diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index a0ff582e68..a7a63658ed 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -11,7 +11,6 @@ "DISPLAY": "${localEnv:DISPLAY}", "PYTHONPATH": "${containerWorkspaceFolder}", "TERM": "xterm-256color", - "CARLA_HOST": "host.docker.internal", "force_color_prompt": "1" }, "runArgs": [ diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 4b412455e8..dce2fe0fb7 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -208,20 +208,30 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay - id: run-replay timeout-minutes: 30 run: | - ${{ env.RUN }} "CI=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --long-diff && \ - chmod -R 777 /tmp/comma_download_cache" + ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + chmod -R 777 /tmp/comma_download_cache && \ + coverage combine && \ + coverage xml" + - name: Print diff + id: print-diff + if: always() + run: cat selfdrive/test/process_replay/diff.txt + - uses: actions/upload-artifact@v3 + if: always() + continue-on-error: true + with: + name: process_replay_diff.txt + path: selfdrive/test/process_replay/diff.txt + - name: Upload reference logs + if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} + run: | + ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: name: ${{ github.job }} - - name: Upload reference logs - if: ${{ failure() && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} - run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' \ - pytest -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --upload-only" regen: name: regen diff --git a/.gitignore b/.gitignore index e414e4301a..3e91531d08 100644 --- a/.gitignore +++ b/.gitignore @@ -46,7 +46,6 @@ selfdrive/boardd/boardd selfdrive/logcatd/logcatd 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 diff --git a/Jenkinsfile b/Jenkinsfile index 0765c44950..fe2c662f89 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,3 +1,14 @@ +def retryWithDelay(int maxRetries, int delay, Closure body) { + for (int i = 0; i < maxRetries; i++) { + try { + return body() + } catch (Exception e) { + sleep(delay) + } + } + throw Exception("Failed after ${maxRetries} retries") +} + def device(String ip, String step_label, String cmd) { withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) { def ssh_cmd = """ @@ -89,25 +100,28 @@ def pcStage(String stageName, Closure body) { checkout scm def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}"; - docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) { + + def openpilot_base = retryWithDelay (3, 15) { + return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .") + } + + openpilot_base.inside(dockerArgs) { timeout(time: 20, unit: 'MINUTES') { try { - // TODO: remove these after all jenkins jobs are running as batman (merged with master) - sh "sudo chown -R batman:batman /tmp/scons_cache" - sh "sudo chown -R batman:batman /tmp/comma_download_cache" - - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --recursive" - sh "git lfs pull" + retryWithDelay (3, 15) { + sh "git config --global --add safe.directory '*'" + sh "git submodule update --init --recursive" + sh "git lfs pull" + } body() } finally { - sh "rm -rf ${env.WORKSPACE}/* || true" - sh "rm -rf .* || true" + sh "rm -rf ${env.WORKSPACE}/* || true" + sh "rm -rf .* || true" + } } } } } - } } def setupCredentials() { diff --git a/README.md b/README.md index 7d051ada14..d85d1e5676 100644 --- a/README.md +++ b/README.md @@ -58,7 +58,7 @@ All openpilot services can run as usual on a PC without requiring special hardwa With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information. -You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU. +You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU. A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness). diff --git a/RELEASES.md b/RELEASES.md index 07f70cdaff..41b9b946d8 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,11 @@ Version 0.9.6 (2023-12-14) ======================== +* New driving model + * Vision model trained on more data + * Improved driving performance * AGNOS 9 * comma body streaming and controls over WebRTC +* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Toyota RAV4 2023 support * Toyota RAV4 Hybrid 2023 support diff --git a/cereal b/cereal index a3a6e4969e..d11688a90a 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit a3a6e4969e58875f7cdfc9e6cc6b1af3ee2392b5 +Subproject commit d11688a90a1cebacb3fe00dcfbba5f27551b2d89 diff --git a/common/basedir.py b/common/basedir.py index c840b86f7f..6b4811e53c 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,4 +1,4 @@ import os -BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) \ No newline at end of file +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 5e1b6ce1fb..cd3b5a1df9 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -9,4 +9,4 @@ def get_kalman_gain(dt, A, C, Q, R, iterations=100): 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 + return K diff --git a/common/prefix.py b/common/prefix.py index c5ae4393cd..c1744e8ff7 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -21,7 +21,6 @@ class OpenpilotPrefix: except FileExistsError: pass os.makedirs(Paths.log_root(), exist_ok=True) - os.makedirs(Paths.download_cache_root(), exist_ok=True) return self diff --git a/common/time.py b/common/time.py index b9da106fd0..c8ef9cd383 100644 --- a/common/time.py +++ b/common/time.py @@ -3,4 +3,4 @@ import datetime MIN_DATE = datetime.datetime(year=2023, month=6, day=1) def system_time_valid(): - return datetime.datetime.now() > MIN_DATE \ No newline at end of file + return datetime.datetime.now() > MIN_DATE diff --git a/conftest.py b/conftest.py index d1787c24ef..3c566e3672 100644 --- a/conftest.py +++ b/conftest.py @@ -6,6 +6,12 @@ from openpilot.common.prefix import OpenpilotPrefix from openpilot.system.hardware import TICI +def pytest_sessionstart(session): + # TODO: fix tests and enable test order randomization + if session.config.pluginmanager.hasplugin('randomly'): + session.config.option.randomly_reorganize = False + + @pytest.fixture(scope="function", autouse=True) def openpilot_function_fixture(): starting_env = dict(os.environ) @@ -52,7 +58,7 @@ def pytest_collection_modifyitems(config, items): @pytest.hookimpl(trylast=True) def pytest_configure(config): - config_line = ( - "xdist_group_class_property: group tests by a property of the class that contains them" - ) - config.addinivalue_line("markers", config_line) \ No newline at end of file + config_line = ( + "xdist_group_class_property: group tests by a property of the class that contains them" + ) + config.addinivalue_line("markers", config_line) diff --git a/docs/