPrefix from openpilot.selfdrive.test.process_replay.regen import regen_and_save from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments from openpilot.tools.lib.route import SegmentName diff --git a/selfdrive/test/pytest-ci.ini b/selfdrive/test/pytest-ci.ini deleted file mode 100644 index b96dacc54b..0000000000 --- a/selfdrive/test/pytest-ci.ini +++ /dev/null @@ -1,18 +0,0 @@ -[pytest] -testpaths = - common - selfdrive/athena - selfdrive/boardd - selfdrive/car - selfdrive/controls - selfdrive/locationd - selfdrive/monitoring - selfdrive/thermald - selfdrive/test/longitudinal_maneuvers - system/hardware/tici - system/loggerd - system/tests - system/ubloxd - tools/lib/tests -markers = - parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel) diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 5d6531ff49..c3a890f068 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -25,12 +25,9 @@ def pm_patch(name, value, constant=False): @patch("time.monotonic", new=mock_time_monotonic) -@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y)) class TestPowerMonitoring(unittest.TestCase): def setUp(self): self.params = Params() - self.params.remove("CarBatteryCapacity") - self.params.remove("DisablePowerDown") # Test to see that it doesn't do anything when pandaState is None def test_pandaState_present(self): From 5d1550de871b0ac036b1dd44545fd7ff17fb91cd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Sep 2023 21:22:36 -0700 Subject: [PATCH 275/410] test_models: detect when OBD multiplexing/fingerprinting (#29759) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * wait to leave elm mode before checking relay malfunction * clean up * clean up * pycharm is best * clean up * more * use pandaStatesDEPRECATED * fix * use constant * only radar * cmt * set inline * comment and re-arrange * enable for relay malfunc check * down here * Update selfdrive/car/tests/test_models.py * rm * don't affect other tests * up here * one line * update cmt * no tolerance * Revert "no tolerance" This reverts commit 41b1c7e8beda87a878c3bb1f37ec96b256965966. * comment is real solution --------- Co-authored-by: Kacper Rączy --- selfdrive/car/tests/test_models.py | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index d2198dc27b..6cebdde77b 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -24,6 +24,7 @@ from panda.tests.libpanda import libpanda_py from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR PandaType = log.PandaState.PandaType +SafetyModel = car.CarParams.SafetyModel NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) @@ -70,6 +71,7 @@ class TestCarModelBase(unittest.TestCase): ci: bool = True can_msgs: List[capnp.lib.capnp._DynamicStructReader] + elm_frame: Optional[int] @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run") @classmethod @@ -105,6 +107,7 @@ class TestCarModelBase(unittest.TestCase): car_fw = [] can_msgs = [] + cls.elm_frame = None fingerprint = defaultdict(dict) experimental_long = False enabled_toggle = True @@ -130,6 +133,16 @@ class TestCarModelBase(unittest.TestCase): if param.key == 'OpenpilotEnabledToggle': enabled_toggle = param.value.strip(b'\x00') == b'1' + # Log which can frame the panda safety mode left ELM327, for CAN validity checks + if msg.which() == 'pandaStates': + for ps in msg.pandaStates: + if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + + elif msg.which() == 'pandaStateDEPRECATED': + if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if len(can_msgs) > int(50 / DT_CTRL): break else: @@ -204,8 +217,10 @@ class TestCarModelBase(unittest.TestCase): RI = RadarInterface(self.CP) assert RI + # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, + # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 - for i, msg in enumerate(self.can_msgs): + for i, msg in enumerate(self.can_msgs[self.elm_frame:]): rr = RI.update((msg.as_builder().to_bytes(),)) if rr is not None and i > 50: error_cnt += car.RadarData.Error.canError in rr.errors @@ -238,9 +253,9 @@ class TestCarModelBase(unittest.TestCase): if t > 1e6: self.assertTrue(self.safety.addr_checks_valid()) - # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time - # TODO: detect when relay has flipped to properly check relay malfunction - if self.openpilot_enabled and t > 5e6: + # No need to check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (1s of tolerance to exit silent mode) + if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): self.assertFalse(self.safety.get_relay_malfunction()) else: self.safety.set_relay_malfunction(False) From 77f050bb4c0694d6e6f8c81c1c6ab734016b92de Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 6 Sep 2023 09:04:31 +0200 Subject: [PATCH 276/410] Hyundai: Ioniq 2020 PHEV EUR fingerprint (#29775) --- selfdrive/car/hyundai/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 8cae1c6fe1..6869df2cfc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -576,11 +576,13 @@ FW_VERSIONS = { b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -593,6 +595,7 @@ FW_VERSIONS = { b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', ], }, CAR.IONIQ_EV_2020: { From a552fafd8864bfb31a6e0f042f2816f276f6e66e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 6 Sep 2023 03:05:44 -0400 Subject: [PATCH 277/410] Hyundai longitudinal: enable for `IONIQ_PHEV` (#29777) * Hyundai longitudinal: enable for `IONIQ_PHEV` * add test route --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/tests/routes.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e032227c46..e99cdcf071 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -86,7 +86,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 6869df2cfc..f34b7dfbf7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1979,7 +1979,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, CAR.KIA_OPTIMA_H} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index be46f9a807..e5bec76bbf 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -126,6 +126,7 @@ routes = [ CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), + CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV), # openpilot longitudinal enabled CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), From d7d751160de3899c52a51654701505e3aa24eb66 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 6 Sep 2023 03:48:17 -0400 Subject: [PATCH 278/410] Nissan Altima: specify panda flag for alternate EPS bus (#29783) * Nissan Altima: Specify panda flag for alt bus safety config * bump --------- Co-authored-by: Shane Smiskol --- panda | 2 +- selfdrive/car/nissan/interface.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 104d708547..39bc5a4886 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 104d70854717fa7ea7db16ee4db66445d925bd65 +Subproject commit 39bc5a488686dc28b6bd7b53f555fa22ae9e5860 diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index d65771a2ba..aedcaa1887 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,4 +1,5 @@ from cereal import car +from panda import Panda from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.nissan.values import CAR @@ -30,7 +31,7 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.44 elif candidate == CAR.ALTIMA: # Altima has EPS on C-CAN unlike the others that have it on V-CAN - ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS ret.mass = 1492 ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 From 2c87cd24cecf28da8cb5291c731a8c9e949b0c72 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Sep 2023 01:33:52 -0700 Subject: [PATCH 279/410] PlotJuggler: add control gains to longitudinal layout (#29794) * add longitudinal control gains to long layout * needless changes * needless changes * needless changes --- tools/plotjuggler/layouts/longitudinal.xml | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml index ff8f3ad193..33a24f76d6 100644 --- a/tools/plotjuggler/layouts/longitudinal.xml +++ b/tools/plotjuggler/layouts/longitudinal.xml @@ -3,10 +3,10 @@ - + - + @@ -15,7 +15,16 @@ - + + + + + + + + + + @@ -23,7 +32,7 @@ - + From 89d6bc6c7b6b4e55cf573dc1ebcf88533d7baee4 Mon Sep 17 00:00:00 2001 From: Eric Day Date: Wed, 6 Sep 2023 16:36:16 +0800 Subject: [PATCH 280/410] Toyota: detect TSS-P CAN filter device as smartDsu to enable long (#28387) * detect tss-p canfilter device as smartDsu to enable long * Add canfilter test case * add comment, behind alpha long * add doc * safe * update check * cmt --------- Co-authored-by: Shane Smiskol --- selfdrive/car/tests/routes.py | 1 + selfdrive/car/toyota/interface.py | 11 +++++++---- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e5bec76bbf..dc4def327a 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -168,6 +168,7 @@ routes = [ CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2), CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), + CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2), CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH), diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 101e446e9c..d6f428ab1d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -204,7 +204,8 @@ class CarInterface(CarInterfaceBase): ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it - if 0x2FF in fingerprint[0]: + # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs + if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): ret.flags |= ToyotaFlags.SMART_DSU.value # No radar dbc for cars without DSU which are not TSS 2.0 @@ -218,13 +219,14 @@ class CarInterface(CarInterfaceBase): ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. - # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle + # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) - if candidate in RADAR_ACC_CAR: + if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): ret.experimentalLongitudinalAvailable = use_sdsu if not use_sdsu: - if experimental_long and False: # TODO: disabling radar isn't supported yet + # Disabling radar is only supported on TSS2 radar-ACC cars + if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet ret.flags |= ToyotaFlags.DISABLE_RADAR.value else: use_sdsu = use_sdsu and experimental_long @@ -236,6 +238,7 @@ class CarInterface(CarInterfaceBase): # openpilot longitudinal behind experimental long toggle: # - TSS2 radar ACC cars w/ smartDSU installed # - TSS2 radar ACC cars w/o smartDSU installed (disables radar) + # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR From 0afcf1236818f20e159cc2565e57814a08acd883 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 6 Sep 2023 17:36:07 +0800 Subject: [PATCH 281/410] cabana: fix crash when no can events in the log (#29795) fix crash when no events --- tools/cabana/streams/abstractstream.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 8887084578..a8c16ca267 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -170,7 +170,7 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare); all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); - lastest_event_ts = all_events_.back()->mono_time; + lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time; emit eventsMerged(); } From 0d797f4e8b2552192669d0329c14849f0a970066 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 6 Sep 2023 23:50:28 +0800 Subject: [PATCH 282/410] params: safe and efficient async writing parameters (#25912) * Safe and efficient asynchronous writing parameters * call putNonBlocking in locationd * remove space * ->AsyncWriter * remove semicolon * use member function * asyc write multiple times * add test case for AsyncWriter * merge master * add missing include * public * cleanup * create once * cleanup * update that * explicit waiting * improve test case --------- Co-authored-by: Adeeb Shihadeh --- common/SConscript | 2 +- common/params.cc | 31 ++++++++++++++++++++++++++ common/params.h | 21 +++++++++++++++++ common/params.py | 5 +---- common/params_pyx.pyx | 22 +++++++++++------- common/tests/test_params.cc | 27 ++++++++++++++++++++++ common/tests/test_params.py | 6 ++--- selfdrive/controls/controlsd.py | 8 +++---- selfdrive/locationd/calibrationd.py | 8 +++---- selfdrive/locationd/laikad.py | 8 ++++--- selfdrive/locationd/locationd.cc | 8 +++---- selfdrive/locationd/paramsd.py | 4 ++-- selfdrive/monitoring/dmonitoringd.py | 8 ++++--- selfdrive/thermald/power_monitoring.py | 4 ++-- 14 files changed, 123 insertions(+), 39 deletions(-) create mode 100644 common/tests/test_params.cc diff --git a/common/SConscript b/common/SConscript index d22aca128b..d999d54336 100644 --- a/common/SConscript +++ b/common/SConscript @@ -29,7 +29,7 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', - ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython bindings diff --git a/common/params.cc b/common/params.cc index 63baa30315..2cd9807887 100644 --- a/common/params.cc +++ b/common/params.cc @@ -7,6 +7,7 @@ #include #include +#include "common/queue.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" @@ -327,3 +328,33 @@ void Params::clearAll(ParamKeyType key_type) { fsync_dir(getParamPath()); } + +void Params::putNonBlocking(const std::string &key, const std::string &val) { + static AsyncWriter async_writer; + async_writer.queue({params_path, key, val}); +} + + +// AsyncWriter + +AsyncWriter::~AsyncWriter() { + if (future.valid()) { + future.wait(); + } +} + +void AsyncWriter::queue(const std::tuple &dat) { + q.push(dat); + // start thread on demand + if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) { + future = std::async(std::launch::async, &AsyncWriter::write, this); + } +} + +void AsyncWriter::write() { + std::tuple dat; + while (q.try_pop(dat, 0)) { + auto &[path, key, value] = dat; + Params(path).put(key, value); + } +} diff --git a/common/params.h b/common/params.h index 24b1bffeb1..8889a8e1b4 100644 --- a/common/params.h +++ b/common/params.h @@ -1,9 +1,13 @@ #pragma once +#include #include #include +#include #include +#include "common/queue.h" + enum ParamKeyType { PERSISTENT = 0x02, CLEAR_ON_MANAGER_START = 0x04, @@ -42,8 +46,25 @@ public: inline int putBool(const std::string &key, bool val) { return put(key.c_str(), val ? "1" : "0", 1); } + void putNonBlocking(const std::string &key, const std::string &val); + inline void putBoolNonBlocking(const std::string &key, bool val) { + putNonBlocking(key, val ? "1" : "0"); + } private: std::string params_path; std::string prefix; }; + +class AsyncWriter { +public: + AsyncWriter() {} + ~AsyncWriter(); + void queue(const std::tuple &dat); + +private: + void write(); + + std::future future; + SafeQueue> q; +}; diff --git a/common/params.py b/common/params.py index ea8ac7514a..66808083dc 100644 --- a/common/params.py +++ b/common/params.py @@ -1,10 +1,7 @@ -from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ - put_bool_nonblocking +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName assert Params assert ParamKeyType assert UnknownKeyName -assert put_nonblocking -assert put_bool_nonblocking if __name__ == "__main__": import sys diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index abb3199d05..5ea7874a5f 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -3,7 +3,6 @@ from libcpp cimport bool from libcpp.string cimport string from libcpp.vector cimport vector -import threading cdef extern from "common/params.h": cpdef enum ParamKeyType: @@ -19,6 +18,8 @@ cdef extern from "common/params.h": bool getBool(string, bool) nogil int remove(string) nogil int put(string, string) nogil + void putNonBlocking(string, string) nogil + void putBoolNonBlocking(string, bool) nogil int putBool(string, bool) nogil bool checkKey(string) nogil string getParamPath(string) nogil @@ -79,7 +80,7 @@ cdef class Params: """ Warning: This function blocks until the param is written to disk! In very rare cases this can take over a second, and your code will hang. - Use the put_nonblocking helper function in time sensitive code, but + Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but in general try to avoid writing params as much as possible. """ cdef string k = self.check_key(key) @@ -92,6 +93,17 @@ cdef class Params: with nogil: self.p.putBool(k, val) + def put_nonblocking(self, key, dat): + cdef string k = self.check_key(key) + cdef string dat_bytes = ensure_bytes(dat) + with nogil: + self.p.putNonBlocking(k, dat_bytes) + + def put_bool_nonblocking(self, key, bool val): + cdef string k = self.check_key(key) + with nogil: + self.p.putBoolNonBlocking(k, val) + def remove(self, key): cdef string k = self.check_key(key) with nogil: @@ -103,9 +115,3 @@ cdef class Params: def all_keys(self): return self.p.allKeys() - -def put_nonblocking(key, val, d=""): - threading.Thread(target=lambda: Params(d).put(key, val)).start() - -def put_bool_nonblocking(key, bool val, d=""): - threading.Thread(target=lambda: Params(d).put_bool(key, val)).start() diff --git a/common/tests/test_params.cc b/common/tests/test_params.cc new file mode 100644 index 0000000000..a7af7ceb06 --- /dev/null +++ b/common/tests/test_params.cc @@ -0,0 +1,27 @@ +#include "catch2/catch.hpp" +#define private public +#include "common/params.h" +#include "common/util.h" + +TEST_CASE("Params/asyncWriter") { + char tmp_path[] = "/tmp/asyncWriter_XXXXXX"; + const std::string param_path = mkdtemp(tmp_path); + Params params(param_path); + auto param_names = {"CarParams", "IsMetric"}; + { + AsyncWriter async_writer; + for (const auto &name : param_names) { + async_writer.queue({param_path, name, "1"}); + // param is empty + REQUIRE(params.get(name).empty()); + } + + // check if thread is running + REQUIRE(async_writer.future.valid()); + REQUIRE(async_writer.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout); + } + // check results + for (const auto &name : param_names) { + REQUIRE(params.get(name) == "1"); + } +} diff --git a/common/tests/test_params.py b/common/tests/test_params.py index fb6f320ea4..490ee122be 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -4,7 +4,7 @@ import time import uuid import unittest -from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName class TestParams(unittest.TestCase): def setUp(self): @@ -86,7 +86,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - put_nonblocking("CarParams", "test") + Params().put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" @@ -95,7 +95,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - put_bool_nonblocking("CarParams", True) + Params().put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8094030731..50791e51ca 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,7 @@ from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.profiler import Profiler -from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.conversions import Conversions as CV @@ -129,8 +129,8 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) - put_nonblocking("CarParamsCache", cp_bytes) - put_nonblocking("CarParamsPersistent", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params if not self.CP.experimentalLongitudinalAvailable or is_release_branch(): @@ -449,7 +449,7 @@ class Controls: self.initialized = True self.set_initial_state() - put_bool_nonblocking("ControlsReady", True) + self.params.put_bool_nonblocking("ControlsReady", True) # Check for CAN timeout if not can_strs: diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 6469ece402..8a0cecb81a 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -15,7 +15,7 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot from openpilot.system.swaglog import cloudlog @@ -63,8 +63,8 @@ class Calibrator: self.not_car = False # Read saved calibration - params = Params() - calibration_params = params.get("CalibrationParams") + self.params = Params() + calibration_params = self.params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT height = HEIGHT_INIT @@ -162,7 +162,7 @@ class Calibrator: write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: - put_nonblocking("CalibrationParams", self.get_msg().to_bytes()) + self.params.put_nonblocking("CalibrationParams", self.get_msg().to_bytes()) def handle_v_ego(self, v_ego: float) -> None: self.v_ego = v_ego diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 3d190fb00a..ffb095439a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -11,7 +11,7 @@ from typing import List, Optional, Dict, Any import numpy as np from cereal import log, messaging -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed @@ -82,6 +82,8 @@ class Laikad: valid_ephem_types: Valid ephemeris types to be used by AstroDog save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ + self.params = Params() + self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) @@ -113,7 +115,7 @@ class Laikad: if not self.save_ephemeris: return - cache_bytes = Params().get(EPHEMERIS_CACHE) + cache_bytes = self.params.get(EPHEMERIS_CACHE) if not cache_bytes: return @@ -141,7 +143,7 @@ class Laikad: if len(valid_navs) > 0: ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'], gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G']) - put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) + self.params.put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 401de0cfdd..508cc9f692 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -669,9 +669,10 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { } int Localizer::locationd_thread() { + Params params; LocalizerGnssSource source; const char* gps_location_socket; - if (Params().getBool("UbloxAvailable")) { + if (params.getBool("UbloxAvailable")) { source = LocalizerGnssSource::UBLOX; gps_location_socket = "gpsLocationExternal"; } else { @@ -728,10 +729,7 @@ int Localizer::locationd_thread() { VectorXd posGeo = this->get_position_geodetic(); std::string lastGPSPosJSON = util::string_format( "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2)); - - std::thread([] (const std::string gpsjson) { - Params().put("LastGPSPosition", gpsjson); - }, lastGPSPosJSON).detach(); + params.putNonBlocking("LastGPSPosition", lastGPSPosJSON); } cnt++; } diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 55ad62145e..f8bdacc0ce 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,7 +7,7 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.numpy_fast import clip from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States @@ -247,7 +247,7 @@ def main(sm=None, pm=None): 'stiffnessFactor': liveParameters.stiffnessFactor, 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, } - put_nonblocking("LiveParameters", json.dumps(params)) + params_reader.put_nonblocking("LiveParameters", json.dumps(params)) pm.send('liveParameters', msg) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c7cff88f3e..0cd55652af 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -4,7 +4,7 @@ import gc import cereal.messaging as messaging from cereal import car from cereal import log -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus @@ -14,13 +14,15 @@ def dmonitoringd_thread(sm=None, pm=None): gc.disable() set_realtime_priority(2) + params = Params() + if pm is None: pm = messaging.PubMaster(['driverMonitoringState']) if sm is None: sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) - driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) + driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected")) sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid sm['liveCalibration'].rpyCalib = [0, 0, 0] @@ -87,7 +89,7 @@ def dmonitoringd_thread(sm=None, pm=None): if (sm['driverStateV2'].frameId % 6000 == 0 and driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): - put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) + params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) def main(sm=None, pm=None): dmonitoringd_thread(sm, pm) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 0b3c73a1c0..9d3720dac1 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -2,7 +2,7 @@ import time import threading from typing import Optional -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE from openpilot.system.swaglog import cloudlog from openpilot.selfdrive.statsd import statlog @@ -60,7 +60,7 @@ class PowerMonitoring: self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0) self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh) if now - self.last_save_time >= 10: - put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) + self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) self.last_save_time = now # First measurement, set integration time From ec945dc53d172ce51d720e0e46ed9f814dd7d90a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Sep 2023 09:26:16 -0700 Subject: [PATCH 283/410] Subaru: add GEN1 longitudinal test route (#29753) * add long route * fix duplicates * need to bump that slightly up * commented for now Co-authored-by: Shane Smiskol --------- Co-authored-by: Shane Smiskol --- selfdrive/car/tests/routes.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index dc4def327a..8299d15d52 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -244,6 +244,7 @@ routes = [ CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), + # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2), From 001df43194734e6de2f798b619a6f992cea5dea5 Mon Sep 17 00:00:00 2001 From: Igor Biletksyy Date: Wed, 6 Sep 2023 10:00:36 -0700 Subject: [PATCH 284/410] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 39bc5a4886..394b61cd16 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 39bc5a488686dc28b6bd7b53f555fa22ae9e5860 +Subproject commit 394b61cd1651b53c8d9b51470e8cc3b9617e9272 From 60593660e61e3ede35ecb401ca0714eaac5edf52 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 7 Sep 2023 01:24:58 +0800 Subject: [PATCH 285/410] cabana: add empty check before insert events (#29798) --- tools/cabana/streams/abstractstream.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index a8c16ca267..c8945aec64 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -167,8 +167,10 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std e.insert(insert_pos, new_e.cbegin(), new_e.cend()); } - auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare); - all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); + if (!new_events.empty()) { + auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare); + all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); + } lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time; emit eventsMerged(); From bbf133a2e505bee6dc502a3b636a59ae6b254798 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 7 Sep 2023 01:34:01 +0800 Subject: [PATCH 286/410] replay: fix concurrency issues (#29797) fix concurrency issues --- tools/replay/replay.cc | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index e323a9f64d..d8a68a06e9 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -151,9 +151,10 @@ void Replay::buildTimeline() { [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical, }; - for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) { + const auto &route_segments = route_->segments(); + for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { LogReader log; - if (!log.load(route_->at(it->first).qlog.toStdString(), &exit_, + if (!log.load(it->second.qlog.toStdString(), &exit_, {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; @@ -227,7 +228,10 @@ void Replay::segmentLoadFinished(bool success) { if (!success) { Segment *seg = qobject_cast(sender()); rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num); - segments_.erase(seg->seg_num); + updateEvents([&]() { + segments_.erase(seg->seg_num); + return true; + }); } queueSegment(); } @@ -456,7 +460,7 @@ void Replay::stream() { } if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { - int last_segment = segments_.rbegin()->first; + int last_segment = segments_.empty() ? 0 : segments_.rbegin()->first; if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) { rInfo("reaches the end of route, restart from beginning"); QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection); From 7f23e69cb126941ad736cf100e28fb67f5827f48 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 7 Sep 2023 01:34:15 +0800 Subject: [PATCH 287/410] cabana: fix stuck on exit (#29796) fix ctrl+c can't exit when stream dialog displayed on startup --- tools/cabana/cabana.cc | 36 +++++++++++++++++++++--------------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 7d3e6ab99f..33403a2bff 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -75,12 +75,7 @@ int main(int argc, char *argv[]) { } else if (cmd_parser.isSet("demo")) { route = DEMO_ROUTE; } - - if (route.isEmpty()) { - StreamSelector dlg(&stream); - dlg.exec(); - dbc_file = dlg.dbcFile(); - } else { + if (!route.isEmpty()) { auto replay_stream = new ReplayStream(&app); if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; @@ -89,17 +84,28 @@ int main(int argc, char *argv[]) { } } - MainWindow w; - if (!stream) { - stream = new DummyStream(&app); - } - stream->start(); - if (!dbc_file.isEmpty()) { - w.loadFile(dbc_file); + int ret = 0; + { + MainWindow w; + QTimer::singleShot(0, [&]() { + if (!stream) { + StreamSelector dlg(&stream); + dlg.exec(); + dbc_file = dlg.dbcFile(); + } + if (!stream) { + stream = new DummyStream(&app); + } + stream->start(); + if (!dbc_file.isEmpty()) { + w.loadFile(dbc_file); + } + w.show(); + }); + + ret = app.exec(); } - w.show(); - int ret = app.exec(); delete can; return ret; } From d3c5ac554548367610ef289ef6bdb15b56767476 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Sep 2023 10:40:52 -0700 Subject: [PATCH 288/410] Precommit: do a sanity check on github workflows (#29790) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * sanity check on github actions * That one doesn’t apply to us --- .pre-commit-config.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2ea8d99c14..f74692c01e 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -83,3 +83,7 @@ repos: name: validate poetry lock args: - --check +- repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.26.3 + hooks: + - id: check-github-workflows From 917f71d4460bf5503190ade72a3fa760b64dca66 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Sep 2023 11:11:15 -0700 Subject: [PATCH 289/410] CI: retry setup on failure (#29785) * try a setup action * should be uses * fix that formatting * try conclusion * continue on error * try without hyphens * only when failure * make it optional * continue on error * those don't fail anymore * what about 3 failures * remove stuff for debugging * cleanup * review suggestions * change that too * fix pj --- .github/workflows/badges.yaml | 2 +- .github/workflows/selfdrive_tests.yaml | 18 ++++----- .../workflows/setup-with-retry/action.yaml | 39 +++++++++++++++++++ .github/workflows/setup/action.yaml | 11 ++++++ .github/workflows/tools_tests.yaml | 6 +-- 5 files changed, 63 insertions(+), 13 deletions(-) create mode 100644 .github/workflows/setup-with-retry/action.yaml diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 2ab3bded6a..a2c2daab1a 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -18,7 +18,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Push badges run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b2c1bac822..a631069726 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -41,7 +41,7 @@ jobs: - name: Build devel timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' timeout-minutes: 1 @@ -74,7 +74,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot with all flags timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache run: | @@ -196,7 +196,7 @@ jobs: run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry with: git-lfs: false - name: Build and push CL Docker image @@ -223,7 +223,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run valgrind @@ -241,7 +241,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" @@ -273,7 +273,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Cache test routes id: dependency-cache uses: actions/cache@v3 @@ -313,7 +313,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build base Docker image run: eval "$BUILD" - name: Build Docker image @@ -349,7 +349,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Cache test routes id: dependency-cache uses: actions/cache@v3 @@ -378,7 +378,7 @@ jobs: with: submodules: true ref: ${{ github.event.pull_request.base.ref }} - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Get base car info run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info" diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml new file mode 100644 index 0000000000..427b5a45ac --- /dev/null +++ b/.github/workflows/setup-with-retry/action.yaml @@ -0,0 +1,39 @@ +name: 'openpilot env setup, with retry on failure' + +inputs: + git_lfs: + description: 'Whether or not to pull the git lfs' + required: false + default: 'true' + +env: + SLEEP_TIME: 30 # Time to sleep between retries + +runs: + using: "composite" + steps: + - id: setup1 + uses: ./.github/workflows/setup + continue-on-error: true + with: + git_lfs: ${{ inputs.git_lfs }} + is_retried: true + - if: steps.setup1.outcome == 'failure' + shell: bash + run: sleep ${{ env.SLEEP_TIME }} + - id: setup2 + if: steps.setup1.outcome == 'failure' + uses: ./.github/workflows/setup + continue-on-error: true + with: + git_lfs: ${{ inputs.git_lfs }} + is_retried: true + - if: steps.setup2.outcome == 'failure' + shell: bash + run: sleep ${{ env.SLEEP_TIME }} + - id: setup3 + if: steps.setup2.outcome == 'failure' + uses: ./.github/workflows/setup + with: + git_lfs: ${{ inputs.git_lfs }} + is_retried: true \ No newline at end of file diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 263432ea98..74b82f9158 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,10 +5,21 @@ inputs: description: 'Whether or not to pull the git lfs' required: false default: 'true' + is_retried: + description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' + required: false + default: 'false' runs: using: "composite" steps: + # assert that this action is retried using the setup-with-retry + - shell: bash + if: ${{ inputs.is_retried == 'false' }} + run: | + echo "You should not run this action directly. Use setup-with-retry instead" + exit 1 + # do this after checkout to ensure our custom LFS config is used to pull from GitLab - shell: bash if: ${{ inputs.git_lfs == 'true' }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index ccdbef0044..c7a5f80c3b 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -33,7 +33,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot timeout-minutes: 5 run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal" @@ -51,7 +51,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build base cl image run: eval "$BUILD_CL" - name: Setup to push to repo @@ -71,7 +71,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry with: git_lfs: false - name: Setup to push to repo From 2487db14b06df91d43d277c4e4a35cce2baa1bc6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 6 Sep 2023 12:29:36 -0700 Subject: [PATCH 290/410] disable metadrive on linux/aarch64 (#29802) --- poetry.lock | 22 ++++++++++++++++++---- pyproject.toml | 2 +- 2 files changed, 19 insertions(+), 5 deletions(-) diff --git a/poetry.lock b/poetry.lock index 95dd089bce..b1bd2df7c6 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -2766,7 +2766,14 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.21.2", markers = "python_version >= \"3.10\""}, + {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, + {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""}, + {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, + {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, +] [[package]] name = "opencv-python-headless" @@ -2785,7 +2792,14 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.21.2", markers = "python_version >= \"3.10\""}, + {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, + {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""}, + {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, + {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, +] [[package]] name = "packaging" @@ -5035,4 +5049,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "949a4c853db95a61159dc93c05d42d78a334b08f0f62b74587d77a348db9cf23" +content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1" diff --git a/pyproject.toml b/pyproject.toml index ebcf350ce6..1c7d857652 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -128,7 +128,7 @@ inputs = "*" lru-dict = "*" markdown-it-py = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" } +metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" From a1306114bc8de7d55137258088d8d042afb86018 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 7 Sep 2023 04:25:40 +0800 Subject: [PATCH 291/410] ui/CameraView: fix divide by zero issue (#29770) --- selfdrive/ui/qt/widgets/cameraview.cc | 4 +++- selfdrive/ui/qt/widgets/cameraview.h | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index fea81ab910..ab1bafb883 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -207,7 +207,9 @@ void CameraWidget::updateFrameMat() { if (zoomed_view) { if (active_stream_type == VISION_STREAM_DRIVER) { - frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); + if (stream_width > 0 && stream_height > 0) { + frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); + } } else { // Project point at "infinity" to compute x and y offsets // to ensure this ends up in the middle of the screen diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 647653cdd3..fcd5b1b18f 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -65,7 +65,7 @@ protected: bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; GLuint textures[2]; - mat4 frame_mat; + mat4 frame_mat = {}; std::unique_ptr program; QColor bg = QColor("#000000"); From ec479322d3d8d789290bee68919d14b040481d53 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 6 Sep 2023 13:44:20 -0700 Subject: [PATCH 292/410] Revert "params: safe and efficient async writing parameters (#25912)" This reverts commit 0d797f4e8b2552192669d0329c14849f0a970066. --- common/SConscript | 2 +- common/params.cc | 31 -------------------------- common/params.h | 21 ----------------- common/params.py | 5 ++++- common/params_pyx.pyx | 22 +++++++----------- common/tests/test_params.cc | 27 ---------------------- common/tests/test_params.py | 6 ++--- selfdrive/controls/controlsd.py | 8 +++---- selfdrive/locationd/calibrationd.py | 8 +++---- selfdrive/locationd/laikad.py | 8 +++---- selfdrive/locationd/locationd.cc | 8 ++++--- selfdrive/locationd/paramsd.py | 4 ++-- selfdrive/monitoring/dmonitoringd.py | 8 +++---- selfdrive/thermald/power_monitoring.py | 4 ++-- 14 files changed, 39 insertions(+), 123 deletions(-) delete mode 100644 common/tests/test_params.cc diff --git a/common/SConscript b/common/SConscript index d999d54336..d22aca128b 100644 --- a/common/SConscript +++ b/common/SConscript @@ -29,7 +29,7 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', - ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython bindings diff --git a/common/params.cc b/common/params.cc index 2cd9807887..63baa30315 100644 --- a/common/params.cc +++ b/common/params.cc @@ -7,7 +7,6 @@ #include #include -#include "common/queue.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" @@ -328,33 +327,3 @@ void Params::clearAll(ParamKeyType key_type) { fsync_dir(getParamPath()); } - -void Params::putNonBlocking(const std::string &key, const std::string &val) { - static AsyncWriter async_writer; - async_writer.queue({params_path, key, val}); -} - - -// AsyncWriter - -AsyncWriter::~AsyncWriter() { - if (future.valid()) { - future.wait(); - } -} - -void AsyncWriter::queue(const std::tuple &dat) { - q.push(dat); - // start thread on demand - if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) { - future = std::async(std::launch::async, &AsyncWriter::write, this); - } -} - -void AsyncWriter::write() { - std::tuple dat; - while (q.try_pop(dat, 0)) { - auto &[path, key, value] = dat; - Params(path).put(key, value); - } -} diff --git a/common/params.h b/common/params.h index 8889a8e1b4..24b1bffeb1 100644 --- a/common/params.h +++ b/common/params.h @@ -1,13 +1,9 @@ #pragma once -#include #include #include -#include #include -#include "common/queue.h" - enum ParamKeyType { PERSISTENT = 0x02, CLEAR_ON_MANAGER_START = 0x04, @@ -46,25 +42,8 @@ public: inline int putBool(const std::string &key, bool val) { return put(key.c_str(), val ? "1" : "0", 1); } - void putNonBlocking(const std::string &key, const std::string &val); - inline void putBoolNonBlocking(const std::string &key, bool val) { - putNonBlocking(key, val ? "1" : "0"); - } private: std::string params_path; std::string prefix; }; - -class AsyncWriter { -public: - AsyncWriter() {} - ~AsyncWriter(); - void queue(const std::tuple &dat); - -private: - void write(); - - std::future future; - SafeQueue> q; -}; diff --git a/common/params.py b/common/params.py index 66808083dc..ea8ac7514a 100644 --- a/common/params.py +++ b/common/params.py @@ -1,7 +1,10 @@ -from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ + put_bool_nonblocking assert Params assert ParamKeyType assert UnknownKeyName +assert put_nonblocking +assert put_bool_nonblocking if __name__ == "__main__": import sys diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 5ea7874a5f..abb3199d05 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -3,6 +3,7 @@ from libcpp cimport bool from libcpp.string cimport string from libcpp.vector cimport vector +import threading cdef extern from "common/params.h": cpdef enum ParamKeyType: @@ -18,8 +19,6 @@ cdef extern from "common/params.h": bool getBool(string, bool) nogil int remove(string) nogil int put(string, string) nogil - void putNonBlocking(string, string) nogil - void putBoolNonBlocking(string, bool) nogil int putBool(string, bool) nogil bool checkKey(string) nogil string getParamPath(string) nogil @@ -80,7 +79,7 @@ cdef class Params: """ Warning: This function blocks until the param is written to disk! In very rare cases this can take over a second, and your code will hang. - Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but + Use the put_nonblocking helper function in time sensitive code, but in general try to avoid writing params as much as possible. """ cdef string k = self.check_key(key) @@ -93,17 +92,6 @@ cdef class Params: with nogil: self.p.putBool(k, val) - def put_nonblocking(self, key, dat): - cdef string k = self.check_key(key) - cdef string dat_bytes = ensure_bytes(dat) - with nogil: - self.p.putNonBlocking(k, dat_bytes) - - def put_bool_nonblocking(self, key, bool val): - cdef string k = self.check_key(key) - with nogil: - self.p.putBoolNonBlocking(k, val) - def remove(self, key): cdef string k = self.check_key(key) with nogil: @@ -115,3 +103,9 @@ cdef class Params: def all_keys(self): return self.p.allKeys() + +def put_nonblocking(key, val, d=""): + threading.Thread(target=lambda: Params(d).put(key, val)).start() + +def put_bool_nonblocking(key, bool val, d=""): + threading.Thread(target=lambda: Params(d).put_bool(key, val)).start() diff --git a/common/tests/test_params.cc b/common/tests/test_params.cc deleted file mode 100644 index a7af7ceb06..0000000000 --- a/common/tests/test_params.cc +++ /dev/null @@ -1,27 +0,0 @@ -#include "catch2/catch.hpp" -#define private public -#include "common/params.h" -#include "common/util.h" - -TEST_CASE("Params/asyncWriter") { - char tmp_path[] = "/tmp/asyncWriter_XXXXXX"; - const std::string param_path = mkdtemp(tmp_path); - Params params(param_path); - auto param_names = {"CarParams", "IsMetric"}; - { - AsyncWriter async_writer; - for (const auto &name : param_names) { - async_writer.queue({param_path, name, "1"}); - // param is empty - REQUIRE(params.get(name).empty()); - } - - // check if thread is running - REQUIRE(async_writer.future.valid()); - REQUIRE(async_writer.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout); - } - // check results - for (const auto &name : param_names) { - REQUIRE(params.get(name) == "1"); - } -} diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 490ee122be..fb6f320ea4 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -4,7 +4,7 @@ import time import uuid import unittest -from openpilot.common.params import Params, ParamKeyType, UnknownKeyName +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking class TestParams(unittest.TestCase): def setUp(self): @@ -86,7 +86,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - Params().put_nonblocking("CarParams", "test") + put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" @@ -95,7 +95,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - Params().put_bool_nonblocking("CarParams", True) + put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 50791e51ca..8094030731 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,7 @@ from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.profiler import Profiler -from openpilot.common.params import Params +from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.conversions import Conversions as CV @@ -129,8 +129,8 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) - self.params.put_nonblocking("CarParamsCache", cp_bytes) - self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + put_nonblocking("CarParamsCache", cp_bytes) + put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params if not self.CP.experimentalLongitudinalAvailable or is_release_branch(): @@ -449,7 +449,7 @@ class Controls: self.initialized = True self.set_initial_state() - self.params.put_bool_nonblocking("ControlsReady", True) + put_bool_nonblocking("ControlsReady", True) # Check for CAN timeout if not can_strs: diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 8a0cecb81a..6469ece402 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -15,7 +15,7 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params +from openpilot.common.params import Params, put_nonblocking from openpilot.common.realtime import set_realtime_priority from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot from openpilot.system.swaglog import cloudlog @@ -63,8 +63,8 @@ class Calibrator: self.not_car = False # Read saved calibration - self.params = Params() - calibration_params = self.params.get("CalibrationParams") + params = Params() + calibration_params = params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT height = HEIGHT_INIT @@ -162,7 +162,7 @@ class Calibrator: write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: - self.params.put_nonblocking("CalibrationParams", self.get_msg().to_bytes()) + put_nonblocking("CalibrationParams", self.get_msg().to_bytes()) def handle_v_ego(self, v_ego: float) -> None: self.v_ego = v_ego diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ffb095439a..3d190fb00a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -11,7 +11,7 @@ from typing import List, Optional, Dict, Any import numpy as np from cereal import log, messaging -from openpilot.common.params import Params +from openpilot.common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed @@ -82,8 +82,6 @@ class Laikad: valid_ephem_types: Valid ephemeris types to be used by AstroDog save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ - self.params = Params() - self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) @@ -115,7 +113,7 @@ class Laikad: if not self.save_ephemeris: return - cache_bytes = self.params.get(EPHEMERIS_CACHE) + cache_bytes = Params().get(EPHEMERIS_CACHE) if not cache_bytes: return @@ -143,7 +141,7 @@ class Laikad: if len(valid_navs) > 0: ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'], gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G']) - self.params.put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 508cc9f692..401de0cfdd 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -669,10 +669,9 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { } int Localizer::locationd_thread() { - Params params; LocalizerGnssSource source; const char* gps_location_socket; - if (params.getBool("UbloxAvailable")) { + if (Params().getBool("UbloxAvailable")) { source = LocalizerGnssSource::UBLOX; gps_location_socket = "gpsLocationExternal"; } else { @@ -729,7 +728,10 @@ int Localizer::locationd_thread() { VectorXd posGeo = this->get_position_geodetic(); std::string lastGPSPosJSON = util::string_format( "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2)); - params.putNonBlocking("LastGPSPosition", lastGPSPosJSON); + + std::thread([] (const std::string gpsjson) { + Params().put("LastGPSPosition", gpsjson); + }, lastGPSPosJSON).detach(); } cnt++; } diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index f8bdacc0ce..55ad62145e 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,7 +7,7 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from openpilot.common.params import Params +from openpilot.common.params import Params, put_nonblocking from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.numpy_fast import clip from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States @@ -247,7 +247,7 @@ def main(sm=None, pm=None): 'stiffnessFactor': liveParameters.stiffnessFactor, 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, } - params_reader.put_nonblocking("LiveParameters", json.dumps(params)) + put_nonblocking("LiveParameters", json.dumps(params)) pm.send('liveParameters', msg) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 0cd55652af..c7cff88f3e 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -4,7 +4,7 @@ import gc import cereal.messaging as messaging from cereal import car from cereal import log -from openpilot.common.params import Params +from openpilot.common.params import Params, put_bool_nonblocking from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus @@ -14,15 +14,13 @@ def dmonitoringd_thread(sm=None, pm=None): gc.disable() set_realtime_priority(2) - params = Params() - if pm is None: pm = messaging.PubMaster(['driverMonitoringState']) if sm is None: sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) - driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected")) + driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid sm['liveCalibration'].rpyCalib = [0, 0, 0] @@ -89,7 +87,7 @@ def dmonitoringd_thread(sm=None, pm=None): if (sm['driverStateV2'].frameId % 6000 == 0 and driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): - params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) + put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) def main(sm=None, pm=None): dmonitoringd_thread(sm, pm) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 9d3720dac1..0b3c73a1c0 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -2,7 +2,7 @@ import time import threading from typing import Optional -from openpilot.common.params import Params +from openpilot.common.params import Params, put_nonblocking from openpilot.system.hardware import HARDWARE from openpilot.system.swaglog import cloudlog from openpilot.selfdrive.statsd import statlog @@ -60,7 +60,7 @@ class PowerMonitoring: self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0) self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh) if now - self.last_save_time >= 10: - self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) + put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) self.last_save_time = now # First measurement, set integration time From 96fd66e4e294c05601a93fd298740a6dfebf564e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Sep 2023 15:47:21 -0700 Subject: [PATCH 293/410] navd: locationd is only trusted source (#29803) * finish revert for https://github.com/commaai/openpilot/pull/27579 * comment out * clean up --- selfdrive/navd/navd.py | 19 ++++--------------- selfdrive/ui/qt/maps/map.cc | 1 - selfdrive/ui/qt/maps/map_helpers.cc | 5 ----- selfdrive/ui/qt/maps/map_helpers.h | 1 - 4 files changed, 4 insertions(+), 22 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 6a6a0846b7..0ccd1f144b 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -5,14 +5,12 @@ import os import threading import requests -import numpy as np import cereal.messaging as messaging from cereal import log from openpilot.common.api import Api from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper -from openpilot.common.transformations.coordinates import ecef2geodetic from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, @@ -21,7 +19,6 @@ from openpilot.system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 -VALID_POS_STD = 50.0 REROUTE_COUNTER_MIN = 3 @@ -79,21 +76,13 @@ class RouteEngine: def update_location(self): location = self.sm['liveLocationKalman'] - laikad = self.sm['gnssMeasurements'] + self.gps_ok = location.gpsOK - locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD + self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - self.localizer_valid = locationd_valid or laikad_valid - self.gps_ok = location.gpsOK or laikad_valid - - if locationd_valid: + if self.localizer_valid: self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2]) self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1]) - elif laikad_valid: - geodetic = ecef2geodetic(laikad.positionECEF.value) - self.last_position = Coordinate(geodetic[0], geodetic[1]) - self.last_bearing = None def recompute_route(self): if self.last_position is None: @@ -357,7 +346,7 @@ class RouteEngine: def main(sm=None, pm=None): if sm is None: - sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState']) + sm = messaging.SubMaster(['liveLocationKalman', 'managerState']) if pm is None: pm = messaging.PubMaster(['navInstruction', 'navRoute']) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index d5e81bc9e0..db56fcdcfc 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -5,7 +5,6 @@ #include -#include "common/transformations/coordinates.hpp" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/ui.h" diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index a23c8990d3..ed843610a8 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -149,8 +149,3 @@ std::pair map_format_distance(float d, bool is_metric) { : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")}; } } - -double angle_difference(double angle1, double angle2) { - double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0; - return diff < -180.0 ? diff + 360.0 : diff; -} diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 6c6a8d12fb..4d6e9b5382 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -29,4 +29,3 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList polyline_to_coordinate_list(const QString &polylineString); std::optional coordinate_from_param(const std::string ¶m); std::pair map_format_distance(float d, bool is_metric); -double angle_difference(double angle1, double angle2); From 338288df6e0f872ddc6c1cd02ce130d6ce154e36 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Sep 2023 16:08:59 -0700 Subject: [PATCH 294/410] Subaru: don't copy eyesight counters, calculate manually (#29533) * subaru manual counters * update ref * that isn't used * review suggestions --- selfdrive/car/subaru/carcontroller.py | 15 +++++------ selfdrive/car/subaru/subarucan.py | 32 ++++++++++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 28 insertions(+), 21 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index ec443dfd4d..5553fda0d8 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -80,29 +80,30 @@ class CarController: else: if self.frame % 10 == 0: - can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, + can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible)) - can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, + can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: - can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert)) + can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert)) if self.CP.openpilotLongitudinalControl: if self.frame % 5 == 0: - can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) + can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) - can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake)) + can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake)) - can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd, + can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd, self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) else: if pcm_cancel_cmd: if self.CP.carFingerprint not in HYBRID_CARS: bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main - can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) + can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 0f297d9635..57c1ae7741 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -16,10 +16,9 @@ def create_steering_control(packer, apply_steer, steer_req): def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) -def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0): +def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0): values = {s: es_distance_msg[s] for s in [ "CHECKSUM", - "COUNTER", "Signal1", "Cruise_Fault", "Cruise_Throttle", @@ -39,7 +38,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable "Cruise_Resume", "Signal6", ]} - values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 + + values["COUNTER"] = frame % 0x10 if long_enabled: values["Cruise_Throttle"] = cruise_throttle @@ -57,10 +57,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): +def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): values = {s: es_lkas_state_msg[s] for s in [ "CHECKSUM", - "COUNTER", "LKAS_Alert_Msg", "Signal1", "LKAS_ACTIVE", @@ -77,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_ "Signal3", ]} + values["COUNTER"] = frame % 0x10 + # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: values["LKAS_Alert_Msg"] = 0 @@ -119,10 +120,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_ return packer.make_can_msg("ES_LKAS_State", CanBus.main, values) -def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible): +def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible): values = {s: dashstatus_msg[s] for s in [ "CHECKSUM", - "COUNTER", "PCB_Off", "LDW_Off", "Signal1", @@ -150,6 +150,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act "Cruise_State", ]} + values["COUNTER"] = frame % 0x10 + if enabled and long_active: values["Cruise_State"] = 0 values["Cruise_Activated"] = 1 @@ -165,10 +167,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act return packer.make_can_msg("ES_DashStatus", CanBus.main, values) -def create_es_brake(packer, es_brake_msg, enabled, brake_value): +def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): values = {s: es_brake_msg[s] for s in [ "CHECKSUM", - "COUNTER", "Signal1", "Brake_Pressure", "AEB_Status", @@ -179,6 +180,8 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value): "Signal3", ]} + values["COUNTER"] = frame % 0x10 + if enabled: values["Cruise_Activated"] = 1 @@ -190,10 +193,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value): return packer.make_can_msg("ES_Brake", CanBus.main, values) -def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm): +def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm): values = {s: es_status_msg[s] for s in [ "CHECKSUM", - "COUNTER", "Signal1", "Cruise_Fault", "Cruise_RPM", @@ -204,6 +206,8 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp "Signal3", ]} + values["COUNTER"] = frame % 0x10 + if long_enabled: values["Cruise_RPM"] = cruise_rpm @@ -213,16 +217,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp return packer.make_can_msg("ES_Status", CanBus.main, values) -def create_es_infotainment(packer, es_infotainment_msg, visual_alert): +def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert): # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts values = {s: es_infotainment_msg[s] for s in [ "CHECKSUM", - "COUNTER", "LKAS_State_Infotainment", "LKAS_Blue_Lines", "Signal1", "Signal2", ]} + + values["COUNTER"] = frame % 0x10 + if values["LKAS_State_Infotainment"] in (3, 4): values["LKAS_State_Infotainment"] = 0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cee528c62d..f5e098910f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -20022e4a1b5f5df343465180a3865b0c78890544 \ No newline at end of file +649c512f95d9ad80e7c8c4d852cfa5f468a28fd5 \ No newline at end of file From dbada885acf6418edbf6d781dc79fb85dfa74117 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 6 Sep 2023 21:01:01 -0700 Subject: [PATCH 295/410] locationd: Add camera-IMU cross-checks (#29727) * camera-gyro cross checks, but one way * increase factor to account for gyro noise (potholes, bad roads etc * increase factor to reduce FP with device taps, bad roads, etc * factor to 30 * add inputsok to sensoir data invalid alert * bugfix * move the sensors check * add localizer catchall alert * update refcommit * remove permanent alert * revert sensorDataInvalid alert change, split into new PR --- selfdrive/controls/controlsd.py | 4 ++-- selfdrive/controls/lib/events.py | 6 ++---- selfdrive/locationd/locationd.cc | 17 +++++++++++++---- selfdrive/locationd/locationd.h | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 19 insertions(+), 11 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8094030731..bb135071f2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -381,6 +381,8 @@ class Controls: if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR: if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs self.events.add(EventName.sensorDataInvalid) + if not self.sm['liveLocationKalman'].inputsOK and not NOSENSOR: + self.events.add(EventName.localizerMalfunction) if not self.sm['liveLocationKalman'].posenetOK: self.events.add(EventName.posenetInvalid) if not self.sm['liveLocationKalman'].deviceStable: @@ -420,8 +422,6 @@ class Controls: if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) - if self.sm['liveLocationKalman'].excessiveResets: - self.events.add(EventName.localizerMalfunction) def data_sample(self): """Receive data from sockets and update carState""" diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 1095c880cb..6f41224475 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -576,11 +576,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"), }, - # When the GPS position and localizer diverge the localizer is reset to the - # current GPS position. This alert is thrown when the localizer is reset - # more often than expected. EventName.localizerMalfunction: { - # ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"), + ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"), + ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"), }, # ********** events that affect controls state transitions ********** diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 401de0cfdd..600ba46853 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -21,9 +21,11 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s const double VALID_POS_STD = 50.0; // m const double MAX_RESET_TRACKER = 5.0; const double SANE_GPS_UNCERTAINTY = 1500.0; // m -const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker -const double DECAY = 0.99995; // same as reset tracker +const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker +const double RESET_TRACKER_DECAY = 0.99995; +const double DECAY = 0.9993; // ~10 secs to resume after a bad input const double MAX_FILTER_REWIND_TIME = 0.8; // s +const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30; // TODO: GPS sensor time offsets are empirically calculated // They should be replaced with synced time from a real clock @@ -256,7 +258,13 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) { auto v = log.getGyroUncalibrated().getV(); auto meas = Vector3d(-v[2], -v[1], -v[0]); - if (meas.norm() < ROTATION_SANITY_CHECK) { + + VectorXd gyro_bias = this->kf->get_x().segment(STATE_GYRO_BIAS_START); + float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]); + float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1]; + bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold; + + if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); this->observation_values_invalid["gyroscope"] *= DECAY; } else { @@ -483,6 +491,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION, { trans_device }, { trans_device_cov }); this->observation_values_invalid["cameraOdometry"] *= DECAY; + this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]); } void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) { @@ -538,7 +547,7 @@ void Localizer::time_check(double current_time) { void Localizer::update_reset_tracker() { // reset tracker is tuned to trigger when over 1reset/10s over 2min period if (this->is_gps_ok()) { - this->reset_tracker *= DECAY; + this->reset_tracker *= RESET_TRACKER_DECAY; } else { this->reset_tracker = 0.0; } diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index f3069048cd..47c8bf5627 100644 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -94,6 +94,7 @@ private: float gps_variance_factor; float gps_vertical_variance_factor; double gps_time_offset; + Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std void configure_gnss_source(const LocalizerGnssSource &source); }; diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f5e098910f..9e0f4d7b3d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -649c512f95d9ad80e7c8c4d852cfa5f468a28fd5 \ No newline at end of file +89e571c56fb6c053177cd28c3e0d688c641b46d5 \ No newline at end of file From 8fd4e1a7a7f1aac6ec9f715e4db9d895d75067c1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 7 Sep 2023 10:22:07 -0700 Subject: [PATCH 296/410] bump panda (#29814) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 394b61cd16..cb0cd1bfaa 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 394b61cd1651b53c8d9b51470e8cc3b9617e9272 +Subproject commit cb0cd1bfaabc6673b4f21b6c8361778c7b3e0014 From 0f942a228d6d354bf32069a5167d0d8c9002c47b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 8 Sep 2023 02:22:03 +0800 Subject: [PATCH 297/410] cabana: regenerate car_fingerprint_to_dbc when DBC files change (#29815) --- tools/cabana/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index f1a7581870..03baa1b3d6 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -42,4 +42,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json' generate_dbc = cabana_env.Command('#' + output_json_file, ['dbc/generate_dbc_json.py'], "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file) -cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"]) +cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", Glob("#opendbc/*.dbc"), "#cereal"]) From 0267e0500c49ccbd00c58a8911e2446c7b8c614f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 7 Sep 2023 11:24:54 -0700 Subject: [PATCH 298/410] radard: expose radarTrackId for radar leads (#29809) * Add radarState track identifier for debugging purposes * update process replay ref --- selfdrive/controls/radard.py | 11 +++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 8a21fdd8ab..ec42ae66f2 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -50,7 +50,8 @@ class KalmanParams: class Track: - def __init__(self, v_lead: float, kalman_params: KalmanParams): + def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams): + self.identifier = identifier self.cnt = 0 self.aLeadTau = _LEAD_ACCEL_TAU self.K_A = kalman_params.A @@ -98,11 +99,12 @@ class Track: "vLead": float(self.vLead), "vLeadK": float(self.vLeadK), "aLeadK": float(self.aLeadK), + "aLeadTau": float(self.aLeadTau), "status": True, "fcw": self.is_potential_fcw(model_prob), "modelProb": model_prob, "radar": True, - "aLeadTau": float(self.aLeadTau) + "radarTrackId": self.identifier, } def potential_low_speed_lead(self, v_ego: float): @@ -158,8 +160,9 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), + "status": True, "radar": False, - "status": True + "radarTrackId": -1, } @@ -237,7 +240,7 @@ class RadarD: # create the track if it doesn't exist or it's a new track if ids not in self.tracks: - self.tracks[ids] = Track(v_lead, self.kalman_params) + self.tracks[ids] = Track(ids, v_lead, self.kalman_params) self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) # *** publish radarState *** diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 9e0f4d7b3d..19a8a56e55 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -89e571c56fb6c053177cd28c3e0d688c641b46d5 \ No newline at end of file +98c21236f831ca3cff63939cb760b213460e84de \ No newline at end of file From 74daab120d8528bc39c4cc74df5bf4ee46ccc9d9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 8 Sep 2023 02:30:53 +0800 Subject: [PATCH 299/410] cabana: speed up exit (#29813) --- tools/cabana/streams/abstractstream.cc | 5 +++++ tools/cabana/videowidget.cc | 14 +++++++------- tools/cabana/videowidget.h | 1 - 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index c8945aec64..2cf65d4911 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -27,6 +27,11 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { emit StreamNotifier::instance()->changingStream(); delete can; can = this; + // TODO: add method stop() to class AbstractStream + QObject::connect(qApp, &QApplication::aboutToQuit, can, []() { + qDebug() << "stopping stream thread"; + can->pause(true); + }); emit StreamNotifier::instance()->streamStarted(); }); } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index f535c6b729..098f26841c 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -159,13 +159,13 @@ Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizonta qlog_future = std::make_unique>(QtConcurrent::run(this, &Slider::parseQLog)); } }); -} - -Slider::~Slider() { - abort_parse_qlog = true; - if (qlog_future) { - qlog_future->waitForFinished(); - } + QObject::connect(qApp, &QApplication::aboutToQuit, [this]() { + abort_parse_qlog = true; + if (qlog_future && qlog_future->isRunning()) { + qDebug() << "stopping thumbnail thread"; + qlog_future->waitForFinished(); + } + }); } AlertInfo Slider::alertInfo(double seconds) { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 7ddd315e48..c17dd67e2a 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -37,7 +37,6 @@ class Slider : public QSlider { public: Slider(QWidget *parent); - ~Slider(); double currentSecond() const { return value() / factor; } void setCurrentSecond(double sec) { setValue(sec * factor); } void setTimeRange(double min, double max); From bfe990b112a83f245bb5244553c84202aec7d86c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 7 Sep 2023 11:32:47 -0700 Subject: [PATCH 300/410] System: cleanup paths to use a common class (#29816) * use OP prefix for logmessage * cleanup paths too * cleanup the paths too * add hw.py to release * fix those issues * fix unittests * fix unittests * fix unittests * do swaglog_ipc properly across all the files * fix that * fix swaglog in c++ * review suggestions --- common/prefix.py | 5 ++- common/swaglog.cc | 2 +- common/tests/test_swaglog.cc | 3 +- common/util.h | 6 ++-- release/files_common | 1 + selfdrive/athena/athenad.py | 18 +++++----- selfdrive/athena/tests/test_athenad.py | 13 +++---- selfdrive/test/helpers.py | 5 +-- selfdrive/test/test_onroad.py | 12 +++---- selfdrive/tombstoned.py | 4 +-- system/hardware/hw.h | 36 ++++++++++++++------ system/hardware/hw.py | 29 ++++++++++++++++ system/loggerd/config.py | 12 ++----- system/loggerd/deleter.py | 10 +++--- system/loggerd/tests/fill.py | 5 +-- system/loggerd/tests/loggerd_tests_common.py | 15 ++------ system/loggerd/tests/test_deleter.py | 1 - system/loggerd/tests/test_encoder.py | 12 +++---- system/loggerd/tests/test_loggerd.py | 4 +-- system/loggerd/tests/test_uploader.py | 9 ++--- system/loggerd/tools/mark_all_uploaded.py | 4 +-- system/loggerd/uploader.py | 6 ++-- system/logmessaged.py | 4 +-- system/swaglog.py | 14 +++----- system/tests/test_logmessaged.py | 17 +++------ 25 files changed, 129 insertions(+), 118 deletions(-) create mode 100644 system/hardware/hw.py diff --git a/common/prefix.py b/common/prefix.py index 702b0feae4..c49cf603df 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -5,10 +5,11 @@ import uuid from typing import Optional from openpilot.common.params import Params +from openpilot.system.hardware.hw import Paths class OpenpilotPrefix: def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): - self.prefix = prefix if prefix else str(uuid.uuid4()) + self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit @@ -18,6 +19,7 @@ class OpenpilotPrefix: os.mkdir(self.msgq_path) except FileExistsError: pass + os.makedirs(Paths.log_root(), exist_ok=True) return self @@ -36,3 +38,4 @@ class OpenpilotPrefix: shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) + shutil.rmtree(Paths.log_root(), ignore_errors=True) diff --git a/common/swaglog.cc b/common/swaglog.cc index 923f701ab2..bcd597a257 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -20,7 +20,7 @@ class SwaglogState : public LogState { public: - SwaglogState() : LogState("ipc:///tmp/logmessage") {} + SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {} json11::Json::object ctx_j; diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index 322354d730..09bc4c3795 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -9,7 +9,6 @@ #include "system/hardware/hw.h" #include "third_party/json11/json11.hpp" -const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage"; std::string daemon_name = "testy"; std::string dongle_id = "test_dongle_id"; int LINE_NO = 0; @@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) { void recv_log(int thread_cnt, int thread_msg_cnt) { void *zctx = zmq_ctx_new(); void *sock = zmq_socket(zctx, ZMQ_PULL); - zmq_bind(sock, SWAGLOG_ADDR); + zmq_bind(sock, Path::swaglog_ipc().c_str()); std::vector thread_msgs(thread_cnt); int total_count = 0; diff --git a/common/util.h b/common/util.h index 30f514f8dc..5c0ef7fec5 100644 --- a/common/util.h +++ b/common/util.h @@ -188,9 +188,9 @@ class LogState { void *zctx = nullptr; void *sock = nullptr; int print_level; - const char* endpoint; + std::string endpoint; - LogState(const char* _endpoint) { + LogState(std::string _endpoint) { endpoint = _endpoint; } @@ -202,7 +202,7 @@ class LogState { int timeout = 100; zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); - zmq_connect(sock, endpoint); + zmq_connect(sock, endpoint.c_str()); initialized = true; } diff --git a/release/files_common b/release/files_common index 54aece8530..3b84e09581 100644 --- a/release/files_common +++ b/release/files_common @@ -209,6 +209,7 @@ system/hardware/__init__.py system/hardware/base.h system/hardware/base.py system/hardware/hw.h +system/hardware/hw.py system/hardware/tici/__init__.py system/hardware/tici/hardware.h system/hardware/tici/hardware.py diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 49b214f5e9..9e2fdc3319 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,11 +36,11 @@ from openpilot.common.file_helpers import CallbackReader from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC, AGNOS -from openpilot.system.loggerd.config import ROOT from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.selfdrive.statsd import STATS_DIR -from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog +from openpilot.system.swaglog import cloudlog from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version +from selfdrive.hardware.hw import Paths # TODO: use socket constant when mypy recognizes this as a valid attribute @@ -352,7 +352,7 @@ def scan_dir(path: str, prefix: str) -> List[str]: # (glob and friends traverse entire dir tree) with os.scandir(path) as i: for e in i: - rel_path = os.path.relpath(e.path, ROOT) + rel_path = os.path.relpath(e.path, Paths.log_root()) if e.is_dir(follow_symlinks=False): # add trailing slash rel_path = os.path.join(rel_path, '') @@ -367,7 +367,7 @@ def scan_dir(path: str, prefix: str) -> List[str]: @dispatcher.add_method def listDataDirectory(prefix='') -> List[str]: - return scan_dir(ROOT, prefix) + return scan_dir(Paths.log_root(), prefix) @dispatcher.add_method @@ -408,7 +408,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo failed.append(file.fn) continue - path = os.path.join(ROOT, file.fn) + path = os.path.join(Paths.log_root(), file.fn) if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)): failed.append(file.fn) continue @@ -572,8 +572,8 @@ def get_logs_to_send_sorted() -> List[str]: # TODO: scan once then use inotify to detect file creation/deletion curr_time = int(time.time()) logs = [] - for log_entry in os.listdir(SWAGLOG_DIR): - log_path = os.path.join(SWAGLOG_DIR, log_entry) + for log_entry in os.listdir(Paths.swaglog_root()): + log_path = os.path.join(Paths.swaglog_root(), log_entry) time_sent = 0 try: value = getxattr(log_path, LOG_ATTR_NAME) @@ -608,7 +608,7 @@ def log_handler(end_event: threading.Event) -> None: cloudlog.debug(f"athena.log_handler.forward_request {log_entry}") try: curr_time = int(time.time()) - log_path = os.path.join(SWAGLOG_DIR, log_entry) + log_path = os.path.join(Paths.swaglog_root(), log_entry) setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder)) with open(log_path) as f: jsonrpc = { @@ -635,7 +635,7 @@ def log_handler(end_event: threading.Event) -> None: log_success = "result" in log_resp and log_resp["result"].get("success") cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}") if log_entry and log_success: - log_path = os.path.join(SWAGLOG_DIR, log_entry) + log_path = os.path.join(Paths.swaglog_root(), log_entry) try: setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME) except OSError: diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index e088bcf356..bef622a75e 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -3,7 +3,6 @@ import json import os import requests import shutil -import tempfile import time import threading import queue @@ -18,11 +17,11 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException -from openpilot.system import swaglog from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server from cereal import messaging +from selfdrive.hardware.hw import Paths class TestAthenadMethods(unittest.TestCase): @@ -30,8 +29,6 @@ class TestAthenadMethods(unittest.TestCase): def setUpClass(cls): cls.SOCKET_PORT = 45454 athenad.Params = MockParams - athenad.ROOT = tempfile.mkdtemp() - athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp() athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} @@ -41,8 +38,8 @@ class TestAthenadMethods(unittest.TestCase): athenad.cur_upload_items.clear() athenad.cancelled_uploads.clear() - for i in os.listdir(athenad.ROOT): - p = os.path.join(athenad.ROOT, i) + for i in os.listdir(Paths.log_root()): + p = os.path.join(Paths.log_root(), i) if os.path.isdir(p): shutil.rmtree(p) else: @@ -61,7 +58,7 @@ class TestAthenadMethods(unittest.TestCase): @staticmethod def _create_file(file: str, parent: Optional[str] = None) -> str: - fn = os.path.join(athenad.ROOT if parent is None else parent, file) + fn = os.path.join(Paths.log_root() if parent is None else parent, file) os.makedirs(os.path.dirname(fn), exist_ok=True) Path(fn).touch() return fn @@ -418,7 +415,7 @@ class TestAthenadMethods(unittest.TestCase): fl = list() for i in range(10): file = f'swaglog.{i:010}' - self._create_file(file, athenad.SWAGLOG_DIR) + self._create_file(file, Paths.swaglog_root()) fl.append(file) # ensure the list is all logs except most recent diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 1fbf2c4d20..e891d8471d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -111,7 +111,4 @@ def string_context(context): temporary_dir = temporary_mock_dir([], "temp_dir") temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR") -temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir") -temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER") -temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"], - generator=string_context("/tmp/test_swaglog_ipc")) \ No newline at end of file +temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER") \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 22055d8f20..56bf9ea71d 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -19,8 +19,8 @@ from openpilot.common.timeout import Timeout from openpilot.common.params import Params from openpilot.selfdrive.controls.lib.events import EVENTS, ET from openpilot.system.hardware import HARDWARE -from openpilot.system.loggerd.config import ROOT from openpilot.selfdrive.test.helpers import set_params_enabled, release_only +from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.logreader import LogReader # Baseline CPU usage by process @@ -102,7 +102,7 @@ class TestOnroad(unittest.TestCase): @classmethod def setUpClass(cls): if "DEBUG" in os.environ: - segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) + segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) print(segs[-3]) cls.lr = list(LogReader(os.path.join(segs[-3], "rlog"))) @@ -115,8 +115,8 @@ class TestOnroad(unittest.TestCase): params.remove("CurrentRoute") set_params_enabled() os.environ['TESTING_CLOSET'] = '1' - if os.path.exists(ROOT): - shutil.rmtree(ROOT) + if os.path.exists(Paths.log_root()): + shutil.rmtree(Paths.log_root()) os.system("rm /dev/shm/*") # Make sure athena isn't running @@ -143,8 +143,8 @@ class TestOnroad(unittest.TestCase): while len(cls.segments) < 3: segs = set() - if Path(ROOT).exists(): - segs = set(Path(ROOT).glob(f"{route}--*")) + if Path(Paths.log_root()).exists(): + segs = set(Path(Paths.log_root()).glob(f"{route}--*")) cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1])) time.sleep(2) diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 3f99e16831..a1479003ee 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -10,8 +10,8 @@ import glob from typing import NoReturn from openpilot.common.file_helpers import mkdirs_exists_ok -from openpilot.system.loggerd.config import ROOT import openpilot.selfdrive.sentry as sentry +from openpilot.system.hardware.hw import Paths from openpilot.system.swaglog import cloudlog from openpilot.system.version import get_commit @@ -130,7 +130,7 @@ def report_tombstone_apport(fn): new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] - crashlog_dir = os.path.join(ROOT, "crash") + crashlog_dir = os.path.join(Paths.log_root(), "crash") mkdirs_exists_ok(crashlog_dir) # Files could be on different filesystems, copy, then delete diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 1274851787..d09a0a5bc5 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -14,16 +14,30 @@ #endif namespace Path { -inline std::string log_root() { - if (const char *env = getenv("LOG_ROOT")) { - return env; + inline std::string openpilot_prefix() { + return util::getenv("OPENPILOT_PREFIX", ""); + } + + inline std::string comma_home() { + return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix(); + } + + inline std::string log_root() { + if (const char *env = getenv("LOG_ROOT")) { + return env; + } + return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata"; + } + + inline std::string params() { + return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params"; + } + + inline std::string rsa_file() { + return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; + } + + inline std::string swaglog_ipc() { + return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); } - return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata"; -} -inline std::string params() { - return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params"; -} -inline std::string rsa_file() { - return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa"; -} } // namespace Path diff --git a/system/hardware/hw.py b/system/hardware/hw.py new file mode 100644 index 0000000000..5038f1a578 --- /dev/null +++ b/system/hardware/hw.py @@ -0,0 +1,29 @@ +import os +from pathlib import Path + +from openpilot.selfdrive.hardware import PC + +class Paths: + @staticmethod + def comma_home() -> str: + return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", "")) + + @staticmethod + def log_root() -> str: + if os.environ.get('LOG_ROOT', False): + return os.environ['LOG_ROOT'] + elif PC: + return str(Path(Paths.comma_home()) / "media" / "0" / "realdata") + else: + return '/data/media/0/realdata/' + + @staticmethod + def swaglog_root() -> str: + if PC: + return os.path.join(Paths.comma_home(), "log") + else: + return "/data/log/" + + @staticmethod + def swaglog_ipc() -> str: + return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "") \ No newline at end of file diff --git a/system/loggerd/config.py b/system/loggerd/config.py index dfc117f2c1..0245585fc0 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -1,13 +1,7 @@ import os from pathlib import Path from openpilot.system.hardware import PC - -if os.environ.get('LOG_ROOT', False): - ROOT = os.environ['LOG_ROOT'] -elif PC: - ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata") -else: - ROOT = '/data/media/0/realdata/' +from openpilot.selfdrive.hardware.hw import Paths CAMERA_FPS = 20 @@ -23,7 +17,7 @@ STATS_FLUSH_TIME_S = 60 def get_available_percent(default=None): try: - statvfs = os.statvfs(ROOT) + statvfs = os.statvfs(Paths.log_root()) available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks except OSError: available_percent = default @@ -33,7 +27,7 @@ def get_available_percent(default=None): def get_available_bytes(default=None): try: - statvfs = os.statvfs(ROOT) + statvfs = os.statvfs(Paths.log_root()) available_bytes = statvfs.f_bavail * statvfs.f_frsize except OSError: available_bytes = default diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index ab4a0b97c1..b060232b6e 100755 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -3,9 +3,9 @@ import os import shutil import threading from typing import List - +from openpilot.system.hardware.hw import Paths from openpilot.system.swaglog import cloudlog -from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from openpilot.system.loggerd.config import get_available_bytes, get_available_percent from openpilot.system.loggerd.uploader import listdir_by_creation from openpilot.system.loggerd.xattr_cache import getxattr @@ -20,7 +20,7 @@ PRESERVE_COUNT = 5 def has_preserve_xattr(d: str) -> bool: - return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE + return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]: @@ -51,14 +51,14 @@ def deleter_thread(exit_event): out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT if out_of_percent or out_of_bytes: - dirs = listdir_by_creation(ROOT) + dirs = listdir_by_creation(Paths.log_root()) # skip deleting most recent N preserved segments (and their prior segment) preserved_dirs = get_preserved_segments(dirs) # remove the earliest directory we can for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)): - delete_path = os.path.join(ROOT, delete_dir) + delete_path = os.path.join(Paths.log_root(), delete_dir) if any(name.endswith(".lock") for name in os.listdir(delete_path)): continue diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py index c749f42b97..5e6f887b12 100755 --- a/system/loggerd/tests/fill.py +++ b/system/loggerd/tests/fill.py @@ -3,7 +3,8 @@ from pathlib import Path -from openpilot.system.loggerd.config import ROOT, get_available_percent +from openpilot.system.hardware.hw import Paths +from openpilot.system.loggerd.config import get_available_percent from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file @@ -11,7 +12,7 @@ if __name__ == "__main__": segment_idx = 0 while True: seg_name = f"1970-01-01--00-00-00--{segment_idx}" - seg_path = Path(ROOT) / seg_name + seg_path = Path(Paths.log_root()) / seg_name print(seg_path) diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 89ddbd658c..8bfb571861 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -1,11 +1,9 @@ import os -import errno -import shutil import random -import tempfile import unittest from pathlib import Path from typing import Optional +from openpilot.system.hardware.hw import Paths import openpilot.system.loggerd.deleter as deleter import openpilot.system.loggerd.uploader as uploader @@ -87,8 +85,6 @@ class UploaderTestCase(unittest.TestCase): uploader.Api = MockApiIgnore def setUp(self): - self.root = Path(tempfile.mkdtemp()) - uploader.ROOT = str(self.root) # Monkey patch root dir uploader.Api = MockApi uploader.Params = MockParams uploader.fake_upload = True @@ -99,16 +95,9 @@ class UploaderTestCase(unittest.TestCase): self.seg_format2 = "2019-05-18--11-22-33--{}" self.seg_dir = self.seg_format.format(self.seg_num) - def tearDown(self): - try: - shutil.rmtree(self.root) - except OSError as e: - if e.errno != errno.ENOENT: - raise - def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: - file_path = self.root / f_dir / fn + file_path = Path(Paths.log_root()) / f_dir / fn create_random_file(file_path, size_mb, lock, upload_xattr) if preserve_xattr is not None: diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 86152b05f8..e4112b7b4e 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -22,7 +22,6 @@ class TestDeleter(UploaderTestCase): super().setUp() self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096) deleter.os.statvfs = self.fake_statvfs - deleter.ROOT = str(self.root) def start_thread(self): self.end_event = threading.Event() diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index 41b83c0821..bec956a316 100755 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -14,9 +14,9 @@ from tqdm import trange from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.system.hardware import TICI -from openpilot.system.loggerd.config import ROOT from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.hardware.hw import Paths SEGMENT_LENGTH = 2 FULL_SIZE = 2507572 @@ -48,12 +48,12 @@ class TestEncoder(unittest.TestCase): self._clear_logs() def _clear_logs(self): - if os.path.exists(ROOT): - shutil.rmtree(ROOT) + if os.path.exists(Paths.log_root()): + shutil.rmtree(Paths.log_root()) def _get_latest_segment_path(self): - last_route = sorted(Path(ROOT).iterdir())[-1] - return os.path.join(ROOT, last_route) + last_route = sorted(Path(Paths.log_root()).iterdir())[-1] + return os.path.join(Paths.log_root(), last_route) # TODO: this should run faster than real time @parameterized.expand([(True, ), (False, )]) @@ -146,7 +146,7 @@ class TestEncoder(unittest.TestCase): for i in trange(num_segments): # poll for next segment with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"): - while Path(f"{route_prefix_path}--{i+1}") not in Path(ROOT).iterdir(): + while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir(): time.sleep(0.1) check_seg(i) finally: diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 816a4d4198..7d0959863e 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -16,7 +16,7 @@ from cereal.services import service_list from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.timeout import Timeout -from openpilot.system.loggerd.config import ROOT +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE from openpilot.selfdrive.manager.process_config import managed_processes @@ -33,7 +33,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list class TestLoggerd(unittest.TestCase): def _get_latest_log_dir(self): - log_dirs = sorted(Path(ROOT).iterdir(), key=lambda f: f.stat().st_mtime) + log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime) return log_dirs[-1] def _get_log_dir(self, x): diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 6e2f86d6ca..a7349fc5e4 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -7,6 +7,7 @@ import logging import json from pathlib import Path from typing import List, Optional +from openpilot.system.hardware.hw import Paths from openpilot.system.swaglog import cloudlog from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE @@ -84,7 +85,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") @@ -102,7 +103,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") @@ -121,7 +122,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore") self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice") for f_path in exp_order: - self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored") + self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored") self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order") @@ -146,7 +147,7 @@ class TestUploader(UploaderTestCase): self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") for f_path in exp_order: - self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py index 84b9c20d78..0502184380 100644 --- a/system/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,8 +1,8 @@ import os +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from openpilot.system.loggerd.config import ROOT -for folder in os.walk(ROOT): +for folder in os.walk(Paths.log_root()): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 8ed60dac56..12c6ecdca9 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -17,8 +17,8 @@ from openpilot.common.api import Api from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import TICI +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr -from openpilot.system.loggerd.config import ROOT from openpilot.system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType @@ -244,7 +244,7 @@ def uploader_fn(exit_event: threading.Event) -> None: except Exception: cloudlog.exception("failed to set core affinity") - clear_locks(ROOT) + clear_locks(Paths.log_root()) params = Params() dongle_id = params.get("DongleId", encoding='utf8') @@ -258,7 +258,7 @@ def uploader_fn(exit_event: threading.Event) -> None: sm = messaging.SubMaster(['deviceState']) pm = messaging.PubMaster(['uploaderState']) - uploader = Uploader(dongle_id, ROOT) + uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 while not exit_event.is_set(): diff --git a/system/logmessaged.py b/system/logmessaged.py index 4799348990..c53e20e483 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -4,8 +4,8 @@ from typing import NoReturn import cereal.messaging as messaging from openpilot.common.logging_extra import SwagLogFileFormatter +from openpilot.system.hardware.hw import Paths from openpilot.system.swaglog import get_file_handler -from system.swaglog import SWAGLOG_IPC def main() -> NoReturn: @@ -15,7 +15,7 @@ def main() -> NoReturn: ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) - sock.bind(f"ipc://{SWAGLOG_IPC}") + sock.bind(Paths.swaglog_ipc()) # and we publish them log_message_sock = messaging.pub_sock('logMessage') diff --git a/system/swaglog.py b/system/swaglog.py index 6ccd0d9791..8130aeb0fb 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -8,18 +8,12 @@ from logging.handlers import BaseRotatingHandler import zmq from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter -from openpilot.system.hardware import PC +from system.hardware.hw import Paths -if PC: - SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log") -else: - SWAGLOG_DIR = "/data/log/" - -SWAGLOG_IPC = "/tmp/logmessage" def get_file_handler(): - Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True) - base_filename = os.path.join(SWAGLOG_DIR, "swaglog") + Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True) + base_filename = os.path.join(Paths.swaglog_root(), "swaglog") handler = SwaglogRotatingFileHandler(base_filename) return handler @@ -91,7 +85,7 @@ class UnixDomainSocketHandler(logging.Handler): self.zctx = zmq.Context() self.sock = self.zctx.socket(zmq.PUSH) self.sock.setsockopt(zmq.LINGER, 10) - self.sock.connect(f"ipc://{SWAGLOG_IPC}") + self.sock.connect(Paths.swaglog_ipc()) self.pid = os.getpid() def emit(self, record): diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 0b70774bbb..2657ab4615 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -6,17 +6,16 @@ import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware.hw import Paths from openpilot.system.swaglog import cloudlog, ipchandler -from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc class TestLogmessaged(unittest.TestCase): - def _setup(self, temp_dir): + def setUp(self): # clear the IPC buffer in case some other tests used cloudlog and filled it ipchandler.close() ipchandler.connect() - self.temp_dir = temp_dir managed_processes['logmessaged'].start() self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) @@ -32,12 +31,9 @@ class TestLogmessaged(unittest.TestCase): managed_processes['logmessaged'].stop(block=True) def _get_log_files(self): - return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*"))) + return list(glob.glob(os.path.join(Paths.swaglog_root(), "swaglog.*"))) - @temporary_swaglog_dir - @temporary_swaglog_ipc - def test_simple_log(self, temp_dir): - self._setup(temp_dir) + def test_simple_log(self): msgs = [f"abc {i}" for i in range(10)] for m in msgs: cloudlog.error(m) @@ -46,10 +42,7 @@ class TestLogmessaged(unittest.TestCase): assert len(m) == len(msgs) assert len(self._get_log_files()) >= 1 - @temporary_swaglog_dir - @temporary_swaglog_ipc - def test_big_log(self, temp_dir): - self._setup(temp_dir) + def test_big_log(self): n = 10 msg = "a"*3*1024*1024 for _ in range(n): From 73eda51a11955627f4d149fdf12c1c781983d52e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 7 Sep 2023 12:49:03 -0700 Subject: [PATCH 301/410] System: use paths for download folders too (#29818) * use paths for download folders too * trailing slash * reset that --- selfdrive/locationd/laikad.py | 10 ++--- selfdrive/test/helpers.py | 43 -------------------- system/hardware/hw.h | 7 ++++ system/hardware/hw.py | 8 +++- system/loggerd/bootlog.cc | 4 +- system/loggerd/logger.h | 2 - system/loggerd/loggerd.cc | 2 +- system/loggerd/tests/test_loggerd.py | 3 ++ system/ubloxd/tests/test_ublox_processing.py | 7 ++-- tools/gpstest/rpc_server.py | 4 +- tools/lib/tests/test_caching.py | 3 -- tools/lib/url_file.py | 9 ++-- tools/replay/filereader.cc | 3 +- 13 files changed, 36 insertions(+), 69 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 3d190fb00a..f00595618e 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -24,11 +24,11 @@ from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velf from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates +from openpilot.system.hardware.hw import Paths from openpilot.system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemerisV3' -DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 @@ -83,7 +83,7 @@ class Laikad: save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, - clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) + clear_old_ephemeris=True, cache_dir=Paths.download_cache_root()) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) self.auto_fetch_navs = auto_fetch_navs @@ -435,9 +435,9 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe def clear_tmp_cache(): - if os.path.exists(DOWNLOADS_CACHE_FOLDER): - shutil.rmtree(DOWNLOADS_CACHE_FOLDER) - os.mkdir(DOWNLOADS_CACHE_FOLDER) + if os.path.exists(Paths.download_cache_root()): + shutil.rmtree(Paths.download_cache_root()) + os.mkdir(Paths.download_cache_root()) def main(sm=None, pm=None): diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index e891d8471d..eb07432c40 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,9 +1,6 @@ import os import time -import tempfile -from typing import List, Union -from unittest import mock from functools import wraps import cereal.messaging as messaging @@ -72,43 +69,3 @@ def with_processes(processes, init_time=0, ignore_stopped=None): return wrap return wrapper - - -def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory): - """ - mock_paths_in: string or string list representing the full path of the variable you want to mock. - kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory. - generator: a context to use to generate the temporary directory - """ - def wrapper(func): - @wraps(func) - def wrap(*args, **kwargs): - mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in] - with generator() as temp_dir: - mocks = [] - for mock_path in mock_paths: - mocks.append(mock.patch(mock_path, str(temp_dir))) - [mock.start() for mock in mocks] - try: - if kwarg is not None: - kwargs[kwarg] = temp_dir - func(*args, **kwargs) - finally: - [mock.stop() for mock in mocks] - - return wrap - return wrapper - -def string_context(context): - class StringContext: - def __enter__(self): - return context - - def __exit__(self, *args): - pass - - return StringContext - -temporary_dir = temporary_mock_dir([], "temp_dir") -temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR") -temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER") \ No newline at end of file diff --git a/system/hardware/hw.h b/system/hardware/hw.h index d09a0a5bc5..2f6ccfffda 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -40,4 +40,11 @@ namespace Path { inline std::string swaglog_ipc() { return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); } + + inline std::string download_cache_root() { + if (const char *env = getenv("COMMA_CACHE")) { + return env; + } + return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/"; + } } // namespace Path diff --git a/system/hardware/hw.py b/system/hardware/hw.py index 5038f1a578..3f7eac02e9 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -26,4 +26,10 @@ class Paths: @staticmethod def swaglog_ipc() -> str: - return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "") \ No newline at end of file + return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "") + + @staticmethod + def download_cache_root() -> str: + if os.environ.get('COMMA_CACHE', False): + return os.environ['COMMA_CACHE'] + return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/" diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc index becd293c02..771594d20c 100644 --- a/system/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -50,11 +50,11 @@ static kj::Array build_boot_log() { int main(int argc, char** argv) { const std::string timestr = logger_get_route_name(); - const std::string path = LOG_ROOT + "/boot/" + timestr; + const std::string path = Path::log_root() + "/boot/" + timestr; LOGW("bootlog to %s", path.c_str()); // Open bootlog - bool r = util::create_directories(LOG_ROOT + "/boot/", 0775); + bool r = util::create_directories(Path::log_root() + "/boot/", 0775); assert(r); RawFile file(path.c_str()); diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 36db1a5a74..06b11e72f9 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -16,8 +16,6 @@ #include "common/swaglog.h" #include "system/hardware/hw.h" -const std::string LOG_ROOT = Path::log_root(); - #define LOGGER_MAX_HANDLES 16 class RawFile { diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 84d5632d5a..adb24c913c 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -24,7 +24,7 @@ struct LoggerdState { void logger_rotate(LoggerdState *s) { int segment = -1; - int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment); + int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment); assert(err == 0); s->rotate_segment = segment; s->ready_to_rotate = 0; diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 7d0959863e..3ea29b0d82 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -32,6 +32,9 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list class TestLoggerd(unittest.TestCase): + def setUp(self): + os.environ.pop("LOG_ROOT", None) + def _get_latest_log_dir(self): log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime) return log_dirs[-1] diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index 01be79f0d4..cfba486279 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -8,9 +8,9 @@ from laika.helpers import ConstellationId from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox from laika.opt import calc_pos_fix from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.helpers import with_processes -from openpilot.selfdrive.test.helpers import temporary_dir import cereal.messaging as messaging def get_gnss_measurements(log_reader): @@ -56,9 +56,8 @@ class TestUbloxProcessing(unittest.TestCase): self.assertEqual(count_gps, 5036) self.assertEqual(count_glonass, 3651) - @temporary_dir - def test_get_fix(self, temp_dir): - dog = AstroDog(cache_dir=temp_dir) + def test_get_fix(self): + dog = AstroDog(cache_dir=Paths.download_cache_root()) position_fix_found = 0 count_processed_measurements = 0 count_corrected_measurements = 0 diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index cdedd8ea57..798237142d 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -3,6 +3,7 @@ import time import shutil from datetime import datetime from collections import defaultdict +from openpilot.system.hardware.hw import Paths import rpyc from rpyc.utils.server import ThreadedServer @@ -18,7 +19,6 @@ MATCH_NUM = 10 REPORT_STATS = 10 EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3" -DOWNLOAD_CACHE = "/tmp/comma_download_cache" SERVER_LOG_FILE = "/tmp/fuzzy_server.log" server_log = open(SERVER_LOG_FILE, "w+") @@ -162,7 +162,7 @@ class RemoteCheckerService(rpyc.Service): if os.path.exists(EPHEM_CACHE): os.remove(EPHEM_CACHE) - shutil.rmtree(DOWNLOAD_CACHE, ignore_errors=True) + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) ret = self.run_checker(slat, slon, salt, sockets, procs, timeout) kill_procs(procs) diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 7702b52e3e..b893d9815d 100755 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -2,7 +2,6 @@ import os import unittest from openpilot.tools.lib.url_file import URLFile -from openpilot.selfdrive.test.helpers import temporary_cache_dir class TestFileDownload(unittest.TestCase): @@ -31,7 +30,6 @@ class TestFileDownload(unittest.TestCase): self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) self.assertEqual(response_cached, response_downloaded) - @temporary_cache_dir def test_small_file(self): # Make sure we don't force cache os.environ["FILEREADER_CACHE"] = "0" @@ -52,7 +50,6 @@ class TestFileDownload(unittest.TestCase): for i in range(length // 100): self.compare_loads(small_file_url, 100 * i, 100) - @temporary_cache_dir def test_large_file(self): large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" # Load the end 100 bytes of both files diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index e93f8e715c..98a52cae27 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -8,12 +8,11 @@ from hashlib import sha256 from io import BytesIO from tenacity import retry, wait_random_exponential, stop_after_attempt from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir +from openpilot.system.hardware.hw import Paths # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K -CACHE_DIR = os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache/") - def hash_256(link): hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest()) @@ -38,7 +37,7 @@ class URLFile: self._curl = self._tlocal.curl except AttributeError: self._curl = self._tlocal.curl = pycurl.Curl() - mkdirs_exists_ok(CACHE_DIR) + mkdirs_exists_ok(Paths.download_cache_root()) def __enter__(self): return self @@ -66,7 +65,7 @@ class URLFile: def get_length(self): if self._length is not None: return self._length - file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length") + file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length") if os.path.exists(file_length_path) and not self._force_download: with open(file_length_path) as file_length: content = file_length.read() @@ -93,7 +92,7 @@ class URLFile: self._pos = position chunk_number = self._pos / CHUNK_SIZE file_name = hash_256(self._url) + "_" + str(chunk_number) - full_path = os.path.join(CACHE_DIR, str(file_name)) + full_path = os.path.join(Paths.download_cache_root(), str(file_name)) data = None # If we don't have a file, download it if not os.path.exists(full_path): diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc index 88879067c9..22af7f5f86 100644 --- a/tools/replay/filereader.cc +++ b/tools/replay/filereader.cc @@ -3,11 +3,12 @@ #include #include "common/util.h" +#include "system/hardware/hw.h" #include "tools/replay/util.h" std::string cacheFilePath(const std::string &url) { static std::string cache_path = [] { - const std::string comma_cache = util::getenv("COMMA_CACHE", "/tmp/comma_download_cache/"); + const std::string comma_cache = Path::download_cache_root(); util::create_directories(comma_cache, 0755); return comma_cache.back() == '/' ? comma_cache : comma_cache + "/"; }(); From 0c0af682a13753a3db971b12c2852cfddf1e5b49 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Thu, 7 Sep 2023 14:39:37 -0700 Subject: [PATCH 302/410] Rewrite navmodeld in python (#29579) * Added navmodeld.py * Deleted navmodeld.cc * Write SConscript config flags to config.py * Remove deleted files from release/files_common * Some more bug fixes * Added config.py to gitignore * Get rid of config.py * Use set_realtime_priority * A tiny bit more cleanup * set realtime priority 1 * Use ModelRunner helper class from runners/__init__.py * Formatting fixes * mama mia that's a SPICY memory leak --- release/files_common | 5 +- selfdrive/manager/process_config.py | 2 +- selfdrive/modeld/SConscript | 5 -- selfdrive/modeld/models/driving.h | 5 +- selfdrive/modeld/models/nav.cc | 71 ----------------- selfdrive/modeld/models/nav.h | 57 -------------- selfdrive/modeld/navmodeld | 12 --- selfdrive/modeld/navmodeld.cc | 70 ----------------- selfdrive/modeld/navmodeld.py | 118 ++++++++++++++++++++++++++++ selfdrive/test/test_onroad.py | 2 +- 10 files changed, 125 insertions(+), 222 deletions(-) delete mode 100644 selfdrive/modeld/models/nav.cc delete mode 100644 selfdrive/modeld/models/nav.h delete mode 100755 selfdrive/modeld/navmodeld delete mode 100644 selfdrive/modeld/navmodeld.cc create mode 100755 selfdrive/modeld/navmodeld.py diff --git a/release/files_common b/release/files_common index 3b84e09581..028b233d8b 100644 --- a/release/files_common +++ b/release/files_common @@ -361,11 +361,10 @@ selfdrive/modeld/.gitignore selfdrive/modeld/__init__.py selfdrive/modeld/SConscript selfdrive/modeld/modeld.py -selfdrive/modeld/navmodeld.cc +selfdrive/modeld/navmodeld.py selfdrive/modeld/dmonitoringmodeld.cc selfdrive/modeld/constants.py selfdrive/modeld/modeld -selfdrive/modeld/navmodeld selfdrive/modeld/dmonitoringmodeld selfdrive/modeld/models/__init__.py @@ -383,8 +382,6 @@ selfdrive/modeld/models/dmonitoring.cc selfdrive/modeld/models/dmonitoring.h selfdrive/modeld/models/dmonitoring_model_q.dlc -selfdrive/modeld/models/nav.cc -selfdrive/modeld/models/nav.h selfdrive/modeld/models/navmodel_q.dlc selfdrive/modeld/transforms/loadyuv.cc diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 50e684fcb5..fd57cb9a8d 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -58,7 +58,7 @@ procs = [ NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad), - NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad), + PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad), diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 03836b6593..1c4d46795e 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -69,11 +69,6 @@ lenv.Program('_dmonitoringmodeld', [ "models/dmonitoring.cc", ]+common_model, LIBS=libs + snpe_lib) -lenv.Program('_navmodeld', [ - "navmodeld.cc", - "models/nav.cc", - ]+common_model, LIBS=libs + snpe_lib) - # Build thneed model if arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index f13cd155f1..de0250d212 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -6,13 +6,16 @@ #include "cereal/messaging/messaging.h" #include "common/modeldata.h" #include "common/util.h" -#include "selfdrive/modeld/models/nav.h" +#include "selfdrive/modeld/models/commonmodel.h" +#include "selfdrive/modeld/runners/run.h" constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; constexpr int DESIRE_PRED_LEN = 4; constexpr int TRAFFIC_CONVENTION_LEN = 2; +constexpr int NAV_FEATURE_LEN = 256; +constexpr int NAV_INSTRUCTION_LEN = 150; constexpr int DRIVING_STYLE_LEN = 12; constexpr int MODEL_FREQ = 20; diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc deleted file mode 100644 index 8208b0bfef..0000000000 --- a/selfdrive/modeld/models/nav.cc +++ /dev/null @@ -1,71 +0,0 @@ -#include "selfdrive/modeld/models/nav.h" - -#include -#include - -#include "common/mat.h" -#include "common/modeldata.h" -#include "common/timing.h" - - -void navmodel_init(NavModelState* s) { - #ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true); - #else - s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true); - #endif - - s->m->addInput("map", NULL, 0); -} - -NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) { - memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE); - - double t1 = millis_since_boot(); - s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float)); - s->m->execute(); - double t2 = millis_since_boot(); - - NavModelResult *model_res = (NavModelResult*)&s->output; - model_res->dsp_execution_time = (t2 - t1) / 1000.; - return model_res; -} - -void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) { - std::array pos_x, pos_y; - std::array pos_x_std, pos_y_std; - - for (int i=0; im; -} diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h deleted file mode 100644 index 800abec252..0000000000 --- a/selfdrive/modeld/models/nav.h +++ /dev/null @@ -1,57 +0,0 @@ -#pragma once - -#include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc_client.h" -#include "common/util.h" -#include "common/modeldata.h" -#include "selfdrive/modeld/models/commonmodel.h" -#include "selfdrive/modeld/runners/run.h" - -constexpr int NAV_INPUT_SIZE = 256*256; -constexpr int NAV_FEATURE_LEN = 256; -constexpr int NAV_INSTRUCTION_LEN = 150; -constexpr int NAV_DESIRE_LEN = 32; - -struct NavModelOutputXY { - float x; - float y; -}; -static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2); - -struct NavModelOutputPlan { - std::array mean; - std::array std; -}; -static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2); - -struct NavModelOutputDesirePrediction { - std::array values; -}; -static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN); - -struct NavModelOutputFeatures { - std::array values; -}; -static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN); - -struct NavModelResult { - const NavModelOutputPlan plan; - const NavModelOutputDesirePrediction desire_pred; - const NavModelOutputFeatures features; - float dsp_execution_time; -}; -static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float)); - -constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float); -constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1; - -struct NavModelState { - RunModel *m; - uint8_t net_input_buf[NAV_INPUT_SIZE]; - float output[NAV_OUTPUT_SIZE]; -}; - -void navmodel_init(NavModelState* s); -NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf); -void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid); -void navmodel_free(NavModelState* s); diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld deleted file mode 100755 index 58215c2e9d..0000000000 --- a/selfdrive/modeld/navmodeld +++ /dev/null @@ -1,12 +0,0 @@ -#!/usr/bin/env bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -if [ -f /TICI ]; then - export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH" - export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/" -else - export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH" -fi -exec ./_navmodeld diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc deleted file mode 100644 index 4610f503d1..0000000000 --- a/selfdrive/modeld/navmodeld.cc +++ /dev/null @@ -1,70 +0,0 @@ -#include -#include - -#include -#include - -#include "cereal/visionipc/visionipc_client.h" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "selfdrive/modeld/models/nav.h" - -ExitHandler do_exit; - -void run_model(NavModelState &model, VisionIpcClient &vipc_client) { - SubMaster sm({"navInstruction"}); - PubMaster pm({"navModel"}); - - //double last_ts = 0; - //uint32_t last_frame_id = 0; - VisionIpcBufExtra extra = {}; - - while (!do_exit) { - VisionBuf *buf = vipc_client.recv(&extra); - if (buf == nullptr) continue; - - sm.update(0); - - double t1 = millis_since_boot(); - NavModelResult *model_res = navmodel_eval_frame(&model, buf); - double t2 = millis_since_boot(); - - // send navmodel packet - navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid()); - - //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts); - //last_ts = t1; - //last_frame_id = extra.frame_id; - } -} - -int main(int argc, char **argv) { - setpriority(PRIO_PROCESS, 0, -15); - - // there exists a race condition when two processes try to create a - // SNPE model runner at the same time, wait for dmonitoringmodeld to finish - LOGW("waiting for dmonitoringmodeld to initialize"); - if (!Params().getBool("DmModelInitialized", true)) { - return 0; - } - - // init the models - NavModelState model; - navmodel_init(&model); - LOGW("models loaded, navmodeld starting"); - - VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true); - while (!do_exit && !vipc_client.connect(false)) { - util::sleep_for(100); - } - - // run the models - if (vipc_client.connected) { - LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len); - run_model(model, vipc_client); - } - - navmodel_free(&model); - return 0; -} diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py new file mode 100755 index 0000000000..54f85f9ae8 --- /dev/null +++ b/selfdrive/modeld/navmodeld.py @@ -0,0 +1,118 @@ +#!/usr/bin/env python3 +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path +from typing import Tuple, Dict + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from cereal.visionipc import VisionIpcClient, VisionStreamType +from openpilot.system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.modeld.constants import IDX_N +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime + +NAV_INPUT_SIZE = 256*256 +NAV_FEATURE_LEN = 256 +NAV_DESIRE_LEN = 32 +NAV_OUTPUT_SIZE = 2*2*IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN +MODEL_PATHS = { + ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc', + ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'} + +class NavModelOutputXY(ctypes.Structure): + _fields_ = [ + ("x", ctypes.c_float), + ("y", ctypes.c_float)] + +class NavModelOutputPlan(ctypes.Structure): + _fields_ = [ + ("mean", NavModelOutputXY*IDX_N), + ("std", NavModelOutputXY*IDX_N)] + +class NavModelResult(ctypes.Structure): + _fields_ = [ + ("plan", NavModelOutputPlan), + ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN), + ("features", ctypes.c_float*NAV_FEATURE_LEN)] + +class ModelState: + inputs: Dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32) + self.inputs = {'map': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)} + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model.addInput("map", None) + + def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]: + self.inputs['map'][:] = buf + + t1 = time.perf_counter() + self.model.setInputBuffer("map", self.inputs['map'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + +def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents + msg = messaging.new_message('navModel') + msg.valid = valid + msg.navModel.frameId = frame_id + msg.navModel.locationMonoTime = location_ts + msg.navModel.modelExecutionTime = execution_time + msg.navModel.dspExecutionTime = dsp_execution_time + msg.navModel.features = model_result.features[:] + msg.navModel.desirePrediction = model_result.desire_pred[:] + msg.navModel.position.x = [p.x for p in model_result.plan.mean] + msg.navModel.position.y = [p.y for p in model_result.plan.mean] + msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std] + msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std] + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + # there exists a race condition when two processes try to create a + # SNPE model runner at the same time, wait for dmonitoringmodeld to finish + cloudlog.warning("waiting for dmonitoringmodeld to initialize") + if not Params().get_bool("DmModelInitialized", True): + return + + model = ModelState() + cloudlog.warning("models loaded, navmodeld starting") + + vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["navInstruction"]) + pm = PubMaster(["navModel"]) + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset]) + t2 = time.perf_counter() + + valid = vipc_client.valid and sm.valid["navInstruction"] + pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 56bf9ea71d..9fa48b43d8 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -38,7 +38,7 @@ PROCS = { "selfdrive.controls.radard": 4.5, "selfdrive.modeld.modeld": 8.0, "./_dmonitoringmodeld": 5.0, - "./_navmodeld": 1.0, + "selfdrive.modeld.navmodeld": 1.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, From fb06b98667483bbf9d62b16d7f5aa5e50721f597 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 7 Sep 2023 15:28:46 -0700 Subject: [PATCH 303/410] Subaru: remove 2020+ temporary steering faults (#29116) * subaru steer faults * it takes a bool now * Update selfdrive/car/subaru/carcontroller.py Co-authored-by: Shane Smiskol * that was removed * should be abs * bump panda * bump panda * subaru faults * add fixme Co-authored-by: Shane Smiskol * review suggestions * still want zero steer when lat not active * bump submodules * move it under the non-preglobal section * better comment for steer limited Co-authored-by: Shane Smiskol --------- Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/carcontroller.py | 20 +++++++++++++++++--- selfdrive/car/subaru/values.py | 4 ++++ 2 files changed, 21 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 5553fda0d8..19304efdb1 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,8 +1,13 @@ from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance from openpilot.selfdrive.car.subaru import subarucan -from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags + +# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and +# involves the total steering angle change rather than rate, but these limits work well for now +MAX_STEER_RATE = 25 # deg/s +MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut class CarController: @@ -12,6 +17,7 @@ class CarController: self.frame = 0 self.cruise_button_prev = 0 + self.steer_rate_counter = 0 self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) @@ -38,7 +44,15 @@ class CarController: if self.CP.carFingerprint in PREGLOBAL_CARS: can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive)) + apply_steer_req = CC.latActive + + if self.CP.carFingerprint in STEER_RATE_LIMITED: + # Steering rate fault prevention + self.steer_rate_counter, apply_steer_req = \ + common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req, + self.steer_rate_counter, MAX_STEER_RATE_FRAMES) + + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req)) self.apply_steer_last = apply_steer diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 2037b24a8d..7f66069514 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -707,3 +707,7 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} + +# Cars that temporarily fault when steering angle rate is greater than some threshold. +# Appears to be all cars that started production after 2020 +STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020} From dde225221e8fa0063bb52786232be33b8374dfcd Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 7 Sep 2023 16:29:36 -0700 Subject: [PATCH 304/410] CI: run unittests in parallel with xdist (#29756) * parallel tests * review suggesions * add to pyproject * add a bit more buffer on that * fix rare athena issue * remove from pypoetry --- .github/workflows/selfdrive_tests.yaml | 2 +- selfdrive/athena/athenad.py | 5 ++-- selfdrive/car/tests/test_lateral_limits.py | 2 +- selfdrive/controls/tests/test_cruise_speed.py | 23 +++++++++---------- system/tests/test_logmessaged.py | 2 +- 5 files changed, 16 insertions(+), 18 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a631069726..eb379cac91 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,7 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $PYTEST && \ + $PYTEST -n auto --dist=loadscope && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ ./selfdrive/ui/tests/create_test_translations.sh && \ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 9e2fdc3319..4817691af8 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -119,12 +119,11 @@ class AbortTransferException(Exception): class UploadQueueCache: - params = Params() @staticmethod def initialize(upload_queue: Queue[UploadItem]) -> None: try: - upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue") + upload_queue_json = Params().get("AthenadUploadQueue") if upload_queue_json is not None: for item in json.loads(upload_queue_json): upload_queue.put(UploadItem.from_dict(item)) @@ -136,7 +135,7 @@ class UploadQueueCache: try: queue: List[Optional[UploadItem]] = list(upload_queue.queue) items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)] - UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items)) + Params().put("AthenadUploadQueue", json.dumps(items)) except Exception: cloudlog.exception("athena.UploadQueueCache.cache.exception") diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 9de6063f3d..1fc626972f 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [ car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) -@parameterized_class('car_model', [(c,) for c in CAR_MODELS]) +@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)]) class TestLateralLimits(unittest.TestCase): car_model: str diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 1d43b49ccf..76a2222e85 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import itertools import numpy as np import unittest @@ -31,21 +32,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.): return output[-1, 3] +@parameterized_class(("e2e", "personality", "speed"), itertools.product( + [True, False], # e2e + log.LongitudinalPersonality.schema.enumerants, # personality + [5,35])) # speed class TestCruiseSpeed(unittest.TestCase): def test_cruise_speed(self): params = Params() - personalities = [log.LongitudinalPersonality.relaxed, - log.LongitudinalPersonality.standard, - log.LongitudinalPersonality.aggressive] - for personality in personalities: - params.put("LongitudinalPersonality", str(personality)) - for e2e in [False, True]: - for speed in [5,35]: - print(f'Testing {speed} m/s') - cruise_speed = float(speed) - - simulation_steady_state = run_cruise_simulation(cruise_speed, e2e) - self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') + params.put("LongitudinalPersonality", str(self.personality)) + print(f'Testing {self.speed} m/s') + cruise_speed = float(self.speed) + + simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e) + self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s') # TODO: test pcmCruise diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 2657ab4615..5d0e1bfc82 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -21,7 +21,7 @@ class TestLogmessaged(unittest.TestCase): self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) # ensure sockets are connected - time.sleep(0.2) + time.sleep(1) messaging.drain_sock(self.sock) messaging.drain_sock(self.error_sock) From f197decbc901d2bc2320db507aecae3b040fd7ee Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Sep 2023 16:47:33 -0700 Subject: [PATCH 305/410] fix RateKeeper test --- common/tests/test_ratekeeper.cc | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc index f5aa16a859..32c7dfe58c 100644 --- a/common/tests/test_ratekeeper.cc +++ b/common/tests/test_ratekeeper.cc @@ -6,11 +6,18 @@ TEST_CASE("RateKeeper") { float freq = GENERATE(10, 50, 100); RateKeeper rk("Test RateKeeper", freq); + + int lags = 0; + int bad_keep_times = 0; for (int i = 0; i < freq; ++i) { double begin = seconds_since_boot(); util::sleep_for(util::random_int(0, 1000.0 / freq - 1)); bool lagged = rk.keepTime(); - REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3); - REQUIRE(lagged == false); + lags += lagged; + bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3; } + + // need a tolerance here due to scheduling + REQUIRE(lags < 5); + REQUIRE(bad_keep_times < 5); } From b0a71d45536d6fe0c0e8365913c6ffbc64a58b1b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 7 Sep 2023 17:53:51 -0700 Subject: [PATCH 306/410] Pytest: enforce a default timeout (#29793) * pytest: enforce default timeout * disable that for now * 30 second timeout on tests --- .github/workflows/selfdrive_tests.yaml | 2 +- selfdrive/car/tests/test_fw_fingerprint.py | 2 ++ system/ubloxd/tests/test_ublox_processing.py | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index eb379cac91..1e9f29bdb8 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,7 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $PYTEST -n auto --dist=loadscope && \ + $PYTEST -n auto --dist=loadscope --timeout 30 && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ ./selfdrive/ui/tests/create_test_translations.sh && \ diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 7d5bd85e99..378b68e43e 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import pytest import random import time import unittest @@ -224,6 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase): self._assert_timing(vin_time / self.N, vin_ref_time) print(f'get_vin, query time={vin_time / self.N} seconds') + @pytest.mark.timeout(60) def test_fw_query_timing(self): total_ref_time = 6.07 brand_ref_times = { diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index cfba486279..311604881a 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -99,7 +99,7 @@ class TestUbloxProcessing(unittest.TestCase): rcv_msgs = [] for msg in self.ublox_raw: ur_pm.send(msg.which(), msg.as_builder()) - time.sleep(0.01) + time.sleep(0.001) rcv_msgs += messaging.drain_sock(ugs) time.sleep(0.1) From b822a57ed66bf0dca1403319c193bfbb58a7a428 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Sep 2023 19:24:12 -0700 Subject: [PATCH 307/410] Hyundai: remove bad Kona EV 2022 query responses --- selfdrive/car/hyundai/values.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f34b7dfbf7..641c8ff4a0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1414,10 +1414,6 @@ FW_VERSIONS = { b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', - # TODO: these return from the MULTI request, above return from LONG - b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01', - b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04', - b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', From 4111ac36b2d676e4a8014b8728f3487b5252892d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Sep 2023 19:29:34 -0700 Subject: [PATCH 308/410] ubloxd: remove unused file (#29829) --- system/ubloxd/tests/ublox.py | 938 ----------------------------------- 1 file changed, 938 deletions(-) delete mode 100755 system/ubloxd/tests/ublox.py diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py deleted file mode 100755 index 3243500e74..0000000000 --- a/system/ubloxd/tests/ublox.py +++ /dev/null @@ -1,938 +0,0 @@ -#!/usr/bin/env python3 -''' -UBlox binary protocol handling - -Copyright Andrew Tridgell, October 2012 -Released under GNU GPL version 3 or later - -WARNING: This code has originally intended for -ublox version 7, it has been adapted to work -for ublox version 8, not all functions may work. -''' - - -import struct -import time - -# protocol constants -PREAMBLE1 = 0xb5 -PREAMBLE2 = 0x62 - -# message classes -CLASS_NAV = 0x01 -CLASS_RXM = 0x02 -CLASS_INF = 0x04 -CLASS_ACK = 0x05 -CLASS_CFG = 0x06 -CLASS_MON = 0x0A -CLASS_AID = 0x0B -CLASS_TIM = 0x0D -CLASS_ESF = 0x10 - -# ACK messages -MSG_ACK_NACK = 0x00 -MSG_ACK_ACK = 0x01 - -# NAV messages -MSG_NAV_POSECEF = 0x1 -MSG_NAV_POSLLH = 0x2 -MSG_NAV_STATUS = 0x3 -MSG_NAV_DOP = 0x4 -MSG_NAV_SOL = 0x6 -MSG_NAV_PVT = 0x7 -MSG_NAV_POSUTM = 0x8 -MSG_NAV_VELNED = 0x12 -MSG_NAV_VELECEF = 0x11 -MSG_NAV_TIMEGPS = 0x20 -MSG_NAV_TIMEUTC = 0x21 -MSG_NAV_CLOCK = 0x22 -MSG_NAV_SVINFO = 0x30 -MSG_NAV_SAT = 0x35 -MSG_NAV_AOPSTATUS = 0x60 -MSG_NAV_DGPS = 0x31 -MSG_NAV_DOP = 0x04 -MSG_NAV_EKFSTATUS = 0x40 -MSG_NAV_SBAS = 0x32 -MSG_NAV_SOL = 0x06 -MSG_NAV_SAT = 0x35 - -# RXM messages -MSG_RXM_RAW = 0x15 -MSG_RXM_SFRB = 0x11 -MSG_RXM_SFRBX = 0x13 -MSG_RXM_SVSI = 0x20 -MSG_RXM_EPH = 0x31 -MSG_RXM_ALM = 0x30 -MSG_RXM_PMREQ = 0x41 - -# AID messages -MSG_AID_ALM = 0x30 -MSG_AID_EPH = 0x31 -MSG_AID_ALPSRV = 0x32 -MSG_AID_AOP = 0x33 -MSG_AID_DATA = 0x10 -MSG_AID_ALP = 0x50 -MSG_AID_DATA = 0x10 -MSG_AID_HUI = 0x02 -MSG_AID_INI = 0x01 -MSG_AID_REQ = 0x00 - -# CFG messages -MSG_CFG_PRT = 0x00 -MSG_CFG_ANT = 0x13 -MSG_CFG_DAT = 0x06 -MSG_CFG_EKF = 0x12 -MSG_CFG_ESFGWT = 0x29 -MSG_CFG_CFG = 0x09 -MSG_CFG_USB = 0x1b -MSG_CFG_RATE = 0x08 -MSG_CFG_SET_RATE = 0x01 -MSG_CFG_NAV5 = 0x24 -MSG_CFG_FXN = 0x0E -MSG_CFG_INF = 0x02 -MSG_CFG_ITFM = 0x39 -MSG_CFG_MSG = 0x01 -MSG_CFG_NAVX5 = 0x23 -MSG_CFG_NMEA = 0x17 -MSG_CFG_NVS = 0x22 -MSG_CFG_PM2 = 0x3B -MSG_CFG_PM = 0x32 -MSG_CFG_ITMF = 0x39 -MSG_CFG_RINV = 0x34 -MSG_CFG_RST = 0x04 -MSG_CFG_RXM = 0x11 -MSG_CFG_SBAS = 0x16 -MSG_CFG_TMODE2 = 0x3D -MSG_CFG_TMODE = 0x1D -MSG_CFG_TPS = 0x31 -MSG_CFG_TP = 0x07 -MSG_CFG_GNSS = 0x3E -MSG_CFG_ODO = 0x1E - -# ESF messages -MSG_ESF_MEAS = 0x02 -MSG_ESF_STATUS = 0x10 - -# INF messages -MSG_INF_DEBUG = 0x04 -MSG_INF_ERROR = 0x00 -MSG_INF_NOTICE = 0x02 -MSG_INF_TEST = 0x03 -MSG_INF_WARNING = 0x01 - -# MON messages -MSG_MON_SCHD = 0x01 -MSG_MON_HW = 0x09 -MSG_MON_HW2 = 0x0B -MSG_MON_IO = 0x02 -MSG_MON_MSGPP = 0x06 -MSG_MON_RXBUF = 0x07 -MSG_MON_RXR = 0x21 -MSG_MON_TXBUF = 0x08 -MSG_MON_VER = 0x04 - -# TIM messages -MSG_TIM_TP = 0x01 -MSG_TIM_TM2 = 0x03 -MSG_TIM_SVIN = 0x04 -MSG_TIM_VRFY = 0x06 - -# port IDs -PORT_DDC = 0 -PORT_SERIAL1 = 1 -PORT_SERIAL2 = 2 -PORT_USB = 3 -PORT_SPI = 4 - -# dynamic models -DYNAMIC_MODEL_PORTABLE = 0 -DYNAMIC_MODEL_STATIONARY = 2 -DYNAMIC_MODEL_PEDESTRIAN = 3 -DYNAMIC_MODEL_AUTOMOTIVE = 4 -DYNAMIC_MODEL_SEA = 5 -DYNAMIC_MODEL_AIRBORNE1G = 6 -DYNAMIC_MODEL_AIRBORNE2G = 7 -DYNAMIC_MODEL_AIRBORNE4G = 8 - -#reset items -RESET_HOT = 0 -RESET_WARM = 1 -RESET_COLD = 0xFFFF - -RESET_HW = 0 -RESET_SW = 1 -RESET_SW_GPS = 2 -RESET_HW_GRACEFUL = 4 -RESET_GPS_STOP = 8 -RESET_GPS_START = 9 - - -class UBloxError(Exception): - '''Ublox error class''' - - def __init__(self, msg): - Exception.__init__(self, msg) - self.message = msg - - -class UBloxAttrDict(dict): - '''allow dictionary members as attributes''' - - def __init__(self): - dict.__init__(self) - - def __getattr__(self, name): - try: - return self.__getitem__(name) - except KeyError as e: - raise RuntimeError(f"ublock invalid attr: {name}") from e - - def __setattr__(self, name, value): - if name in self.__dict__: - # allow set on normal attributes - dict.__setattr__(self, name, value) - else: - self.__setitem__(name, value) - - -def ArrayParse(field): - '''parse an array descriptor''' - arridx = field.find('[') - if arridx == -1: - return (field, -1) - alen = int(field[arridx + 1:-1]) - fieldname = field[:arridx] - return (fieldname, alen) - - -class UBloxDescriptor: - '''class used to describe the layout of a UBlox message''' - - def __init__(self, - name, - msg_format, - fields=None, - count_field=None, - format2=None, - fields2=None): - if fields is None: - fields = [] - - self.name = name - self.msg_format = msg_format - self.fields = fields - self.count_field = count_field - self.format2 = format2 - self.fields2 = fields2 - - def unpack(self, msg): - '''unpack a UBloxMessage, creating the .fields and ._recs attributes in msg''' - msg._fields = {} - - # unpack main message blocks. A comm - formats = self.msg_format.split(',') - buf = msg._buf[6:-2] - count = 0 - msg._recs = [] - fields = self.fields[:] - - for fmt in formats: - size1 = struct.calcsize(fmt) - if size1 > len(buf): - raise UBloxError("%s INVALID_SIZE1=%u" % (self.name, len(buf))) - f1 = list(struct.unpack(fmt, buf[:size1])) - i = 0 - while i < len(f1): - field = fields.pop(0) - (fieldname, alen) = ArrayParse(field) - if alen == -1: - msg._fields[fieldname] = f1[i] - if self.count_field == fieldname: - count = int(f1[i]) - i += 1 - else: - msg._fields[fieldname] = [0] * alen - for a in range(alen): - msg._fields[fieldname][a] = f1[i] - i += 1 - buf = buf[size1:] - if len(buf) == 0: - break - - if self.count_field == '_remaining': - count = len(buf) // struct.calcsize(self.format2) - - if count == 0: - msg._unpacked = True - if len(buf) != 0: - raise UBloxError("EXTRA_BYTES=%u" % len(buf)) - return - - size2 = struct.calcsize(self.format2) - for _ in range(count): - r = UBloxAttrDict() - if size2 > len(buf): - raise UBloxError("INVALID_SIZE=%u, " % len(buf)) - f2 = list(struct.unpack(self.format2, buf[:size2])) - for i in range(len(self.fields2)): - r[self.fields2[i]] = f2[i] - buf = buf[size2:] - msg._recs.append(r) - if len(buf) != 0: - raise UBloxError("EXTRA_BYTES=%u" % len(buf)) - msg._unpacked = True - - def pack(self, msg, msg_class=None, msg_id=None): - '''pack a UBloxMessage from the .fields and ._recs attributes in msg''' - f1 = [] - if msg_class is None: - msg_class = msg.msg_class() - if msg_id is None: - msg_id = msg.msg_id() - msg._buf = '' - - fields = self.fields[:] - for f in fields: - (fieldname, alen) = ArrayParse(f) - if fieldname not in msg._fields: - break - if alen == -1: - f1.append(msg._fields[fieldname]) - else: - for a in range(alen): - f1.append(msg._fields[fieldname][a]) - try: - # try full length message - fmt = self.msg_format.replace(',', '') - msg._buf = struct.pack(fmt, *tuple(f1)) - except Exception: - # try without optional part - fmt = self.msg_format.split(',')[0] - msg._buf = struct.pack(fmt, *tuple(f1)) - - length = len(msg._buf) - if msg._recs: - length += len(msg._recs) * struct.calcsize(self.format2) - header = struct.pack('= level: - print(msg) - - def unpack(self): - '''unpack a message''' - if not self.valid(): - raise UBloxError('INVALID MESSAGE') - msg_type = self.msg_type() - if msg_type not in msg_types: - raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf))) - msg_types[msg_type].unpack(self) - return self._fields, self._recs - - def pack(self): - '''pack a message''' - if not self.valid(): - raise UBloxError('INVALID MESSAGE') - msg_type = self.msg_type() - if msg_type not in msg_types: - raise UBloxError('Unknown message %s' % str(msg_type)) - msg_types[msg_type].pack(self) - - def name(self): - '''return the short string name for a message''' - if not self.valid(): - raise UBloxError('INVALID MESSAGE') - msg_type = self.msg_type() - if msg_type not in msg_types: - raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf))) - return msg_types[msg_type].name - - def msg_class(self): - '''return the message class''' - return self._buf[2] - - def msg_id(self): - '''return the message id within the class''' - return self._buf[3] - - def msg_type(self): - '''return the message type tuple (class, id)''' - return (self.msg_class(), self.msg_id()) - - def msg_length(self): - '''return the payload length''' - (payload_length, ) = struct.unpack(' 0 and self._buf[0] != PREAMBLE1: - return False - if len(self._buf) > 1 and self._buf[1] != PREAMBLE2: - self.debug(1, "bad pre2") - return False - if self.needed_bytes() == 0 and not self.valid(): - if len(self._buf) > 8: - self.debug(1, "bad checksum len=%u needed=%u" % (len(self._buf), - self.needed_bytes())) - else: - self.debug(1, "bad len len=%u needed=%u" % (len(self._buf), self.needed_bytes())) - return False - return True - - def add(self, data): - '''add some bytes to a message''' - self._buf += data - while not self.valid_so_far() and len(self._buf) > 0: - '''handle corrupted streams''' - self._buf = self._buf[1:] - if self.needed_bytes() < 0: - self._buf = "" - - def checksum(self, data=None): - '''return a checksum tuple for a message''' - if data is None: - data = self._buf[2:-2] - #cs = 0 - ck_a = 0 - ck_b = 0 - for i in data: - ck_a = (ck_a + i) & 0xFF - ck_b = (ck_b + ck_a) & 0xFF - return (ck_a, ck_b) - - def valid_checksum(self): - '''check if the checksum is OK''' - (ck_a, ck_b) = self.checksum() - #d = self._buf[2:-2] - (ck_a2, ck_b2) = struct.unpack('= 8 and self.needed_bytes() == 0 and self.valid_checksum() - - -class UBlox: - def __init__(self, dev, baudrate): - self.dev = dev - self.baudrate = baudrate - - self.use_sendrecv = False - self.read_only = False - self.debug_level = 0 - - self.logfile = None - self.log = None - self.preferred_dynamic_model = None - self.preferred_usePPP = None - self.preferred_dgps_timeout = None - - def close(self): - '''close the device''' - self.dev.close() - self.dev = None - - def set_debug(self, debug_level): - '''set debug level''' - self.debug_level = debug_level - - def debug(self, level, msg): - '''write a debug message''' - if self.debug_level >= level: - print(msg) - - def set_logfile(self, logfile, append=False): - '''setup logging to a file''' - if self.log is not None: - self.log.close() - self.log = None - self.logfile = logfile - if self.logfile is not None: - if append: - mode = 'ab' - else: - mode = 'wb' - self.log = open(self.logfile, mode=mode) - - def set_preferred_dynamic_model(self, model): - '''set the preferred dynamic model for receiver''' - self.preferred_dynamic_model = model - if model is not None: - self.configure_poll(CLASS_CFG, MSG_CFG_NAV5) - - def set_preferred_dgps_timeout(self, timeout): - '''set the preferred DGPS timeout for receiver''' - self.preferred_dgps_timeout = timeout - if timeout is not None: - self.configure_poll(CLASS_CFG, MSG_CFG_NAV5) - - def set_preferred_usePPP(self, usePPP): - '''set the preferred usePPP setting for the receiver''' - if usePPP is None: - self.preferred_usePPP = None - return - self.preferred_usePPP = int(usePPP) - self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5) - - def nmea_checksum(self, msg): - d = msg[1:] - cs = 0 - for i in d: - cs ^= ord(i) - return cs - - def write(self, buf): - '''write some bytes''' - if not self.read_only: - if self.use_sendrecv: - return self.dev.send(buf) - if isinstance(buf, str): - return self.dev.write(str.encode(buf)) - else: - return self.dev.write(buf) - - def read(self, n): - '''read some bytes''' - if self.use_sendrecv: - try: - return self.dev.recv(n) - except OSError: - return '' - return self.dev.read(n) - - def send_nmea(self, msg): - if not self.read_only: - s = msg + "*%02X" % self.nmea_checksum(msg) + "\r\n" - self.write(s) - - def set_binary(self): - '''put a UBlox into binary mode using a NMEA string''' - if not self.read_only: - print("try set binary at %u" % self.baudrate) - self.send_nmea("$PUBX,41,0,0007,0001,%u,0" % self.baudrate) - self.send_nmea("$PUBX,41,1,0007,0001,%u,0" % self.baudrate) - self.send_nmea("$PUBX,41,2,0007,0001,%u,0" % self.baudrate) - self.send_nmea("$PUBX,41,3,0007,0001,%u,0" % self.baudrate) - self.send_nmea("$PUBX,41,4,0007,0001,%u,0" % self.baudrate) - self.send_nmea("$PUBX,41,5,0007,0001,%u,0" % self.baudrate) - - def disable_nmea(self): - ''' stop sending all types of nmea messages ''' - self.send_nmea("$PUBX,40,GSV,1,1,1,1,1,0") - self.send_nmea("$PUBX,40,GGA,0,0,0,0,0,0") - self.send_nmea("$PUBX,40,GSA,0,0,0,0,0,0") - self.send_nmea("$PUBX,40,VTG,0,0,0,0,0,0") - self.send_nmea("$PUBX,40,TXT,0,0,0,0,0,0") - self.send_nmea("$PUBX,40,RMC,0,0,0,0,0,0") - - def seek_percent(self, pct): - '''seek to the given percentage of a file''' - self.dev.seek(0, 2) - filesize = self.dev.tell() - self.dev.seek(pct * 0.01 * filesize) - - def special_handling(self, msg): - '''handle automatic configuration changes''' - if msg.name() == 'CFG_NAV5': - msg.unpack() - sendit = False - pollit = False - if self.preferred_dynamic_model is not None and msg.dynModel != self.preferred_dynamic_model: - msg.dynModel = self.preferred_dynamic_model - sendit = True - pollit = True - if self.preferred_dgps_timeout is not None and msg.dgpsTimeOut != self.preferred_dgps_timeout: - msg.dgpsTimeOut = self.preferred_dgps_timeout - self.debug(2, "Setting dgpsTimeOut=%u" % msg.dgpsTimeOut) - sendit = True - # we don't re-poll for this one, as some receivers refuse to set it - if sendit: - msg.pack() - self.send(msg) - if pollit: - self.configure_poll(CLASS_CFG, MSG_CFG_NAV5) - if msg.name() == 'CFG_NAVX5' and self.preferred_usePPP is not None: - msg.unpack() - if msg.usePPP != self.preferred_usePPP: - msg.usePPP = self.preferred_usePPP - msg.mask = 1 << 13 - msg.pack() - self.send(msg) - self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5) - - def receive_message(self, ignore_eof=False): - '''blocking receive of one ublox message''' 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payload): - '''send a ublox message with class, id and payload''' - msg = UBloxMessage() - msg._buf = struct.pack(' Date: Thu, 7 Sep 2023 19:42:30 -0700 Subject: [PATCH 309/410] add pytest-cpp package (#29828) * add pytest-cpp package * disable for now --- poetry.lock | 187 +++++++++++++++++++++++++------------------------ pyproject.toml | 2 + 2 files changed, 98 insertions(+), 91 deletions(-) diff --git a/poetry.lock b/poetry.lock index b1bd2df7c6..7e253a6eb5 100644 --- a/poetry.lock +++ b/poetry.lock @@ -314,13 +314,13 @@ files = [ [[package]] name = "azure-core" -version = "1.29.3" +version = "1.29.4" description = "Microsoft Azure Core Library for Python" optional = false python-versions = ">=3.7" files = [ - {file = "azure-core-1.29.3.tar.gz", hash = "sha256:c92700af982e71c8c73de9f4c20da8b3f03ce2c22d13066e4d416b4629c87903"}, - {file = "azure_core-1.29.3-py3-none-any.whl", hash = "sha256:f8b2910f92b66293d93bd00564924ad20ad48f4a1e150577cf18d1e7d4f9263c"}, + {file = 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1c7d857652..a8e2b1df87 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,7 @@ [tool.pytest.ini_options] minversion = "6.0" addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +cpp_files = "TODO" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ @@ -142,6 +143,7 @@ pygame = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" +pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" From 503fa121ee83469763e9386b9e5df7a733693e2c Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Thu, 7 Sep 2023 19:46:43 -0700 Subject: [PATCH 310/410] Rewrite dmonitoringmodeld in python (#29740) * Added dmonitoringmodeld.py * Removed dmonitoringmodeld.cc * Use ModelRunner helpers from runners/__init__.py * Fixed DriverStateResult field ordering * Some bug fixes * Set calib input * Look ma, no loop! * Bump dmonitoringmodeld cpu usage in test_onroad * Fixed memory leak caused by np.ctypes.data_as * Formatting fixes * chmod +x * remove USE_ONNX_MODEL * Realtime priority 1, formatting fixes --- release/files_common | 5 +- selfdrive/manager/process_config.py | 2 +- selfdrive/modeld/SConscript | 15 --- selfdrive/modeld/dmonitoringmodeld | 12 -- selfdrive/modeld/dmonitoringmodeld.cc | 69 ----------- selfdrive/modeld/dmonitoringmodeld.py | 157 +++++++++++++++++++++++++ selfdrive/modeld/models/dmonitoring.cc | 133 --------------------- selfdrive/modeld/models/dmonitoring.h | 50 -------- selfdrive/modeld/runners/run.h | 4 - selfdrive/test/test_onroad.py | 2 +- 10 files changed, 160 insertions(+), 289 deletions(-) delete mode 100755 selfdrive/modeld/dmonitoringmodeld delete mode 100644 selfdrive/modeld/dmonitoringmodeld.cc create mode 100755 selfdrive/modeld/dmonitoringmodeld.py delete mode 100644 selfdrive/modeld/models/dmonitoring.cc delete mode 100644 selfdrive/modeld/models/dmonitoring.h diff --git a/release/files_common b/release/files_common index 028b233d8b..2d0b5f0514 100644 --- a/release/files_common +++ b/release/files_common @@ -362,10 +362,9 @@ selfdrive/modeld/__init__.py selfdrive/modeld/SConscript selfdrive/modeld/modeld.py selfdrive/modeld/navmodeld.py -selfdrive/modeld/dmonitoringmodeld.cc +selfdrive/modeld/dmonitoringmodeld.py selfdrive/modeld/constants.py selfdrive/modeld/modeld -selfdrive/modeld/dmonitoringmodeld selfdrive/modeld/models/__init__.py selfdrive/modeld/models/*.pxd @@ -378,8 +377,6 @@ selfdrive/modeld/models/driving.cc selfdrive/modeld/models/driving.h selfdrive/modeld/models/supercombo.onnx -selfdrive/modeld/models/dmonitoring.cc -selfdrive/modeld/models/dmonitoring.h selfdrive/modeld/models/dmonitoring_model_q.dlc selfdrive/modeld/models/navmodel_q.dlc diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index fd57cb9a8d..aee4748a26 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -52,7 +52,7 @@ procs = [ PythonProcess("micd", "system.micd", iscar), PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), - NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)), + PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 1c4d46795e..428fe7d0bf 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -32,12 +32,6 @@ if arch == "Darwin": else: libs += ['OpenCL'] -# Use onnx on PC -if arch != "larch64" and not GetOption('snpe'): - common_src += ['runners/onnxmodel.cc'] - lenv['CFLAGS'].append("-DUSE_ONNX_MODEL") - lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL") - # Set path definitions for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items(): for xenv in (lenv, lenvCython): @@ -60,15 +54,6 @@ lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -# Compile binaries -lenv['FRAMEWORKS'] = frameworks -common_model = lenv.Object(common_src) - -lenv.Program('_dmonitoringmodeld', [ - "dmonitoringmodeld.cc", - "models/dmonitoring.cc", - ]+common_model, LIBS=libs + snpe_lib) - # Build thneed model if arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld deleted file mode 100755 index fc007470b2..0000000000 --- a/selfdrive/modeld/dmonitoringmodeld +++ /dev/null @@ -1,12 +0,0 @@ -#!/usr/bin/env bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -if [ -f /TICI ]; then - export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH" - export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/" -else - export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH" -fi -exec ./_dmonitoringmodeld diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc deleted file mode 100644 index 2890b44fe0..0000000000 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ /dev/null @@ -1,69 +0,0 @@ -#include -#include - -#include -#include - -#include "cereal/visionipc/visionipc_client.h" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "selfdrive/modeld/models/dmonitoring.h" - -ExitHandler do_exit; - -void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { - PubMaster pm({"driverStateV2"}); - SubMaster sm({"liveCalibration"}); - float calib[CALIB_LEN] = {0}; - // double last = 0; - - while (!do_exit) { - VisionIpcBufExtra extra = {}; - VisionBuf *buf = vipc_client.recv(&extra); - if (buf == nullptr) continue; - - sm.update(0); - if (sm.updated("liveCalibration")) { - auto calib_msg = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); - for (int i = 0; i < CALIB_LEN; i++) { - calib[i] = calib_msg[i]; - } - } - - double t1 = millis_since_boot(); - DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); - double t2 = millis_since_boot(); - - // send dm packet - dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output); - - // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); - // last = t1; - } -} - -int main(int argc, char **argv) { - setpriority(PRIO_PROCESS, 0, -15); - - // init the models - DMonitoringModelState model; - dmonitoring_init(&model); - - Params().putBool("DmModelInitialized", true); - - LOGW("connecting to driver stream"); - VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true); - while (!do_exit && !vipc_client.connect(false)) { - util::sleep_for(100); - } - - // run the models - if (vipc_client.connected) { - LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len); - run_model(model, vipc_client); - } - - dmonitoring_free(&model); - return 0; -} diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py new file mode 100755 index 0000000000..0f9669258c --- /dev/null +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -0,0 +1,157 @@ +#!/usr/bin/env python3 +import os +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path +from typing import Tuple, Dict + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid + +CALIB_LEN = 3 +REG_SCALE = 0.25 +MODEL_WIDTH = 1440 +MODEL_HEIGHT = 960 +OUTPUT_SIZE = 84 +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +MODEL_PATHS = { + ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc', + ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'} + +class DriverStateResult(ctypes.Structure): + _fields_ = [ + ("face_orientation", ctypes.c_float*3), + ("face_position", ctypes.c_float*3), + ("face_orientation_std", ctypes.c_float*3), + ("face_position_std", ctypes.c_float*3), + ("face_prob", ctypes.c_float), + ("_unused_a", ctypes.c_float*8), + ("left_eye_prob", ctypes.c_float), + ("_unused_b", ctypes.c_float*8), + ("right_eye_prob", ctypes.c_float), + ("left_blink_prob", ctypes.c_float), + ("right_blink_prob", ctypes.c_float), + ("sunglasses_prob", ctypes.c_float), + ("occluded_prob", ctypes.c_float), + ("ready_prob", ctypes.c_float*4), + ("not_ready_prob", ctypes.c_float*2)] + +class DMonitoringModelResult(ctypes.Structure): + _fields_ = [ + ("driver_state_lhd", DriverStateResult), + ("driver_state_rhd", DriverStateResult), + ("poor_vision_prob", ctypes.c_float), + ("wheel_on_right_prob", ctypes.c_float)] + +class ModelState: + inputs: Dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32) + self.inputs = { + 'input_imgs': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), + 'calib': np.zeros(CALIB_LEN, dtype=np.float32)} + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model.addInput("input_imgs", None) + self.model.addInput("calib", self.inputs['calib']) + + def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]: + self.inputs['calib'][:] = calib + + v_offset = buf.height - MODEL_HEIGHT + h_offset = (buf.width - MODEL_WIDTH) // 2 + buf_data = buf.data.reshape(-1, buf.stride) + input_data = self.inputs['input_imgs'].reshape(MODEL_HEIGHT, MODEL_WIDTH) + input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] + + t1 = time.perf_counter() + self.model.setInputBuffer("input_imgs", self.inputs['input_imgs'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + + +def fill_driver_state(msg, ds_result: DriverStateResult): + msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation] + msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] + msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] + msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] + msg.faceProb = sigmoid(ds_result.face_prob) + msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) + msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) + msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) + msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) + msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) + msg.occludedProb = sigmoid(ds_result.occluded_prob) + msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] + msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] + +def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents + msg = messaging.new_message('driverStateV2') + ds = msg.driverStateV2 + ds.frameId = frame_id + ds.modelExecutionTime = execution_time + ds.dspExecutionTime = dsp_execution_time + ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) + ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' + fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) + fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + model = ModelState() + cloudlog.warning("models loaded, dmonitoringmodeld starting") + Params().put_bool("DmModelInitialized", True) + + cloudlog.warning("connecting to driver stream") + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["liveCalibration"]) + pm = PubMaster(["driverStateV2"]) + + calib = np.zeros(CALIB_LEN, dtype=np.float32) + # last = 0 + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + if sm.updated["liveCalibration"]: + calib[:] = np.array(sm["liveCalibration"].rpyCalib) + + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf, calib) + t2 = time.perf_counter() + + pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last)) + # last = t1 + + +if __name__ == "__main__": + main() diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc deleted file mode 100644 index eb5239bef0..0000000000 --- a/selfdrive/modeld/models/dmonitoring.cc +++ /dev/null @@ -1,133 +0,0 @@ -#include - -#include "common/mat.h" -#include "common/modeldata.h" -#include "common/params.h" -#include "common/timing.h" -#include "system/hardware/hw.h" - -#include "selfdrive/modeld/models/dmonitoring.h" - -constexpr int MODEL_WIDTH = 1440; -constexpr int MODEL_HEIGHT = 960; - -template -static inline T *get_buffer(std::vector &buf, const size_t size) { - if (buf.size() < size) buf.resize(size); - return buf.data(); -} - -void dmonitoring_init(DMonitoringModelState* s) { - -#ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true); -#else - s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true); -#endif - - s->m->addInput("input_imgs", NULL, 0); - s->m->addInput("calib", s->calib, CALIB_LEN); -} - -void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) { - for (int i = 0; i < 3; ++i) { - ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE; - ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]); - } - for (int i = 0; i < 2; ++i) { - ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE; - ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]); - } - for (int i = 0; i < 4; ++i) { - ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]); - } - for (int i = 0; i < 2; ++i) { - ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]); - } - ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]); - ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]); - ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]); - ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]); - ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]); - ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]); - ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]); -} - -void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) { - ddata.setFaceOrientation(ds_res.face_orientation); - ddata.setFaceOrientationStd(ds_res.face_orientation_std); - ddata.setFacePosition(ds_res.face_position); - ddata.setFacePositionStd(ds_res.face_position_std); - ddata.setFaceProb(ds_res.face_prob); - ddata.setLeftEyeProb(ds_res.left_eye_prob); - ddata.setRightEyeProb(ds_res.right_eye_prob); - ddata.setLeftBlinkProb(ds_res.left_blink_prob); - ddata.setRightBlinkProb(ds_res.right_blink_prob); - ddata.setSunglassesProb(ds_res.sunglasses_prob); - ddata.setOccludedProb(ds_res.occluded_prob); - ddata.setReadyProb(ds_res.ready_prob); - ddata.setNotReadyProb(ds_res.not_ready_prob); -} - -DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { - int v_off = height - MODEL_HEIGHT; - int h_off = (width - MODEL_WIDTH) / 2; - int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT; - - uint8_t *raw_buf = (uint8_t *) stream_buf; - // vertical crop free - uint8_t *raw_y_start = raw_buf + stride * v_off; - - uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); - - // here makes a uint8 copy - for (int r = 0; r < MODEL_HEIGHT; ++r) { - memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH); - } - - // printf("preprocess completed. %d \n", yuv_buf_len); - // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); - // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); - // fclose(dump_yuv_file); - - double t1 = millis_since_boot(); - s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float)); - for (int i = 0; i < CALIB_LEN; i++) { - s->calib[i] = calib[i]; - } - s->m->execute(); - double t2 = millis_since_boot(); - - DMonitoringModelResult model_res = {0}; - parse_driver_data(model_res.driver_state_lhd, s, 0); - parse_driver_data(model_res.driver_state_rhd, s, 41); - model_res.poor_vision_prob = sigmoid(s->output[82]); - model_res.wheel_on_right_prob = sigmoid(s->output[83]); - model_res.dsp_execution_time = (t2 - t1) / 1000.; - - return model_res; -} - -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred) { - // make msg - MessageBuilder msg; - auto framed = msg.initEvent().initDriverStateV2(); - framed.setFrameId(frame_id); - framed.setModelExecutionTime(execution_time); - framed.setDspExecutionTime(model_res.dsp_execution_time); - - framed.setPoorVisionProb(model_res.poor_vision_prob); - framed.setWheelOnRightProb(model_res.wheel_on_right_prob); - fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd); - fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd); - - if (send_raw_pred) { - framed.setRawPredictions(raw_pred.asBytes()); - } - - pm.send("driverStateV2", msg); -} - -void dmonitoring_free(DMonitoringModelState* s) { - delete s->m; -} diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h deleted file mode 100644 index ae2bf05394..0000000000 --- a/selfdrive/modeld/models/dmonitoring.h +++ /dev/null @@ -1,50 +0,0 @@ -#pragma once - -#include - -#include "cereal/messaging/messaging.h" -#include "common/util.h" -#include "selfdrive/modeld/models/commonmodel.h" -#include "selfdrive/modeld/runners/run.h" - -#define CALIB_LEN 3 - -#define OUTPUT_SIZE 84 -#define REG_SCALE 0.25f - -typedef struct DriverStateResult { - float face_orientation[3]; - float face_orientation_std[3]; - float face_position[2]; - float face_position_std[2]; - float face_prob; - float left_eye_prob; - float right_eye_prob; - float left_blink_prob; - float right_blink_prob; - float sunglasses_prob; - float occluded_prob; - float ready_prob[4]; - float not_ready_prob[2]; -} DriverStateResult; - -typedef struct DMonitoringModelResult { - DriverStateResult driver_state_lhd; - DriverStateResult driver_state_rhd; - float poor_vision_prob; - float wheel_on_right_prob; - float dsp_execution_time; -} DMonitoringModelResult; - -typedef struct DMonitoringModelState { - RunModel *m; - float output[OUTPUT_SIZE]; - std::vector net_input_buf; - float calib[CALIB_LEN]; -} DMonitoringModelState; - -void dmonitoring_init(DMonitoringModelState* s); -DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred); -void dmonitoring_free(DMonitoringModelState* s); - diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h index cae2f5b27a..36ad262a5b 100644 --- a/selfdrive/modeld/runners/run.h +++ b/selfdrive/modeld/runners/run.h @@ -2,7 +2,3 @@ #include "selfdrive/modeld/runners/runmodel.h" #include "selfdrive/modeld/runners/snpemodel.h" - -#if defined(USE_ONNX_MODEL) -#include "selfdrive/modeld/runners/onnxmodel.h" -#endif diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 9fa48b43d8..553ef1afa6 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -37,7 +37,7 @@ PROCS = { "./_sensord": 7.0, "selfdrive.controls.radard": 4.5, "selfdrive.modeld.modeld": 8.0, - "./_dmonitoringmodeld": 5.0, + "selfdrive.modeld.dmonitoringmodeld": 8.0, "selfdrive.modeld.navmodeld": 1.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, From 0d042624ae236fa9b58448a1eaeba841d4eff73e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Sep 2023 20:40:25 -0700 Subject: [PATCH 311/410] Revert "add pytest-cpp package (#29828)" This reverts commit 773d0944d8b51fe2a64c13f0a9b6b0ff9457cf4f. --- poetry.lock | 187 ++++++++++++++++++++++++------------------------- pyproject.toml | 2 - 2 files changed, 91 insertions(+), 98 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7e253a6eb5..b1bd2df7c6 100644 --- a/poetry.lock +++ b/poetry.lock @@ -314,13 +314,13 @@ files = [ [[package]] name = "azure-core" -version = "1.29.4" +version = "1.29.3" description = "Microsoft Azure Core Library for Python" optional = false python-versions = ">=3.7" files = [ - {file = "azure-core-1.29.4.tar.gz", hash = "sha256:500b3aa9bf2e90c5ccc88bb105d056114ca0ce7d0ce73afb8bc4d714b2fc7568"}, - {file = "azure_core-1.29.4-py3-none-any.whl", hash = "sha256:b03261bcba22c0b9290faf9999cedd23e849ed2577feee90515694cea6bc74bf"}, + {file = "azure-core-1.29.3.tar.gz", hash = "sha256:c92700af982e71c8c73de9f4c20da8b3f03ce2c22d13066e4d416b4629c87903"}, + {file = "azure_core-1.29.3-py3-none-any.whl", hash = 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@@ -4171,9 +4166,9 @@ setuptools = "*" [[package]] name = "sconscontrib" version = "1.0" -description = "" +description = "Contributed builders and other useful logic for the SCons build system.," optional = false -python-versions = ">=3.6, <4" +python-versions = "<4,>=3.6" files = [] develop = false @@ -4338,19 +4333,19 @@ test = ["pytest"] [[package]] name = "setuptools" -version = "68.2.0" +version = "68.1.2" description = "Easily download, build, install, upgrade, and uninstall Python packages" optional = false python-versions = ">=3.8" files = [ - {file = "setuptools-68.2.0-py3-none-any.whl", hash = "sha256:af3d5949030c3f493f550876b2fd1dd5ec66689c4ee5d5344f009746f71fd5a8"}, - {file = "setuptools-68.2.0.tar.gz", hash = "sha256:00478ca80aeebeecb2f288d3206b0de568df5cd2b8fada1209843cc9a8d88a48"}, + {file = "setuptools-68.1.2-py3-none-any.whl", hash = "sha256:3d8083eed2d13afc9426f227b24fd1659489ec107c0e86cec2ffdde5c92e790b"}, + {file = "setuptools-68.1.2.tar.gz", hash = "sha256:3d4dfa6d95f1b101d695a6160a7626e15583af71a5f52176efa5d39a054d475d"}, ] [package.extras] -docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"] +docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5,<=7.1.2)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"] testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"] -testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"] +testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"] [[package]] name = "shapely" @@ -5054,4 +5049,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "7258a24274936ccdafb930a683f4ea197e82ab187698d0723bb4683ca41e6d26" +content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1" diff --git a/pyproject.toml b/pyproject.toml index a8e2b1df87..1c7d857652 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,7 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" -cpp_files = "TODO" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ @@ -143,7 +142,6 @@ pygame = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" -pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" From 7816edda57894c7967fcd931294a31d000e6508c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 8 Sep 2023 12:44:58 +0800 Subject: [PATCH 312/410] common/params: not copyable (#29834) --- common/params.h | 6 +++++- selfdrive/ui/qt/onroad.cc | 1 - 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/common/params.h b/common/params.h index 24b1bffeb1..fbe0bba6b0 100644 --- a/common/params.h +++ b/common/params.h @@ -15,7 +15,11 @@ enum ParamKeyType { class Params { public: - Params(const std::string &path = {}); + explicit Params(const std::string &path = {}); + // Not copyable. + Params(const Params&) = delete; + Params& operator=(const Params&) = delete; + std::vector allKeys() const; bool checkKey(const std::string &key); ParamKeyType getKeyType(const std::string &key); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index d0b82207e6..bb97ebd5e8 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -213,7 +213,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) { setFixedSize(btn_size, btn_size); - params = Params(); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size}); QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode); From e9c1cf3b5a86b7ef47fea67d60ae83337b8e9051 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 8 Sep 2023 14:59:02 +0800 Subject: [PATCH 313/410] cabana/Sconscript: add back dependency on #opendbc (#29832) add dep on #opendbc --- tools/cabana/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 03baa1b3d6..46958f14e5 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -42,4 +42,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json' generate_dbc = cabana_env.Command('#' + output_json_file, ['dbc/generate_dbc_json.py'], "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file) -cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", Glob("#opendbc/*.dbc"), "#cereal"]) +cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")]) From aee662969037c60e81e36fc2c470e8083f212df6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Sep 2023 00:13:40 -0700 Subject: [PATCH 314/410] bump panda (#29837) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index cb0cd1bfaa..e9a0987617 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit cb0cd1bfaabc6673b4f21b6c8361778c7b3e0014 +Subproject commit e9a098761776896957fce61d632a221dcfb90ce6 From 3a7a42cf5b6f8d4e5f6030ef8da2a4db1a6757c4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Sep 2023 00:34:27 -0700 Subject: [PATCH 315/410] Hyundai: add comment about date codes in ABS FW --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 641c8ff4a0..09c17eb753 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -459,6 +459,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z] # TODO: use abs, it has the platform code and part number on many platforms PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # So far we've only seen dates in fwdCamera +# TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] FW_QUERY_CONFIG = FwQueryConfig( From d9ce8ab7163f7dc60983a5b45600824477a5bcd0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 8 Sep 2023 03:39:48 -0400 Subject: [PATCH 316/410] Hyundai: Add FW Versions for Kona Electric 2023 (#29805) * Hyundai: Add FW Versions for Kona Electric 2023 * Update selfdrive/car/hyundai/values.py --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e99cdcf071..365da46dab 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -89,7 +89,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 09c17eb753..d48d7f5e48 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -173,7 +173,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), @@ -1415,6 +1415,7 @@ FW_VERSIONS = { b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', @@ -1422,12 +1423,14 @@ FW_VERSIONS = { b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', From c96fe132e8e708d8a9cb2d4d6a3e8b9f1028018b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Sep 2023 10:41:54 -0700 Subject: [PATCH 317/410] CI: increase model replay timeout --- .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 1e9f29bdb8..3644062268 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -324,7 +324,7 @@ jobs: ${{ env.RUN }} "scons -j$(nproc)" # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - name: Run model replay with ONNX - timeout-minutes: 2 + timeout-minutes: 3 run: | ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ From 110cfef1c2a56b333b684cd7ae98b321ae0e72eb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 8 Sep 2023 10:43:02 -0700 Subject: [PATCH 318/410] Ruff: disallow non-openpilot imports (#29841) --- pyproject.toml | 8 +++++++- selfdrive/athena/athenad.py | 2 +- selfdrive/athena/tests/test_athenad.py | 2 +- selfdrive/controls/tests/test_leads.py | 4 ++-- system/swaglog.py | 2 +- 5 files changed, 12 insertions(+), 6 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 1c7d857652..b4a795accc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -167,7 +167,7 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B", "TID251"] ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 target-version="py311" @@ -180,3 +180,9 @@ exclude = [ "third_party", ] flake8-implicit-str-concat.allow-multiline=false +[tool.ruff.flake8-tidy-imports.banned-api] +"selfdrive".msg = "Use openpilot.selfdrive" +"common".msg = "Use openpilot.common" +"system".msg = "Use openpilot.system" +"third_party".msg = "Use openpilot.third_party" +"tools".msg = "Use openpilot.tools" \ No newline at end of file diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 4817691af8..899605d989 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -40,7 +40,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.selfdrive.statsd import STATS_DIR from openpilot.system.swaglog import cloudlog from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version -from selfdrive.hardware.hw import Paths +from openpilot.selfdrive.hardware.hw import Paths # TODO: use socket constant when mypy recognizes this as a valid attribute diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index bef622a75e..f4c229188e 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -21,7 +21,7 @@ from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server from cereal import messaging -from selfdrive.hardware.hw import Paths +from openpilot.selfdrive.hardware.hw import Paths class TestAthenadMethods(unittest.TestCase): diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py index bd8baf096e..268d9c47a7 100755 --- a/selfdrive/controls/tests/test_leads.py +++ b/selfdrive/controls/tests/test_leads.py @@ -3,8 +3,8 @@ import unittest import cereal.messaging as messaging -from selfdrive.test.process_replay import replay_process_with_name -from selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.test.process_replay import replay_process_with_name +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA class TestLeads(unittest.TestCase): diff --git a/system/swaglog.py b/system/swaglog.py index 8130aeb0fb..ba81318234 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -8,7 +8,7 @@ from logging.handlers import BaseRotatingHandler import zmq from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter -from system.hardware.hw import Paths +from openpilot.system.hardware.hw import Paths def get_file_handler(): From 947abbcba0f685ae89d6d6a1b05f3f55f9739848 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Sep 2023 13:01:04 -0700 Subject: [PATCH 319/410] fixup power draw test output (#29844) * fixup power draw test * no pytest --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index c0bdd53253..08dc33dd8c 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -220,7 +220,7 @@ pipeline { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], - ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"], + ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], ["test manager", "pytest selfdrive/manager/test/test_manager.py"], From fb1b1f15aaaf401b20f790e61aebeb1b6d2c9249 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Sep 2023 14:03:14 -0700 Subject: [PATCH 320/410] mock car cleanup (#29835) * mock car cleanup * fix --- selfdrive/car/mock/interface.py | 36 ++++----------------------- selfdrive/car/mock/radar_interface.py | 1 - 2 files changed, 5 insertions(+), 32 deletions(-) mode change 100755 => 100644 selfdrive/car/mock/radar_interface.py diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index d36f972a87..c7821bdb97 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -1,61 +1,35 @@ #!/usr/bin/env python3 from cereal import car -from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase - -# mocked car interface to work with chffrplus +# mocked car interface for dashcam mode class CarInterface(CarInterfaceBase): def __init__(self, CP, CarController, CarState): super().__init__(CP, CarController, CarState) - cloudlog.debug("Using Mock Car Interface") - - self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) - self.speed = 0. - self.prev_speed = 0. + self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mock" - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] ret.mass = 1700. ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 13. # reasonable - + ret.steerRatio = 13. return ret - # returns a car.CarState def _update(self, c): self.sm.update(0) gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' - if self.sm.updated[gps_sock]: - self.prev_speed = self.speed - self.speed = self.sm[gps_sock].speed - # create message ret = car.CarState.new_message() - - # speeds - ret.vEgo = self.speed - ret.vEgoRaw = self.speed - - ret.aEgo = self.speed - self.prev_speed - ret.brakePressed = ret.aEgo < -0.5 - - ret.standstill = self.speed < 0.01 - ret.wheelSpeeds.fl = self.speed - ret.wheelSpeeds.fr = self.speed - ret.wheelSpeeds.rl = self.speed - ret.wheelSpeeds.rr = self.speed + ret.vEgo = self.sm[gps_sock].speed + ret.vEgoRaw = self.sm[gps_sock].speed return ret def apply(self, c, now_nanos): - # in mock no carcontrols actuators = car.CarControl.Actuators.new_message() return actuators, [] diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py old mode 100755 new mode 100644 index b461fcd5f8..e654bd61fd --- a/selfdrive/car/mock/radar_interface.py +++ b/selfdrive/car/mock/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): From 1344a93a356e4734fedb5f717778a8b1a273c74b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 8 Sep 2023 14:46:39 -0700 Subject: [PATCH 321/410] docker: multiarch images (amd64/aarch64) (#29691) * arch specific tags * merge multiarch script * arm64 build and merge jobs * update tag script * casual ci test * change image to 2204 * docker -v test * arch specific naming * Remove test_buildjet * build -arch images only when CURRENT_ARCH_BUILD is set * support new tags in tag_multiarch * Toggle CURRENT_ARCH_BUILD on in ci * Docker common * Fix condition * Fix path to docker_common * Add more stuff to common * Add build_arm job * composite job for building * Run checkout before build composite * add shell arg * move timeout to selfdrive_tests * TARGET ARCHITECTURE var * Support TARGET_ARCHITECTURE in workflow * Rewrite to Single build job with matrix * Remove shebang from docker_common * Attempt for fix build matrix * Remove setup arch * build matrix for docker push * Use 2vcpu for arm build * 2vcpu for docker_push too * temporarly unlock docker_push * Remove requirement for target arch when pushing * Unset target architecture in docker_push cl * fix sha tags * Rename action to compile-openpilot * move push_image line to tag_multiarch step * arch suffix for scons cache * cache_key_prefix for setup-with-retry * Re-disable docker_push on non-master * Add newlines --- .../workflows/compile-openpilot/action.yaml | 27 ++++++++++ .github/workflows/selfdrive_tests.yaml | 52 ++++++++++++------- .../workflows/setup-with-retry/action.yaml | 9 +++- .github/workflows/setup/action.yaml | 10 ++-- selfdrive/test/docker_build.sh | 43 +++++---------- selfdrive/test/docker_common.sh | 27 ++++++++++ selfdrive/test/docker_tag_multiarch.sh | 25 +++++++++ 7 files changed, 138 insertions(+), 55 deletions(-) create mode 100644 .github/workflows/compile-openpilot/action.yaml create mode 100644 selfdrive/test/docker_common.sh create mode 100755 selfdrive/test/docker_tag_multiarch.sh diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml new file mode 100644 index 0000000000..8775c96262 --- /dev/null +++ b/.github/workflows/compile-openpilot/action.yaml @@ -0,0 +1,27 @@ +name: 'compile openpilot' + +inputs: + cache_key_prefix: + description: 'Prefix for caching key' + required: false + default: 'scons' + +runs: + using: "composite" + steps: + - shell: bash + name: Build openpilot with all flags + run: | + ${{ env.RUN }} "scons -j$(nproc)" + ${{ env.RUN }} "release/check-dirty.sh" + - shell: bash + name: Cleanup scons cache and rebuild + run: | + ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ + scons -j$(nproc) --cache-populate" + - name: Save scons cache + uses: actions/cache/save@v3 + if: github.ref == 'refs/heads/master' + with: + path: .ci_cache/scons_cache + key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3644062268..a1e3776441 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -67,30 +67,20 @@ jobs: cd $STRIPPED_DIR ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" - build_all: - name: build all - runs-on: ubuntu-20.04 + build: + strategy: + matrix: + arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v3 with: submodules: true - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot with all flags - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache - run: | - ${{ env.RUN }} "scons -j$(nproc)" - ${{ env.RUN }} "release/check-dirty.sh" - - name: Cleanup scons cache and rebuild - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache - run: | - ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --cache-populate" - - name: Save scons cache - uses: actions/cache/save@v3 - if: github.ref == 'refs/heads/master' + - uses: ./.github/workflows/compile-openpilot + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache with: - path: .ci_cache/scons_cache - key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + cache_key_prefix: scons_${{ matrix.arch }} build_mac: name: build macos @@ -185,8 +175,10 @@ jobs: sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd docker_push: - name: docker push - runs-on: ubuntu-20.04 + strategy: + matrix: + arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v3 @@ -195,14 +187,34 @@ jobs: - name: Setup to push to repo run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" + echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" $DOCKER_LOGIN - uses: ./.github/workflows/setup-with-retry with: git-lfs: false - name: Build and push CL Docker image + if: matrix.arch == 'x86_64' run: | + echo "TARGET_ARCHITECTURE=''" >> "$GITHUB_ENV" eval "$BUILD_CL" + docker_push_multiarch: + name: docker push multiarch tag + runs-on: ubuntu-20.04 + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + needs: [docker_push] + steps: + - uses: actions/checkout@v3 + with: + submodules: false + - name: Setup docker + run: | + $DOCKER_LOGIN + - name: Merge x64 and arm64 tags + run: | + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" + selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 + static_analysis: name: static analysis runs-on: ubuntu-20.04 diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index 427b5a45ac..846d8bbaf0 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -5,6 +5,10 @@ inputs: description: 'Whether or not to pull the git lfs' required: false default: 'true' + cache_key_prefix: + description: 'Prefix for caching key' + required: false + default: 'scons_x86_64' env: SLEEP_TIME: 30 # Time to sleep between retries @@ -17,6 +21,7 @@ runs: continue-on-error: true with: git_lfs: ${{ inputs.git_lfs }} + cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash @@ -27,6 +32,7 @@ runs: continue-on-error: true with: git_lfs: ${{ inputs.git_lfs }} + cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash @@ -36,4 +42,5 @@ runs: uses: ./.github/workflows/setup with: git_lfs: ${{ inputs.git_lfs }} - is_retried: true \ No newline at end of file + cache_key_prefix: ${{ inputs.cache_key_prefix }} + is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 74b82f9158..eebc376346 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,6 +5,10 @@ inputs: description: 'Whether or not to pull the git lfs' required: false default: 'true' + cache_key_prefix: + description: 'Prefix for caching key' + required: false + default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' required: false @@ -35,10 +39,10 @@ runs: uses: actions/cache/restore@v3 with: path: .ci_cache/scons_cache - key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - scons-${{ env.CACHE_COMMIT_DATE }}- - scons- + ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}- + ${{ inputs.cache_key_prefix }}- # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps - id: scons-cache-setup shell: bash diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index 3851e2b1e3..e0ba54f058 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -1,45 +1,26 @@ -#!/bin/bash +#!/usr/bin/env bash set -e # To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: # mkdir -p .ci_cache/scons_cache # sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache -if [ $1 = "base" ]; then - export DOCKER_IMAGE=openpilot-base - export DOCKER_FILE=Dockerfile.openpilot_base -elif [ $1 = "docs" ]; then - export DOCKER_IMAGE=openpilot-docs - export DOCKER_FILE=docs/docker/Dockerfile -elif [ $1 = "sim" ]; then - export DOCKER_IMAGE=openpilot-sim - export DOCKER_FILE=tools/sim/Dockerfile.sim -elif [ $1 = "prebuilt" ]; then - export DOCKER_IMAGE=openpilot-prebuilt - export DOCKER_FILE=Dockerfile.openpilot -elif [ $1 = "cl" ]; then - export DOCKER_IMAGE=openpilot-base-cl - export DOCKER_FILE=Dockerfile.openpilot_base_cl +SCRIPT_DIR=$(dirname "$0") +OPENPILOT_DIR=$SCRIPT_DIR/../../ +if [ -n "$TARGET_ARCHITECTURE" ]; then + PLATFORM="linux/$TARGET_ARCHITECTURE" + TAG_SUFFIX="-$TARGET_ARCHITECTURE" else - echo "Invalid docker build image $1" - exit 1 + PLATFORM="linux/$(uname -m)" + TAG_SUFFIX="" fi -export DOCKER_REGISTRY=ghcr.io/commaai -export COMMIT_SHA=$(git rev-parse HEAD) +source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -LOCAL_TAG=$DOCKER_IMAGE -REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG -REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA +DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR -SCRIPT_DIR=$(dirname "$0") -OPENPILOT_DIR=$SCRIPT_DIR/../../ - -DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR - -if [[ ! -z "$PUSH_IMAGE" ]]; -then +if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG docker tag $REMOTE_TAG $REMOTE_SHA_TAG docker push $REMOTE_SHA_TAG -fi \ No newline at end of file +fi diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh new file mode 100644 index 0000000000..68ea472d26 --- /dev/null +++ b/selfdrive/test/docker_common.sh @@ -0,0 +1,27 @@ +if [ $1 = "base" ]; then + export DOCKER_IMAGE=openpilot-base + export DOCKER_FILE=Dockerfile.openpilot_base +elif [ $1 = "docs" ]; then + export DOCKER_IMAGE=openpilot-docs + export DOCKER_FILE=docs/docker/Dockerfile +elif [ $1 = "sim" ]; then + export DOCKER_IMAGE=openpilot-sim + export DOCKER_FILE=tools/sim/Dockerfile.sim +elif [ $1 = "prebuilt" ]; then + export DOCKER_IMAGE=openpilot-prebuilt + export DOCKER_FILE=Dockerfile.openpilot +elif [ $1 = "cl" ]; then + export DOCKER_IMAGE=openpilot-base-cl + export DOCKER_FILE=Dockerfile.openpilot_base_cl +else + echo "Invalid docker build image $1" + exit 1 +fi + +export DOCKER_REGISTRY=ghcr.io/commaai +export COMMIT_SHA=$(git rev-parse HEAD) + +TAG_SUFFIX=$2 +LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX +REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG +REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh new file mode 100755 index 0000000000..c1761802c7 --- /dev/null +++ b/selfdrive/test/docker_tag_multiarch.sh @@ -0,0 +1,25 @@ +#!/usr/bin/env bash +set -e + +if [ $# -lt 2 ]; then + echo "Usage: $0 ..." + exit 1 +fi + +SCRIPT_DIR=$(dirname "$0") +ARCHS=("${@:2}") + +source $SCRIPT_DIR/docker_common.sh $1 + +MANIFEST_AMENDS="" +for ARCH in ${ARCHS[@]}; do + MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA" +done + +docker manifest create $REMOTE_TAG $MANIFEST_AMENDS +docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS + +if [[ -n "$PUSH_IMAGE" ]]; then + docker manifest push $REMOTE_TAG + docker manifest push $REMOTE_SHA_TAG +fi From 0adc2f20c250ae7ca9a1d4e205c9560b50309eea Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 8 Sep 2023 14:54:15 -0700 Subject: [PATCH 322/410] Prefix: cleanup more folders (#29848) cleanup downloads folders --- common/prefix.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/common/prefix.py b/common/prefix.py index c49cf603df..6b7e7e2fd7 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -39,3 +39,5 @@ class OpenpilotPrefix: os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) shutil.rmtree(Paths.log_root(), ignore_errors=True) + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) + shutil.rmtree(Paths.comma_home(), ignore_errors=True) From b09ec6bb5bd73b6623e686ebc94f8a316102ae11 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 8 Sep 2023 15:03:40 -0700 Subject: [PATCH 323/410] docker: fix multiarch tag push (#29850) Fix multiarch merge script --- .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 a1e3776441..05400a0a50 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -212,7 +212,7 @@ jobs: $DOCKER_LOGIN - name: Merge x64 and arm64 tags run: | - echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" + export PUSH_IMAGE=true selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 static_analysis: From c61479b1aebcf9b713865d18b3e37947c821cca6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Sep 2023 15:15:22 -0700 Subject: [PATCH 324/410] Hyundai: add platform code fuzzy FW test (#29847) add test to assert no crashing --- selfdrive/car/hyundai/tests/test_hyundai.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 39a9aaf627..11268913aa 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +from hypothesis import settings, given, strategies as st import unittest from cereal import car @@ -66,6 +67,14 @@ class TestHyundaiFingerprint(unittest.TestCase): part = code.split(b"-")[1] self.assertFalse(part.startswith(b'CW'), "Car has bad part number") + @settings(max_examples=100) + @given(data=st.data()) + def test_platform_codes_fuzzy_fw(self, data): + """Ensure function doesn't raise an exception""" + fw_strategy = st.lists(st.binary()) + fws = data.draw(fw_strategy) + get_platform_codes(fws) + # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy # fingerprint in the absence of full FW matches: def test_platform_code_ecus_available(self): From 2d69f3d63e5462e8b095fab097c4aff00bd1c83a Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Fri, 8 Sep 2023 16:06:16 -0700 Subject: [PATCH 325/410] Update model input names to match onnx inputs (#29855) Updated model input names to match onnx inputs --- selfdrive/modeld/dmonitoringmodeld.py | 8 ++++---- selfdrive/modeld/modeld.py | 18 +++++++++--------- selfdrive/modeld/navmodeld.py | 8 ++++---- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 0f9669258c..53c0af0ff3 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -61,11 +61,11 @@ class ModelState: assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32) self.inputs = { - 'input_imgs': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), + 'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), 'calib': np.zeros(CALIB_LEN, dtype=np.float32)} self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) - self.model.addInput("input_imgs", None) + self.model.addInput("input_img", None) self.model.addInput("calib", self.inputs['calib']) def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]: @@ -74,11 +74,11 @@ class ModelState: v_offset = buf.height - MODEL_HEIGHT h_offset = (buf.width - MODEL_WIDTH) // 2 buf_data = buf.data.reshape(-1, buf.stride) - input_data = self.inputs['input_imgs'].reshape(MODEL_HEIGHT, MODEL_WIDTH) + input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] t1 = time.perf_counter() - self.model.setInputBuffer("input_imgs", self.inputs['input_imgs'].view(np.float32)) + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) self.model.execute() t2 = time.perf_counter() return self.output, t2 - t1 diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ece706cfd9..3c416ce939 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -46,11 +46,11 @@ class ModelState: self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32) self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32) self.inputs = { - 'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'desire': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32), 'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32), 'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32), - 'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32), + 'features_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32), } self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) @@ -62,10 +62,10 @@ class ModelState: def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge - inputs['desire_pulse'][0] = 0 - self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:] - self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) - self.prev_desire[:] = inputs['desire_pulse'] + inputs['desire'][0] = 0 + self.inputs['desire'][:-DESIRE_LEN] = self.inputs['desire'][DESIRE_LEN:] + self.inputs['desire'][-DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) + self.prev_desire[:] = inputs['desire'] self.inputs['traffic_convention'][:] = inputs['traffic_convention'] self.inputs['nav_features'][:] = inputs['nav_features'] @@ -81,8 +81,8 @@ class ModelState: return None self.model.execute() - self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:] - self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN] + self.inputs['features_buffer'][:-FEATURE_LEN] = self.inputs['features_buffer'][FEATURE_LEN:] + self.inputs['features_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN] return self.output @@ -232,7 +232,7 @@ def main(): cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") inputs:Dict[str, np.ndarray] = { - 'desire_pulse': vec_desire, + 'desire': vec_desire, 'traffic_convention': traffic_convention, 'driving_style': driving_style, 'nav_features': nav_features, diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py index 54f85f9ae8..f5dc51ed20 100755 --- a/selfdrive/modeld/navmodeld.py +++ b/selfdrive/modeld/navmodeld.py @@ -48,15 +48,15 @@ class ModelState: def __init__(self): assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32) - self.inputs = {'map': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)} + self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)} self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) - self.model.addInput("map", None) + self.model.addInput("input_img", None) def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]: - self.inputs['map'][:] = buf + self.inputs['input_img'][:] = buf t1 = time.perf_counter() - self.model.setInputBuffer("map", self.inputs['map'].view(np.float32)) + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) self.model.execute() t2 = time.perf_counter() return self.output, t2 - t1 From 9cc00c2101b6deae86ef9f25d4c79d2f79409e49 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Fri, 8 Sep 2023 16:45:38 -0700 Subject: [PATCH 326/410] Converted onnx runner to python (#29856) --- selfdrive/modeld/SConscript | 4 +- selfdrive/modeld/runners/__init__.py | 2 +- selfdrive/modeld/runners/onnx_runner.py | 78 ------------------- selfdrive/modeld/runners/onnxmodel.cc | 88 ---------------------- selfdrive/modeld/runners/onnxmodel.h | 23 ------ selfdrive/modeld/runners/onnxmodel.pxd | 9 --- selfdrive/modeld/runners/onnxmodel.py | 70 +++++++++++++++++ selfdrive/modeld/runners/onnxmodel_pyx.pyx | 14 ---- 8 files changed, 72 insertions(+), 216 deletions(-) delete mode 100755 selfdrive/modeld/runners/onnx_runner.py delete mode 100644 selfdrive/modeld/runners/onnxmodel.cc delete mode 100644 selfdrive/modeld/runners/onnxmodel.h delete mode 100644 selfdrive/modeld/runners/onnxmodel.pxd create mode 100644 selfdrive/modeld/runners/onnxmodel.py delete mode 100644 selfdrive/modeld/runners/onnxmodel_pyx.pyx diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 428fe7d0bf..63f3b2b97a 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -33,7 +33,7 @@ else: libs += ['OpenCL'] # Set path definitions -for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items(): +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): for xenv in (lenv, lenvCython): xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') @@ -43,13 +43,11 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang" snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc] cython_libs = envCython["LIBS"] + libs -onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) commonmodel_lib = lenv.Library('commonmodel', common_src) driving_lib = lenv.Library('driving', ['models/driving.cc']) lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) -lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks) lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py index 9193d63e2b..4c29bf3f1c 100644 --- a/selfdrive/modeld/runners/__init__.py +++ b/selfdrive/modeld/runners/__init__.py @@ -19,7 +19,7 @@ class ModelRunner(RunModel): from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner runner_type = ModelRunner.SNPE elif ModelRunner.ONNX in paths: - from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner + from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner runner_type = ModelRunner.ONNX else: raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py deleted file mode 100755 index 9e53874578..0000000000 --- a/selfdrive/modeld/runners/onnx_runner.py +++ /dev/null @@ -1,78 +0,0 @@ -#!/usr/bin/env python3 - -import os -import sys -import numpy as np -from typing import Tuple, Dict, Union, Any - -os.environ["OMP_NUM_THREADS"] = "4" -os.environ["OMP_WAIT_POLICY"] = "PASSIVE" - -import onnxruntime as ort - -ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} - -def read(sz, tf8=False): - dd = [] - gt = 0 - szof = 1 if tf8 else 4 - while gt < sz * szof: - st = os.read(0, sz * szof - gt) - assert(len(st) > 0) - dd.append(st) - gt += len(st) - r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32) - if tf8: - r = r / 255. - return r - -def write(d): - os.write(1, d.tobytes()) - -def run_loop(m, tf8_input=False): - ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] - keys = [x.name for x in m.get_inputs()] - itypes = [ORT_TYPES_TO_NP_TYPES[x.type] for x in m.get_inputs()] - - # run once to initialize CUDA provider - if "CUDAExecutionProvider" in m.get_providers(): - m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True))) - - print("ready to run onnx model", keys, ishapes, file=sys.stderr) - while 1: - inputs = [] - for k, shp, itp in zip(keys, ishapes, itypes, strict=True): - ts = np.product(shp) - #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) - inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp)) - ret = m.run(None, dict(zip(keys, inputs, strict=True))) - #print(ret, file=sys.stderr) - for r in ret: - write(r.astype(np.float32)) - - -if __name__ == "__main__": - print(sys.argv, file=sys.stderr) - print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) - options = ort.SessionOptions() - options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL - - provider: Union[str, Tuple[str, Dict[Any, Any]]] - if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: - provider = 'OpenVINOExecutionProvider' - elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: - options.intra_op_num_threads = 2 - provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) - else: - options.intra_op_num_threads = 2 - options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL - options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL - provider = 'CPUExecutionProvider' - - try: - print("Onnx selected provider: ", [provider], file=sys.stderr) - ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) - print("Onnx using ", ort_session.get_providers(), file=sys.stderr) - run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv)) - except KeyboardInterrupt: - pass diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc deleted file mode 100644 index ebe6ad847c..0000000000 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ /dev/null @@ -1,88 +0,0 @@ -#include "selfdrive/modeld/runners/onnxmodel.h" - -#include -#include -#include -#include -#include - -#include "common/util.h" - -ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) { - LOGD("loading model %s", path.c_str()); - - output = _output; - output_size = _output_size; - use_tf8 = _use_tf8; - - int err = pipe(pipein); - assert(err == 0); - err = pipe(pipeout); - assert(err == 0); - - std::string onnx_runner = ONNXRUNNER_PATH; - std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; - - proc_pid = fork(); - if (proc_pid == 0) { - LOGD("spawning onnx process %s", onnx_runner.c_str()); - char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr}; - dup2(pipein[0], 0); - dup2(pipeout[1], 1); - close(pipein[0]); - close(pipein[1]); - close(pipeout[0]); - close(pipeout[1]); - execvp(onnx_runner.c_str(), argv); - exit(1); // exit if the exec fails - } - - // parent - close(pipein[0]); - close(pipeout[1]); -} - -ONNXModel::~ONNXModel() { - close(pipein[1]); - close(pipeout[0]); - kill(proc_pid, SIGTERM); -} - -void ONNXModel::pwrite(float *buf, int size) { - char *cbuf = (char *)buf; - int tw = size*sizeof(float); - while (tw > 0) { - int err = write(pipein[1], cbuf, tw); - //printf("host write %d\n", err); - assert(err >= 0); - cbuf += err; - tw -= err; - } - LOGD("host write of size %d done", size); -} - -void ONNXModel::pread(float *buf, int size) { - char *cbuf = (char *)buf; - int tr = size*sizeof(float); - struct pollfd fds[1]; - fds[0].fd = pipeout[0]; - fds[0].events = POLLIN; - while (tr > 0) { - int err; - err = poll(fds, 1, 10000); // 10 second timeout - assert(err == 1 || (err == -1 && errno == EINTR)); - LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err); - err = read(pipeout[0], cbuf, tr); - assert(err > 0 || (err == 0 && errno == EINTR)); - cbuf += err; - tr -= err; - } - LOGD("host read done"); -} - -void ONNXModel::execute() { - for (auto &input : inputs) { - pwrite(input->buffer, input->size); - } - pread(output, output_size); -} diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h deleted file mode 100644 index f9bae1a0a9..0000000000 --- a/selfdrive/modeld/runners/onnxmodel.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/modeld/runners/runmodel.h" - -class ONNXModel : public RunModel { -public: - ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL); - ~ONNXModel(); - void execute(); -private: - int proc_pid; - float *output; - size_t output_size; - bool use_tf8; - - // pipe to communicate to onnx_runner subprocess - void pread(float *buf, int size); - void pwrite(float *buf, int size); - int pipein[2]; - int pipeout[2]; -}; diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd deleted file mode 100644 index 165f043da8..0000000000 --- a/selfdrive/modeld/runners/onnxmodel.pxd +++ /dev/null @@ -1,9 +0,0 @@ -# distutils: language = c++ - -from libcpp.string cimport string - -from cereal.visionipc.visionipc cimport cl_context - -cdef extern from "selfdrive/modeld/runners/onnxmodel.h": - cdef cppclass ONNXModel: - ONNXModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py new file mode 100644 index 0000000000..3c20a39760 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel.py @@ -0,0 +1,70 @@ +import os +import sys +import numpy as np +from typing import Tuple, Dict, Union, Any + +from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel + +ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} + +def create_ort_session(path): + os.environ["OMP_NUM_THREADS"] = "4" + os.environ["OMP_WAIT_POLICY"] = "PASSIVE" + + import onnxruntime as ort + print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) + options = ort.SessionOptions() + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL + + provider: Union[str, Tuple[str, Dict[Any, Any]]] + if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + provider = 'OpenVINOExecutionProvider' + elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + options.intra_op_num_threads = 2 + provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) + else: + options.intra_op_num_threads = 2 + options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL + provider = 'CPUExecutionProvider' + + print("Onnx selected provider: ", [provider], file=sys.stderr) + ort_session = ort.InferenceSession(path, options, providers=[provider]) + print("Onnx using ", ort_session.get_providers(), file=sys.stderr) + return ort_session + + +class ONNXModel(RunModel): + def __init__(self, path, output, runtime, use_tf8, cl_context): + self.inputs = {} + self.output = output + self.use_tf8 = use_tf8 + + self.session = create_ort_session(path) + self.input_names = [x.name for x in self.session.get_inputs()] + self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()} + self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()} + + # run once to initialize CUDA provider + if "CUDAExecutionProvider" in self.session.get_providers(): + self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names}) + print("ready to run onnx model", self.input_shapes, file=sys.stderr) + + def addInput(self, name, buffer): + assert name in self.input_names + self.inputs[name] = buffer + + def setInputBuffer(self, name, buffer): + assert name in self.inputs + self.inputs[name] = buffer + + def getCLBuffer(self, name): + return None + + def execute(self): + inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} + outputs = self.session.run(None, inputs) + assert len(outputs) == 1, "Only single model outputs are supported" + self.output[:] = outputs[0] + return self.output diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx deleted file mode 100644 index 27aa22d1c6..0000000000 --- a/selfdrive/modeld/runners/onnxmodel_pyx.pyx +++ /dev/null @@ -1,14 +0,0 @@ -# distutils: language = c++ -# cython: c_string_encoding=ascii - -from libcpp cimport bool -from libcpp.string cimport string - -from .onnxmodel cimport ONNXModel as cppONNXModel -from selfdrive.modeld.models.commonmodel_pyx cimport CLContext -from selfdrive.modeld.runners.runmodel_pyx cimport RunModel -from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel - -cdef class ONNXModel(RunModel): - def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): - self.model = new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context) From d3e5f66fc19c15accd684d397b8e25823e431b47 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 8 Sep 2023 17:13:18 -0700 Subject: [PATCH 327/410] CI: fix aarch64 cache (#29857) was not passed in --- .github/workflows/selfdrive_tests.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 05400a0a50..6ac43e310f 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -77,6 +77,8 @@ jobs: with: submodules: true - uses: ./.github/workflows/setup-with-retry + with: + cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache with: From c417669cbdadbc3a4fc31073116987264aa0e2d4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 8 Sep 2023 17:20:03 -0700 Subject: [PATCH 328/410] docker: fix cl tag (#29858) unset TARGET_ARCHITECTURE before running build --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 6ac43e310f..bce0d553ea 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -197,7 +197,7 @@ jobs: - name: Build and push CL Docker image if: matrix.arch == 'x86_64' run: | - echo "TARGET_ARCHITECTURE=''" >> "$GITHUB_ENV" + unset TARGET_ARCHITECTURE eval "$BUILD_CL" docker_push_multiarch: From aa52cf3e815ea665b9222c4c6a1e291d6c86f8a9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 8 Sep 2023 17:24:19 -0700 Subject: [PATCH 329/410] CI: auto label PR's (#29842) * auto label * on pull request * checkout * yaml not yml * recursive here too * start with just car stuff and CI * require all * no fps * add translations and fix CI --- .github/labeler.yaml | 42 ++++++++++++++++++++++++++++++++++ .github/workflows/labeler.yaml | 18 +++++++++++++++ 2 files changed, 60 insertions(+) create mode 100644 .github/labeler.yaml create mode 100644 .github/workflows/labeler.yaml diff --git a/.github/labeler.yaml b/.github/labeler.yaml new file mode 100644 index 0000000000..94bc9074cd --- /dev/null +++ b/.github/labeler.yaml @@ -0,0 +1,42 @@ +CI / testing: + - all: ['.github/**'] + - all: ['**/test_*'] + +car: + - all: ['selfdrive/car/**'] + +body: + - all: ['selfdrive/car/body/*'] +chrysler: + - all: ['selfdrive/car/chrysler/*'] +ford: + - all: ['selfdrive/car/ford/*'] +gm: + - all: ['selfdrive/car/gm/*'] +honda: + - all: ['selfdrive/car/honda/*'] +hyundai: + - all: ['selfdrive/car/hyundai/*'] +mazda: + - all: ['selfdrive/car/mazda/*'] +nissan: + - all: ['selfdrive/car/nissan/*'] +subaru: + - all: ['selfdrive/car/subaru/*'] +tesla: + - all: ['selfdrive/car/tesla/*'] +toyota: + - all: ['selfdrive/car/toyota/*'] +volkswagen: + - all: ['selfdrive/car/volkswagen/*'] + +simulation: + - all: ['tools/sim/**'] +ui: + - all: ['selfdrive/ui/**'] +tools: + - all: ['tools/**'] + +multilanguage: + - all: ['selfdrive/ui/translations/**'] + diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml new file mode 100644 index 0000000000..3387a24f2e --- /dev/null +++ b/.github/workflows/labeler.yaml @@ -0,0 +1,18 @@ +name: "Pull Request Labeler" +on: + pull_request: + +jobs: + labeler: + permissions: + contents: read + pull-requests: write + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + with: + submodules: false + - uses: actions/labeler@v4 + with: + dot: true + configuration-path: .github/labeler.yaml \ No newline at end of file From 50b954d595edc43956e2dcba4ff18446df80e371 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sat, 9 Sep 2023 01:02:49 -0700 Subject: [PATCH 330/410] CI: fix pr labeler permissions (#29862) * fix pr labeler * fix that --- .github/workflows/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml index 3387a24f2e..7c91b1591c 100644 --- a/.github/workflows/labeler.yaml +++ b/.github/workflows/labeler.yaml @@ -1,6 +1,6 @@ name: "Pull Request Labeler" on: - pull_request: + pull_request_target: jobs: labeler: From 95ae87659d381360a7a6aa6610d25f8519414a01 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 9 Sep 2023 23:47:52 +0800 Subject: [PATCH 331/410] test_util.cc: do not compare file contents in REQUIRE (#29861) --- common/tests/test_util.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index 68fced19c2..de87fa3e06 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -38,7 +38,8 @@ TEST_CASE("util::read_file") { std::string content = random_bytes(64 * 1024); write(fd, content.c_str(), content.size()); std::string ret = util::read_file(filename); - REQUIRE(ret == content); + bool equal = (ret == content); + REQUIRE(equal); close(fd); } SECTION("read directory") { @@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") { REQUIRE(ret == 0); ret = fclose(f); REQUIRE(ret == 0); - REQUIRE(dat == util::read_file(filename)); + bool equal = (dat == util::read_file(filename)); + REQUIRE(equal); } TEST_CASE("util::create_directories") { From 06233ca331e5f30adc18acb956274abd9e974657 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 9 Sep 2023 19:48:44 -0700 Subject: [PATCH 332/410] Toyota: get platform codes & docs (#29853) * add get_platform_codes function * add print_platform_codes.py * add test * not optional * constant * remove optional * more --- .../car/toyota/tests/print_platform_codes.py | 21 ++++++ selfdrive/car/toyota/tests/test_toyota.py | 24 ++++++- selfdrive/car/toyota/values.py | 68 ++++++++++++++++++- 3 files changed, 110 insertions(+), 3 deletions(-) create mode 100755 selfdrive/car/toyota/tests/print_platform_codes.py diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py new file mode 100755 index 0000000000..94badc5cde --- /dev/null +++ b/selfdrive/car/toyota/tests/print_platform_codes.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +from cereal import car +from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes + +Ecu = car.CarParams.Ecu +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + +if __name__ == "__main__": + for car_model, ecus in FW_VERSIONS.items(): + print() + print(car_model) + for ecu in sorted(ecus, key=lambda x: int(x[0])): + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + platform_codes = get_platform_codes(ecus[ecu]) + codes = {code for code, _ in platform_codes} + dates = {date for _, date in platform_codes if date is not None} + print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') + print(f' Codes: {codes}') + print(f' Versions: {dates}') diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index c621734e2b..0c503ebbf0 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -1,10 +1,13 @@ #!/usr/bin/env python3 -from cereal import car +from hypothesis import given, settings, strategies as st import unittest -from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS +from cereal import car +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \ + get_platform_codes Ecu = car.CarParams.Ecu +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} class TestToyotaInterfaces(unittest.TestCase): @@ -39,5 +42,22 @@ class TestToyotaInterfaces(unittest.TestCase): self.assertIn(Ecu.eps, present_ecus) +class TestToyotaFingerprint(unittest.TestCase): + @settings(max_examples=100) + @given(data=st.data()) + def test_platform_codes_fuzzy_fw(self, data): + fw_strategy = st.lists(st.binary()) + fws = data.draw(fw_strategy) + get_platform_codes(fws) + + def test_fw_pattern(self): + """Asserts all ECUs can be parsed""" + for ecus in FW_VERSIONS.values(): + for fws in ecus.values(): + for fw in fws: + ret = get_platform_codes([fw]) + self.assertTrue(len(ret)) + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b0f7a70985..bb9672fb0e 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1,7 +1,8 @@ +import re from collections import defaultdict from dataclasses import dataclass, field from enum import Enum, IntFlag -from typing import Dict, List, Union +from typing import Dict, List, Set, Tuple, Union from cereal import car from openpilot.common.conversions import Conversions as CV @@ -234,6 +235,71 @@ STATIC_DSU_MSGS = [ CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] + +def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, bytes]]: + codes = set() # (Optional[part]-platform-major_version, minor_version) + for fw in fw_versions: + # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?) + # and are prefixed with a byte that describes how many chunks of data there are. + # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix. + + length_code = 1 + length_code_match = FW_LEN_CODE.search(fw) + if length_code_match is not None: + length_code = length_code_match.group()[0] + fw = fw[1:] + + # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length + if length_code * FW_CHUNK_LEN != len(fw): + continue + + chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)] + + # only first is considered for now since second is commonly shared (TODO: understand that) + first_chunk = chunks[0] + if len(first_chunk) == 8: + # TODO: no part number, but some short chunks have it in subsequent chunks + fw_match = SHORT_FW_PATTERN.search(first_chunk) + if fw_match is not None: + platform, major_version, sub_version = fw_match.groups() + # codes.add((platform + b'-' + major_version, sub_version)) + codes.add((b'-'.join((platform, major_version)), sub_version)) + + elif len(first_chunk) == 10: + fw_match = MEDIUM_FW_PATTERN.search(first_chunk) + if fw_match is not None: + part, platform, major_version, sub_version = fw_match.groups() + codes.add((b'-'.join((part, platform, major_version)), sub_version)) + + elif len(first_chunk) == 12: + fw_match = LONG_FW_PATTERN.search(first_chunk) + if fw_match is not None: + part, platform, major_version, sub_version = fw_match.groups() + codes.add((b'-'.join((part, platform, major_version)), sub_version)) + + return codes + + +# Regex patterns for parsing more general platform-specific identifiers from FW versions. +# - Part number: Toyota part number (usually last character needs to be ignored to find a match). +# - Platform: usually multiple codes per an openpilot platform, however this has the less variability and +# is usually shared across ECUs and model years signifying this describes something about the specific platform. +# - Major version: second least variable part of the FW version. Seen splitting cars by model year such as RAV4 2022/2023 and Prius. +# It is important to note that these aren't always consecutive, for example: +# Prius TSS-P has these major versions over 16 FW: 2, 3, 4, 6, 8 while Prius TSS2 has: 5 +# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering, +# more exploration is needed. +SHORT_FW_PATTERN = re.compile(b'(?P[A-Z0-9]{2})(?P[A-Z0-9]{2})(?P[A-Z0-9]{4})') +MEDIUM_FW_PATTERN = re.compile(b'(?P[A-Z0-9]{5})(?P[A-Z0-9]{2})(?P[A-Z0-9]{1})(?P[A-Z0-9]{2})') +LONG_FW_PATTERN = re.compile(b'(?P[A-Z0-9]{5})(?P[A-Z0-9]{2})(?P[A-Z0-9]{2})(?P[A-Z0-9]{3})') +FW_LEN_CODE = re.compile(b'^[\x01-\x05]') # 5 chunks max. highest seen is 3 chunks, 16 bytes each +FW_CHUNK_LEN = 16 + +# List of ECUs expected to have platform codes +# TODO: use hybrid ECU, splits many similar ICE and hybrid variants +PLATFORM_CODE_ECUS = [Ecu.abs, Ecu.engine, Ecu.eps, Ecu.dsu, Ecu.fwdCamera, Ecu.fwdRadar] + + # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers. # Toyota diagnostic software first gets the supported data ids, then queries them one by one. # For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803 From a411af4f02ab778b78a98bfc424769e0c6a5974a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 9 Sep 2023 21:30:21 -0700 Subject: [PATCH 333/410] jenkins scripted pipeline (#29865) * scripted * exclude branches * try that * fix credentials * fix * tag with commit --- Jenkinsfile | 367 +++++++++++++++++++++++----------------------------- 1 file changed, 164 insertions(+), 203 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 08dc33dd8c..b9934645b2 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,4 +1,4 @@ -def phone(String ip, String step_label, String cmd) { +def device(String ip, String step_label, String cmd) { withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) { def ssh_cmd = """ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END' @@ -51,226 +51,187 @@ END""" } } -def phone_steps(String device_type, steps) { - lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) { - timeout(time: 20, unit: 'MINUTES') { - phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),) - steps.each { item -> - phone(device_ip, item[0], item[1]) - } +def deviceStage(String stageName, String deviceType, def steps) { + stage(stageName) { + if (currentBuild.result != null) { + return } - } -} - -pipeline { - agent none - environment { - CI = "1" - PYTHONWARNINGS = "error" - TEST_DIR = "/data/openpilot" - SOURCE_DIR = "/data/openpilot_source/" - AZURE_TOKEN = credentials('azure_token') - MAPBOX_TOKEN = credentials('mapbox_token') - } - options { - timeout(time: 3, unit: 'HOURS') - disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master') - } - stages { - stage('build release3-staging') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - when { - branch 'devel-staging' - } - steps { - phone_steps("tici-needs-can", [ - ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], - ]) + docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { + lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) { + timeout(time: 20, unit: 'MINUTES') { + device(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),) + steps.each { item -> + device(device_ip, item[0], item[1]) + } + } } } + } +} - stage('build nightly') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - when { - branch 'master-ci' - } - steps { - phone_steps("tici-needs-can", [ - ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], - ]) - } +def pcStage(String stageName, Closure body) { + node { + stage(stageName) { + if (currentBuild.result != null) { + return } - stage('openpilot tests') { - when { - not { - anyOf { - branch 'master-ci'; branch 'devel'; branch 'devel-staging'; - branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging'; - branch 'testing-closet*'; branch 'hotfix-*' - } + checkout scm + + def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'; + docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) { + timeout(time: 20, unit: 'MINUTES') { + try { + sh "git config --global --add safe.directory '*'" + sh "git submodule update --init --recursive" + sh "git lfs pull" + body() + } finally { + sh "rm -rf ${env.WORKSPACE}/* || true" + sh "rm -rf .* || true" } } + } + } + } +} - parallel { - - /* - stage('simulator') { - agent { - dockerfile { - filename 'Dockerfile.sim_nvidia' - dir 'tools/sim' - args '--user=root' - } - } - steps { - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --recursive" - sh "git lfs pull" - lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) { - sh "${WORKSPACE}/tools/sim/build_container.sh" - sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh" - sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh" - } - } - - post { - always { - sh "docker kill carla_sim || true" - sh "rm -rf ${WORKSPACE}/* || true" - sh "rm -rf .* || true" - } - } - } - */ - - stage('PC tests') { - agent { - dockerfile { - filename 'Dockerfile.openpilot_base' - args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache' - } - } - steps { - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --depth=1 --recursive" - sh "git lfs pull" - // tests that our build system's dependencies are configured properly, needs a machine with lots of cores - sh "scons --clean && scons --no-cache --random -j42" - sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ - pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" - sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" - } +def setupCredentials() { + withCredentials([ + string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'), + string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN') + ]) { + env.AZURE_TOKEN = "${AZURE_TOKEN}" + env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}" + } +} - post { - always { - sh "rm -rf ${WORKSPACE}/* || true" - sh "rm -rf .* || true" - } - } - } +node { + env.CI = "1" + env.PYTHONWARNINGS = "error" + env.TEST_DIR = "/data/openpilot" + env.SOURCE_DIR = "/data/openpilot_source/" + setupCredentials() - stage('tizi-tests') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("tizi", [ - ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], - ["test camerad", "pytest system/camerad/test/test_camerad.py"], - ["test exposure", "pytest system/camerad/test/test_exposure.py"], - ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], - ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], - ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], - ]) - } - } + env.GIT_BRANCH = checkout(scm).GIT_BRANCH + env.GIT_COMMIT = checkout(scm).GIT_COMMIT - stage('build') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - environment { - R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}" - } - steps { - phone_steps("tici-needs-can", [ - ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], - ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["check dirty", "release/check-dirty.sh"], - ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], - ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], - ]) - } - } + def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging', + 'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*'] + def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') - stage('loopback-tests') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("tici-loopback", [ - ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], - ]) - } - } + if (env.BRANCH_NAME != 'master') { + properties([ + disableConcurrentBuilds(abortPrevious: true) + ]) + } - stage('HW + Unit Tests') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("tici-common", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], - ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], - ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], - ["test manager", "pytest selfdrive/manager/test/test_manager.py"], - ["test nav", "pytest selfdrive/navd/tests/"], - ]) - } - } + try { + stage('git checkout') { + checkout scm + } - stage('camerad') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("tici-ar0231", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "pytest system/camerad/test/test_camerad.py"], - ["test exposure", "pytest system/camerad/test/test_exposure.py"], - ]) - phone_steps("tici-ox03c10", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "pytest system/camerad/test/test_camerad.py"], - ["test exposure", "pytest system/camerad/test/test_exposure.py"], - ]) - } - } + if (env.BRANCH_NAME == 'devel-staging') { + deviceStage("build release3-staging", "tici-needs-can", [ + ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], + ]) + } - stage('sensord') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("tici-lsmc", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], - ]) - phone_steps("tici-bmx-lsm", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], - ]) - } - } + if (env.BRANCH_NAME == 'master-ci') { + deviceStage("build release3-staging", "tici-needs-can", [ + ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], + ]) + } - stage('replay') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("tici-replay", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], - ]) - } + if (!env.BRANCH_NAME.matches(excludeRegex)) { + parallel ( + // tici tests + 'onroad tests': { + deviceStage("tici", "tici-needs-can", [ + ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["check dirty", "release/check-dirty.sh"], + ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], + ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], + ]) + }, + 'HW + Unit Tests': { + deviceStage("tici", "tici-common", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], + ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], + ["test manager", "pytest selfdrive/manager/test/test_manager.py"], + ["test nav", "pytest selfdrive/navd/tests/"], + ]) + }, + 'loopback': { + deviceStage("tici", "tici-loopback", [ + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], + ]) + }, + 'camerad': { + deviceStage("AR0231", "tici-ar0231", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test camerad", "pytest system/camerad/test/test_camerad.py"], + ["test exposure", "pytest system/camerad/test/test_exposure.py"], + ]) + deviceStage("OX03C10", "tici-ox03c10", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test camerad", "pytest system/camerad/test/test_camerad.py"], + ["test exposure", "pytest system/camerad/test/test_exposure.py"], + ]) + }, + 'sensord': { + deviceStage("LSM + MMC", "tici-lsmc", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ]) + deviceStage("BMX + LSM", "tici-bmx-lsm", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ]) + }, + 'replay': { + deviceStage("tici", "tici-replay", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], + ]) + }, + 'tizi': { + deviceStage("tizi", "tizi", [ + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test camerad", "pytest system/camerad/test/test_camerad.py"], + ["test exposure", "pytest system/camerad/test/test_exposure.py"], + ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], + ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], + ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], + ]) + }, + + // *** PC tests *** + 'PC tests': { + pcStage("PC tests") { + // tests that our build system's dependencies are configured properly, + // needs a machine with lots of cores + sh "scons --clean && scons --no-cache --random -j42" + + // car tests + sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ + pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" + sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" } - - } + }, + ) } - + } catch (Exception e) { + currentBuild.result = 'FAILED' + throw e } -} +} \ No newline at end of file From ef4c963c60276a62d64a89c158a1a1ff1dbe8a10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 11 Sep 2023 07:09:22 +0800 Subject: [PATCH 334/410] cabana: add comparision operator for CanEvent (#29864) --- tools/cabana/chart/chart.cc | 4 +--- tools/cabana/chart/sparkline.cc | 8 ++------ tools/cabana/historylog.cc | 4 +--- tools/cabana/streams/abstractstream.cc | 16 ++++------------ tools/cabana/streams/abstractstream.h | 5 +++++ tools/cabana/streams/livestream.cc | 8 ++------ tools/cabana/tools/findsignal.cc | 6 +++--- 7 files changed, 18 insertions(+), 33 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 18a9adbe07..709a052d72 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -286,9 +286,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { s.vals.reserve(msgs.capacity()); s.step_vals.reserve(msgs.capacity() * 2); - auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) { - return ts < e->mono_time; - }); + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, CompareCanEvent()); const double route_start_time = can->routeStartTime(); for (auto end = msgs.cend(); first != end; ++first) { const CanEvent *e = *first; diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 4692b41e4b..1ae6a1bfe0 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -9,12 +9,8 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl const auto &msgs = can->events(msg_id); uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9; uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0; - auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) { - return e->mono_time < ts; - }); - auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) { - return ts < e->mono_time; - }); + auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent()); + auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent()); bool update_values = last_ts != last_msg_ts || time_range != range; last_ts = last_msg_ts; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 7381884cf3..5330549963 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -162,9 +162,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti return msgs; } else { assert(min_time == 0); - auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) { - return ts < e->mono_time; - }); + auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, CompareCanEvent()); auto msgs = fetchData(first, events.cend(), 0); if (update_colors) { for (auto it = msgs.begin(); it != msgs.end(); ++it) { diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 2cf65d4911..6fa479815d 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -162,18 +162,14 @@ void AbstractStream::mergeEvents(std::vector::const_iterator first, std } } - auto compare = [](const CanEvent *l, const CanEvent *r) { - return l->mono_time < r->mono_time; - }; - for (auto &[id, new_e] : new_events_map) { auto &e = events_[id]; - auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare); + auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front()->mono_time, CompareCanEvent()); e.insert(insert_pos, new_e.cbegin(), new_e.cend()); } if (!new_events.empty()) { - auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare); + auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front()->mono_time, CompareCanEvent()); all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); } @@ -201,15 +197,11 @@ inline QColor blend(const QColor &a, const QColor &b) { // Calculate the frequency of the past minute. double calc_freq(const MessageId &msg_id, double current_sec) { - auto compare = [](const CanEvent *e, uint64_t mono_time) { - return e->mono_time < mono_time; - }; - const auto &events = can->events(msg_id); uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9; uint64_t first_mono_time = std::max(0, cur_mono_time - 59 * 1e9); - auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, compare); - auto second = std::lower_bound(first, events.end(), cur_mono_time, compare); + auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent()); + auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent()); if (first != events.end() && second != events.end()) { double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9; uint32_t count = std::distance(first, second); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 62ab3f2f4b..eae34e2cc4 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -41,6 +41,11 @@ struct CanEvent { uint8_t dat[]; }; +struct CompareCanEvent { + constexpr bool operator()(const CanEvent *const e, uint64_t ts) const { return e->mono_time < ts; } + constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; } +}; + struct BusConfig { int can_speed_kbps = 500; int data_speed_kbps = 2000; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 3f8397f56c..17805a0b66 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -102,12 +102,8 @@ void LiveStream::updateEvents() { uint64_t last_ts = post_last_event && speed_ == 1.0 ? all_events_.back()->mono_time : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_; - auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) { - return ts < e->mono_time; - }); - auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) { - return ts < e->mono_time; - }); + auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, CompareCanEvent()); + auto last = std::upper_bound(first, all_events_.cend(), last_ts, CompareCanEvent()); for (auto it = first; it != last; ++it) { const CanEvent *e = *it; diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index b19babdf88..51d86f5964 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -37,10 +37,10 @@ void FindSignalModel::search(std::function cmp) { filtered_signals.reserve(prev_sigs.size()); QtConcurrent::blockingMap(prev_sigs, [&](auto &s) { const auto &events = can->events(s.id); - auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent()); auto last = events.cend(); if (last_time < std::numeric_limits::max()) { - last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent()); } auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); @@ -225,7 +225,7 @@ void FindSignalDlg::setInitialSignals() { for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) { const auto &events = can->events(it.key()); - auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; }); + auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent()); if (e != events.cend()) { const int total_size = it.value().dat.size() * 8; for (int size = min_size->value(); size <= max_size->value(); ++size) { From ece433f18ef4e132693ccabe6b225dab7c2ffbe3 Mon Sep 17 00:00:00 2001 From: royjr Date: Sun, 10 Sep 2023 19:26:27 -0400 Subject: [PATCH 335/410] macOS: install gcc@13 to match panda requirements (#29868) --- 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 c767131f51..712923626b 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -49,7 +49,7 @@ brew "pyenv" brew "pyenv-virtualenv" brew "qt@5" brew "zeromq" -brew "gcc@12" +brew "gcc@13" cask "gcc-arm-embedded" brew "portaudio" EOS From 238f9d65dbc17613c2a045b5741483c3f9a7659d Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 11 Sep 2023 08:30:13 +0900 Subject: [PATCH 336/410] cleanup remnants of LQR and INDI tuning (#29860) * not use 'indi' cleanup * bump cereal * rm more --------- Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- selfdrive/car/tests/test_car_interfaces.py | 3 --- selfdrive/car/tests/test_models.py | 2 -- selfdrive/controls/controlsd.py | 2 -- selfdrive/test/process_replay/test_processes.py | 4 ++-- 5 files changed, 3 insertions(+), 10 deletions(-) diff --git a/cereal b/cereal index d469732b3b..7de568b659 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c +Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 0c970f5c75..787b5d6316 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase): self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) - elif tune.which() == 'indi': - self.assertTrue(len(tune.indi.outerLoopGainV)) - cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface now_nanos = 0 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 6cebdde77b..1b9e39f2f1 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -187,8 +187,6 @@ class TestCarModelBase(unittest.TestCase): self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) elif tuning == 'torque': self.assertTrue(self.CP.lateralTuning.torque.kf > 0) - elif tuning == 'indi': - self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) else: raise Exception("unknown tuning") diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bb135071f2..6cfeabefd4 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -807,8 +807,6 @@ class Controls: controlsState.lateralControlState.pidState = lac_log elif lat_tuning == 'torque': controlsState.lateralControlState.torqueState = lac_log - elif lat_tuning == 'indi': - controlsState.lateralControlState.indiState = lac_log self.pm.send('controlsState', dat) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index ab51948dd0..973c16971e 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -20,8 +20,8 @@ source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS) - ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) - ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) + ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS + ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) From d0361485504fe5af47a9e8ffaf0b64cfcdf03ac9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 10 Sep 2023 16:47:07 -0700 Subject: [PATCH 337/410] jenkins speedup (#29869) * jenkins speedup * cleanup --- Jenkinsfile | 55 +++++++++++---------- pyproject.toml | 2 +- selfdrive/test/setup_device_ci.sh | 79 +++++++++++++++++++++++-------- 3 files changed, 86 insertions(+), 50 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index b9934645b2..176c82bcc9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -51,16 +51,18 @@ END""" } } -def deviceStage(String stageName, String deviceType, def steps) { +def deviceStage(String stageName, String deviceType, List env, def steps) { stage(stageName) { if (currentBuild.result != null) { return } + def extra = env.collect { "export ${it}" }.join('\n'); + docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) { timeout(time: 20, unit: 'MINUTES') { - device(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),) + device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) steps.each { item -> device(device_ip, item[0], item[1]) } @@ -79,7 +81,7 @@ def pcStage(String stageName, Closure body) { checkout scm - def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'; + def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache'; docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) { timeout(time: 20, unit: 'MINUTES') { try { @@ -128,19 +130,15 @@ node { } try { - stage('git checkout') { - checkout scm - } - if (env.BRANCH_NAME == 'devel-staging') { - deviceStage("build release3-staging", "tici-needs-can", [ - ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], + deviceStage("build release3-staging", "tici-needs-can", [], [ + ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], ]) } if (env.BRANCH_NAME == 'master-ci') { - deviceStage("build release3-staging", "tici-needs-can", [ - ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], + deviceStage("build nightly", "tici-needs-can", [], [ + ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], ]) } @@ -148,7 +146,7 @@ node { parallel ( // tici tests 'onroad tests': { - deviceStage("tici", "tici-needs-can", [ + deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [ ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], @@ -157,7 +155,7 @@ node { ]) }, 'HW + Unit Tests': { - deviceStage("tici", "tici-common", [ + deviceStage("tici", "tici-common", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"], @@ -168,47 +166,44 @@ node { ]) }, 'loopback': { - deviceStage("tici", "tici-loopback", [ + deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [ ["build openpilot", "cd selfdrive/manager && ./build.py"], ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], ]) }, 'camerad': { - deviceStage("AR0231", "tici-ar0231", [ + deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], ["test camerad", "pytest system/camerad/test/test_camerad.py"], ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) - deviceStage("OX03C10", "tici-ox03c10", [ + deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], ["test camerad", "pytest system/camerad/test/test_camerad.py"], ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) }, 'sensord': { - deviceStage("LSM + MMC", "tici-lsmc", [ + deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], ]) - deviceStage("BMX + LSM", "tici-bmx-lsm", [ + deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], ]) }, 'replay': { - deviceStage("tici", "tici-replay", [ + deviceStage("tici", "tici-replay", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], ]) }, 'tizi': { - deviceStage("tizi", "tizi", [ + deviceStage("tizi", "tizi", ["UNSAFE=1"], [ ["build openpilot", "cd selfdrive/manager && ./build.py"], ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], - ["test camerad", "pytest system/camerad/test/test_camerad.py"], - ["test exposure", "pytest system/camerad/test/test_exposure.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], @@ -220,14 +215,18 @@ node { pcStage("PC tests") { // tests that our build system's dependencies are configured properly, // needs a machine with lots of cores - sh "scons --clean && scons --no-cache --random -j42" - - // car tests - sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ + sh label: "test multi-threaded build", script: "scons --no-cache --random -j42" + } + }, + 'car tests': { + pcStage("car tests") { + sh "scons -j30" + sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" - sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" + sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" } }, + ) } } catch (Exception e) { diff --git a/pyproject.toml b/pyproject.toml index b4a795accc..5d4daadb15 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 1b99c31038..ca458f2a79 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -56,31 +56,68 @@ sleep infinity EOF chmod +x $CONTINUE_PATH -# set up environment -if [ ! -d "$SOURCE_DIR" ]; then - git clone https://github.com/commaai/openpilot.git $SOURCE_DIR -fi -cd $SOURCE_DIR +safe_checkout() { + # completely clean TEST_DIR + + cd $SOURCE_DIR -# cleanup orphaned locks -find .git -type f -name "*.lock" -exec rm {} + + # cleanup orphaned locks + find .git -type f -name "*.lock" -exec rm {} + + + git reset --hard + git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT + find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; + git reset --hard $GIT_COMMIT + git checkout $GIT_COMMIT + git clean -xdff + git submodule sync + git submodule update --init --recursive + git submodule foreach --recursive "git reset --hard && git clean -xdff" + + git lfs pull + (ulimit -n 65535 && git lfs prune) + + echo "git checkout done, t=$SECONDS" + du -hs $SOURCE_DIR $SOURCE_DIR/.git + + if [ -z "SKIP_COPY" ]; then + rsync -a --delete $SOURCE_DIR $TEST_DIR + fi +} -git reset --hard -git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT -find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; -git reset --hard $GIT_COMMIT -git checkout $GIT_COMMIT -git clean -xdff -git submodule sync -git submodule update --init --recursive -git submodule foreach --recursive "git reset --hard && git clean -xdff" +unsafe_checkout() { + # checkout directly in test dir, leave old build products -git lfs pull -(ulimit -n 65535 && git lfs prune) + cd $TEST_DIR -echo "git checkout done, t=$SECONDS" -du -hs $SOURCE_DIR $SOURCE_DIR/.git + # cleanup orphaned locks + find .git -type f -name "*.lock" -exec rm {} + -rsync -a --delete $SOURCE_DIR $TEST_DIR + git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT + git checkout --force --no-recurse-submodules $GIT_COMMIT + git reset --hard $GIT_COMMIT + git clean -df + git submodule sync + git submodule update --init --recursive + git submodule foreach --recursive "git reset --hard && git clean -df" + + git lfs pull + (ulimit -n 65535 && git lfs prune) +} + +export GIT_PACK_THREADS=8 + +# set up environment +if [ ! -d "$SOURCE_DIR" ]; then + git clone https://github.com/commaai/openpilot.git $SOURCE_DIR +fi + +if [ ! -z "$UNSAFE" ]; then + echo "doing unsafe checkout" + unsafe_checkout +else + echo "doing safe checkout" + safe_checkout +fi echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS" From 72d383262dbedda123ac9e7ba8ae85901e75f1c9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 10 Sep 2023 23:33:02 -0400 Subject: [PATCH 338/410] HKG: Add FW Versions for Kia Carnival 2024 (#29840) --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 365da46dab..1eefb03688 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -109,7 +109,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
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- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
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- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
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- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Carnival 2023-24[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
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- 1 comma power v2
- 1 comma three
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Parts- 1 Hyundai K connector
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Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
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- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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Parts- 1 Hyundai P connector
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- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index d48d7f5e48..38166924e0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -260,7 +260,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], CAR.KIA_CARNIVAL_4TH_GEN: [ - HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], @@ -1924,6 +1924,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', From d7f8a489a3ed9901a35f7e2e984235d5ad10f303 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 10 Sep 2023 20:34:48 -0700 Subject: [PATCH 339/410] bump panda (#29838) * bump panda * bump to master --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index e9a0987617..8e8aa5acf6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e9a098761776896957fce61d632a221dcfb90ce6 +Subproject commit 8e8aa5acf6ab0e45d91e72beaab74e69810448cd From 253d8ccb85b26e02f676907263963d8b5d9e1534 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 10 Sep 2023 23:48:41 -0400 Subject: [PATCH 340/410] Hyundai longitudinal: enable for `KONA_EV` (#29779) * Hyundai longitudinal: enable for `KONA_EV` * add test route --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/tests/routes.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1eefb03688..775418427d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 38166924e0..2b8bb763a2 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1980,7 +1980,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, CAR.KIA_OPTIMA_H} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8299d15d52..4d99f594db 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -134,6 +134,7 @@ routes = [ CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), + CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV), # openpilot longitudinal enabled CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13), CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), From 43210ca0e21b15c1fcaff5517c71827b9fc21dab Mon Sep 17 00:00:00 2001 From: Angus Gratton Date: Tue, 12 Sep 2023 01:01:07 +1000 Subject: [PATCH 341/410] replay: Include cstdarg from util (#29871) Fix compilation errors "use of undeclared identifier" for va_start & va_end. --- tools/replay/util.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 172d545c75..2c2de69e78 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -4,6 +4,7 @@ #include #include +#include #include #include #include From 5e1b5b36e48f3b7c776b843993071e24a9d1466e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 12 Sep 2023 04:18:40 +0800 Subject: [PATCH 342/410] cabana: use applicationPath for settings (#29875) --- tools/cabana/cabana.cc | 2 ++ tools/cabana/settings.cc | 8 ++------ tools/cabana/settings.h | 4 +++- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 33403a2bff..0ccef7d3ab 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -18,6 +18,8 @@ int main(int argc, char *argv[]) { app.setWindowIcon(QIcon(":cabana-icon.png")); UnixSignalHandler signalHandler; + + settings.load(); utils::setTheme(settings.theme); QCommandLineParser cmd_parser; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index d0cada680a..027dcb903f 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -13,12 +13,8 @@ Settings settings; -Settings::Settings() { - load(); -} - void Settings::save() { - QSettings s("settings", QSettings::IniFormat); + QSettings s(filePath(), QSettings::IniFormat); s.setValue("fps", fps); s.setValue("max_cached_minutes", max_cached_minutes); s.setValue("chart_height", chart_height); @@ -42,7 +38,7 @@ void Settings::save() { } void Settings::load() { - QSettings s("settings", QSettings::IniFormat); + QSettings s(filePath(), QSettings::IniFormat); fps = s.value("fps", 10).toInt(); max_cached_minutes = s.value("max_cached_minutes", 30).toInt(); chart_height = s.value("chart_height", 200).toInt(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index b8a3797f86..f9eaa8ffad 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -22,9 +23,10 @@ public: AlwaysBE, }; - Settings(); + Settings() {} void save(); void load(); + inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; } int fps = 10; int max_cached_minutes = 30; From 2c1dfc2f341b09381af2cc7872c4092df28dc9d5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 11 Sep 2023 14:01:50 -0700 Subject: [PATCH 343/410] use pytest for cpp tests (#29833) * add pytest-cpp package (#29828) * add pytest-cpp package * disable for now * use in ci * use pytest cpp * use my branch * add missing tests * that doesn't make sense * it was merged upstream * replace TEST_RLOG_URL with a publicly accessible url * PR Cleanup * assert instead * update poetry lock * add comment about pytest-cpp --------- Co-authored-by: Justin Newberry Co-authored-by: Justin Newberry Co-authored-by: deanlee --- .github/workflows/selfdrive_tests.yaml | 9 +- poetry.lock | 187 +++++++++++++------------ pyproject.toml | 7 +- system/loggerd/tests/test_logger.cc | 2 +- system/proclogd/tests/test_proclog.cc | 1 - tools/cabana/tests/test_cabana.cc | 3 +- 6 files changed, 105 insertions(+), 104 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index bce0d553ea..a038570c15 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -263,18 +263,11 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $PYTEST -n auto --dist=loadscope --timeout 30 && \ + $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \ selfdrive/locationd/test/_test_locationd_lib.py && \ - ./system/ubloxd/tests/test_glonass_runner && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ - ./common/tests/test_common && \ - ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ - ./system/loggerd/tests/test_logger &&\ - ./system/proclogd/tests/test_proclog && \ - ./tools/replay/tests/test_replay && \ - ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ ./selfdrive/test/process_replay/test_fuzzy.py" - name: "Upload coverage to Codecov" diff --git a/poetry.lock b/poetry.lock index b1bd2df7c6..255f6b2acc 100644 --- a/poetry.lock +++ b/poetry.lock @@ -314,13 +314,13 @@ files = [ [[package]] name = "azure-core" -version = "1.29.3" +version = "1.29.4" description = "Microsoft Azure Core Library for Python" optional = false python-versions = ">=3.7" files = [ - {file = "azure-core-1.29.3.tar.gz", hash = "sha256:c92700af982e71c8c73de9f4c20da8b3f03ce2c22d13066e4d416b4629c87903"}, - {file = "azure_core-1.29.3-py3-none-any.whl", hash = "sha256:f8b2910f92b66293d93bd00564924ad20ad48f4a1e150577cf18d1e7d4f9263c"}, + {file = "azure-core-1.29.4.tar.gz", hash = "sha256:500b3aa9bf2e90c5ccc88bb105d056114ca0ce7d0ce73afb8bc4d714b2fc7568"}, + {file = "azure_core-1.29.4-py3-none-any.whl", hash = "sha256:b03261bcba22c0b9290faf9999cedd23e849ed2577feee90515694cea6bc74bf"}, ] [package.dependencies] @@ -813,63 +813,63 @@ test = ["pytest", "pytest-timeout"] [[package]] name = "coverage" -version = "7.3.0" +version = "7.3.1" description = "Code coverage measurement for Python" optional = false python-versions = ">=3.8" files = [ - {file = "coverage-7.3.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:db76a1bcb51f02b2007adacbed4c88b6dee75342c37b05d1822815eed19edee5"}, - {file = "coverage-7.3.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c02cfa6c36144ab334d556989406837336c1d05215a9bdf44c0bc1d1ac1cb637"}, - {file = "coverage-7.3.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:477c9430ad5d1b80b07f3c12f7120eef40bfbf849e9e7859e53b9c93b922d2af"}, - {file = "coverage-7.3.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ce2ee86ca75f9f96072295c5ebb4ef2a43cecf2870b0ca5e7a1cbdd929cf67e1"}, - 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5d4daadb15..5d4bcafa7a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,7 @@ [tool.pytest.ini_options] minversion = "6.0" addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10" +#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ @@ -18,9 +19,12 @@ testpaths = [ "selfdrive/test/longitudinal_maneuvers", "system/hardware/tici", "system/loggerd", + "system/proclogd", "system/tests", "system/ubloxd", - "tools/lib/tests" + "tools/lib/tests", + "tools/replay", + "tools/cabana" ] [tool.mypy] @@ -142,6 +146,7 @@ pygame = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" +pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc index 9c82299091..9f815c2189 100644 --- a/system/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -97,7 +97,7 @@ TEST_CASE("logger") { auto logging_thread = [&]() -> void { LoggerHandle *lh = logger_get_handle(&logger); - REQUIRE(lh != nullptr); + assert(lh != nullptr); int segment = main_segment; int delayed_cnt = 0; while (!do_exit) { diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc index affde2f320..33fccd4f30 100644 --- a/system/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -140,7 +140,6 @@ TEST_CASE("buildProcLogerMessage") { REQUIRE(p.getName() == "test_proclog"); REQUIRE(p.getState() == 'R'); REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); - REQUIRE(p.getCmdline().size() == 1); REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); } else { std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline"; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index a3d014dd2c..d114f72ea5 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -6,8 +6,7 @@ #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -// demo route, first segment -const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2"; +const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; TEST_CASE("DBCFile::generateDBC") { QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can"); From 30084bb1beee0e8b62ee049016a482420389dfb5 Mon Sep 17 00:00:00 2001 From: freddiebd Date: Mon, 11 Sep 2023 22:11:32 +0100 Subject: [PATCH 344/410] VW MQB: Add FW for 2019 Golf R Estate (#29843) --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index ebb873c8be..1cb7f1d29d 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -461,6 +461,7 @@ FW_VERSIONS = { b'\xf1\x878V0906259K \xf1\x890003', b'\xf1\x878V0906259P \xf1\x890001', b'\xf1\x878V0906259Q \xf1\x890002', + b'\xf1\x878V0906259R \xf1\x890002', b'\xf1\x878V0906264F \xf1\x890003', b'\xf1\x878V0906264L \xf1\x890002', b'\xf1\x878V0906264M \xf1\x890001', @@ -502,6 +503,7 @@ FW_VERSIONS = { b'\xf1\x870GC300012A \xf1\x891401', b'\xf1\x870GC300012A \xf1\x891403', b'\xf1\x870GC300014B \xf1\x892401', + b'\xf1\x870GC300014B \xf1\x892403', b'\xf1\x870GC300014B \xf1\x892405', b'\xf1\x870GC300020G \xf1\x892401', b'\xf1\x870GC300020G \xf1\x892403', @@ -521,6 +523,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', @@ -547,6 +550,7 @@ FW_VERSIONS = { b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1', b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', From 00d1c682b0a6e62652dbfe4686c674539fe82d8f Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Mon, 11 Sep 2023 16:28:42 -0700 Subject: [PATCH 345/410] Alerts: More understandable locationd, paramsd alerts (#29831) * add locationd paramsd alerts * remove more additions, just renames * update refs * Update selfdrive/controls/lib/events.py Co-authored-by: Adeeb Shihadeh * Update selfdrive/controls/lib/events.py Co-authored-by: Adeeb Shihadeh * resolve comemnts * update cereal * update refs * remove nosensor in new alerts * bump cereal --------- Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- selfdrive/controls/controlsd.py | 14 ++++---- selfdrive/controls/lib/events.py | 44 +++++++++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 37 insertions(+), 25 deletions(-) diff --git a/cereal b/cereal index 7de568b659..4b334f6f10 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7 +Subproject commit 4b334f6f10877e4a666b23983de2d27934ebf3b1 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6cfeabefd4..1dc9dd39f7 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -374,19 +374,19 @@ class Controls: else: self.logged_comm_issue = None - if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): - self.events.add(EventName.vehicleModelInvalid) if not self.sm['lateralPlan'].mpcSolutionValid: self.events.add(EventName.plannerError) - if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR: - if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs - self.events.add(EventName.sensorDataInvalid) - if not self.sm['liveLocationKalman'].inputsOK and not NOSENSOR: - self.events.add(EventName.localizerMalfunction) if not self.sm['liveLocationKalman'].posenetOK: self.events.add(EventName.posenetInvalid) if not self.sm['liveLocationKalman'].deviceStable: self.events.add(EventName.deviceFalling) + if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK): + if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive sensor inputs + self.events.add(EventName.sensorDataInvalid) + if not self.sm['liveLocationKalman'].inputsOK: + self.events.add(EventName.locationdTemporaryError) + if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): + self.events.add(EventName.paramsdTemporaryError) if not REPLAY: # Check for mismatch between openpilot and car's PCM diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 6f41224475..81e55e6bbc 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -424,19 +424,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { # ********** events only containing alerts that display while engaged ********** - # openpilot tries to learn certain parameters about your car by observing - # how the car behaves to steering inputs from both human and openpilot driving. - # This includes: - # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle - # - tire stiffness: how much grip your tires have - # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight - # This alert is thrown when any of these values exceed a sanity check. This can be caused by - # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub - EventName.vehicleModelInvalid: { - ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"), - ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"), - }, - EventName.steerTempUnavailableSilent: { ET.WARNING: Alert( "Steering Temporarily Unavailable", @@ -576,9 +563,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"), }, - EventName.localizerMalfunction: { - ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"), - ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"), + EventName.locationdTemporaryError: { + ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"), + ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"), + }, + + EventName.locationdPermanentError: { + ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"), + ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"), + }, + + # openpilot tries to learn certain parameters about your car by observing + # how the car behaves to steering inputs from both human and openpilot driving. + # This includes: + # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle + # - tire stiffness: how much grip your tires have + # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight + # This alert is thrown when any of these values exceed a sanity check. This can be caused by + # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub + EventName.paramsdTemporaryError: { + ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"), + ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"), + }, + + EventName.paramsdPermanentError: { + ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"), + ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"), }, # ********** events that affect controls state transitions ********** diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 19a8a56e55..c6a2d58fec 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -98c21236f831ca3cff63939cb760b213460e84de \ No newline at end of file +b421ff389ce720b70a36dd2b3510af54eb484b5f \ No newline at end of file From 57f0c3b8d592a28be1ad81ee884150650e722e31 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 11 Sep 2023 17:00:08 -0700 Subject: [PATCH 346/410] macos: link qt5 during setup (#29879) * link qt5 or prompt user to unlink existing qt installation if needed * change condition * version detection fixes * fix wording --- tools/mac_setup.sh | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 712923626b..0c9627ca4e 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -74,6 +74,27 @@ export PYCURL_SSL_LIBRARY=openssl $DIR/install_python_dependencies.sh echo "[ ] installed python dependencies t=$SECONDS" +# brew does not link qt5 by default +# check if qt5 can be linked, if not, prompt the user to link it +QT_BIN_LOCATION="$(command -v lupdate || :)" +if [ -n "$QT_BIN_LOCATION" ]; then + # if qt6 is linked, prompt the user to unlink it and link the right version + QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')" + if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then + echo + echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION" + if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then + echo "Run the following command to link qt5:" + echo "brew unlink qt@6 && brew link qt@5" + else + echo "Remove conflicting qt entries from PATH and run the following command to link qt5:" + echo "brew link qt@5" + fi + fi +else + brew link qt@5 +fi + echo echo "---- OPENPILOT SETUP DONE ----" echo "Open a new shell or configure your active shell env by running:" From d0c922ce77a358fdce4702ceaf31c2a70db50fe7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 11 Sep 2023 20:58:30 -0700 Subject: [PATCH 347/410] bump opendbc (#29884) --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 5ebf73ebed..966e16c31e 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 5ebf73ebed8d1693aadffe97bd2dd012da3b3c1c +Subproject commit 966e16c31e5d7e2a08f8a365024424ee28efc240 From 11d157369b2144f2cb73b141c7cfbf9929f923f8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 12 Sep 2023 13:56:40 +0800 Subject: [PATCH 348/410] cabana/chart: fix rubber band precision issue (#29887) fix rubber band precision issue --- tools/cabana/chart/chart.cc | 7 +++++-- tools/cabana/chart/chart.h | 1 + tools/cabana/chart/chartswidget.cc | 2 +- tools/cabana/chart/chartswidget.h | 2 +- 4 files changed, 8 insertions(+), 4 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 709a052d72..3ee47ae0c6 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -474,7 +474,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { auto rubber = findChild(); if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { rubber->hide(); - QRectF rect = rubber->geometry().normalized(); + auto rect = rubber->geometry().normalized(); double min = chart()->mapToValue(rect.topLeft()).x(); double max = chart()->mapToValue(rect.bottomRight()).x(); @@ -698,7 +698,10 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } - // paint zoom range + drawRubberBandTimeRange(painter); +} + +void ChartView::drawRubberBandTimeRange(QPainter *painter) { auto rubber = findChild(); if (rubber && rubber->isVisible() && rubber->width() > 1) { painter->setPen(Qt::white); diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 2740d81b66..71cf7058ab 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -84,6 +84,7 @@ private: void drawBackground(QPainter *painter, const QRectF &rect) override; void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } void drawTimeline(QPainter *painter); + void drawRubberBandTimeRange(QPainter *painter); std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); QXYSeries *createSeries(SeriesType type, QColor color); diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index e852e6d206..d4ad9d48ad 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -219,7 +219,7 @@ void ChartsWidget::updateToolBar() { undo_zoom_action->setVisible(is_zoomed); redo_zoom_action->setVisible(is_zoomed); reset_zoom_action->setVisible(is_zoomed); - reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); + reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); remove_all_btn->setEnabled(!charts.isEmpty()); dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 88ba4226c0..3541f8d96e 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -120,7 +120,7 @@ class ZoomCommand : public QUndoCommand { public: ZoomCommand(ChartsWidget *charts, std::pair range) : charts(charts), range(range), QUndoCommand() { prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range; - setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1)); + setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2)); } void undo() override { charts->setZoom(prev_range.first, prev_range.second); } void redo() override { charts->setZoom(range.first, range.second); } From f9a60072f7b5c78723a48634807b2f7304c2d663 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 11 Sep 2023 23:04:53 -0700 Subject: [PATCH 349/410] CI: never remove existing labels (#29885) --- .github/labeler.yaml | 57 ++++++++++++++++++++++------------ .github/workflows/labeler.yaml | 2 +- 2 files changed, 39 insertions(+), 20 deletions(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 94bc9074cd..4c4d371d43 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -1,42 +1,61 @@ CI / testing: - - all: ['.github/**'] - - all: ['**/test_*'] + - all: + - changed-files: ['.github/**'] + - all: + - changed-files: ['**/test_*'] car: - - all: ['selfdrive/car/**'] + - all: + - changed-files: ['selfdrive/car/**'] body: - - all: ['selfdrive/car/body/*'] + - all: + - changed-files: ['selfdrive/car/body/*'] chrysler: - - all: ['selfdrive/car/chrysler/*'] + - all: + - changed-files: ['selfdrive/car/chrysler/*'] ford: - - all: ['selfdrive/car/ford/*'] + - all: + - changed-files: ['selfdrive/car/ford/*'] gm: - - all: ['selfdrive/car/gm/*'] + - all: + - changed-files: ['selfdrive/car/gm/*'] honda: - - all: ['selfdrive/car/honda/*'] + - all: + - changed-files: ['selfdrive/car/honda/*'] hyundai: - - all: ['selfdrive/car/hyundai/*'] + - all: + - changed-files: ['selfdrive/car/hyundai/*'] mazda: - - all: ['selfdrive/car/mazda/*'] + - all: + - changed-files: ['selfdrive/car/mazda/*'] nissan: - - all: ['selfdrive/car/nissan/*'] + - all: + - changed-files: ['selfdrive/car/nissan/*'] subaru: - - all: ['selfdrive/car/subaru/*'] + - all: + - changed-files: ['selfdrive/car/subaru/*'] tesla: - - all: ['selfdrive/car/tesla/*'] + - all: + - changed-files: ['selfdrive/car/tesla/*'] toyota: - - all: ['selfdrive/car/toyota/*'] + - all: + - changed-files: ['selfdrive/car/toyota/*'] volkswagen: - - all: ['selfdrive/car/volkswagen/*'] + - all: + - changed-files: ['selfdrive/car/volkswagen/*'] simulation: - - all: ['tools/sim/**'] + - all: + - changed-files: ['tools/sim/**'] ui: - - all: ['selfdrive/ui/**'] + - all: + - changed-files: ['selfdrive/ui/**'] tools: - - all: ['tools/**'] + - all: + - changed-files: ['tools/**'] multilanguage: - - all: ['selfdrive/ui/translations/**'] + - all: + - changed-files: ['selfdrive/ui/translations/**'] diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml index 7c91b1591c..20f7260ef7 100644 --- a/.github/workflows/labeler.yaml +++ b/.github/workflows/labeler.yaml @@ -12,7 +12,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: false - - uses: actions/labeler@v4 + - uses: actions/labeler@v5.0.0-alpha.1 with: dot: true configuration-path: .github/labeler.yaml \ No newline at end of file From a87d62ffa64a88243e9111e20a740f9ce8b9c11c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 11 Sep 2023 23:08:04 -0700 Subject: [PATCH 350/410] CI: fix setup retry sleep time (#29877) --- .github/workflows/setup-with-retry/action.yaml | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index 846d8bbaf0..e4c97af3ce 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -9,9 +9,10 @@ inputs: description: 'Prefix for caching key' required: false default: 'scons_x86_64' - -env: - SLEEP_TIME: 30 # Time to sleep between retries + sleep_time: + description: 'Time to sleep between retries' + required: false + default: 30 runs: using: "composite" @@ -25,7 +26,7 @@ runs: is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash - run: sleep ${{ env.SLEEP_TIME }} + run: sleep ${{ inputs.sleep_time }} - id: setup2 if: steps.setup1.outcome == 'failure' uses: ./.github/workflows/setup @@ -36,7 +37,7 @@ runs: is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash - run: sleep ${{ env.SLEEP_TIME }} + run: sleep ${{ inputs.sleep_time }} - id: setup3 if: steps.setup2.outcome == 'failure' uses: ./.github/workflows/setup From 3d60e8a2a056fc798c23734377f1e3883b115a32 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Sep 2023 00:09:09 -0700 Subject: [PATCH 351/410] Hyundai CAN: log nonAdaptive cruise state (#29880) * log nonAdaptive * bump opendbc * test labeler * test labeler 2 * revert --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 966e16c31e..8d2f614ce3 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 966e16c31e5d7e2a08f8a365024424ee28efc240 +Subproject commit 8d2f614ce3f323c65de802b2d5f29143de9c427b diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index b4ff0e9e6e..b0c53c7db3 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -105,10 +105,12 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False + ret.cruiseState.nonAdaptive = False else: ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. + ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv # TODO: Find brake pressure From 279377ec0b8fcd6deae37143f6d333d2a49a2ee7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Sep 2023 01:34:33 -0700 Subject: [PATCH 352/410] Hyundai CAN FD: disallow Manual Speed Limit Assist for EVs (#29888) * bump opendbc * block MSLA * EV only * Update selfdrive/car/hyundai/carstate.py * Update selfdrive/car/hyundai/carstate.py * Update selfdrive/car/hyundai/carstate.py * Update selfdrive/car/hyundai/carstate.py --- selfdrive/car/hyundai/carstate.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index b0c53c7db3..8090bbcd8f 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -228,6 +228,13 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) + # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms. + # It limits the vehicle speed, overridable by pressing the accelerator past a certain point. + # The car will brake, but does not respect positive acceleration commands in this mode + # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists) + if self.CP.carFingerprint in EV_CAR: + ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1 + self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) @@ -322,6 +329,11 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] + if CP.carFingerprint in EV_CAR: + messages += [ + ("MANUAL_SPEED_LIMIT_ASSIST", 10), + ] + if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): messages += [ ("CRUISE_BUTTONS", 50) From 9b959dc86e1fb9ba04bca1b3dc4139d9f643c325 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Tue, 12 Sep 2023 03:44:59 -0500 Subject: [PATCH 353/410] VW MQB: Add missing FW versions for 2018 Skoda Superb (#29792) VW MQB: Add SRS, transmission, & engine ECU versions for 2018 Skoda Superb `@Gottmoz#6511` 2018 Skoda Superb DongleID/route 54ada937747ef8ca|2023-09-06--06-40-46 --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 1cb7f1d29d..494d59bad2 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1327,6 +1327,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027BT\xf1\x899042', b'\xf1\x8704L906026ET\xf1\x891343', b'\xf1\x8704L906026FP\xf1\x891196', + b'\xf1\x8704L906026KA\xf1\x896014', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x8704L906026MT\xf1\x893076', @@ -1344,6 +1345,7 @@ FW_VERSIONS = { b'\xf1\x870D9300014K \xf1\x895006', b'\xf1\x870D9300041H \xf1\x894905', b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300013K \xf1\x892403', b'\xf1\x870GC300014M \xf1\x892801', b'\xf1\x870GC300019G \xf1\x892803', b'\xf1\x870GC300043 \xf1\x892301', @@ -1356,6 +1358,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', ], From 140a4ba5587b84fd234df04c23261f1e50dece08 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 12 Sep 2023 11:00:18 -0700 Subject: [PATCH 354/410] importing auth_config.py should not have side effects (#29893) import should not create directory --- tools/lib/auth_config.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index 8863dd57a2..bd76761043 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -13,9 +13,6 @@ if PC: else: CONFIG_DIR = "/tmp/.comma" -mkdirs_exists_ok(CONFIG_DIR) - - def get_token(): try: with open(os.path.join(CONFIG_DIR, 'auth.json')) as f: @@ -26,9 +23,13 @@ def get_token(): def set_token(token): + mkdirs_exists_ok(CONFIG_DIR) with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f: json.dump({'access_token': token}, f) def clear_token(): - os.unlink(os.path.join(CONFIG_DIR, 'auth.json')) + try: + os.unlink(os.path.join(CONFIG_DIR, 'auth.json')) + except FileNotFoundError: + pass From 9596a3c9403f17ab0b8723701a4b001b0a1e576d Mon Sep 17 00:00:00 2001 From: Varun Nair <73822176+MufcVarun11@users.noreply.github.com> Date: Wed, 13 Sep 2023 00:08:29 +0530 Subject: [PATCH 355/410] Updating the readme.md to make it easier to follow (#29820) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * upadting the readme.md to make it easier to follow * addressing pr comments * addressing the pr * Update README.md * bold --------- Co-authored-by: Harald Schäfer --- README.md | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 5978a0e5dd..523f459f3b 100644 --- a/README.md +++ b/README.md @@ -39,13 +39,17 @@ Running on a dedicated device in a car ------ To use openpilot in a car, you need four things -* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three. -* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software. -The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. -* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. -* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. - -We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). +1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x) + +2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. + To install the release version of openpilot, use the URL `openpilot.comma.ai`. + To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork. + +3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more. + If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot. + +4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. + We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Running on PC ------ From ac2d0525129d0bc6f8cddd1a510cf625ed78670b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 12 Sep 2023 13:12:55 -0700 Subject: [PATCH 356/410] Update Python packages and pre-commit hooks (#29891) Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 191 +++++++++++++++++++++++----------------- 2 files changed, 113 insertions(+), 80 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index f74692c01e..a5da03b266 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -38,7 +38,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.287 + rev: v0.0.288 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/poetry.lock b/poetry.lock index 255f6b2acc..2c134ec32d 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. 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"jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"] + +[[package]] +name = "setuptools-scm" +version = "7.1.0" +description = "the blessed package to manage your versions by scm tags" +optional = false +python-versions = ">=3.7" +files = [ + {file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"}, + {file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"}, +] + +[package.dependencies] +packaging = ">=20.0" +setuptools = "*" +typing-extensions = "*" + +[package.extras] +test = ["pytest (>=6.2)", "virtualenv (>20)"] +toml = ["setuptools (>=42)"] [[package]] name = "shapely" @@ -4899,13 +4932,13 @@ zstd = ["zstandard (>=0.18.0)"] [[package]] name = "virtualenv" -version = "20.24.4" +version = "20.24.5" description = "Virtual Python Environment builder" optional = false python-versions = ">=3.7" files = [ - {file = "virtualenv-20.24.4-py3-none-any.whl", hash = "sha256:29c70bb9b88510f6414ac3e55c8b413a1f96239b6b789ca123437d5e892190cb"}, - {file = "virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"}, + {file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"}, + {file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"}, ] [package.dependencies] @@ -4919,13 +4952,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess [[package]] name = "websocket-client" -version = "1.6.2" +version = "1.6.3" description = "WebSocket client for Python with low level API options" optional = false python-versions = ">=3.8" files = [ - {file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"}, - {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"}, + {file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"}, + {file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"}, ] [package.extras] From f63dc5128411c6dc39c5bda9f05144c5f0af5b30 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 13 Sep 2023 04:13:59 +0800 Subject: [PATCH 357/410] cabana: display warning if failed to write settings (#29873) * display warning if failed to write_settings * use Settings::filePath() --- tools/cabana/mainwin.cc | 8 +++++++- tools/cabana/settings.cc | 5 +++-- tools/cabana/settings.h | 3 ++- 3 files changed, 12 insertions(+), 4 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d3caf492a6..c91fcf7100 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -606,7 +606,13 @@ void MainWindow::closeEvent(QCloseEvent *event) { settings.video_splitter_state = video_splitter->saveState(); } settings.message_header_state = messages_widget->saveHeaderState(); - settings.save(); + + auto status = settings.save(); + if (status == QSettings::AccessError) { + QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath()); + qDebug() << error; + QMessageBox::warning(this, tr("Failed to write settings"), error); + } QWidget::closeEvent(event); } diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 027dcb903f..ee345c490c 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -6,14 +6,13 @@ #include #include #include -#include #include #include "tools/cabana/util.h" Settings settings; -void Settings::save() { +QSettings::Status Settings::save() { QSettings s(filePath(), QSettings::IniFormat); s.setValue("fps", fps); s.setValue("max_cached_minutes", max_cached_minutes); @@ -35,6 +34,8 @@ void Settings::save() { s.setValue("log_path", log_path); s.setValue("drag_direction", drag_direction); s.setValue("suppress_defined_signals", suppress_defined_signals); + s.sync(); + return s.status(); } void Settings::load() { diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index f9eaa8ffad..42073a72de 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -7,6 +7,7 @@ #include #include #include +#include #include #define LIGHT_THEME 1 @@ -24,7 +25,7 @@ public: }; Settings() {} - void save(); + QSettings::Status save(); void load(); inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; } From d9f107a2c980828657c709527568f2b121962e78 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 13 Sep 2023 10:49:59 +0800 Subject: [PATCH 358/410] cabana: improve precision of timeline (#29872) --- tools/cabana/chart/chart.cc | 13 ++++++++----- tools/cabana/chart/chart.h | 1 + 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 3ee47ae0c6..68d1593d52 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -25,7 +25,8 @@ const int AXIS_X_TOP_MARGIN = 4; static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } -ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { +ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) + : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { series_type = (SeriesType)settings.chart_series_type; QChart *chart = new QChart(); chart->setBackgroundVisible(false); @@ -668,6 +669,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) { void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { drawTimeline(painter); + drawSignalValue(painter); // draw track points painter->setPen(Qt::NoPen); qreal track_line_x = -1; @@ -718,23 +720,24 @@ void ChartView::drawRubberBandTimeRange(QPainter *painter) { void ChartView::drawTimeline(QPainter *painter) { const auto plot_area = chart()->plotArea(); - // draw line + // draw vertical time line qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right()); painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1}); - // draw current time + // draw current time under the axis-x QString time_str = QString::number(cur_sec, 'f', 2); QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); - QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); + QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); QPainterPath path; path.addRoundedRect(time_str_rect, 3, 3); painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray); painter->setPen(palette().color(QPalette::BrightText)); painter->setFont(axis_x->labelsFont()); painter->drawText(time_str_rect, Qt::AlignCenter, time_str); +} - // draw signal value +void ChartView::drawSignalValue(QPainter *painter) { auto item_group = qgraphicsitem_cast(chart()->legend()->childItems()[0]); assert(item_group != nullptr); auto legend_markers = item_group->childItems(); diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 71cf7058ab..4342bdfefc 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -83,6 +83,7 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; void drawBackground(QPainter *painter, const QRectF &rect) override; void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } + void drawSignalValue(QPainter *painter); void drawTimeline(QPainter *painter); void drawRubberBandTimeRange(QPainter *painter); std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); From 587f6ce0dc4d33f050e4b922b7727b0c9b58230f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 13 Sep 2023 16:14:12 +0800 Subject: [PATCH 359/410] cabana: mark the undo stack as clean after save as (#29898) Marks the undo stack as clean after save as --- tools/cabana/mainwin.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index c91fcf7100..5cd5e70267 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -439,11 +439,11 @@ void MainWindow::saveFile(DBCFile *dbc_file) { if (!dbc_file->filename.isEmpty()) { dbc_file->save(); updateLoadSaveMenus(); + UndoStack::instance()->setClean(); + statusBar()->showMessage(tr("File saved"), 2000); } else if (!dbc_file->isEmpty()) { saveFileAs(dbc_file); } - UndoStack::instance()->setClean(); - statusBar()->showMessage(tr("File saved"), 2000); } void MainWindow::saveFileAs(DBCFile *dbc_file) { @@ -451,6 +451,8 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) { QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { dbc_file->saveAs(fn); + UndoStack::instance()->setClean(); + statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000); updateRecentFiles(fn); updateLoadSaveMenus(); } From 748eb4a7c7c8f3eae22659f450ba50ba0a8f3fb1 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 13 Sep 2023 05:22:04 -0400 Subject: [PATCH 360/410] Hyundai: Car Port for Azera 6th Generation (#29876) * Hyundai: Car Port for Azera 2022 * harness k * not crc8 * use gen * add test route * Middle East only * Revert "Middle East only" This reverts commit 1abe795ad00d10344761e99f415a1cfc14f4c163. * rename to 6th gen * sorting * has a little less torque --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/hyundaican.py | 3 ++- selfdrive/car/hyundai/interface.py | 6 +++++- selfdrive/car/hyundai/values.py | 20 ++++++++++++++++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 7 files changed, 32 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 0a7925200e..88c3eb7041 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.9.5 (202X-XX-XX) ======================== +* Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! diff --git a/docs/CARS.md b/docs/CARS.md index 775418427d..ed5683919f 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. -# 260 Supported Cars +# 261 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|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 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 0083974020..3b98432615 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, + CAR.AZERA_6TH_GEN): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 9b4ae508e5..e55f8bec3b 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -64,7 +64,11 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + if candidate == CAR.AZERA_6TH_GEN: + ret.mass = 1540. # average + ret.wheelbase = 2.885 + ret.steerRatio = 14.5 + elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.mass = 3982. * CV.LB_TO_KG ret.wheelbase = 2.766 # Values from optimizer diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 2b8bb763a2..3029c2ee65 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -69,6 +69,7 @@ class HyundaiFlags(IntFlag): class CAR: # Hyundai + AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN" ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" @@ -152,6 +153,7 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { + CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.ELANTRA: [ HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), @@ -523,6 +525,23 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, CAR.HYUNDAI_GENESIS: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DH LKAS 1.1 -150210', @@ -1990,6 +2009,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR. # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py DBC = { + CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 4d99f594db..aaac4e2180 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -94,6 +94,7 @@ routes = [ CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), + CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index d332f7fc3d..e3da0b0e4e 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -59,6 +59,7 @@ LEXUS IS 2023: [2.0, 2.0, 0.1] KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] +HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From 34f5cad4e7a115826167d44ee48446e7e157b79f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 13 Sep 2023 18:03:16 +0800 Subject: [PATCH 361/410] cabana/chart: use different colors to distinguish similar signals (#29890) * Use different colors to distinguish similar signals * check hueF value * lighter --- tools/cabana/chart/chart.cc | 23 ++++++++++++++++++++++- tools/cabana/chart/chart.h | 1 + tools/cabana/chart/chartswidget.cc | 4 ++++ 3 files changed, 27 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 68d1593d52..93fbbaeae3 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -14,6 +14,7 @@ #include #include #include +#include #include #include #include @@ -151,6 +152,11 @@ void ChartView::removeIf(std::function predicate) { void ChartView::signalUpdated(const cabana::Signal *sig) { if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { + for (const auto &s : sigs) { + if (s.sig == sig && s.series->color() != sig->color) { + setSeriesColor(s.series, sig->color); + } + } updateTitle(); updateSeries(sig); } @@ -281,7 +287,6 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { s.step_vals.clear(); s.last_value_mono_time = 0; } - s.series->setColor(s.sig->color); const auto &msgs = can->events(s.msg_id); s.vals.reserve(msgs.capacity()); @@ -789,6 +794,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { } void ChartView::addSeries(QXYSeries *series) { + setSeriesColor(series, series->color()); chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); @@ -801,6 +807,21 @@ void ChartView::addSeries(QXYSeries *series) { } } +void ChartView::setSeriesColor(QXYSeries *series, QColor color) { + auto existing_series = chart()->series(); + for (auto s : existing_series) { + if (s != series && std::abs(color.hueF() - qobject_cast(s)->color().hueF()) < 0.1) { + // use different color to distinguish it from others. + auto last_color = qobject_cast(existing_series.back())->color(); + color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0), + QRandomGenerator::global()->bounded(35, 100) / 100.0, + QRandomGenerator::global()->bounded(85, 100) / 100.0); + break; + } + } + series->setColor(color); +} + void ChartView::setSeriesType(SeriesType type) { if (type != series_type) { series_type = type; diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 4342bdfefc..de2a1b4510 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -89,6 +89,7 @@ private: std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); QXYSeries *createSeries(SeriesType type, QColor color); + void setSeriesColor(QXYSeries *, QColor color); void updateSeriesPoints(); void removeIf(std::function predicate); inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index d4ad9d48ad..2495096b1a 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -277,6 +277,10 @@ void ChartsWidget::splitChart(ChartView *src_chart) { for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { auto c = createChart(); src_chart->chart()->removeSeries(it->series); + + // Restore to the original color + it->series->setColor(it->sig->color); + c->addSeries(it->series); c->sigs.push_back(*it); c->updateAxisY(); From 0bd9df31930abb4f72cdef9908a6b3240426b659 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 14 Sep 2023 03:52:56 +0800 Subject: [PATCH 362/410] cabana: bug fixes (#29902) * fix freq * fix chart legend alignment issue --- tools/cabana/chart/chartswidget.cc | 1 + tools/cabana/streams/abstractstream.h | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 2495096b1a..83991d914f 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -289,6 +289,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) { } src_chart->updateAxisY(); src_chart->updateTitle(); + QTimer::singleShot(0, src_chart, &ChartView::resetChartCache); } } diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index eae34e2cc4..3a89d4e57d 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -30,7 +30,7 @@ struct CanData { std::vector> bit_change_counts; std::vector last_delta; std::vector same_delta_counter; - double last_freq_update_ts = seconds_since_boot(); + double last_freq_update_ts = 0; }; struct CanEvent { From fb804c9529dd8f1b0c48fb4b7c3d796cdd226878 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 13 Sep 2023 14:39:06 -0700 Subject: [PATCH 363/410] scons: delete SHARED flag (#29906) Delete SHARED --- SConstruct | 52 +++++++++++++++-------------------------------- common/SConscript | 11 +++------- 2 files changed, 19 insertions(+), 44 deletions(-) diff --git a/SConstruct b/SConstruct index f213a5e0bd..a086f8448a 100644 --- a/SConstruct +++ b/SConstruct @@ -244,18 +244,6 @@ def progress_function(node): if os.environ.get('SCONS_PROGRESS'): Progress(progress_function, interval=node_interval) -SHARED = False - -# TODO: this can probably be removed -def abspath(x): - if arch == 'aarch64': - pth = os.path.join("/data/pythonpath", x[0].path) - env.Depends(pth, x) - return File(pth) - else: - # rpath works elsewhere - return x[0].path.rsplit("/", 1)[1][:-3] - # Cython build environment py_include = sysconfig.get_paths()['include'] envCython = env.Clone() @@ -337,34 +325,35 @@ if GetOption("clazy"): qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0] qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks) -Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED') +Export('env', 'qt_env', 'arch', 'real_arch') +# Build common module SConscript(['common/SConscript']) Import('_common', '_gpucommon') -if SHARED: - common, gpucommon = abspath(common), abspath(gpucommon) -else: - common = [_common, 'json11'] - gpucommon = [_gpucommon] +common = [_common, 'json11'] +gpucommon = [_gpucommon] Export('common', 'gpucommon') -# cereal and messaging are shared with the system +# Build cereal and messaging SConscript(['cereal/SConscript']) -if SHARED: - cereal = abspath([File('cereal/libcereal_shared.so')]) - messaging = abspath([File('cereal/libmessaging_shared.so')]) -else: - cereal = [File('#cereal/libcereal.a')] - messaging = [File('#cereal/libmessaging.a')] - visionipc = [File('#cereal/libvisionipc.a')] + +cereal = [File('#cereal/libcereal.a')] +messaging = [File('#cereal/libmessaging.a')] +visionipc = [File('#cereal/libvisionipc.a')] messaging_python = [File('#cereal/messaging/messaging_pyx.so')] Export('cereal', 'messaging', 'messaging_python', 'visionipc') -# Build rednose library and ekf models +# Build other submodules +SConscript([ + 'body/board/SConscript', + 'opendbc/can/SConscript', + 'panda/SConscript', +]) +# Build rednose library and ekf models rednose_deps = [ "#selfdrive/locationd/models/constants.py", "#selfdrive/locationd/models/gnss_helpers.py", @@ -406,15 +395,6 @@ if arch != "Darwin": ]) # Build openpilot - -# build submodules -SConscript([ - 'body/board/SConscript', - 'cereal/SConscript', - 'opendbc/can/SConscript', - 'panda/SConscript', -]) - SConscript(['third_party/SConscript']) SConscript(['selfdrive/boardd/SConscript']) diff --git a/common/SConscript b/common/SConscript index d22aca128b..97322b248d 100644 --- a/common/SConscript +++ b/common/SConscript @@ -1,9 +1,4 @@ -Import('env', 'envCython', 'arch', 'SHARED') - -if SHARED: - fxn = env.SharedLibrary -else: - fxn = env.Library +Import('env', 'envCython', 'arch') common_libs = [ 'params.cc', @@ -18,13 +13,13 @@ common_libs = [ if arch != "Darwin": common_libs.append('gpio.cc') -_common = fxn('common', common_libs, LIBS="json11") +_common = env.Library('common', common_libs, LIBS="json11") files = [ 'clutil.cc', ] -_gpucommon = fxn('gpucommon', files) +_gpucommon = env.Library('gpucommon', files) Export('_common', '_gpucommon') if GetOption('extras'): From 0d3cc2ae04e5578da45dd5632791cc08977cfb59 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 13 Sep 2023 18:20:03 -0400 Subject: [PATCH 364/410] HKG: Car Port for Kia K8 Hybrid 2023 (HDA2) (#29899) * HKG: Car Port for Kia K8 2023 (HDA2) * Fix release docs * add test route * engaged segment --------- Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 4 ++++ selfdrive/car/hyundai/values.py | 15 +++++++++++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 22 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 88c3eb7041..c4572dba19 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.9.5 (202X-XX-XX) * Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! +* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Lexus IS 2023 support thanks to L3R5! diff --git a/docs/CARS.md b/docs/CARS.md index ed5683919f..8bb318c13e 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. -# 261 Supported Cars +# 262 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -120,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 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 H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index e55f8bec3b..c5537993df 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -215,6 +215,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 2087. ret.wheelbase = 3.09 ret.steerRatio = 14.23 + elif candidate == CAR.KIA_K8_HEV_1ST_GEN: + ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid + ret.wheelbase = 2.895 + ret.steerRatio = 13.27 # guesstimate from K5 platform # Genesis elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3029c2ee65..8827c7bb0c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -105,6 +105,7 @@ class CAR: KIA_FORTE = "KIA FORTE E 2018 & GT 2021" KIA_K5_2021 = "KIA K5 2021" KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" + KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN" KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" @@ -219,6 +220,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), @@ -1959,6 +1961,14 @@ FW_VERSIONS = { b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', ], }, + CAR.KIA_K8_HEV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', + ], + }, } CHECKSUM = { @@ -1980,7 +1990,7 @@ CAN_GEARS = { CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN} + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, @@ -1993,7 +2003,7 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, - CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H} + CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_K8_HEV_1ST_GEN} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} @@ -2070,4 +2080,5 @@ DBC = { CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index aaac4e2180..c8701e8f0a 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -147,6 +147,7 @@ routes = [ CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), + CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN, segment=3), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index e3da0b0e4e..fc39cd76cb 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -60,6 +60,7 @@ KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] +KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From a95c896b5f04dcd59e38bf2e38ba8fc7033df58f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 13 Sep 2023 18:47:39 -0700 Subject: [PATCH 365/410] Simulator: launch simulator from any directory (#29910) launch sim from any directory --- tools/sim/launch_openpilot.sh | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index d5922a4819..361f7b18ea 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -12,5 +12,8 @@ if [[ "$CI" ]]; then export BLOCK="${BLOCK},ui" fi +SCRIPT_DIR=$(dirname "$0") +OPENPILOT_DIR=$SCRIPT_DIR/../../ + DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd ../../selfdrive/manager && exec ./manager.py +cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py From 01011c6c1d8a211092d8f90658497f50ebd06bf1 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 13 Sep 2023 18:59:32 -0700 Subject: [PATCH 366/410] liblocationd: No longer used (#29909) remove liblocationd --- .github/workflows/selfdrive_tests.yaml | 1 - selfdrive/locationd/SConscript | 6 +- selfdrive/locationd/liblocationd.cc | 41 ------- .../locationd/test/_test_locationd_lib.py | 109 ------------------ 4 files changed, 1 insertion(+), 156 deletions(-) delete mode 100644 selfdrive/locationd/liblocationd.cc delete mode 100755 selfdrive/locationd/test/_test_locationd_lib.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a038570c15..6503b164df 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -264,7 +264,6 @@ jobs: run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \ - selfdrive/locationd/test/_test_locationd_lib.py && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 740f827a49..a6febe0170 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] lenv = env.Clone() lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}' locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations) -lenv.Depends(locationd, libkf) - -if File("liblocationd.cc").exists(): - liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) - lenv.Depends(liblocationd, libkf) \ No newline at end of file +lenv.Depends(locationd, libkf) \ No newline at end of file diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc deleted file mode 100644 index e2b85d93a1..0000000000 --- a/selfdrive/locationd/liblocationd.cc +++ /dev/null @@ -1,41 +0,0 @@ -#include "selfdrive/locationd/locationd.h" - -extern "C" { - typedef Localizer* Localizer_t; - - Localizer *localizer_init(bool has_ublox) { - return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); - } - - void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, - char *buff, size_t buff_size) { - MessageBuilder msg_builder; - kj::ArrayPtr arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars(); - assert(buff_size >= arr.size()); - memcpy(buff, arr.begin(), arr.size()); - } - - void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) { - localizer->handle_msg_bytes(data, size); - } - - void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){ - Eigen::VectorXd state = localizer->get_state(); - memcpy(state_buff, state.data(), sizeof(double) * state.size()); - Eigen::VectorXd stdev = localizer->get_stdev(); - memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size()); - } - - bool is_gps_ok(Localizer *localizer){ - return localizer->is_gps_ok(); - } - - bool are_inputs_ok(Localizer *localizer){ - return localizer->are_inputs_ok(); - } - - void observation_timings_invalid_reset(Localizer *localizer){ - localizer->observation_timings_invalid_reset(); - } - -} diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py deleted file mode 100755 index bf4fcbdbe9..0000000000 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ /dev/null @@ -1,109 +0,0 @@ -#!/usr/bin/env python3 -"""This test can't be run together with other locationd tests. -cffi.dlopen breaks the list of registered filters.""" -import os -import random -import unittest - -from cffi import FFI - -import cereal.messaging as messaging -from cereal import log - -from openpilot.common.ffi_wrapper import suffix - -SENSOR_DECIMATION = 1 -VISION_DECIMATION = 1 - -LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix())) - - -class TestLocationdLib(unittest.TestCase): - def setUp(self): - header = '''typedef ...* Localizer_t; -Localizer_t localizer_init(bool has_ublox); -void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); -void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' - - self.ffi = FFI() - self.ffi.cdef(header) - self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) - - self.localizer = self.lib.localizer_init(True) # default to ublox - - self.buff_size = 2048 - self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') - - def localizer_handle_msg(self, msg_builder): - bytstr = msg_builder.to_bytes() - self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) - - def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): - self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) - with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt: - return log_evt - - def test_liblocalizer(self): - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = random.randint(1, 10) - msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] - - self.localizer_handle_msg(msg) - liveloc = self.localizer_get_msg() - self.assertTrue(liveloc is not None) - - @unittest.skip("temporarily disabled due to false positives") - def test_device_fell(self): - msg = messaging.new_message('accelerometer') - msg.accelerometer.sensor = 1 - msg.accelerometer.timestamp = msg.logMonoTime - msg.accelerometer.type = 1 - msg.accelerometer.init('acceleration') - msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0] # zero with gravity - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.deviceStable) - - msg = messaging.new_message('accelerometer') - msg.accelerometer.sensor = 1 - msg.accelerometer.timestamp = msg.logMonoTime - msg.accelerometer.type = 1 - msg.accelerometer.init('acceleration') - msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.deviceStable) - - def test_posenet_spike(self): - for _ in range(SENSOR_DECIMATION): - msg = messaging.new_message('carState') - msg.carState.vEgo = 6.0 # more than 5 m/s - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.posenetOK) - - for _ in range(20 * VISION_DECIMATION): # size of hist_old - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] - self.localizer_handle_msg(msg) - - for _ in range(20 * VISION_DECIMATION): # size of hist_new - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.posenetOK) - -if __name__ == "__main__": - unittest.main() - From 82452ec66b0dd4e48365e794ac70ce22003edaec Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 14 Sep 2023 10:00:00 +0800 Subject: [PATCH 367/410] cabana: use QStaticText to boost rending performance (#29900) use QStaticText to boost rending performance --- tools/cabana/binaryview.cc | 17 +++++++++++++---- tools/cabana/binaryview.h | 6 ++++-- tools/cabana/util.cc | 7 +++++-- tools/cabana/util.h | 8 ++++++++ 4 files changed, 30 insertions(+), 8 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index bd43c337bd..e7edc0ecb9 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -280,7 +280,7 @@ void BinaryViewModel::refresh() { updateState(); } -void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) { +void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) { auto &item = items[row * column_count + col]; if (item.val != val || item.bg_color != color) { item.val = val; @@ -307,7 +307,7 @@ void BinaryViewModel::updateState() { for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { auto &item = items[i * column_count + j]; - QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0"; + int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0; // Bit update frequency based highlighting double offset = !item.sigs.empty() ? 50 : 0; auto n = last_msg.bit_change_counts[i][7 - j]; @@ -317,7 +317,7 @@ void BinaryViewModel::updateState() { color.setAlpha(alpha); updateItem(i, j, val, color); } - updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]); + updateItem(i, 8, binary[i], last_msg.colors[i]); } } @@ -348,6 +348,13 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa small_font.setPixelSize(8); hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); hex_font.setBold(true); + + bin_text_table[0].setText("0"); + bin_text_table[1].setText("1"); + for (int i = 0; i < 256; ++i) { + hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper()); + hex_text_table[i].prepare({}, hex_font); + } } bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const { @@ -392,7 +399,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } else if (!item->valid) { painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern)); } - painter->drawText(option.rect, Qt::AlignCenter, item->val); + if (item->valid) { + utils::drawStaticText(painter, option.rect, index.column() == 8 ? hex_text_table[item->val] : bin_text_table[item->val]); + } if (item->is_msb || item->is_lsb) { painter->setFont(small_font); painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L"); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 04e1d5b2af..584910dc83 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -19,6 +19,8 @@ public: void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const; QFont small_font, hex_font; + std::array hex_text_table; + std::array bin_text_table; }; class BinaryViewModel : public QAbstractTableModel { @@ -26,7 +28,7 @@ public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} void refresh(); void updateState(); - void updateItem(int row, int col, const QString &val, const QColor &color); + void updateItem(int row, int col, uint8_t val, const QColor &color); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } @@ -42,7 +44,7 @@ public: QColor bg_color = QColor(102, 86, 169, 255); bool is_msb = false; bool is_lsb = false; - QString val; + uint8_t val; QList sigs; bool valid = false; }; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 951856e32d..4c21530774 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,7 +1,6 @@ #include "tools/cabana/util.h" #include -#include #include #include #include @@ -56,6 +55,10 @@ std::pair SegmentTree::get_minmax(int n, int left, int right, in MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) { fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2); + for (int i = 0; i < 256; ++i) { + hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper()); + hex_text_table[i].prepare({}, fixed_font); + } } int MessageBytesDelegate::widthForBytes(int n) const { @@ -107,7 +110,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & } else if (option.state & QStyle::State_Selected) { painter->setPen(option.palette.color(QPalette::HighlightedText)); } - painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i])); + utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]); } painter->setFont(old_font); painter->setPen(old_pen); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 9e93e74833..2c1bc5cf7b 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -10,8 +11,10 @@ #include #include #include +#include #include #include +#include #include #include #include @@ -75,6 +78,7 @@ public: int widthForBytes(int n) const; private: + std::array hex_text_table; QFont fixed_font; QSize byte_size = {}; bool multiple_lines = false; @@ -102,6 +106,10 @@ void setTheme(int theme); inline QString formatSeconds(int seconds) { return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } +inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) { + auto size = (r.size() - text.size()) / 2; + p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text); +} } class ToolButton : public QToolButton { From 6666413626d72b51759ce0330b9c02dc3ebf8fc9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 13 Sep 2023 19:19:06 -0700 Subject: [PATCH 368/410] test_replay: speedup by preventing multiple downloads (#29901) * Demo route fixture * fix tests * demo route download * remove iostream --- tools/replay/tests/test_replay.cc | 47 ++++++++++++++++++++----------- 1 file changed, 30 insertions(+), 17 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 393a561c0f..05c0ca8ac4 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -12,7 +12,7 @@ const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3"; -bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) { +bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) { do { if (httpDownload(url, local_file, chunk_size)) { return true; @@ -29,7 +29,7 @@ TEST_CASE("httpMultiPartDownload") { const size_t chunk_size = 5 * 1024 * 1024; std::string content; SECTION("download to file") { - REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size)); + REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size)); content = util::read_file(filename); } SECTION("download to buffer") { @@ -110,23 +110,36 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) { loop.exec(); } -TEST_CASE("Route") { - // Create a local route from remote for testing - Route remote_route(DEMO_ROUTE); - REQUIRE(remote_route.load()); - char tmp_path[] = "/tmp/root_XXXXXX"; - const std::string data_dir = mkdtemp(tmp_path); - const std::string route_name = DEMO_ROUTE.mid(17).toStdString(); - for (int i = 0; i < 2; ++i) { - std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); - util::create_directories(log_path, 0755); - REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); - REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc")); - REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc")); - REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc")); - REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); +std::string download_demo_route() { + static std::string data_dir; + + if (data_dir == "") { + char tmp_path[] = "/tmp/root_XXXXXX"; + data_dir = mkdtemp(tmp_path); + + Route remote_route(DEMO_ROUTE); + assert(remote_route.load()); + + // Create a local route from remote for testing + const std::string route_name = DEMO_ROUTE.mid(17).toStdString(); + for (int i = 0; i < 2; ++i) { + std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); + util::create_directories(log_path, 0755); + REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); + REQUIRE(download_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc")); + REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc")); + REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc")); + REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); + } } + return data_dir; +} + + +TEST_CASE("Route") { + std::string data_dir = download_demo_route(); + SECTION("Local route") { auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE, QString::fromStdString(data_dir)); From e9edf1300ac486e1e1f79035b14a648d41f0d16d Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 14 Sep 2023 13:59:21 -0700 Subject: [PATCH 369/410] locationd: Unit tests for different scenarios (#29908) * add different scenarios for locationd * add locationd scenario tests to unit tests --- .github/workflows/selfdrive_tests.yaml | 1 + .../test/test_locationd_scenarios.py | 223 ++++++++++++++++++ 2 files changed, 224 insertions(+) create mode 100755 selfdrive/locationd/test/test_locationd_scenarios.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 6503b164df..f82da4195f 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -264,6 +264,7 @@ jobs: run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \ + ./selfdrive/locationd/test/test_locationd_scenarios.py && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py new file mode 100755 index 0000000000..f08fe72ff1 --- /dev/null +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -0,0 +1,223 @@ +#!/usr/bin/env python3 +import unittest +import numpy as np +from collections import defaultdict +from enum import Enum + + +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name + +TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4 +GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation'] +SELECT_COMPARE_FIELDS = { + 'yaw_rate': ['angularVelocityCalibrated', 'value', 2], + 'roll': ['orientationNED', 'value', 0], + 'gps_flag': ['gpsOK'], + 'inputs_flag': ['inputsOK'], + 'sensors_flag': ['sensorsOK'], +} +JUNK_IDX = 100 + + +class Scenario(Enum): + BASE = 'base' + GPS_OFF = 'gps_off' + GPS_OFF_MIDWAY = 'gps_off_midway' + GPS_ON_MIDWAY = 'gps_on_midway' + GPS_TUNNEL = 'gps_tunnel' + GYRO_OFF = 'gyro_off' + GYRO_SPIKE_MIDWAY = 'gyro_spike_midway' + ACCEL_OFF = 'accel_off' + ACCEL_SPIKE_MIDWAY = 'accel_spike_midway' + + +def get_select_fields_data(logs): + def get_nested_keys(msg, keys): + val = None + for key in keys: + val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key] + return val + llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman'] + data = defaultdict(list) + for msg in llk: + for key, fields in SELECT_COMPARE_FIELDS.items(): + data[key].append(get_nested_keys(msg, fields)) + for key in data: + data[key] = np.array(data[key][JUNK_IDX:], dtype=float) + return data + + +def run_scenarios(scenario): + logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) + if scenario == Scenario.BASE: + pass + + elif scenario == Scenario.GPS_OFF: + logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GPS_OFF_MIDWAY: + non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] + gps = [x for x in logs if x.which() in GPS_MESSAGES] + logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GPS_ON_MIDWAY: + non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] + gps = [x for x in logs if x.which() in GPS_MESSAGES] + logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GPS_TUNNEL: + non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] + gps = [x for x in logs if x.which() in GPS_MESSAGES] + logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GYRO_OFF: + logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GYRO_SPIKE_MIDWAY: + non_gyro = [x for x in logs if x.which() not in 'gyroscope'] + gyro = [x for x in logs if x.which() in 'gyroscope'] + temp = gyro[len(gyro) // 2].as_builder() + temp.gyroscope.gyroUncalibrated.v[0] += 3.0 + gyro[len(gyro) // 2] = temp.as_reader() + logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime) + + elif scenario == Scenario.ACCEL_OFF: + logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.ACCEL_SPIKE_MIDWAY: + non_accel = [x for x in logs if x.which() not in 'accelerometer'] + accel = [x for x in logs if x.which() in 'accelerometer'] + temp = accel[len(accel) // 2].as_builder() + temp.accelerometer.acceleration.v[0] += 10.0 + accel[len(accel) // 2] = temp.as_reader() + logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime) + + replayed_logs = replay_process_with_name(name='locationd', lr=logs) + return get_select_fields_data(logs), get_select_fields_data(replayed_logs) + + +class TestLocationdScenarios(unittest.TestCase): + """ + Test locationd with different scenarios. In all these scenarios, we expect the following: + - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK) + - faulty values should be ignored, with appropriate flags set + """ + def test_base(self): + """ + Test: unchanged log + Expected Result: + - yaw_rate: unchanged + - roll: unchanged + """ + orig_data, replayed_data = run_scenarios(Scenario.BASE) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + + def test_gps_off(self): + """ + Test: no GPS message for the entire segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: False + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0)) + + def test_gps_off_midway(self): + """ + Test: no GPS message for the second half of the segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: True for the first half, False for the second half + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0) + + def test_gps_on_midway(self): + """ + Test: no GPS message for the first half of the segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: False for the first half, True for the second half + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))) + self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0) + + def test_gps_tunnel(self): + """ + Test: no GPS message for the middle section of the segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: False for the middle section, True for the rest + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0) + self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0) + + def test_gyro_off(self): + """ + Test: no gyroscope message for the entire segment + Expected Result: + - yaw_rate: 0 + - roll: 0 + - sensorsOK: False + """ + _, replayed_data = run_scenarios(Scenario.GYRO_OFF) + self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) + self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) + self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + + def test_gyro_spikes(self): + """ + Test: a gyroscope spike in the middle of the segment + Expected Result: + - yaw_rate: unchanged + - roll: unchanged + - inputsOK: False for some time after the spike, True for the rest + """ + orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0) + self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0) + + def test_accel_off(self): + """ + Test: no accelerometer message for the entire segment + Expected Result: + - yaw_rate: 0 + - roll: 0 + - sensorsOK: False + """ + _, replayed_data = run_scenarios(Scenario.ACCEL_OFF) + self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) + self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) + self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + + def test_accel_spikes(self): + """ + ToDo: + Test: an accelerometer spike in the middle of the segment + Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes. + """ + orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + + +if __name__ == "__main__": + unittest.main() From 7ef8898624cddb0f2afb3322e2691dd5212239f2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 14 Sep 2023 14:08:24 -0700 Subject: [PATCH 370/410] don't run test twice --- .github/workflows/selfdrive_tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index f82da4195f..6503b164df 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -264,7 +264,6 @@ jobs: run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \ - ./selfdrive/locationd/test/test_locationd_scenarios.py && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ From 880157f5a614a4a524273a9833e0a066fdec371e Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 14 Sep 2023 14:36:32 -0700 Subject: [PATCH 371/410] framereader: add cache_dir argument (#29904) * framereader: add cache_dir argument * make it an env var --- tools/lib/cache.py | 6 +++--- tools/lib/framereader.py | 26 +++++++++++++------------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/tools/lib/cache.py b/tools/lib/cache.py index d142955e59..fd214f6bb5 100644 --- a/tools/lib/cache.py +++ b/tools/lib/cache.py @@ -2,10 +2,10 @@ import os import urllib.parse from openpilot.common.file_helpers import mkdirs_exists_ok -DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache") +DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache")) -def cache_path_for_file_path(fn, cache_prefix=None): - dir_ = os.path.join(DEFAULT_CACHE_DIR, "local") +def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR): + dir_ = os.path.join(cache_dir, "local") mkdirs_exists_ok(dir_) fn_parsed = urllib.parse.urlparse(fn) if fn_parsed.scheme == '': diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index cbc9310790..06fee6857d 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -12,7 +12,7 @@ import numpy as np from lru import LRU import _io -from openpilot.tools.lib.cache import cache_path_for_file_path +from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR from openpilot.tools.lib.exceptions import DataUnreadableError from openpilot.common.file_helpers import atomic_write_in_dir @@ -106,8 +106,8 @@ def cache_fn(func): if kwargs.pop('no_cache', None): cache_path = None else: - cache_prefix = kwargs.pop('cache_prefix', None) - cache_path = cache_path_for_file_path(fn, cache_prefix) + cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR) + cache_path = cache_path_for_file_path(fn, cache_dir) if cache_path and os.path.exists(cache_path): with open(cache_path, "rb") as cache_file: @@ -140,18 +140,18 @@ def index_stream(fn, typ): } -def index_videos(camera_paths, cache_prefix=None): +def index_videos(camera_paths, cache_dir=DEFAULT_CACHE_DIR): """Requires that paths in camera_paths are contiguous and of the same type.""" if len(camera_paths) < 1: raise ValueError("must provide at least one video to index") frame_type = fingerprint_video(camera_paths[0]) for fn in camera_paths: - index_video(fn, frame_type, cache_prefix) + index_video(fn, frame_type, cache_dir) -def index_video(fn, frame_type=None, cache_prefix=None): - cache_path = cache_path_for_file_path(fn, cache_prefix) +def index_video(fn, frame_type=None, cache_dir=DEFAULT_CACHE_DIR): + cache_path = cache_path_for_file_path(fn, cache_dir) if os.path.exists(cache_path): return @@ -160,16 +160,16 @@ def index_video(fn, frame_type=None, cache_prefix=None): frame_type = fingerprint_video(fn[0]) if frame_type == FrameType.h265_stream: - index_stream(fn, "hevc", cache_prefix=cache_prefix) + index_stream(fn, "hevc", cache_dir=cache_dir) else: raise NotImplementedError("Only h265 supported") -def get_video_index(fn, frame_type, cache_prefix=None): - cache_path = cache_path_for_file_path(fn, cache_prefix) +def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR): + cache_path = cache_path_for_file_path(fn, cache_dir) if not os.path.exists(cache_path): - index_video(fn, frame_type, cache_prefix) + index_video(fn, frame_type, cache_dir) if not os.path.exists(cache_path): return None @@ -284,13 +284,13 @@ class BaseFrameReader: raise NotImplementedError -def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None): +def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None): frame_type = fingerprint_video(fn) if frame_type == FrameType.raw: return RawFrameReader(fn) elif frame_type in (FrameType.h265_stream,): if not index_data: - index_data = get_video_index(fn, frame_type, cache_prefix) + index_data = get_video_index(fn, frame_type, cache_dir) return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind) else: raise NotImplementedError(frame_type) From 9dfd0579d4bcf4065ee289a2486bb77f0700655a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 14 Sep 2023 14:48:12 -0700 Subject: [PATCH 372/410] Toyota: use torque control for Japanese-made 2023 RAV4 (#29896) * use torque for 2023 RAV4s that allow it * FW * better cmt * better * better values comment * switch * add torque params * simpler * better to use steerControlType * ??? * fix condition * adjust params * pid is only for old cars * add comment * move comment up * one if fix * invert * better comment * better here * for * add torque hybrid test route * fix condition * this might be simpler * back to one if fix * better name * other way * this reads so much better * last change * better * did i break ci? --- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/override.yaml | 6 +-- selfdrive/car/toyota/interface.py | 49 ++++++++++++++----------- selfdrive/car/toyota/values.py | 3 +- 4 files changed, 33 insertions(+), 27 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index c8701e8f0a..69a935fece 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -25,7 +25,6 @@ non_tested_cars = [ HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, - TOYOTA.RAV4H_TSS2_2023, SUBARU.FORESTER_HYBRID, ] @@ -184,6 +183,7 @@ routes = [ CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), + CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023), CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index fc39cd76cb..61ed8a5a77 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan] SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] SUBARU ASCENT 2023: [.nan, 3.0, .nan] -# Toyota LTA also has torque -TOYOTA RAV4 2023: [.nan, 3.0, .nan] -TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] - # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] @@ -61,6 +57,8 @@ HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] +TOYOTA RAV4 2023: [2.5, 2.5, 0.1] +TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d6f428ab1d..d51026b547 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -27,7 +27,15 @@ class CarInterface(CarInterfaceBase): if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE - if candidate in ANGLE_CONTROL_CAR: + # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan) + # So far only hybrid RAV4 2023 has been seen with this FW version + angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw) + if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023): + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + ret.steerLimitTimer = 0.4 + else: ret.dashcamOnly = True ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA @@ -35,11 +43,6 @@ class CarInterface(CarInterfaceBase): # LTA control can be more delayed and winds up more often ret.steerActuatorDelay = 0.25 ret.steerLimitTimer = 0.8 - else: - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - - ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay - ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop @@ -121,21 +124,25 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 ret.tireStiffnessFactor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid - ret.lateralTuning.init('pid') - ret.lateralTuning.pid.kiBP = [0.0] - ret.lateralTuning.pid.kpBP = [0.0] - ret.lateralTuning.pid.kpV = [0.6] - ret.lateralTuning.pid.kiV = [0.1] - ret.lateralTuning.pid.kf = 0.00007818594 - - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 - for fw in car_fw: - if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - ret.lateralTuning.pid.kpV = [0.15] - ret.lateralTuning.pid.kiV = [0.05] - ret.lateralTuning.pid.kf = 0.00004 - break + + # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same + # TODO: revisit this disparity if there is a divide for 2023 + if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kiBP = [0.0] + ret.lateralTuning.pid.kpBP = [0.0] + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.1] + ret.lateralTuning.pid.kf = 0.00007818594 + + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 + for fw in car_fw: + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): + ret.lateralTuning.pid.kpV = [0.15] + ret.lateralTuning.pid.kiV = [0.05] + ret.lateralTuning.pid.kf = 0.00004 + break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index bb9672fb0e..fd0a54b349 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -2389,7 +2389,8 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} -# these cars use the Lane Tracing Assist (LTA) message for lateral control +# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require +# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, From c9ec7bc2a3de1bd889d9034bd9336a4f65d36e23 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 14 Sep 2023 17:08:49 -0700 Subject: [PATCH 373/410] CI: login to dockerhub on aarch64 runners (#29915) * DOCKER_HUB_LOGIN command * Add docker creds * checkout runner name * test again * Use runner.name to distinguish between buildjet and GH runners --- .github/workflows/prebuilt.yaml | 4 ++-- .github/workflows/selfdrive_tests.yaml | 17 ++++++++++++++--- .github/workflows/tools_tests.yaml | 6 +++--- 3 files changed, 19 insertions(+), 8 deletions(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 8b16ea90b9..3558d7eb7e 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -5,7 +5,7 @@ on: workflow_dispatch: env: - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh prebuilt jobs: @@ -29,5 +29,5 @@ jobs: submodules: true - name: Build and Push docker image run: | - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN eval "$BUILD" diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 6503b164df..f7aba648a4 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -16,7 +16,8 @@ env: CL_BASE_IMAGE: openpilot-base-cl AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }} BUILD: selfdrive/test/docker_build.sh base RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c @@ -76,6 +77,11 @@ jobs: - uses: actions/checkout@v3 with: submodules: true + # login only on arm machines, due to buildjet rate limits + - name: Setup docker + if: contains(runner.name, 'buildjet') + run: | + $DOCKER_HUB_LOGIN - uses: ./.github/workflows/setup-with-retry with: cache_key_prefix: scons_${{ matrix.arch }} @@ -190,7 +196,12 @@ jobs: run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN + # login only on arm machines, due to buildjet rate limits + - name: Additional setup for buildjet + if: contains(runner.name, 'buildjet') + run: | + $DOCKER_HUB_LOGIN - uses: ./.github/workflows/setup-with-retry with: git-lfs: false @@ -211,7 +222,7 @@ jobs: submodules: false - name: Setup docker run: | - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN - name: Merge x64 and arm64 tags run: | export PUSH_IMAGE=true diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index c7a5f80c3b..27c362fcd6 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -13,7 +13,7 @@ concurrency: env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base @@ -58,7 +58,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN - name: Build and push sim image run: | selfdrive/test/docker_build.sh sim @@ -78,7 +78,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN - name: Build and push docs image run: | selfdrive/test/docker_build.sh docs From 59c7a1d5d45e6353b2929bc632c7ce1adb7c4bb4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 14 Sep 2023 19:05:17 -0700 Subject: [PATCH 374/410] bump panda (#29917) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 8e8aa5acf6..f660323969 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8e8aa5acf6ab0e45d91e72beaab74e69810448cd +Subproject commit f6603239690ccee80f19e8bc5cf3ba03123f3498 From 1410a1150c9909bc643df4e2cacbefa721d3b6cb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 14 Sep 2023 20:20:49 -0700 Subject: [PATCH 375/410] test_models: check controlsd events (#29907) * test_moedls: check controlsd events * clean up * sort * controlsd modifies CP * fix * can use any segment now * final fix * use constant --- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/tests/test_models.py | 14 ++++++++++++-- 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 69a935fece..f7ad219f63 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -146,7 +146,7 @@ routes = [ CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), - CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN, segment=3), + CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 1b9e39f2f1..e6460d491e 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -9,6 +9,7 @@ from parameterized import parameterized_class from cereal import log, car from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces @@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute +from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR +EventName = car.CarEvent.EventName PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel @@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(self.CP, self.CarController, self.CarState) + self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) assert self.CI + Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) + # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda @@ -315,6 +320,8 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(lambda: 0) + controlsd = Controls(CI=self.CI) + controlsd.initialized = True for idx, can in enumerate(self.can_msgs): CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) for msg in filter(lambda m: m.src in range(64), can.can): @@ -359,7 +366,10 @@ class TestCarModelBase(unittest.TestCase): checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for enable events on rising edge of controls allowed - button_enable = any(evt.enable for evt in CS.events) + controlsd.update_events(CS) + controlsd.CS_prev = CS + button_enable = (any(evt.enable for evt in CS.events) and + not any(evt == EventName.pedalPressed for evt in controlsd.events.names)) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() From c4df40a04a57478883609748c08d1abed539b017 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 15 Sep 2023 15:27:44 +0800 Subject: [PATCH 376/410] cabana: support ECU node names (#29897) * support display&edit node name * cleanup * set validator for Node name * modify validator to support multiple receivers * set default to XXX in updateMsg * add DEFAULT_NODE_NAME * Update tools/cabana/commands.h --------- Co-authored-by: Shane Smiskol --- tools/cabana/commands.cc | 14 ++++++++------ tools/cabana/commands.h | 5 +++-- tools/cabana/dbc/dbc.cc | 6 ++++++ tools/cabana/dbc/dbc.h | 1 + tools/cabana/dbc/dbcfile.cc | 8 +++++--- tools/cabana/dbc/dbcfile.h | 2 +- tools/cabana/dbc/dbcmanager.cc | 4 ++-- tools/cabana/dbc/dbcmanager.h | 2 +- tools/cabana/detailwidget.cc | 23 +++++++++++------------ tools/cabana/detailwidget.h | 1 + tools/cabana/signalview.cc | 16 ++++++++++------ tools/cabana/signalview.h | 4 ++-- 12 files changed, 51 insertions(+), 35 deletions(-) diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index cf48abb4c9..52861723f4 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -4,11 +4,13 @@ // EditMsgCommand -EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent) - : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) { +EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, + const QString &node, const QString &comment, QUndoCommand *parent) + : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { old_name = msg->name; old_size = msg->size; + old_node = msg->transmitter; old_comment = msg->comment; setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address)); } else { @@ -20,11 +22,11 @@ void EditMsgCommand::undo() { if (old_name.isEmpty()) dbc()->removeMsg(id); else - dbc()->updateMsg(id, old_name, old_size, old_comment); + dbc()->updateMsg(id, old_name, old_size, old_node, old_comment); } void EditMsgCommand::redo() { - dbc()->updateMsg(id, new_name, new_size, new_comment); + dbc()->updateMsg(id, new_name, new_size, new_node, new_comment); } // RemoveMsgCommand @@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : void RemoveMsgCommand::undo() { if (!message.name.isEmpty()) { - dbc()->updateMsg(id, message.name, message.size, message.comment); + dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment); for (auto s : message.getSignals()) dbc()->addSignal(id, *s); } @@ -64,7 +66,7 @@ void AddSigCommand::undo() { void AddSigCommand::redo() { if (auto msg = dbc()->msg(id); !msg) { msg_created = true; - dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), ""); + dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", ""); } signal.name = dbc()->newSignalName(id); signal.max = std::pow(2, signal.size) - 1; diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index c7f59c4c7f..0736d9b83f 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -10,13 +10,14 @@ class EditMsgCommand : public QUndoCommand { public: - EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr); + EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node, + const QString &comment, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - QString old_name, new_name, old_comment, new_comment; + QString old_name, new_name, old_comment, new_comment, old_node, new_node; int old_size = 0, new_size = 0; }; diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 537749e48d..a0e523d666 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() { } void cabana::Msg::update() { + if (transmitter.isEmpty()) { + transmitter = DEFAULT_NODE_NAME; + } mask.assign(size, 0x00); multiplexor = nullptr; @@ -125,6 +128,9 @@ void cabana::Msg::update() { void cabana::Signal::update() { updateMsbLsb(*this); + if (receiver_name.isEmpty()) { + receiver_name = DEFAULT_NODE_NAME; + } float h = 19 * (float)lsb / 64.0; h = fmod(h, 1.0); diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index e44bc41abf..bfb26c2842 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -13,6 +13,7 @@ #include "opendbc/can/common_dbc.h" const QString UNTITLED = "untitled"; +const QString DEFAULT_NODE_NAME = "XXX"; struct MessageId { uint8_t source = 0; diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 2f93c1543e..063f516ead 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -60,11 +60,12 @@ bool DBCFile::writeContents(const QString &fn) { return false; } -void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { +void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) { auto &m = msgs[id.address]; m.address = id.address; m.name = name; m.size = size; + m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node; m.comment = comment; } @@ -198,7 +199,8 @@ void DBCFile::parse(const QString &content) { QString DBCFile::generateDBC() { QString dbc_string, signal_comment, message_comment, val_desc; for (const auto &[address, m] : msgs) { - dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter); + const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter; + dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter); if (!m.comment.isEmpty()) { message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment); } @@ -221,7 +223,7 @@ QString DBCFile::generateDBC() { .arg(doubleToString(sig->min)) .arg(doubleToString(sig->max)) .arg(sig->unit) - .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name); + .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name); if (!sig->comment.isEmpty()) { signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); } diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index 78a73d58e4..a3ab1cebe4 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -22,7 +22,7 @@ public: void cleanupAutoSaveFile(); QString generateDBC(); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); inline void removeMsg(const MessageId &id) { msgs.erase(id.address); } inline const std::map &getMessages() const { return msgs; } diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 5736ac1e89..459ca0111d 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } -void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { +void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) { auto dbc_file = findDBCFile(id); assert(dbc_file); // This should be impossible - dbc_file->updateMsg(id, name, size, comment); + dbc_file->updateMsg(id, name, size, node, comment); emit msgUpdated(id); } diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 3ac0829487..5f782fc930 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -28,7 +28,7 @@ public: void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); void removeMsg(const MessageId &id); QString newMsgName(const MessageId &id); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 2f6e9cbfe8..d70aeff0c8 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -2,7 +2,6 @@ #include #include -#include #include "tools/cabana/commands.h" #include "tools/cabana/mainwin.h" @@ -135,11 +134,12 @@ void DetailWidget::refresh() { for (auto s : binary_view->getOverlappingSignals()) { warnings.push_back(tr("%1 has overlapping bits.").arg(s->name)); } + name_label->setText(QString("%1 (%2)").arg(msgName(msg_id), msg->transmitter)); } else { warnings.push_back(tr("Drag-Select in binary view to create new signal.")); + name_label->setText(msgName(msg_id)); } remove_btn->setEnabled(msg != nullptr); - name_label->setText(msgName(msg_id)); if (!warnings.isEmpty()) { warning_label->setText(warnings.join('\n')); @@ -164,8 +164,8 @@ void DetailWidget::editMsg() { int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); EditMessageDialog dlg(msg_id, msgName(msg_id), size, this); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), - dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(), + dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed())); } } @@ -182,25 +182,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow("", error_label = new QLabel); error_label->setVisible(false); - name_edit = new QLineEdit(title, this); + form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this)); name_edit->setValidator(new NameValidator(name_edit)); - form_layout->addRow(tr("Name"), name_edit); - size_spin = new QSpinBox(this); + form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this)); // TODO: limit the maximum? size_spin->setMinimum(1); size_spin->setValue(size); - form_layout->addRow(tr("Size"), size_spin); + form_layout->addRow(tr("Node"), node = new QLineEdit(this)); + node->setValidator(new NameValidator(name_edit)); form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this)); + form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel)); + if (auto msg = dbc()->msg(msg_id)) { + node->setText(msg->transmitter); comment_edit->setText(msg->comment); } - - btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); validateName(name_edit->text()); - form_layout->addRow(btn_box); - setFixedWidth(parent->width() * 0.9); connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName); connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 10c6a6c46e..ed6a865f53 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -21,6 +21,7 @@ public: QString original_name; QDialogButtonBox *btn_box; QLineEdit *name_edit; + QLineEdit *node; QTextEdit *comment_edit; QLabel *error_label; QSpinBox *size_spin; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 1b1c8dac22..b2798e9f3b 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -36,7 +36,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig}; parent_item->children.insert(pos, item); - QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info", + QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; for (int i = 0; i < std::size(titles); ++i) { item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}); @@ -134,6 +134,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { case Item::Sig: return item->sig_val; case Item::Name: return item->sig->name; case Item::Size: return item->sig->size; + case Item::Node: return item->sig->receiver_name; case Item::SignalType: return signalTypeToString(item->sig->type); case Item::MultiplexValue: return item->sig->multiplex_value; case Item::Offset: return doubleToString(item->sig->offset); @@ -172,6 +173,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; + case Item::Node: s.receiver_name = value.toString().trimmed(); break; case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break; case Item::MultiplexValue: s.multiplex_value = value.toInt(); break; case Item::Endian: s.is_little_endian = value.toBool(); break; @@ -195,11 +197,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) { if (item->type == Item::ExtraInfo) { if (!item->parent->extra_expanded) { item->parent->extra_expanded = true; - beginInsertRows(index.parent(), 7, 13); + beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2); endInsertRows(); } else { item->parent->extra_expanded = false; - beginRemoveRows(index.parent(), 7, 13); + beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2); endRemoveRows(); } } @@ -267,6 +269,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { name_validator = new NameValidator(this); + node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this); double_validator = new DoubleValidator(this); label_font.setPointSize(8); @@ -382,12 +385,14 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); - if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || + if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset || item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue || item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) { QLineEdit *e = new QLineEdit(parent); e->setFrame(false); - e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator); + if (item->type == SignalModel::Item::Name) e->setValidator(name_validator); + else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator); + else e->setValidator(double_validator); if (item->type == SignalModel::Item::Name) { QCompleter *completer = new QCompleter(dbc()->signalNames()); @@ -395,7 +400,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie completer->setFilterMode(Qt::MatchContains); e->setCompleter(completer); } - return e; } else if (item->type == SignalModel::Item::Size) { QSpinBox *spin = new QSpinBox(parent); diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 9d8571d0b8..bcf0019bc4 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -17,7 +17,7 @@ class SignalModel : public QAbstractItemModel { Q_OBJECT public: struct Item { - enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc }; + enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc }; ~Item() { qDeleteAll(children); } inline int row() { return parent->children.indexOf(this); } @@ -87,7 +87,7 @@ public: void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override; - QValidator *name_validator, *double_validator; + QValidator *name_validator, *double_validator, *node_validator; QFont label_font, minmax_font; const int color_label_width = 18; mutable QSize button_size; From 7ceccaf6c31a194bacb9eaa96cad74bb8a148567 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 15 Sep 2023 00:30:49 -0700 Subject: [PATCH 377/410] bump opendbc (#29922) * change signals * bump opendbc * bump * bump --- opendbc | 2 +- selfdrive/car/gm/carstate.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index 8d2f614ce3..4ab347baef 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8d2f614ce3f323c65de802b2d5f29143de9c427b +Subproject commit 4ab347baefb7473771ada0723c969c50d0c28d01 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 8585e9f205..89c1a3596a 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -98,7 +98,7 @@ class CarState(CarStateBase): ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1 ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2 - ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1 + ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1 ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or @@ -135,7 +135,7 @@ class CarState(CarStateBase): ("PSCMStatus", 10), ("ESPStatus", 10), ("BCMDoorBeltStatus", 10), - ("VehicleIgnitionAlt", 10), + ("BCMGeneralPlatformStatus", 10), ("EBCMWheelSpdFront", 20), ("EBCMWheelSpdRear", 20), ("EBCMFrictionBrakeStatus", 20), From 05db624884aa701b8ad78cae75bc17c8298984db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 15 Sep 2023 02:55:30 -0700 Subject: [PATCH 378/410] GM: use new ignition signal (#29923) bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index f660323969..546087125f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f6603239690ccee80f19e8bc5cf3ba03123f3498 +Subproject commit 546087125ff72877e4273eef78aa03dae5244a22 From 6a72d532963498d7de601fa79aaccc1f3d4e6b31 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 15 Sep 2023 18:20:27 +0800 Subject: [PATCH 379/410] cabana/chart: fix value overflow (#29924) fix value overflow --- tools/cabana/chart/chart.cc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 93fbbaeae3..537aac1f28 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -17,7 +17,6 @@ #include #include #include -#include #include #include "tools/cabana/chart/chartswidget.h" @@ -365,7 +364,7 @@ void ChartView::updateAxisY() { axis_y->setRange(min_y, max_y); axis_y->setTickCount(tick_count); - int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; + int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; int max_label_width = 0; QFontMetrics fm(axis_y->labelsFont()); for (int i = 0; i < tick_count; i++) { @@ -383,15 +382,15 @@ void ChartView::updateAxisY() { std::tuple ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) { qreal range = niceNumber((max - min), true); // range with ceiling qreal step = niceNumber(range / (tick_count - 1), false); - min = qFloor(min / step); - max = qCeil(max / step); + min = std::floor(min / step); + max = std::ceil(max / step); tick_count = int(max - min) + 1; return {min * step, max * step, tick_count}; } // nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n qreal ChartView::niceNumber(qreal x, bool ceiling) { - qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x + qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x qreal q = x / z; //q<10 && q>=1; if (ceiling) { if (q <= 1.0) q = 1; From 33c51c122b5ae5f345bcd310400b05d864bce502 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Fri, 15 Sep 2023 10:26:38 -0700 Subject: [PATCH 380/410] Added release notes for new driving model --- RELEASES.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index c4572dba19..addec88222 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,7 @@ Version 0.9.5 (202X-XX-XX) ======================== +* New driving model + * Improved navigate on openpilot performance using navigation instructions as an additional model input * Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! From e0edff65d53d0e1d35c7600e72219934fc51b8a0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 15 Sep 2023 12:57:45 -0700 Subject: [PATCH 381/410] Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index addec88222..89f864dd71 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,4 @@ -Version 0.9.5 (202X-XX-XX) +Version 0.9.5 (2023-09-27) ======================== * New driving model * Improved navigate on openpilot performance using navigation instructions as an additional model input From 7e54882458c0e9e6111f4523ef93983650cc816b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 15 Sep 2023 13:11:39 -0700 Subject: [PATCH 382/410] test_locationd: don't redownload logs (#29929) don't redownload logs --- .../test/test_locationd_scenarios.py | 26 +++++++++++-------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index f08fe72ff1..d2455ef9e0 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -49,8 +49,7 @@ def get_select_fields_data(logs): return data -def run_scenarios(scenario): - logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) +def run_scenarios(scenario, logs): if scenario == Scenario.BASE: pass @@ -104,6 +103,11 @@ class TestLocationdScenarios(unittest.TestCase): - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK) - faulty values should be ignored, with appropriate flags set """ + + @classmethod + def setUpClass(cls): + cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) + def test_base(self): """ Test: unchanged log @@ -111,7 +115,7 @@ class TestLocationdScenarios(unittest.TestCase): - yaw_rate: unchanged - roll: unchanged """ - orig_data, replayed_data = run_scenarios(Scenario.BASE) + orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) @@ -123,7 +127,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: - gpsOK: False """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF) + orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0)) @@ -136,7 +140,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: - gpsOK: True for the first half, False for the second half """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY) + orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0) @@ -149,7 +153,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: - gpsOK: False for the first half, True for the second half """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY) + orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))) self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0) @@ -162,7 +166,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: - gpsOK: False for the middle section, True for the rest """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL) + orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0) @@ -176,7 +180,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: 0 - sensorsOK: False """ - _, replayed_data = run_scenarios(Scenario.GYRO_OFF) + _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs) self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) @@ -189,7 +193,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: unchanged - inputsOK: False for some time after the spike, True for the rest """ - orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY) + orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0) @@ -203,7 +207,7 @@ class TestLocationdScenarios(unittest.TestCase): - roll: 0 - sensorsOK: False """ - _, replayed_data = run_scenarios(Scenario.ACCEL_OFF) + _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs) self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) @@ -214,7 +218,7 @@ class TestLocationdScenarios(unittest.TestCase): Test: an accelerometer spike in the middle of the segment Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes. """ - orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY) + orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs) self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) From 09bef0a165a8e4199abf6d2ff329d477cbc0e82b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 15 Sep 2023 13:33:05 -0700 Subject: [PATCH 383/410] ignore temp translations (#29931) --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index a0c8df3142..afb3d5b1c3 100644 --- a/.gitignore +++ b/.gitignore @@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd selfdrive/ui/_ui selfdrive/ui/translations/alerts_generated.h +selfdrive/ui/translations/tmp selfdrive/test/longitudinal_maneuvers/out selfdrive/car/tests/cars_dump system/camerad/camerad From dd26a1faadb4cb6a468b77d5be7803cf1dad4beb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 15 Sep 2023 14:00:24 -0700 Subject: [PATCH 384/410] devcontainer: expose host config, fix mac screen issues (#29932) * export host config via .host/.env file. fix mac display issues * append instead of replace for bashrc * Log when mac display override happens * Update xauthority path in json --- .devcontainer/.gitignore | 4 +++- .devcontainer/container_post_create.sh | 14 ++++++++++++++ .devcontainer/container_post_start.sh | 7 +++++++ .devcontainer/devcontainer.json | 8 ++++---- .devcontainer/host_setup.sh | 24 ++++++++++++++++++++++++ .devcontainer/setup_host.sh | 16 ---------------- 6 files changed, 52 insertions(+), 21 deletions(-) create mode 100755 .devcontainer/container_post_create.sh create mode 100755 .devcontainer/container_post_start.sh create mode 100755 .devcontainer/host_setup.sh delete mode 100755 .devcontainer/setup_host.sh diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore index 1f8ec242b8..5682fe1190 100644 --- a/.devcontainer/.gitignore +++ b/.devcontainer/.gitignore @@ -1 +1,3 @@ -.Xauthority \ No newline at end of file +.Xauthority +.env +.host/ \ No newline at end of file diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh new file mode 100755 index 0000000000..52a4b5f858 --- /dev/null +++ b/.devcontainer/container_post_create.sh @@ -0,0 +1,14 @@ +#!/usr/bin/env bash + +source .devcontainer/.host/.env + +# override display flag for mac +if [[ $HOST_OS == darwin ]]; then + echo "Setting up DISPLAY override for macOS..." + cat <> /root/.bashrc +if [ -n "\$DISPLAY" ]; then + DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}') + export DISPLAY=host.docker.internal:\$DISPLAY_NUM +fi +EOF +fi diff --git a/.devcontainer/container_post_start.sh b/.devcontainer/container_post_start.sh new file mode 100755 index 0000000000..4404f6a9a9 --- /dev/null +++ b/.devcontainer/container_post_start.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +# setup safe directories for submodules +SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }') +for DIR in $SUBMODULE_DIRS; do + git config --global --add safe.directory "$PWD/$DIR" +done diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 2dfe46b4f0..7224f251a7 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -3,9 +3,9 @@ "build": { "dockerfile": "Dockerfile" }, - "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'", - "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"", - "initializeCommand": ".devcontainer/setup_host.sh", + "postCreateCommand": ".devcontainer/container_post_create.sh", + "postStartCommand": ".devcontainer/container_post_start.sh", + "initializeCommand": ".devcontainer/host_setup.sh", "privileged": true, "containerEnv": { "DISPLAY": "${localEnv:DISPLAY}", @@ -14,7 +14,7 @@ }, "runArgs": [ "--volume=/tmp/.X11-unix:/tmp/.X11-unix", - "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority", + "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/root/.Xauthority", "--volume=${localEnv:HOME}/.comma:/root/.comma", "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", diff --git a/.devcontainer/host_setup.sh b/.devcontainer/host_setup.sh new file mode 100755 index 0000000000..597d0a1112 --- /dev/null +++ b/.devcontainer/host_setup.sh @@ -0,0 +1,24 @@ +#!/usr/bin/env bash + +# setup .host dir +mkdir -p .devcontainer/.host + +# setup links to Xauthority +XAUTHORITY_LINK=".devcontainer/.host/.Xauthority" +rm -f $XAUTHORITY_LINK +if [[ -z $XAUTHORITY ]]; then + echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..." + if ! [[ -f $HOME/.Xauthority ]]; then + echo "~/.XAuthority file does not exist. GUI tools may not work properly." + touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount + else + ln -sf $HOME/.Xauthority $XAUTHORITY_LINK + fi +else + ln -sf $XAUTHORITY $XAUTHORITY_LINK +fi + +# setup host env file +HOST_INFO_FILE=".devcontainer/.host/.env" +SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]') +echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE diff --git a/.devcontainer/setup_host.sh b/.devcontainer/setup_host.sh deleted file mode 100755 index 5c3c5e900c..0000000000 --- a/.devcontainer/setup_host.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env bash - -# setup links to Xauthority -XAUTHORITY_LINK=".devcontainer/.Xauthority" -rm -f $XAUTHORITY_LINK -if [[ -z $XAUTHORITY ]]; then - echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..." - if ! [[ -f $HOME/.Xauthority ]]; then - echo "~/.XAuthority file does not exist. GUI tools may not work properly." - touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount - else - ln -sf $HOME/.Xauthority $XAUTHORITY_LINK - fi -else - ln -sf $XAUTHORITY $XAUTHORITY_LINK -fi From 7f6718a7cb87909305fd6f23a614db926d225915 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 15 Sep 2023 14:02:09 -0700 Subject: [PATCH 385/410] Simulator: cleanup in preparation for metadrive (#29903) * sim bridge cleanup * fix carla * remove that exception * pr cleanup * update car in a thread * more cleanup * import sorting * handle exits better --- tools/sim/bridge.py | 561 ---------------------- tools/sim/bridge/__init__.py | 0 tools/sim/bridge/carla.py | 163 +++++++ tools/sim/bridge/common.py | 163 +++++++ tools/sim/lib/camerad.py | 70 +++ tools/sim/lib/can.py | 94 ---- tools/sim/lib/common.py | 86 ++++ tools/sim/lib/keyboard_ctrl.py | 2 +- tools/sim/lib/simulated_car.py | 110 +++++ tools/sim/lib/simulated_sensors.py | 127 +++++ tools/sim/run_bridge.py | 50 ++ tools/sim/tests/test_carla_integration.py | 6 +- 12 files changed, 773 insertions(+), 659 deletions(-) delete mode 100755 tools/sim/bridge.py create mode 100644 tools/sim/bridge/__init__.py create mode 100644 tools/sim/bridge/carla.py create mode 100644 tools/sim/bridge/common.py create mode 100644 tools/sim/lib/camerad.py delete mode 100755 tools/sim/lib/can.py create mode 100644 tools/sim/lib/common.py create mode 100644 tools/sim/lib/simulated_car.py create mode 100644 tools/sim/lib/simulated_sensors.py create mode 100755 tools/sim/run_bridge.py diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py deleted file mode 100755 index 33fb2c020e..0000000000 --- a/tools/sim/bridge.py +++ /dev/null @@ -1,561 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import math -import os -import signal -import threading -import time -from multiprocessing import Process, Queue -from typing import Any - -import carla -import numpy as np -import pyopencl as cl -import pyopencl.array as cl_array - -import cereal.messaging as messaging -from cereal import log -from cereal.visionipc import VisionIpcServer, VisionStreamType -from openpilot.common.basedir import BASEDIR -from openpilot.common.numpy_fast import clip -from openpilot.common.params import Params -from openpilot.common.realtime import DT_DMON, Ratekeeper -from openpilot.selfdrive.car.honda.values import CruiseButtons -from openpilot.selfdrive.test.helpers import set_params_enabled -from openpilot.tools.sim.lib.can import can_function - -W, H = 1928, 1208 -REPEAT_COUNTER = 5 -PRINT_DECIMATION = 100 -STEER_RATIO = 15. - -pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'accelerometer', 'gyroscope', 'can', "gpsLocationExternal"]) -sm = messaging.SubMaster(['carControl', 'controlsState']) - -def parse_args(add_args=None): - parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.') - parser.add_argument('--joystick', action='store_true') - parser.add_argument('--high_quality', action='store_true') - parser.add_argument('--dual_camera', action='store_true') - parser.add_argument('--town', type=str, default='Town04_Opt') - parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16) - parser.add_argument('--host', dest='host', type=str, default='127.0.0.1') - parser.add_argument('--port', dest='port', type=int, default=2000) - - return parser.parse_args(add_args) - - -class VehicleState: - def __init__(self): - self.speed = 0.0 - self.angle = 0.0 - self.bearing_deg = 0.0 - self.vel = carla.Vector3D() - self.cruise_button = 0 - self.is_engaged = False - self.ignition = True - - -def steer_rate_limit(old, new): - # Rate limiting to 0.5 degrees per step - limit = 0.5 - if new > old + limit: - return old + limit - elif new < old - limit: - return old - limit - else: - return new - - -class Camerad: - def __init__(self, dual_camera): - self.frame_road_id = 0 - self.frame_wide_id = 0 - self.vipc_server = VisionIpcServer("camerad") - - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H) - if dual_camera: - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H) - self.vipc_server.start_listener() - - # set up for pyopencl rgb to yuv conversion - self.ctx = cl.create_some_context() - self.queue = cl.CommandQueue(self.ctx) - cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " - - kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl") - with open(kernel_fn) as f: - prg = cl.Program(self.ctx, f.read()).build(cl_arg) - self.krnl = prg.rgb_to_nv12 - self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4 - self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4 - - def cam_callback_road(self, image): - self._cam_callback(image, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD) - self.frame_road_id += 1 - - def cam_callback_wide_road(self, image): - self._cam_callback(image, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD) - self.frame_wide_id += 1 - - def _cam_callback(self, image, frame_id, pub_type, yuv_type): - img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) - img = np.reshape(img, (H, W, 4)) - img = img[:, :, [0, 1, 2]].copy() - - # convert RGB frame to YUV - rgb = np.reshape(img, (H, W * 3)) - rgb_cl = cl_array.to_device(self.queue, rgb) - yuv_cl = cl_array.empty_like(rgb_cl) - self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait() - yuv = np.resize(yuv_cl.get(), rgb.size // 2) - eof = int(frame_id * 0.05 * 1e9) - - self.vipc_server.send(yuv_type, yuv.data.tobytes(), frame_id, eof, eof) - - dat = messaging.new_message(pub_type) - msg = { - "frameId": frame_id, - "transform": [1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0] - } - setattr(dat, pub_type, msg) - pm.send(pub_type, dat) - -def imu_callback(imu, vehicle_state): - # send 5x since 'sensor_tick' doesn't seem to work. limited by the world tick? - for _ in range(5): - vehicle_state.bearing_deg = math.degrees(imu.compass) - dat = messaging.new_message('accelerometer') - dat.accelerometer.sensor = 4 - dat.accelerometer.type = 0x10 - dat.accelerometer.timestamp = dat.logMonoTime # TODO: use the IMU timestamp - dat.accelerometer.init('acceleration') - dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z] - pm.send('accelerometer', dat) - - # copied these numbers from locationd - dat = messaging.new_message('gyroscope') - dat.gyroscope.sensor = 5 - dat.gyroscope.type = 0x10 - dat.gyroscope.timestamp = dat.logMonoTime # TODO: use the IMU timestamp - dat.gyroscope.init('gyroUncalibrated') - dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z] - pm.send('gyroscope', dat) - time.sleep(0.01) - - -def panda_state_function(vs: VehicleState, exit_event: threading.Event): - pm = messaging.PubMaster(['pandaStates']) - while not exit_event.is_set(): - dat = messaging.new_message('pandaStates', 1) - dat.valid = True - dat.pandaStates[0] = { - 'ignitionLine': vs.ignition, - 'pandaType': "blackPanda", - 'controlsAllowed': True, - 'safetyModel': 'hondaNidec' - } - pm.send('pandaStates', dat) - time.sleep(0.5) - - -def peripheral_state_function(exit_event: threading.Event): - pm = messaging.PubMaster(['peripheralState']) - while not exit_event.is_set(): - dat = messaging.new_message('peripheralState') - dat.valid = True - # fake peripheral state data - dat.peripheralState = { - 'pandaType': log.PandaState.PandaType.blackPanda, - 'voltage': 12000, - 'current': 5678, - 'fanSpeedRpm': 1000 - } - pm.send('peripheralState', dat) - time.sleep(0.5) - - -def gps_callback(gps, vehicle_state): - dat = messaging.new_message('gpsLocationExternal') - - # transform vel from carla to NED - # north is -Y in CARLA - velNED = [ - -vehicle_state.vel.y, # north/south component of NED is negative when moving south - vehicle_state.vel.x, # positive when moving east, which is x in carla - vehicle_state.vel.z, - ] - - dat.gpsLocationExternal = { - "unixTimestampMillis": int(time.time() * 1000), - "flags": 1, # valid fix - "accuracy": 1.0, - "verticalAccuracy": 1.0, - "speedAccuracy": 0.1, - "bearingAccuracyDeg": 0.1, - "vNED": velNED, - "bearingDeg": vehicle_state.bearing_deg, - "latitude": gps.latitude, - "longitude": gps.longitude, - "altitude": gps.altitude, - "speed": vehicle_state.speed, - "source": log.GpsLocationData.SensorSource.ublox, - } - - pm.send('gpsLocationExternal', dat) - - -def fake_driver_monitoring(exit_event: threading.Event): - pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState']) - while not exit_event.is_set(): - # dmonitoringmodeld output - dat = messaging.new_message('driverStateV2') - dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.] - dat.driverStateV2.leftDriverData.faceProb = 1.0 - dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.] - dat.driverStateV2.rightDriverData.faceProb = 1.0 - pm.send('driverStateV2', dat) - - # dmonitoringd output - dat = messaging.new_message('driverMonitoringState') - dat.driverMonitoringState = { - "faceDetected": True, - "isDistracted": False, - "awarenessStatus": 1., - } - pm.send('driverMonitoringState', dat) - - time.sleep(DT_DMON) - - -def can_function_runner(vs: VehicleState, exit_event: threading.Event): - i = 0 - while not exit_event.is_set(): - can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged) - time.sleep(0.01) - i += 1 - - -def connect_carla_client(host: str, port: int): - client = carla.Client(host, port) - client.set_timeout(5) - return client - - -class CarlaBridge: - - def __init__(self, arguments): - set_params_enabled() - - self.params = Params() - - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = 20 - msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] - self.params.put("CalibrationParams", msg.to_bytes()) - self.params.put_bool("DisengageOnAccelerator", True) - - self._args = arguments - self._carla_objects = [] - self._camerad = None - self._exit_event = threading.Event() - self._threads = [] - self._keep_alive = True - self.started = False - signal.signal(signal.SIGTERM, self._on_shutdown) - self._exit = threading.Event() - - def _on_shutdown(self, signal, frame): - self._keep_alive = False - - def bridge_keep_alive(self, q: Queue, retries: int): - try: - while self._keep_alive: - try: - self._run(q) - break - except RuntimeError as e: - self.close() - if retries == 0: - raise - - # Reset for another try - self._carla_objects = [] - self._threads = [] - self._exit_event = threading.Event() - - retries -= 1 - if retries <= -1: - print(f"Restarting bridge. Error: {e} ") - else: - print(f"Restarting bridge. Retries left {retries}. Error: {e} ") - finally: - # Clean up resources in the opposite order they were created. - self.close() - - def _run(self, q: Queue): - client = connect_carla_client(self._args.host, self._args.port) - world = client.load_world(self._args.town) - - settings = world.get_settings() - settings.synchronous_mode = True # Enables synchronous mode - settings.fixed_delta_seconds = 0.05 - world.apply_settings(settings) - - world.set_weather(carla.WeatherParameters.ClearSunset) - - if not self._args.high_quality: - world.unload_map_layer(carla.MapLayer.Foliage) - world.unload_map_layer(carla.MapLayer.Buildings) - world.unload_map_layer(carla.MapLayer.ParkedVehicles) - world.unload_map_layer(carla.MapLayer.Props) - world.unload_map_layer(carla.MapLayer.StreetLights) - world.unload_map_layer(carla.MapLayer.Particles) - - blueprint_library = world.get_blueprint_library() - - world_map = world.get_map() - - vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1] - vehicle_bp.set_attribute('role_name', 'hero') - spawn_points = world_map.get_spawn_points() - assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and - {len(spawn_points)} for this town.''' - spawn_point = spawn_points[self._args.num_selected_spawn_point] - vehicle = world.spawn_actor(vehicle_bp, spawn_point) - self._carla_objects.append(vehicle) - max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle - - # make tires less slippery - # wheel_control = carla.WheelPhysicsControl(tire_friction=5) - physics_control = vehicle.get_physics_control() - physics_control.mass = 2326 - # physics_control.wheels = [wheel_control]*4 - physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]] - physics_control.gear_switch_time = 0.0 - vehicle.apply_physics_control(physics_control) - - transform = carla.Transform(carla.Location(x=0.8, z=1.13)) - - def create_camera(fov, callback): - blueprint = blueprint_library.find('sensor.camera.rgb') - blueprint.set_attribute('image_size_x', str(W)) - blueprint.set_attribute('image_size_y', str(H)) - blueprint.set_attribute('fov', str(fov)) - if not self._args.high_quality: - blueprint.set_attribute('enable_postprocess_effects', 'False') - camera = world.spawn_actor(blueprint, transform, attach_to=vehicle) - camera.listen(callback) - return camera - - self._camerad = Camerad(self._args.dual_camera) - - if self._args.dual_camera: - road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts - self._carla_objects.append(road_wide_camera) - road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road) - self._carla_objects.append(road_camera) - - vehicle_state = VehicleState() - - # re-enable IMU - imu_bp = blueprint_library.find('sensor.other.imu') - imu_bp.set_attribute('sensor_tick', '0.01') - imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle) - imu.listen(lambda imu: imu_callback(imu, vehicle_state)) - - gps_bp = blueprint_library.find('sensor.other.gnss') - gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle) - gps.listen(lambda gps: gps_callback(gps, vehicle_state)) - self.params.put_bool("UbloxAvailable", True) - - self._carla_objects.extend([imu, gps]) - # launch fake car threads - self._threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, self._exit_event,))) - self._threads.append(threading.Thread(target=peripheral_state_function, args=(self._exit_event,))) - self._threads.append(threading.Thread(target=fake_driver_monitoring, args=(self._exit_event,))) - self._threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, self._exit_event,))) - for t in self._threads: - t.start() - - # init - throttle_ease_out_counter = REPEAT_COUNTER - brake_ease_out_counter = REPEAT_COUNTER - steer_ease_out_counter = REPEAT_COUNTER - - vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False) - - is_openpilot_engaged = False - throttle_out = steer_out = brake_out = 0. - throttle_op = steer_op = brake_op = 0. - throttle_manual = steer_manual = brake_manual = 0. - - old_steer = old_brake = old_throttle = 0. - throttle_manual_multiplier = 0.7 # keyboard signal is always 1 - brake_manual_multiplier = 0.7 # keyboard signal is always 1 - steer_manual_multiplier = 45 * STEER_RATIO # keyboard signal is always 1 - - # Simulation tends to be slow in the initial steps. This prevents lagging later - for _ in range(20): - world.tick() - - # loop - rk = Ratekeeper(100, print_delay_threshold=0.05) - - while self._keep_alive: - # 1. Read the throttle, steer and brake from op or manual controls - # 2. Set instructions in Carla - # 3. Send current carstate to op via can - - cruise_button = 0 - throttle_out = steer_out = brake_out = 0.0 - throttle_op = steer_op = brake_op = 0.0 - throttle_manual = steer_manual = brake_manual = 0.0 - - # --------------Step 1------------------------------- - if not q.empty(): - message = q.get() - m = message.split('_') - if m[0] == "steer": - steer_manual = float(m[1]) - is_openpilot_engaged = False - elif m[0] == "throttle": - throttle_manual = float(m[1]) - is_openpilot_engaged = False - elif m[0] == "brake": - brake_manual = float(m[1]) - is_openpilot_engaged = False - elif m[0] == "reverse": - cruise_button = CruiseButtons.CANCEL - is_openpilot_engaged = False - elif m[0] == "cruise": - if m[1] == "down": - cruise_button = CruiseButtons.DECEL_SET - is_openpilot_engaged = True - elif m[1] == "up": - cruise_button = CruiseButtons.RES_ACCEL - is_openpilot_engaged = True - elif m[1] == "cancel": - cruise_button = CruiseButtons.CANCEL - is_openpilot_engaged = False - elif m[0] == "ignition": - vehicle_state.ignition = not vehicle_state.ignition - elif m[0] == "quit": - break - - throttle_out = throttle_manual * throttle_manual_multiplier - steer_out = steer_manual * steer_manual_multiplier - brake_out = brake_manual * brake_manual_multiplier - - old_steer = steer_out - old_throttle = throttle_out - old_brake = brake_out - - if is_openpilot_engaged: - sm.update(0) - - # TODO gas and brake is deprecated - throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0) - brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0) - steer_op = sm['carControl'].actuators.steeringAngleDeg - - throttle_out = throttle_op - steer_out = steer_op - brake_out = brake_op - - steer_out = steer_rate_limit(old_steer, steer_out) - old_steer = steer_out - - else: - if throttle_out == 0 and old_throttle > 0: - if throttle_ease_out_counter > 0: - throttle_out = old_throttle - throttle_ease_out_counter += -1 - else: - throttle_ease_out_counter = REPEAT_COUNTER - old_throttle = 0 - - if brake_out == 0 and old_brake > 0: - if brake_ease_out_counter > 0: - brake_out = old_brake - brake_ease_out_counter += -1 - else: - brake_ease_out_counter = REPEAT_COUNTER - old_brake = 0 - - if steer_out == 0 and old_steer != 0: - if steer_ease_out_counter > 0: - steer_out = old_steer - steer_ease_out_counter += -1 - else: - steer_ease_out_counter = REPEAT_COUNTER - old_steer = 0 - - # --------------Step 2------------------------------- - steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1) - - steer_carla = np.clip(steer_carla, -1, 1) - steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1) - old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1) - - vc.throttle = throttle_out / 0.6 - vc.steer = steer_carla - vc.brake = brake_out - vehicle.apply_control(vc) - - # --------------Step 3------------------------------- - vel = vehicle.get_velocity() - speed = math.sqrt(vel.x ** 2 + vel.y ** 2 + vel.z ** 2) # in m/s - vehicle_state.speed = speed - vehicle_state.vel = vel - vehicle_state.angle = steer_out - vehicle_state.cruise_button = cruise_button - vehicle_state.is_engaged = is_openpilot_engaged - - if rk.frame % PRINT_DECIMATION == 0: - print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", - round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3)) - - if rk.frame % 5 == 0: - world.tick() - rk.keep_time() - self.started = True - - def close(self): - self.started = False - self._exit_event.set() - - for s in self._carla_objects: - try: - s.destroy() - except Exception as e: - print("Failed to destroy carla object", e) - for t in reversed(self._threads): - t.join() - - def run(self, queue, retries=-1): - bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True) - bridge_p.start() - return bridge_p - - -if __name__ == "__main__": - q: Any = Queue() - args = parse_args() - - carla_bridge = CarlaBridge(args) - p = carla_bridge.run(q) - - if args.joystick: - # start input poll for joystick - from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread - - wheel_poll_thread(q) - else: - # start input poll for keyboard - from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread - - keyboard_poll_thread(q) - p.join() diff --git a/tools/sim/bridge/__init__.py b/tools/sim/bridge/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/tools/sim/bridge/carla.py b/tools/sim/bridge/carla.py new file mode 100644 index 0000000000..df25734e19 --- /dev/null +++ b/tools/sim/bridge/carla.py @@ -0,0 +1,163 @@ +import numpy as np + +from openpilot.common.params import Params +from openpilot.tools.sim.lib.common import SimulatorState, vec3 +from openpilot.tools.sim.bridge.common import World, SimulatorBridge +from openpilot.tools.sim.lib.camerad import W, H + + +class CarlaWorld(World): + def __init__(self, world, vehicle, high_quality=False, dual_camera=False): + super().__init__(dual_camera) + import carla + self.world = world + self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False) + self.vehicle = vehicle + self.max_steer_angle: float = vehicle.get_physics_control().wheels[0].max_steer_angle + self.params = Params() + + self.steer_ratio = 15 + + self.carla_objects = [] + + blueprint_library = self.world.get_blueprint_library() + transform = carla.Transform(carla.Location(x=0.8, z=1.13)) + + def create_camera(fov, callback): + blueprint = blueprint_library.find('sensor.camera.rgb') + blueprint.set_attribute('image_size_x', str(W)) + blueprint.set_attribute('image_size_y', str(H)) + blueprint.set_attribute('fov', str(fov)) + blueprint.set_attribute('sensor_tick', str(1/20)) + if not high_quality: + blueprint.set_attribute('enable_postprocess_effects', 'False') + camera = world.spawn_actor(blueprint, transform, attach_to=vehicle) + camera.listen(callback) + return camera + + self.road_camera = create_camera(fov=40, callback=self.cam_callback_road) + if dual_camera: + self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts + else: + self.road_wide_camera = None + + # re-enable IMU + imu_bp = blueprint_library.find('sensor.other.imu') + imu_bp.set_attribute('sensor_tick', '0.01') + self.imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle) + + gps_bp = blueprint_library.find('sensor.other.gnss') + self.gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle) + self.params.put_bool("UbloxAvailable", True) + + self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera] + + def close(self): + for s in self.carla_objects: + if s is not None: + try: + s.destroy() + except Exception as e: + print("Failed to destroy carla object", e) + + def carla_image_to_rgb(self, image): + rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) + rgb = np.reshape(rgb, (H, W, 4)) + return np.ascontiguousarray(rgb[:, :, [0, 1, 2]]) + + def cam_callback_road(self, image): + with self.image_lock: + self.road_image = self.carla_image_to_rgb(image) + + def cam_callback_wide_road(self, image): + with self.image_lock: + self.wide_road_image = self.carla_image_to_rgb(image) + + def apply_controls(self, steer_angle, throttle_out, brake_out): + self.vc.throttle = throttle_out + + steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio) + steer_carla = np.clip(steer_carla, -1, 1) + + self.vc.steer = steer_carla + self.vc.brake = brake_out + self.vehicle.apply_control(self.vc) + + def read_sensors(self, simulator_state: SimulatorState): + simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw + + simulator_state.imu.accelerometer = vec3( + self.imu.get_acceleration().x, + self.imu.get_acceleration().y, + self.imu.get_acceleration().z + ) + + simulator_state.imu.gyroscope = vec3( + self.imu.get_angular_velocity().x, + self.imu.get_angular_velocity().y, + self.imu.get_angular_velocity().z + ) + + simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y]) + + simulator_state.velocity = self.vehicle.get_velocity() + simulator_state.valid = True + simulator_state.steering_angle = self.vc.steer * self.max_steer_angle + + def read_cameras(self): + pass # cameras are read within a callback for carla + + def tick(self): + self.world.tick() + + +class CarlaBridge(SimulatorBridge): + TICKS_PER_FRAME = 5 + + def __init__(self, arguments): + super().__init__(arguments) + self.host = arguments.host + self.port = arguments.port + self.town = arguments.town + self.num_selected_spawn_point = arguments.num_selected_spawn_point + + def spawn_world(self): + import carla + client = carla.Client(self.host, self.port) + client.set_timeout(5) + + world = client.load_world(self.town) + + settings = world.get_settings() + settings.fixed_delta_seconds = 0.01 + world.apply_settings(settings) + + world.set_weather(carla.WeatherParameters.ClearSunset) + + if not self.high_quality: + world.unload_map_layer(carla.MapLayer.Foliage) + world.unload_map_layer(carla.MapLayer.Buildings) + world.unload_map_layer(carla.MapLayer.ParkedVehicles) + world.unload_map_layer(carla.MapLayer.Props) + world.unload_map_layer(carla.MapLayer.StreetLights) + world.unload_map_layer(carla.MapLayer.Particles) + + blueprint_library = world.get_blueprint_library() + + world_map = world.get_map() + + vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1] + vehicle_bp.set_attribute('role_name', 'hero') + spawn_points = world_map.get_spawn_points() + assert len(spawn_points) > self.num_selected_spawn_point, \ + f'''No spawn point {self.num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.''' + spawn_point = spawn_points[self.num_selected_spawn_point] + vehicle = world.spawn_actor(vehicle_bp, spawn_point) + + physics_control = vehicle.get_physics_control() + physics_control.mass = 2326 + physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]] + physics_control.gear_switch_time = 0.0 + vehicle.apply_physics_control(physics_control) + + return CarlaWorld(world, vehicle, dual_camera=self.dual_camera) \ No newline at end of file diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py new file mode 100644 index 0000000000..464ea08823 --- /dev/null +++ b/tools/sim/bridge/common.py @@ -0,0 +1,163 @@ +import signal +import threading +import functools + +from multiprocessing import Process, Queue +from abc import ABC, abstractmethod +from typing import Optional + +import cereal.messaging as messaging + +from openpilot.common.params import Params +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import Ratekeeper +from openpilot.selfdrive.test.helpers import set_params_enabled +from openpilot.selfdrive.car.honda.values import CruiseButtons +from openpilot.tools.sim.lib.common import SimulatorState, World +from openpilot.tools.sim.lib.simulated_car import SimulatedCar +from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors + + +def rk_loop(function, hz, exit_event: threading.Event): + rk = Ratekeeper(hz) + while not exit_event.is_set(): + function() + rk.keep_time() + + +class SimulatorBridge(ABC): + TICKS_PER_FRAME = 5 + + def __init__(self, arguments): + set_params_enabled() + self.params = Params() + + self.rk = Ratekeeper(100) + + msg = messaging.new_message('liveCalibration') + msg.liveCalibration.validBlocks = 20 + msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] + self.params.put("CalibrationParams", msg.to_bytes()) + + self.dual_camera = arguments.dual_camera + self.high_quality = arguments.high_quality + + self._exit_event = threading.Event() + self._threads = [] + self._keep_alive = True + self.started = False + signal.signal(signal.SIGTERM, self._on_shutdown) + self._exit = threading.Event() + self.simulator_state = SimulatorState() + + self.world: Optional[World] = None + + def _on_shutdown(self, signal, frame): + self.shutdown() + + def shutdown(self): + self._keep_alive = False + + def bridge_keep_alive(self, q: Queue, retries: int): + try: + self._run(q) + finally: + self.close() + + def close(self): + self.started = False + self._exit_event.set() + + if self.world is not None: + self.world.close() + + def run(self, queue, retries=-1): + bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True) + bridge_p.start() + return bridge_p + + @abstractmethod + def spawn_world(self) -> World: + pass + + def _run(self, q: Queue): + self.world = self.spawn_world() + + self.simulated_car = SimulatedCar() + self.simulated_sensors = SimulatedSensors(self.dual_camera) + + self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state), + 100, self._exit_event)) + self.simulated_car_thread.start() + + rk = Ratekeeper(100, print_delay_threshold=None) + + # Simulation tends to be slow in the initial steps. This prevents lagging later + for _ in range(20): + self.world.tick() + + throttle_manual = steer_manual = brake_manual = 0. + + while self._keep_alive: + throttle_out = steer_out = brake_out = 0.0 + throttle_op = steer_op = brake_op = 0.0 + + self.simulator_state.cruise_button = 0 + + throttle_manual = steer_manual = brake_manual = 0. + + # Read manual controls + if not q.empty(): + message = q.get() + m = message.split('_') + if m[0] == "steer": + steer_manual = float(m[1]) + elif m[0] == "throttle": + throttle_manual = float(m[1]) + elif m[0] == "brake": + brake_manual = float(m[1]) + elif m[0] == "cruise": + if m[1] == "down": + self.simulator_state.cruise_button = CruiseButtons.DECEL_SET + elif m[1] == "up": + self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL + elif m[1] == "cancel": + self.simulator_state.cruise_button = CruiseButtons.CANCEL + elif m[1] == "main": + self.simulator_state.cruise_button = CruiseButtons.MAIN + elif m[0] == "ignition": + self.simulator_state.ignition = not self.simulator_state.ignition + elif m[0] == "quit": + break + + self.simulator_state.user_brake = brake_manual + self.simulator_state.user_gas = throttle_manual + + steer_manual = steer_manual * -40 + + # Update openpilot on current sensor state + self.simulated_sensors.update(self.simulator_state, self.world) + + is_openpilot_engaged = self.simulated_car.sm['controlsState'].active + + self.simulated_car.sm.update(0) + + if is_openpilot_engaged: + throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0) + brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0) + steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg + + throttle_out = throttle_op if is_openpilot_engaged else throttle_manual + brake_out = brake_op if is_openpilot_engaged else brake_manual + steer_out = steer_op if is_openpilot_engaged else steer_manual + + self.world.apply_controls(steer_out, throttle_out, brake_out) + self.world.read_sensors(self.simulator_state) + + if self.rk.frame % self.TICKS_PER_FRAME == 0: + self.world.tick() + self.world.read_cameras() + + self.started = True + + rk.keep_time() diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py new file mode 100644 index 0000000000..4621347787 --- /dev/null +++ b/tools/sim/lib/camerad.py @@ -0,0 +1,70 @@ +import numpy as np +import os +import pyopencl as cl +import pyopencl.array as cl_array + +from cereal.visionipc import VisionIpcServer, VisionStreamType +from cereal import messaging + +from openpilot.common.basedir import BASEDIR +from openpilot.tools.sim.lib.common import W, H + +class Camerad: + """Simulates the camerad daemon""" + def __init__(self, dual_camera): + self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState']) + + self.frame_road_id = 0 + self.frame_wide_id = 0 + self.vipc_server = VisionIpcServer("camerad") + + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H) + if dual_camera: + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H) + + self.vipc_server.start_listener() + + # set up for pyopencl rgb to yuv conversion + self.ctx = cl.create_some_context() + self.queue = cl.CommandQueue(self.ctx) + cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " + + kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl") + with open(kernel_fn) as f: + prg = cl.Program(self.ctx, f.read()).build(cl_arg) + self.krnl = prg.rgb_to_nv12 + self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4 + self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4 + + def cam_send_yuv_road(self, yuv): + self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD) + self.frame_road_id += 1 + + def cam_send_yuv_wide_road(self, yuv): + self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD) + self.frame_wide_id += 1 + + # Returns: yuv bytes + def rgb_to_yuv(self, rgb): + assert rgb.shape == (H, W, 3), f"{rgb.shape}" + assert rgb.dtype == np.uint8 + + rgb_cl = cl_array.to_device(self.queue, rgb) + yuv_cl = cl_array.empty_like(rgb_cl) + self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait() + yuv = np.resize(yuv_cl.get(), rgb.size // 2) + return yuv.data.tobytes() + + def _send_yuv(self, yuv, frame_id, pub_type, yuv_type): + eof = int(frame_id * 0.05 * 1e9) + self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof) + + dat = messaging.new_message(pub_type) + msg = { + "frameId": frame_id, + "transform": [1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0] + } + setattr(dat, pub_type, msg) + self.pm.send(pub_type, dat) \ No newline at end of file diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py deleted file mode 100755 index db321d3193..0000000000 --- a/tools/sim/lib/can.py +++ /dev/null @@ -1,94 +0,0 @@ -#!/usr/bin/env python3 -import cereal.messaging as messaging -from opendbc.can.packer import CANPacker -from opendbc.can.parser import CANParser -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp -from openpilot.selfdrive.car import crc8_pedal - -packer = CANPacker("honda_civic_touring_2016_can_generated") -rpacker = CANPacker("acura_ilx_2016_nidec") - - -def get_car_can_parser(): - dbc_f = 'honda_civic_touring_2016_can_generated' - checks = [ - (0xe4, 100), - (0x1fa, 50), - (0x200, 50), - ] - return CANParser(dbc_f, checks, 0) -cp = get_car_can_parser() - -def can_function(pm, speed, angle, idx, cruise_button, is_engaged): - - msg = [] - - # *** powertrain bus *** - - speed = speed * 3.6 # convert m/s to kph - msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed})) - msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, { - "WHEEL_SPEED_FL": speed, - "WHEEL_SPEED_FR": speed, - "WHEEL_SPEED_RL": speed, - "WHEEL_SPEED_RR": speed - })) - - msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button})) - - values = {"COUNTER_PEDAL": idx & 0xF} - checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1]) - values["CHECKSUM_PEDAL"] = checksum - msg.append(packer.make_can_msg("GAS_SENSOR", 0, values)) - - msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8})) - msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {})) - msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1})) - msg.append(packer.make_can_msg("STEER_STATUS", 0, {})) - msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle})) - msg.append(packer.make_can_msg("VSA_STATUS", 0, {})) - msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0})) - msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {})) - msg.append(packer.make_can_msg("EPB_STATUS", 0, {})) - msg.append(packer.make_can_msg("DOORS_STATUS", 0, {})) - msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {})) - msg.append(packer.make_can_msg("CRUISE", 0, {})) - msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1})) - msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)})) - msg.append(packer.make_can_msg("HUD_SETTING", 0, {})) - msg.append(packer.make_can_msg("CAR_SPEED", 0, {})) - - # *** cam bus *** - msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {})) - msg.append(packer.make_can_msg("ACC_HUD", 2, {})) - msg.append(packer.make_can_msg("LKAS_HUD", 2, {})) - msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {})) - - # *** radar bus *** - if idx % 5 == 0: - msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79})) - for i in range(16): - msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5})) - - pm.send('can', can_list_to_can_capnp(msg)) - -def sendcan_function(sendcan): - sc = messaging.drain_sock_raw(sendcan) - cp.update_strings(sc, sendcan=True) - - if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']: - brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024. - else: - brake = 0.0 - - if cp.vl[0x200]['GAS_COMMAND'] > 0: - gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16) - else: - gas = 0.0 - - if cp.vl[0xe4]['STEER_TORQUE_REQUEST']: - steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840 - else: - steer_torque = 0.0 - - return gas, brake, steer_torque diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py new file mode 100644 index 0000000000..3de89f39fc --- /dev/null +++ b/tools/sim/lib/common.py @@ -0,0 +1,86 @@ +import math +import threading +import numpy as np + +from abc import ABC, abstractmethod +from collections import namedtuple + +W, H = 1928, 1208 + + +vec3 = namedtuple("vec3", ["x", "y", "z"]) + +class GPSState: + def __init__(self): + self.latitude = 0 + self.longitude = 0 + self.altitude = 0 + + def from_xy(self, xy): + """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?""" + BASE_LAT = 32.75308505188913 + BASE_LON = -117.2095393365393 + DEG_TO_METERS = 100000 + + self.latitude = float(BASE_LAT + xy[0] / DEG_TO_METERS) + self.longitude = float(BASE_LON + xy[1] / DEG_TO_METERS) + self.altitude = 0 + + +class IMUState: + def __init__(self): + self.accelerometer: vec3 = vec3(0,0,0) + self.gyroscope: vec3 = vec3(0,0,0) + self.bearing: float = 0 + + +class SimulatorState: + def __init__(self): + self.valid = False + self.is_engaged = False + self.ignition = True + + self.velocity: vec3 = None + self.bearing: float = 0 + self.gps = GPSState() + self.imu = IMUState() + + self.steering_angle: float = 0 + + self.user_gas: float = 0 + self.user_brake: float = 0 + + self.cruise_button = 0 + + @property + def speed(self): + return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2) + + +class World(ABC): + def __init__(self, dual_camera): + self.dual_camera = dual_camera + + self.image_lock = threading.Lock() + self.road_image = np.zeros((H, W, 3), dtype=np.uint8) + self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8) + + @abstractmethod + def apply_controls(self, steer_sim, throttle_out, brake_out): + pass + + @abstractmethod + def tick(self): + pass + + @abstractmethod + def read_sensors(self, simulator_state: SimulatorState): + pass + + @abstractmethod + def read_cameras(self): + pass + + @abstractmethod + def close(self): + pass \ No newline at end of file diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index 803aa091a3..57d5834026 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/tools/sim/lib/keyboard_ctrl.py @@ -1,6 +1,7 @@ import sys import termios import time + from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK, ISTRIP, IXON, PARENB, VMIN, VTIME) from typing import NoReturn @@ -38,7 +39,6 @@ def getch() -> str: def keyboard_poll_thread(q: 'Queue[str]'): while True: c = getch() - print("got %s" % c) if c == '1': q.put("cruise_up") elif c == '2': diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py new file mode 100644 index 0000000000..bbdbb9fcc4 --- /dev/null +++ b/tools/sim/lib/simulated_car.py @@ -0,0 +1,110 @@ +import cereal.messaging as messaging + +from opendbc.can.packer import CANPacker +from opendbc.can.parser import CANParser +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.car import crc8_pedal +from openpilot.tools.sim.lib.common import SimulatorState + + +class SimulatedCar: + """Simulates a honda civic 2016 (panda state + can messages) to OpenPilot""" + packer = CANPacker("honda_civic_touring_2016_can_generated") + rpacker = CANPacker("acura_ilx_2016_nidec") + + def __init__(self): + self.pm = messaging.PubMaster(['can', 'pandaStates']) + self.sm = messaging.SubMaster(['carControl', 'controlsState']) + self.cp = self.get_car_can_parser() + self.idx = 0 + + @staticmethod + def get_car_can_parser(): + dbc_f = 'honda_civic_touring_2016_can_generated' + checks = [ + (0xe4, 100), + (0x1fa, 50), + (0x200, 50), + ] + return CANParser(dbc_f, checks, 0) + + def send_can_messages(self, simulator_state: SimulatorState): + if not simulator_state.valid: + return + + msg = [] + + # *** powertrain bus *** + + speed = simulator_state.speed * 3.6 # convert m/s to kph + msg.append(self.packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed})) + msg.append(self.packer.make_can_msg("WHEEL_SPEEDS", 0, { + "WHEEL_SPEED_FL": speed, + "WHEEL_SPEED_FR": speed, + "WHEEL_SPEED_RL": speed, + "WHEEL_SPEED_RR": speed + })) + + msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button})) + + values = { + "COUNTER_PEDAL": self.idx & 0xF, + "INTERCEPTOR_GAS": simulator_state.user_gas * 2**12, + "INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12, + } + checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1]) + values["CHECKSUM_PEDAL"] = checksum + msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values)) + + msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8})) + msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {})) + msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1})) + msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {})) + msg.append(self.packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": simulator_state.steering_angle})) + msg.append(self.packer.make_can_msg("VSA_STATUS", 0, {})) + msg.append(self.packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if simulator_state.speed >= 1.0 else 0})) + msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {})) + msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {})) + msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {})) + msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {})) + msg.append(self.packer.make_can_msg("CRUISE", 0, {})) + msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1})) + msg.append(self.packer.make_can_msg("POWERTRAIN_DATA", 0, + { + "ACC_STATUS": int(simulator_state.is_engaged), + "PEDAL_GAS": simulator_state.user_gas, + "BRAKE_PRESSED": simulator_state.user_brake > 0 + })) + msg.append(self.packer.make_can_msg("HUD_SETTING", 0, {})) + msg.append(self.packer.make_can_msg("CAR_SPEED", 0, {})) + + # *** cam bus *** + msg.append(self.packer.make_can_msg("STEERING_CONTROL", 2, {})) + msg.append(self.packer.make_can_msg("ACC_HUD", 2, {})) + msg.append(self.packer.make_can_msg("LKAS_HUD", 2, {})) + msg.append(self.packer.make_can_msg("BRAKE_COMMAND", 2, {})) + + # *** radar bus *** + if self.idx % 5 == 0: + msg.append(self.rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79})) + for i in range(16): + msg.append(self.rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5})) + + self.pm.send('can', can_list_to_can_capnp(msg)) + + def send_panda_state(self, simulator_state): + dat = messaging.new_message('pandaStates', 1) + dat.valid = True + dat.pandaStates[0] = { + 'ignitionLine': simulator_state.ignition, + 'pandaType': "blackPanda", + 'controlsAllowed': True, + 'safetyModel': 'hondaNidec', + } + self.pm.send('pandaStates', dat) + + def update(self, simulator_state: SimulatorState): + self.send_can_messages(simulator_state) + self.send_panda_state(simulator_state) + + self.idx += 1 \ No newline at end of file diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py new file mode 100644 index 0000000000..dd55c02f02 --- /dev/null +++ b/tools/sim/lib/simulated_sensors.py @@ -0,0 +1,127 @@ +import time + +from cereal import log +import cereal.messaging as messaging + +from openpilot.common.params import Params +from openpilot.common.realtime import DT_DMON +from openpilot.tools.sim.lib.camerad import Camerad + +from typing import TYPE_CHECKING +if TYPE_CHECKING: + from openpilot.tools.sim.lib.common import World, SimulatorState + + +class SimulatedSensors: + """Simulates the C3 sensors (acc, gyro, gps, peripherals, dm state, cameras) to OpenPilot""" + + def __init__(self, dual_camera=False): + self.pm = messaging.PubMaster(['accelerometer', 'gyroscope', 'gpsLocationExternal', 'driverStateV2', 'driverMonitoringState', 'peripheralState']) + self.camerad = Camerad(dual_camera=dual_camera) + self.last_perp_update = 0 + self.last_dmon_update = 0 + + def send_imu_message(self, simulator_state: 'SimulatorState'): + for _ in range(5): + dat = messaging.new_message('accelerometer') + dat.accelerometer.sensor = 4 + dat.accelerometer.type = 0x10 + dat.accelerometer.timestamp = dat.logMonoTime # TODO: use the IMU timestamp + dat.accelerometer.init('acceleration') + dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z] + self.pm.send('accelerometer', dat) + + # copied these numbers from locationd + dat = messaging.new_message('gyroscope') + dat.gyroscope.sensor = 5 + dat.gyroscope.type = 0x10 + dat.gyroscope.timestamp = dat.logMonoTime # TODO: use the IMU timestamp + dat.gyroscope.init('gyroUncalibrated') + dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z] + self.pm.send('gyroscope', dat) + + def send_gps_message(self, simulator_state: 'SimulatorState'): + if not simulator_state.valid: + return + + # transform vel from carla to NED + # north is -Y in CARLA + velNED = [ + -simulator_state.velocity.y, # north/south component of NED is negative when moving south + simulator_state.velocity.x, # positive when moving east, which is x in carla + simulator_state.velocity.z, + ] + + for _ in range(10): + dat = messaging.new_message('gpsLocationExternal') + dat.gpsLocationExternal = { + "unixTimestampMillis": int(time.time() * 1000), + "flags": 1, # valid fix + "accuracy": 1.0, + "verticalAccuracy": 1.0, + "speedAccuracy": 0.1, + "bearingAccuracyDeg": 0.1, + "vNED": velNED, + "bearingDeg": simulator_state.imu.bearing, + "latitude": simulator_state.gps.latitude, + "longitude": simulator_state.gps.longitude, + "altitude": simulator_state.gps.altitude, + "speed": simulator_state.speed, + "source": log.GpsLocationData.SensorSource.ublox, + } + + self.pm.send('gpsLocationExternal', dat) + + def send_peripheral_state(self): + dat = messaging.new_message('peripheralState') + dat.valid = True + dat.peripheralState = { + 'pandaType': log.PandaState.PandaType.blackPanda, + 'voltage': 12000, + 'current': 5678, + 'fanSpeedRpm': 1000 + } + Params().put_bool("ObdMultiplexingEnabled", False) + self.pm.send('peripheralState', dat) + + def send_fake_driver_monitoring(self): + # dmonitoringmodeld output + dat = messaging.new_message('driverStateV2') + dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.] + dat.driverStateV2.leftDriverData.faceProb = 1.0 + dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.] + dat.driverStateV2.rightDriverData.faceProb = 1.0 + self.pm.send('driverStateV2', dat) + + # dmonitoringd output + dat = messaging.new_message('driverMonitoringState') + dat.driverMonitoringState = { + "faceDetected": True, + "isDistracted": False, + "awarenessStatus": 1., + } + self.pm.send('driverMonitoringState', dat) + + def send_camera_images(self, world: 'World'): + with world.image_lock: + yuv = self.camerad.rgb_to_yuv(world.road_image) + self.camerad.cam_send_yuv_road(yuv) + + if world.dual_camera: + yuv = self.camerad.rgb_to_yuv(world.wide_road_image) + self.camerad.cam_send_yuv_wide_road(yuv) + + def update(self, simulator_state: 'SimulatorState', world: 'World'): + now = time.time() + self.send_imu_message(simulator_state) + self.send_gps_message(simulator_state) + + if (now - self.last_dmon_update) > DT_DMON/2: + self.send_fake_driver_monitoring() + self.last_dmon_update = now + + if (now - self.last_perp_update) > 0.25: + self.send_peripheral_state() + self.last_perp_update = now + + self.send_camera_images(world) \ No newline at end of file diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py new file mode 100755 index 0000000000..8e6dc8f2ef --- /dev/null +++ b/tools/sim/run_bridge.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python +import argparse + +from typing import Any +from multiprocessing import Queue + +from openpilot.tools.sim.bridge.common import SimulatorBridge +from openpilot.tools.sim.bridge.carla import CarlaBridge + + +def parse_args(add_args=None): + parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.') + parser.add_argument('--joystick', action='store_true') + parser.add_argument('--high_quality', action='store_true') + parser.add_argument('--dual_camera', action='store_true') + parser.add_argument('--simulator', dest='simulator', type=str, default='carla') + + # Carla specific + parser.add_argument('--town', type=str, default='Town04_Opt') + parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16) + parser.add_argument('--host', dest='host', type=str, default='127.0.0.1') + parser.add_argument('--port', dest='port', type=int, default=2000) + + return parser.parse_args(add_args) + +if __name__ == "__main__": + q: Any = Queue() + args = parse_args() + + simulator_bridge: SimulatorBridge + if args.simulator == "carla": + simulator_bridge = CarlaBridge(args) + else: + raise AssertionError("simulator type not supported") + p = simulator_bridge.run(q) + + if args.joystick: + # start input poll for joystick + from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread + + wheel_poll_thread(q) + else: + # start input poll for keyboard + from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread + + keyboard_poll_thread(q) + + simulator_bridge.shutdown() + + p.join() diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py index 65f5f4a30f..b5a60ee0e3 100755 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -8,8 +8,8 @@ from multiprocessing import Queue from cereal import messaging from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.manager.helpers import unblock_stdout -from openpilot.tools.sim import bridge -from openpilot.tools.sim.bridge import CarlaBridge +from openpilot.tools.sim.run_bridge import parse_args +from openpilot.tools.sim.bridge.carla import CarlaBridge CI = "CI" in os.environ @@ -42,7 +42,7 @@ class TestCarlaIntegration(unittest.TestCase): sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState']) q = Queue() - carla_bridge = CarlaBridge(bridge.parse_args([])) + carla_bridge = CarlaBridge(parse_args([])) p_bridge = carla_bridge.run(q, retries=10) self.processes.append(p_bridge) From 22e7aa3d985d273d0a66198d9549f1778d79ed83 Mon Sep 17 00:00:00 2001 From: next176 <145059169+next176@users.noreply.github.com> Date: Fri, 15 Sep 2023 23:05:44 +0200 Subject: [PATCH 386/410] Hyundai Ioniq 6 "EUR" fwdCamera fingerprint (#29930) * Update values.py Hyundai Ioniq 6 Premium AWD 2023 / EUR fingerprint * Update routes.py Ioniq6 EUR model * Update selfdrive/car/tests/routes.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 8827c7bb0c..b84cb80843 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1833,6 +1833,7 @@ FW_VERSIONS = { b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', ], }, From c6f1f36789427e115c533a5d5c319d4e58ff644a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 15 Sep 2023 14:38:51 -0700 Subject: [PATCH 387/410] CI: reduce unittest timeout (#29937) reduce timeout --- .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 f7aba648a4..575ee21835 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -271,7 +271,7 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests - timeout-minutes: 40 + timeout-minutes: 15 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \ From ad7432b45d00cf05fb9635a850bae878d3b686b9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 15 Sep 2023 14:55:08 -0700 Subject: [PATCH 388/410] update metadrive (#29938) --- poetry.lock | 46 ++++++++++++++++++++-------------------------- pyproject.toml | 2 +- 2 files changed, 21 insertions(+), 27 deletions(-) diff --git a/poetry.lock b/poetry.lock index 2c134ec32d..0f0f587fd1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. 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{file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"}, {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"}, {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"}, {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"}, @@ -3993,7 +3988,6 @@ files = [ {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"}, {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"}, {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"}, - {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"}, {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"}, {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"}, {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"}, @@ -5087,4 +5081,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "7258a24274936ccdafb930a683f4ea197e82ab187698d0723bb4683ca41e6d26" +content-hash = "6c93bf910082c9de645e00f036ebbce8cb1e658fb0b74f435ec3120e17acacca" diff --git a/pyproject.toml b/pyproject.toml index 5d4bcafa7a..a314c9e647 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -132,7 +132,7 @@ inputs = "*" lru-dict = "*" markdown-it-py = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" From ef50b4fdacd64d748bd80db26645c8dc88843b37 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 15 Sep 2023 14:59:46 -0700 Subject: [PATCH 389/410] Test modeld: 3s enough for modeld startup (#29936) * Test modeld: 3s enough for modeld startup * Always fails when you send frames before modeld is ready * Wait for modeld to read --- selfdrive/modeld/tests/test_modeld.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index c3d3b3daa1..7ae6d5308f 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import time import unittest import numpy as np import random @@ -27,8 +26,7 @@ class TestModeld(unittest.TestCase): self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan']) managed_processes['modeld'].start() - time.sleep(0.2) - self.sm.update(1000) + self.pm.wait_for_readers_to_update("roadCameraState", 10) def tearDown(self): managed_processes['modeld'].stop() From ccc8e099b6e3457cc3a4e263491d1bfc92e8c897 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 15 Sep 2023 18:50:43 -0700 Subject: [PATCH 390/410] sensord: test update for provisioning (#29942) sensord: update for provisioning --- system/sensord/tests/test_sensord.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index ccdce3b4e5..dbe28ab9db 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -81,7 +81,7 @@ def read_sensor_events(duration_sec): socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100) # wait for sensors to come up - with Timeout(60, "sensors didn't come up"): + with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"): while len(poller.poll(250)) == 0: pass time.sleep(1) From f0b8ecd14f7aed3d3ad46c770881e3028ed9781f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 15 Sep 2023 19:05:32 -0700 Subject: [PATCH 391/410] macOS: add prompt about support in setup script (#29939) * Add prompt about the state of macos support in mac_setup * Change words Co-authored-by: Adeeb Shihadeh --------- Co-authored-by: Adeeb Shihadeh --- .github/workflows/selfdrive_tests.yaml | 2 +- tools/mac_setup.sh | 14 ++++++++++++++ 2 files changed, 15 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 575ee21835..6fd2ca8556 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -142,7 +142,7 @@ jobs: fi - name: Install dependencies if: steps.dependency-cache.outputs.cache-hit != 'true' - run: ./tools/mac_setup.sh + run: SKIP_PROMPT=1 ./tools/mac_setup.sh env: # package install has DeprecationWarnings PYTHONWARNINGS: default diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 0c9627ca4e..9ec2097ea4 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -2,6 +2,20 @@ set -e +if [ -z "$SKIP_PROMPT" ]; then + echo "--------------- macOS support ---------------" + echo "Running openpilot natively on macOS is not officially supported." + echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." + echo + echo "Check out devcontainers for a seamless experience (see tools/README.md)." + echo "-------------------------------------------------" + echo -n "Are you sure you want to continue? [y/N] " + read -r response + if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then + exit 1 + fi +fi + DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" ROOT="$(cd $DIR/../ && pwd)" ARCH=$(uname -m) From f7d49ecca1fff0f680080919f87af790da2cd455 Mon Sep 17 00:00:00 2001 From: Quake4net <144956803+Quake4net@users.noreply.github.com> Date: Sat, 16 Sep 2023 08:11:20 +0200 Subject: [PATCH 392/410] VW: fingerprint for Crafter MK2 (#29926) * Update values.py Added Crafter_MK2 fwVersions: Problem there where two engine ecu's with the same address, I added both into the fwVersion list. * Update values.py deleted the hyundai engine ecu fwVersion - Discord told me to ignore Hyundai parts so I deleted that one line again. --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 494d59bad2..b98de73080 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -396,6 +396,7 @@ FW_VERSIONS = { }, CAR.CRAFTER_MK2: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056BP\xf1\x894729', b'\xf1\x8704L906056EK\xf1\x896391', b'\xf1\x8705L906023BC\xf1\x892688', ], @@ -403,15 +404,18 @@ FW_VERSIONS = { #(Ecu.transmission, 0x7e1, None): [ #], (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572J \xf1\x890156', b'\xf1\x872Q0907572M \xf1\x890233', ], }, From ce608d03b7b258fee6248911a0aa4718d8123043 Mon Sep 17 00:00:00 2001 From: venmer2 <145170480+venmer2@users.noreply.github.com> Date: Fri, 15 Sep 2023 23:24:30 -0700 Subject: [PATCH 393/410] VW: missing FW for Tiguan 2019 (#29943) * Update values.py for VW Tiguan 2019 SEL Added all ECU Firmware Versions for VW Tiguan 2019 SEL model * rm duplicates --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index b98de73080..4ea9e1ddf8 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -827,6 +827,7 @@ FW_VERSIONS = { b'\xf1\x8783A907115G \xf1\x890001', b'\xf1\x8783A907115K \xf1\x890001', b'\xf1\x8704E906024AP\xf1\x891461', + b'\xf1\x8783A907115 \xf1\x890007', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', @@ -857,6 +858,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', + b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', @@ -871,6 +873,7 @@ FW_VERSIONS = { b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', From 5831c05a11fbbab79cbd0c9d842b8931929b6268 Mon Sep 17 00:00:00 2001 From: Narayan Babu Date: Sat, 16 Sep 2023 12:49:20 +0530 Subject: [PATCH 394/410] Add Tiguan 2019 fingerprint (#29892) * Added new ECU fingerprints * Update values.py formatting, syntax --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4ea9e1ddf8..a5ed3744a5 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -822,6 +822,7 @@ FW_VERSIONS = { b'\xf1\x875NA906259H \xf1\x890002', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', + b'\xf1\x875NA907115J \xf1\x890002', b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', @@ -845,12 +846,14 @@ FW_VERSIONS = { b'\xf1\x870DL300013G \xf1\x892120', b'\xf1\x870DL300014C \xf1\x893703', b'\xf1\x870DD300046K \xf1\x892302', + b'\xf1\x870GC300013P \xf1\x892401', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100', From 5cb4e8352885aec86b800f3e981571a175f3b931 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 16 Sep 2023 15:11:09 -0700 Subject: [PATCH 395/410] ruff: check mutable default values for data class attributes (#29945) * Update pyproject.toml * Update pyproject.toml --- pyproject.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index a314c9e647..a69cd28e4d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -172,7 +172,7 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B", "TID251"] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 target-version="py311" @@ -190,4 +190,4 @@ flake8-implicit-str-concat.allow-multiline=false "common".msg = "Use openpilot.common" "system".msg = "Use openpilot.system" "third_party".msg = "Use openpilot.third_party" -"tools".msg = "Use openpilot.tools" \ No newline at end of file +"tools".msg = "Use openpilot.tools" From 079a51cfdff8e79aa4e85d8e3c70285c0a7ab2e0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 17 Sep 2023 15:16:07 -0700 Subject: [PATCH 396/410] Revert "CI: login to dockerhub on aarch64 runners (#29915)" This reverts commit c9ec7bc2a3de1bd889d9034bd9336a4f65d36e23. --- .github/workflows/prebuilt.yaml | 4 ++-- .github/workflows/selfdrive_tests.yaml | 17 +++-------------- .github/workflows/tools_tests.yaml | 6 +++--- 3 files changed, 8 insertions(+), 19 deletions(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 3558d7eb7e..8b16ea90b9 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -5,7 +5,7 @@ on: workflow_dispatch: env: - DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh prebuilt jobs: @@ -29,5 +29,5 @@ jobs: submodules: true - name: Build and Push docker image run: | - $DOCKER_GHCR_LOGIN + $DOCKER_LOGIN eval "$BUILD" diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 6fd2ca8556..9b2b565547 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -16,8 +16,7 @@ env: CL_BASE_IMAGE: openpilot-base-cl AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }} + DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c @@ -77,11 +76,6 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - # login only on arm machines, due to buildjet rate limits - - name: Setup docker - if: contains(runner.name, 'buildjet') - run: | - $DOCKER_HUB_LOGIN - uses: ./.github/workflows/setup-with-retry with: cache_key_prefix: scons_${{ matrix.arch }} @@ -196,12 +190,7 @@ jobs: run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" - $DOCKER_GHCR_LOGIN - # login only on arm machines, due to buildjet rate limits - - name: Additional setup for buildjet - if: contains(runner.name, 'buildjet') - run: | - $DOCKER_HUB_LOGIN + $DOCKER_LOGIN - uses: ./.github/workflows/setup-with-retry with: git-lfs: false @@ -222,7 +211,7 @@ jobs: submodules: false - name: Setup docker run: | - $DOCKER_GHCR_LOGIN + $DOCKER_LOGIN - name: Merge x64 and arm64 tags run: | export PUSH_IMAGE=true diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 27c362fcd6..c7a5f80c3b 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -13,7 +13,7 @@ concurrency: env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base @@ -58,7 +58,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_GHCR_LOGIN + $DOCKER_LOGIN - name: Build and push sim image run: | selfdrive/test/docker_build.sh sim @@ -78,7 +78,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_GHCR_LOGIN + $DOCKER_LOGIN - name: Build and push docs image run: | selfdrive/test/docker_build.sh docs From 8a0711a67d8bc00913db841f65f443e7472fd699 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 17 Sep 2023 19:19:43 -0300 Subject: [PATCH 397/410] Duplicated #include in settings.cc (#29951) --- selfdrive/ui/qt/offroad/settings.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 0af027ca90..f74e671d29 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -22,7 +22,6 @@ #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/widgets/input.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon From 6f9798745c73e82fa4ed396e697d44947b527e68 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 18 Sep 2023 06:20:21 +0800 Subject: [PATCH 398/410] cabana: add button to skip to the end of stream (#29953) --- tools/cabana/videowidget.cc | 20 +++++++++++++++++--- tools/cabana/videowidget.h | 1 + 2 files changed, 18 insertions(+), 3 deletions(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 098f26841c..e7845bca47 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -35,13 +35,24 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { } // btn controls + QButtonGroup *group = new QButtonGroup(this); + group->setExclusive(true); + QHBoxLayout *control_layout = new QHBoxLayout(); play_btn = new QPushButton(); play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); control_layout->addWidget(play_btn); + if (can->liveStreaming()) { + control_layout->addWidget(skip_to_end_btn = new QPushButton(utils::icon("skip-end-fill"), {})); + skip_to_end_btn->setToolTip(tr("Skip to the end")); + QObject::connect(skip_to_end_btn, &QPushButton::clicked, [group]() { + // set speed to 1.0 + group->buttons()[2]->click(); + can->pause(false); + can->seekTo(can->totalSeconds() + 1); + }); + } - QButtonGroup *group = new QButtonGroup(this); - group->setExclusive(true); for (float speed : {0.1, 0.5, 1., 2.}) { QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); btn->setCheckable(true); @@ -121,7 +132,10 @@ void VideoWidget::setMaximumTime(double sec) { } void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) { - if (can->liveStreaming()) return; + if (can->liveStreaming()) { + skip_to_end_btn->setEnabled(!is_zoomed); + return; + } if (!is_zoomed) { min = 0; diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index c17dd67e2a..bece039a21 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -81,6 +81,7 @@ protected: QLabel *end_time_label; QLabel *time_label; QPushButton *play_btn; + QPushButton *skip_to_end_btn = nullptr; InfoLabel *alert_label; Slider *slider; }; From 844b2815d535b444534c33e841a1f0fab2470b53 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 17 Sep 2023 15:44:03 -0700 Subject: [PATCH 399/410] add ruff package --- poetry.lock | 28 +++++++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 28 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 0f0f587fd1..fe2beb4b35 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4119,6 +4119,32 @@ urllib3 = ">=1.21.1,<3" socks = ["PySocks (>=1.5.6,!=1.5.7)"] use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] +[[package]] +name = "ruff" +version = "0.0.290" +description = "An extremely fast Python linter, written in Rust." +optional = false +python-versions = ">=3.7" +files = [ + {file = "ruff-0.0.290-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:0e2b09ac4213b11a3520221083866a5816616f3ae9da123037b8ab275066fbac"}, + {file = "ruff-0.0.290-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:4ca6285aa77b3d966be32c9a3cd531655b3d4a0171e1f9bf26d66d0372186767"}, + {file = 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"ruff-0.0.290-py3-none-win_arm64.whl", hash = "sha256:ae5a92dfbdf1f0c689433c223f8dac0782c2b2584bd502dfdbc76475669f1ba1"}, + {file = "ruff-0.0.290.tar.gz", hash = "sha256:949fecbc5467bb11b8db810a7fa53c7e02633856ee6bd1302b2f43adcd71b88d"}, +] + [[package]] name = "scipy" version = "1.11.2" @@ -5081,4 +5107,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "6c93bf910082c9de645e00f036ebbce8cb1e658fb0b74f435ec3120e17acacca" +content-hash = "80bd9226bb8fc61c75fe8047c55ba2da3919bc8d9b32a8154ec0a40f9fe2a18e" diff --git a/pyproject.toml b/pyproject.toml index a69cd28e4d..bc28ed1da1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -151,6 +151,7 @@ pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" pytest-timeouts = "*" +ruff = "*" scipy = "*" sphinx = "*" sphinx-rtd-theme = "*" From da4d4cff7dd400ac29b1ff40c1df4cdd6146e28c Mon Sep 17 00:00:00 2001 From: royjr Date: Mon, 18 Sep 2023 04:06:39 -0400 Subject: [PATCH 400/410] ui: add missing Arabic translations & show in UI (#29881) * Update languages.json * update_translations.py * update_translations.py + vanish * fix unfinished * use arabic language for name and move down based on similar * goreless * better * Revert "better" This reverts commit f19f6cb5ba31209bd2659a16953fcc20b3ce31e7. * better again --- selfdrive/ui/translations/languages.json | 1 + selfdrive/ui/translations/main_ar.ts | 487 ++++++++++++++--------- 2 files changed, 294 insertions(+), 194 deletions(-) diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index fa659e18ba..321cdeedd2 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -4,6 +4,7 @@ "Français": "main_fr", "Português": "main_pt-BR", "Türkçe": "main_tr", + "العربية": "main_ar", "ไทย": "main_th", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 07a84fca08..dd9acffb03 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -60,11 +60,11 @@ Cellular Metered - + قياس الخلوية Prevent large data uploads when on a metered connection - + منع تحميل البيانات الكبيرة عندما تكون على اتصال مقنن @@ -116,6 +116,33 @@ رفض ، قم بإلغاء تثبيت %1 + + DestinationWidget + + Home + بيت + + + Work + عمل + + + No destination set + لم يتم تحديد الوجهة + + + home + بيت + + + work + عمل + + + No %1 location set + لم يتم تعيين موقع %1 + + DevicePanel @@ -238,6 +265,14 @@ Disengage to Power Off فك الارتباط لإيقاف التشغيل + + Reset + إعادة ضبط + + + Review + مراجعة + DriveStats @@ -273,6 +308,17 @@ بدء تشغيل الكاميرا + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + تشغيل الوضع التجريبي + + + CHILL MODE ON + تشغيل وضع التبريد + + InputDialog @@ -297,18 +343,6 @@ Installing... جارٍ التثبيت ... - - Receiving objects: - استقبال الكائنات: - - - Resolving deltas: - حل دلتا: - - - Updating files: - جارٍ تحديث الملفات: - MapETA @@ -324,114 +358,118 @@ hr سع + + + MapSettings - km - كم + NAVIGATION + ملاحة - mi - مل + Manage at connect.comma.ai + إدارة في Connect.comma.ai - MapInstructions + MapWindow + + Map Loading + تحميل الخريطة + - km - كم + Waiting for GPS + في انتظار GPS - m - م + Waiting for route + في انتظار الطريق + + + MultiOptionDialog - mi - مل + Select + اختر - ft - قد + Cancel + إلغاء - MapPanel + Networking - Current Destination - الوجهة الحالية + Advanced + متقدم - CLEAR - مسح + Enter password + أدخل كلمة المرور - Recent Destinations - الوجهات الأخيرة + for "%1" + ل "%1" - Try the Navigation Beta - جرب التنقل التجريبي + Wrong password + كلمة مرور خاطئة + + + OffroadAlert - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma -الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + درجة حرارة الجهاز مرتفعة جدًا. تبريد النظام قبل البدء. درجة حرارة المكونات الداخلية الحالية: %1 - No home -location set - لم يتم تعيين -موقع المنزل + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + اتصل بالإنترنت فورًا للتحقق من وجود تحديثات. إذا لم تكن متصلاً بالإنترنت، فلن يشارك openpilot في %1 - No work -location set - لم يتم تعيين -موقع العمل + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + اتصل بالإنترنت للتحقق من التحديثات. لن يبدأ تشغيل openpilot تلقائيًا حتى يتصل بالإنترنت للتحقق من وجود تحديثات. - no recent destinations - لا توجد وجهات حديثة + Unable to download updates +%1 + غير قادر على تنزيل التحديثات +%1 - - - MapWindow - Map Loading - تحميل الخريطة + Invalid date and time settings, system won't start. Connect to internet to set time. + إعدادات التاريخ والوقت غير صالحة، ولن يبدأ النظام. الاتصال بالإنترنت لضبط الوقت. - Waiting for GPS - في انتظار GPS + Taking camera snapshots. System won't start until finished. + التقاط لقطات الكاميرا. لن يبدأ النظام حتى ينتهي. - - - MultiOptionDialog - Select - اختر + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيُطلب منك التحديث عندما يكون جاهزًا للتثبيت. - Cancel - إلغاء + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + فشل الجهاز في التسجيل. لن يتم الاتصال بخوادم comma.ai أو التحميل إليها، ولا يتلقى أي دعم من comma.ai. إذا كان هذا جهازًا رسميًا، فتفضل بزيارة https://comma.ai/support. - - - Networking - Advanced - متقدم + NVMe drive not mounted. + محرك NVMe غير مثبت. - Enter password - أدخل كلمة المرور + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + تم اكتشاف محرك أقراص NVMe غير مدعوم. قد يستهلك الجهاز قدرًا أكبر بكثير من الطاقة ويرتفع درجة حرارته بسبب عدم دعم NVMe. - for "%1" - ل "%1" + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + لم يتمكن openpilot من التعرف على سيارتك. سيارتك إما غير مدعومة أو لم يتم التعرف على وحدات التحكم الإلكترونية الخاصة بها. يرجى تقديم طلب سحب لإضافة إصدارات البرامج الثابتة إلى السيارة المناسبة. تحتاج مساعدة؟ انضم إلى discord.comma.ai. - Wrong password - كلمة مرور خاطئة + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + لم يتمكن openpilot من التعرف على سيارتك. تحقق من سلامة الكابلات وتأكد من أن جميع التوصيلات آمنة، خاصة أن طاقة الفاصلة تم إدخالها بالكامل في منفذ OBD-II في السيارة. تحتاج مساعدة؟ انضم إلى discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + اكتشف openpilot تغييرًا في موضع تركيب الجهاز. تأكد من تثبيت الجهاز بالكامل في الحامل وتثبيته بإحكام على الزجاج الأمامي. @@ -468,6 +506,17 @@ location set ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق + + ParamControl + + Enable + تمكين + + + Cancel + إلغاء + + PrimeAdWidget @@ -487,12 +536,16 @@ location set الوصول عن بعد - 1 year of storage - سنة واحدة من التخزين + 24/7 LTE connectivity + اتصال 24/7 LTE - Developer perks - امتيازات المطور + 1 year of drive storage + سنة واحدة من تخزين القرص + + + Turn-by-turn navigation + التنقل خطوة بخطوة @@ -505,14 +558,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -565,6 +610,22 @@ location set منذ %n ايام + + km + كم + + + m + م + + + mi + مل + + + ft + قدم + Reset @@ -576,18 +637,10 @@ location set Are you sure you want to reset your device? هل أنت متأكد أنك تريد إعادة ضبط جهازك؟ - - Resetting device... - جارٍ إعادة ضبط الجهاز ... - System Reset إعادة تعيين النظام - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد. - Cancel إلغاء @@ -601,15 +654,18 @@ location set تأكيد - Unable to mount data partition. Press confirm to reset your device. - تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك. + Resetting device... +This may take up to a minute. + إعادة تعيين الجهاز... +قد يستغرق هذا ما يصل إلى دقيقة. - - - RichTextDialog - Ok - موافق + Press confirm to erase all content and settings. Press cancel to resume boot. + اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لاستئناف التمهيد. + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + غير قادر على تحميل قسم البيانات. قد يكون القسم تالفًا. اضغط على تأكيد لمسح جهازك وإعادة ضبطه. @@ -634,10 +690,6 @@ location set Software برمجة - - Navigation - ملاحة - Setup @@ -681,18 +733,6 @@ location set Waiting for internet في انتظار الاتصال بالإنترنت - - Choose Software to Install - اختر البرنامج المراد تثبيته - - - Dashcam - Dashcam - - - Custom Software - برامج مخصصة - Enter URL إدخال عنوان الموقع @@ -721,6 +761,18 @@ location set Start over ابدأ من جديد + + Something went wrong. Reboot the device. + حدث خطأ ما. قم بإعادة تشغيل الجهاز. + + + No custom software found at this URL. + لم يتم العثور على برامج مخصصة على عنوان URL هذا. + + + Select a language + اختر لغة + SetupWidget @@ -822,54 +874,6 @@ location set SoftwarePanel - - Git Branch - Git Branch - - - Git Commit - Git Commit - - - OS Version - إصدار نظام التشغيل - - - Version - إصدار - - - Last Update Check - التحقق من آخر تحديث - - - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. - - - Check for Update - فحص التحديثات - - - CHECKING - تدقيق - - - Switch Branch - تبديل الفرع - - - ENTER - أدخل - - - The new branch will be pulled the next time the updater runs. - سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. - - - Enter branch name - أدخل اسم الفرع - UNINSTALL الغاء التثبيت @@ -882,45 +886,65 @@ location set Are you sure you want to uninstall? هل أنت متأكد أنك تريد إلغاء التثبيت؟ - - failed to fetch update - فشل في جلب التحديث - CHECK تأكد الان Updates are only downloaded while the car is off. - + يتم تنزيل التحديثات فقط أثناء إيقاف تشغيل السيارة. Current Version - + النسخة الحالية Download - + تحميل Install Update - + تثبيت التحديث INSTALL - + ثبيت Target Branch - + فرع الهدف SELECT - + اختر Select a branch - + اختر فرعا + + + Uninstall + الغاء التثبيت + + + failed to check for update + فشل في التحقق من التحديث + + + DOWNLOAD + تحميل + + + update available + يتوفر تحديث + + + never + أبداً + + + up to date, last checked %1 + محدث، آخر فحص %1 @@ -1047,36 +1071,84 @@ location set إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة. - openpilot Longitudinal Control - openpilot التحكم الطولي + openpilot Longitudinal Control (Alpha) + التحكم الطولي المفتوح (ألفا) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + تحذير: التحكم الطولي في نظام الطيار المفتوح موجود في مرحلة ألفا لهذه السيارة وسيقوم بتعطيل مكابح الطوارئ التلقائية (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + في هذه السيارة، يعمل نظام openpilot افتراضيًا على ACC المدمج في السيارة بدلاً من التحكم الطولي في نظام openpilot. قم بتمكين هذا للتبديل إلى التحكم الطولي المفتوح. يوصى بتمكين الوضع التجريبي عند تمكين التحكم الطولي المفتوح ألفا. - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + Experimental Mode + الوضع التجريبي - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + Aggressive + عدوانية - Experimental openpilot Longitudinal Control - + Standard + قياسي - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + Relaxed + مريح - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + Driving Personality + شخصية القيادة - openpilot longitudinal control is not currently available for this car. - + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + ينصح القياسية. في الوضع العدواني، سيتبع الطيار المفتوح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين والفرامل. في الوضع المريح، سيبقى الطيار المفتوح بعيدًا عن السيارات الرائدة. - Enable experimental longitudinal control to enable this. - + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + يتم تعيين openpilot افتراضيًا على القيادة في <b>وضع التبريد</b>. يعمل الوضع التجريبي على تمكين <b>ميزات مستوى ألفا</b> غير الجاهزة لوضع التبريد. الميزات التجريبية مذكورة أدناه: + + + End-to-End Longitudinal Control + التحكم الطولي من النهاية إلى النهاية + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + دع نموذج القيادة يتحكم في الغاز والفرامل. سيقود نظام openpilot كما يعتقد الإنسان، بما في ذلك التوقف عند الأضواء الحمراء وإشارات التوقف. نظرًا لأن نموذج القيادة هو الذي يحدد سرعة القيادة، فإن السرعة المضبوطة ستكون بمثابة الحد الأعلى فقط. هذه ميزة جودة ألفا؛ ينبغي توقع الأخطاء. + + + Navigate on openpilot + التنقل على openpilot + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + عندما يكون للملاحة وجهة، سيقوم openpilot بإدخال معلومات الخريطة في النموذج. يوفر هذا سياقًا مفيدًا للنموذج ويسمح لـ openpilot بالبقاء يسارًا أو يمينًا بشكل مناسب عند المخارج/المخارج. لا يتغير سلوك تغيير المسار ولا يزال السائق ينشطه. هذه ميزة جودة ألفا؛ وينبغي توقع الأخطاء، وخاصة حول المخارج والتقاطعات. يمكن أن تشمل هذه الأخطاء عبور الخطوط غير المقصودة، والخروج المتأخر، أو القيادة نحو الحواجز الفاصلة في المناطق المثلثة بين الطريق الرئيسي والمخرج. + + + New Driving Visualization + تصور القيادة الجديد + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + سينتقل تصور القيادة إلى الكاميرا ذات الزاوية الواسعة المواجهة للطريق بسرعات منخفضة لإظهار بعض المنعطفات بشكل أفضل. سيتم أيضًا عرض شعار الوضع التجريبي في الزاوية اليمنى العليا. عند تعيين وجهة التنقل ويستخدمها نموذج القيادة كمدخل، سيتحول مسار القيادة على الخريطة إلى اللون الأخضر. + + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + الوضع التجريبي غير متاح حاليًا في هذه السيارة نظرًا لاستخدام مخزون السيارة ACC للتحكم الطولي. + + + openpilot longitudinal control may come in a future update. + قد يأتي التحكم الطولي openpilot في التحديث المستقبلي. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + يمكن اختبار نسخة ألفا من التحكم الطولي المفتوح، إلى جانب الوضع التجريبي، على الفروع غير الصادرة. + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + قم بتمكين تبديل التحكم الطولي المفتوح (alpha) للسماح بالوضع التجريبي. @@ -1114,6 +1186,29 @@ location set فشل التحديث + + WiFiPromptWidget + + Setup Wi-Fi + إعداد شبكة Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + اتصل بشبكة Wi-Fi لتحميل بيانات القيادة والمساعدة في تحسين نظام openpilot + + + Open Settings + أفتح الإعدادات + + + Ready to upload + جاهز للتحميل + + + Training data will be pulled periodically while your device is on Wi-Fi + سيتم سحب بيانات التدريب بشكل دوري أثناء اتصال جهازك بشبكة Wi-Fi + + WifiUI @@ -1132,5 +1227,9 @@ location set Forget Wi-Fi Network "%1"? نزع شبكة اWi-Fi "%1"? + + Forget + إنساها + From a450eff89f87670aacf7702925a41eedc8b1a234 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 19 Sep 2023 02:25:35 +0800 Subject: [PATCH 401/410] cabana: fix QMenu leak (#29956) fix qmenu leak --- tools/cabana/messageswidget.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 6a3d11cda1..626f9875da 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -424,7 +424,7 @@ void MessageView::updateBytesSectionSize() { } void MessageView::headerContextMenuEvent(const QPoint &pos) { - QMenu *menu = new QMenu(this); + QMenu menu(this); int cur_index = header()->logicalIndexAt(pos); QAction *action; @@ -434,9 +434,9 @@ void MessageView::headerContextMenuEvent(const QPoint &pos) { // Hide show action if (header()->isSectionHidden(logical_index)) { - action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); }); + action = menu.addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); }); } else { - action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); }); + action = menu.addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); }); } // Can't hide the name column @@ -450,7 +450,7 @@ void MessageView::headerContextMenuEvent(const QPoint &pos) { } } - menu->popup(header()->mapToGlobal(pos)); + menu.exec(header()->mapToGlobal(pos)); } MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) { From 4b7b234b9e91c0a291e2ff3fae6e6b5f0cf02113 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Sep 2023 15:53:16 -0700 Subject: [PATCH 402/410] CI: login to docker hub on BuildJet (#29961) * CI: login to docker hub on BuildJet * shell * try quotes * forward * try this * can't believe this is broken * try * fix process replay --- .github/workflows/selfdrive_tests.yaml | 5 +++++ .../workflows/setup-with-retry/action.yaml | 7 +++++++ .github/workflows/setup/action.yaml | 21 +++++++++++++++++-- 3 files changed, 31 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9b2b565547..854faf4545 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -78,6 +78,7 @@ jobs: submodules: true - uses: ./.github/workflows/setup-with-retry with: + docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache @@ -177,6 +178,7 @@ jobs: sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd docker_push: + name: docker push strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} @@ -194,6 +196,7 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: git-lfs: false + docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - name: Build and push CL Docker image if: matrix.arch == 'x86_64' run: | @@ -280,6 +283,8 @@ jobs: with: submodules: true - uses: ./.github/workflows/setup-with-retry + with: + docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - name: Cache test routes id: dependency-cache uses: actions/cache@v3 diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index e4c97af3ce..159778211d 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -1,6 +1,10 @@ name: 'openpilot env setup, with retry on failure' inputs: + docker_hub_pat: + description: 'Auth token for Docker Hub, required for BuildJet jobs' + required: false + default: '' git_lfs: description: 'Whether or not to pull the git lfs' required: false @@ -21,6 +25,7 @@ runs: uses: ./.github/workflows/setup continue-on-error: true with: + docker_hub_pat: ${{ inputs.docker_hub_pat }} git_lfs: ${{ inputs.git_lfs }} cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true @@ -32,6 +37,7 @@ runs: uses: ./.github/workflows/setup continue-on-error: true with: + docker_hub_pat: ${{ inputs.docker_hub_pat }} git_lfs: ${{ inputs.git_lfs }} cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true @@ -42,6 +48,7 @@ runs: if: steps.setup2.outcome == 'failure' uses: ./.github/workflows/setup with: + docker_hub_pat: ${{ inputs.docker_hub_pat }} git_lfs: ${{ inputs.git_lfs }} cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index eebc376346..d00f968b5c 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -1,13 +1,17 @@ name: 'openpilot env setup' inputs: + docker_hub_pat: + description: 'Auth token for Docker Hub, required for BuildJet jobs' + required: true + default: '' git_lfs: description: 'Whether or not to pull the git lfs' - required: false + required: true default: 'true' cache_key_prefix: description: 'Prefix for caching key' - required: false + required: true default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' @@ -29,6 +33,19 @@ runs: if: ${{ inputs.git_lfs == 'true' }} run: git lfs pull + # on BuildJet runners, must be logged into DockerHub to avoid rate limiting + # https://buildjet.com/for-github-actions/docs/guides/docker + - shell: bash + if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }} + run: | + echo "Need to set the Docker Hub PAT secret as an input to this action" + exit 1 + - name: Login to Docker Hub + if: contains(runner.name, 'buildjet') + shell: bash + run: | + docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }} + # build cache - id: date shell: bash From 50cca99e45d1db095ccbf47aaa155019d7c6e4c2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 19 Sep 2023 07:14:54 +0800 Subject: [PATCH 403/410] cabana/chart: add contex menu (#29957) --- tools/cabana/chart/chart.cc | 18 +++++++++++++++--- tools/cabana/chart/chart.h | 4 ++++ 2 files changed, 19 insertions(+), 3 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 537aac1f28..70536cc0c2 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -10,7 +10,6 @@ #include #include #include -#include #include #include #include @@ -66,8 +65,8 @@ void ChartView::createToolButtons() { close_btn_proxy->setWidget(remove_btn); close_btn_proxy->setZValue(chart()->zValue() + 11); + menu = new QMenu(this); // series types - QMenu *menu = new QMenu(this); auto change_series_group = new QActionGroup(menu); change_series_group->setExclusive(true); QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")}; @@ -90,7 +89,9 @@ void ChartView::createToolButtons() { manage_btn_proxy->setWidget(manage_btn); manage_btn_proxy->setZValue(chart()->zValue() + 11); - QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); }); + close_act = new QAction(tr("Close"), this); + QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); }); + QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered); QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { setSeriesType((SeriesType)action->data().toInt()); }); @@ -452,6 +453,17 @@ static QPixmap getDropPixmap(const QPixmap &src) { return px; } +void ChartView::contextMenuEvent(QContextMenuEvent *event) { + QMenu context_menu(this); + context_menu.addActions(menu->actions()); + context_menu.addSeparator(); + context_menu.addAction(charts_widget->undo_zoom_action); + context_menu.addAction(charts_widget->redo_zoom_action); + context_menu.addSeparator(); + context_menu.addAction(close_act); + context_menu.exec(event->globalPos()); +} + void ChartView::mousePressEvent(QMouseEvent *event) { if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { QMimeData *mimeData = new QMimeData; diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index de2a1b4510..f91b81cc91 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -3,6 +3,7 @@ #include #include +#include #include #include #include @@ -65,6 +66,7 @@ private slots: private: void createToolButtons(); void addSeries(QXYSeries *series); + void contextMenuEvent(QContextMenuEvent *event) override; void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; @@ -98,7 +100,9 @@ private: int align_to = 0; QValueAxis *axis_x; QValueAxis *axis_y; + QMenu *menu; QAction *split_chart_act; + QAction *close_act; QGraphicsPixmapItem *move_icon; QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; From 747a6149b41a91a9438a7f735b057007da73ac9a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Sep 2023 16:30:11 -0700 Subject: [PATCH 404/410] docs: don't show panda kit in shop (#29963) --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b84cb80843..3239be6d76 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -141,7 +141,7 @@ class Footnote(Enum): CANFD = CarFootnote( "Requires a comma 3X or CAN FD panda kit " + "for this CAN FD car.", - Column.MODEL, shop_footnote=True) + Column.MODEL, shop_footnote=False) @dataclass From 8aad9758cf901bb141724a4363e67da5fb044a7d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 18 Sep 2023 16:50:44 -0700 Subject: [PATCH 405/410] Params: better error logging on constructor (#29954) * ensure params path * static anlysis * revert that --- common/params.cc | 2 +- common/params_pyx.pyx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/common/params.cc b/common/params.cc index 63baa30315..e510b60160 100644 --- a/common/params.cc +++ b/common/params.cc @@ -64,7 +64,7 @@ bool create_params_path(const std::string ¶m_path, const std::string &key_pa std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) { std::string params_path = path.empty() ? Path::params() : path; if (!create_params_path(params_path, params_path + prefix)) { - throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno)); + throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d, path=%s", errno, params_path.c_str())); } return params_path; } diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index abb3199d05..cc6bd287a6 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -14,7 +14,7 @@ cdef extern from "common/params.h": ALL cdef cppclass c_Params "Params": - c_Params(string) nogil + c_Params(string) nogil except + string get(string, bool) nogil bool getBool(string, bool) nogil int remove(string) nogil From 4b55d90af9d4c854168c7e1e3a6f834e8171405b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 18 Sep 2023 16:01:32 -1000 Subject: [PATCH 406/410] setup README: Native on 20.04, WSL on windows, otherwise devcontainer (#29928) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Main README: Webcam needs work, don't mention * Update README.md * Link to VSCode guide * Update README.md * Fix formatting * Update README.md * little more --------- Co-authored-by: Kacper Rączy Co-authored-by: Adeeb Shihadeh --- tools/README.md | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/tools/README.md b/tools/README.md index 28f4f7ebd2..36929a4290 100644 --- a/tools/README.md +++ b/tools/README.md @@ -2,55 +2,55 @@ ## System Requirements -openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. +openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). -## Setup your PC +Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers. -First, clone openpilot: -``` bash -cd ~ -git clone --recurse-submodules https://github.com/commaai/openpilot.git +## Native setup on Ubuntu 20.04 + +**1. Clone openpilot** -# or do a partial clone instead for a faster clone and smaller repo size +Either do a partial clone for faster download: +``` bash git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git +``` -cd openpilot +or do a full clone: +``` bash +git clone --recurse-submodules https://github.com/commaai/openpilot.git ``` -Then, run the setup script: +**2. Run the setup script** ``` bash -# for Ubuntu 20.04 LTS +cd openpilot tools/ubuntu_setup.sh - -# for macOS -tools/mac_setup.sh ``` Activate a shell with the Python dependencies installed: - ``` bash -cd openpilot && poetry shell +poetry shell ``` -Build openpilot with this command: +**3. Build openpilot** + ``` bash scons -u -j$(nproc) ``` -### Dev Container +## Dev Container on any Linux or macOS openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup. -Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers). +Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode. #### X11 forwarding on macOS GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS. -### Windows +## WSL on Windows -Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. +[Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps. From 66e5531c2509c9df927efa05748bc786053d56d2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Sep 2023 19:32:27 -0700 Subject: [PATCH 407/410] add tmux and vim config to dev container (#29967) --- .devcontainer/Dockerfile | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index e72704bfd0..08d3abaca9 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -2,5 +2,10 @@ FROM ghcr.io/commaai/openpilot-base:latest # remove gitconfig if exists, since its gonna be replaced by host one RUN rm -f /root/.gitconfig -RUN apt update && apt install -y vim net-tools usbutils htop ripgrep + +RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux RUN pip install ipython jupyter jupyterlab + +RUN cd $HOME && \ + curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \ + curl -O https://github.com/commaai/agnos-builder/blob/master/userspace/home/.vimrc From d0a31515a0ab5a91a949cd6f9ef3e05ef093925f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Sep 2023 19:45:12 -0700 Subject: [PATCH 408/410] dev container: pull docker base image (#29968) --- .devcontainer/host_setup.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.devcontainer/host_setup.sh b/.devcontainer/host_setup.sh index 597d0a1112..e8a0781a2c 100755 --- a/.devcontainer/host_setup.sh +++ b/.devcontainer/host_setup.sh @@ -1,5 +1,8 @@ #!/usr/bin/env bash +# pull base image +docker pull ghcr.io/commaai/openpilot-base:latest + # setup .host dir mkdir -p .devcontainer/.host From bee40de70312b892c50f7872e795977dec7f740f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 19 Sep 2023 12:51:54 -0700 Subject: [PATCH 409/410] Simulator: fix controlsd mismatch (#29976) fix controls mismatch --- tools/sim/lib/simulated_car.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index bbdbb9fcc4..7cd01e1610 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -14,7 +14,7 @@ class SimulatedCar: def __init__(self): self.pm = messaging.PubMaster(['can', 'pandaStates']) - self.sm = messaging.SubMaster(['carControl', 'controlsState']) + self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams']) self.cp = self.get_car_can_parser() self.idx = 0 @@ -93,6 +93,7 @@ class SimulatedCar: self.pm.send('can', can_list_to_can_capnp(msg)) def send_panda_state(self, simulator_state): + self.sm.update(0) dat = messaging.new_message('pandaStates', 1) dat.valid = True dat.pandaStates[0] = { @@ -100,6 +101,7 @@ class SimulatedCar: 'pandaType': "blackPanda", 'controlsAllowed': True, 'safetyModel': 'hondaNidec', + 'alternativeExperience': self.sm["carParams"].alternativeExperience } self.pm.send('pandaStates', dat) From b50a769ae9f1e13ad37d2dfa94896b58a301a703 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Sep 2023 14:29:54 -0700 Subject: [PATCH 410/410] Revert "Toyota: use torque control for Japanese-made 2023 RAV4" (#29978) Revert "Toyota: use torque control for Japanese-made 2023 RAV4 (#29896)" This reverts commit 9dfd0579d4bcf4065ee289a2486bb77f0700655a. --- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/override.yaml | 6 ++- selfdrive/car/toyota/interface.py | 49 +++++++++++-------------- selfdrive/car/toyota/values.py | 3 +- 4 files changed, 27 insertions(+), 33 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index f7ad219f63..1e37ddf945 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -25,6 +25,7 @@ non_tested_cars = [ HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, + TOYOTA.RAV4H_TSS2_2023, SUBARU.FORESTER_HYBRID, ] @@ -183,7 +184,6 @@ routes = [ CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), - CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023), CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 61ed8a5a77..fc39cd76cb 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -12,6 +12,10 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan] SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] SUBARU ASCENT 2023: [.nan, 3.0, .nan] +# Toyota LTA also has torque +TOYOTA RAV4 2023: [.nan, 3.0, .nan] +TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] + # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] @@ -57,8 +61,6 @@ HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] -TOYOTA RAV4 2023: [2.5, 2.5, 0.1] -TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d51026b547..d6f428ab1d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -27,15 +27,7 @@ class CarInterface(CarInterfaceBase): if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE - # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan) - # So far only hybrid RAV4 2023 has been seen with this FW version - angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw) - if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023): - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - - ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay - ret.steerLimitTimer = 0.4 - else: + if candidate in ANGLE_CONTROL_CAR: ret.dashcamOnly = True ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA @@ -43,6 +35,11 @@ class CarInterface(CarInterfaceBase): # LTA control can be more delayed and winds up more often ret.steerActuatorDelay = 0.25 ret.steerLimitTimer = 0.8 + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop @@ -124,25 +121,21 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 ret.tireStiffnessFactor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid - - # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same - # TODO: revisit this disparity if there is a divide for 2023 - if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): - ret.lateralTuning.init('pid') - ret.lateralTuning.pid.kiBP = [0.0] - ret.lateralTuning.pid.kpBP = [0.0] - ret.lateralTuning.pid.kpV = [0.6] - ret.lateralTuning.pid.kiV = [0.1] - ret.lateralTuning.pid.kf = 0.00007818594 - - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 - for fw in car_fw: - if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - ret.lateralTuning.pid.kpV = [0.15] - ret.lateralTuning.pid.kiV = [0.05] - ret.lateralTuning.pid.kf = 0.00004 - break + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kiBP = [0.0] + ret.lateralTuning.pid.kpBP = [0.0] + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.1] + ret.lateralTuning.pid.kf = 0.00007818594 + + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 + for fw in car_fw: + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): + ret.lateralTuning.pid.kpV = [0.15] + ret.lateralTuning.pid.kiV = [0.05] + ret.lateralTuning.pid.kf = 0.00004 + break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index fd0a54b349..bb9672fb0e 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -2389,8 +2389,7 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} -# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require -# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected +# these cars use the Lane Tracing Assist (LTA) message for lateral control ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,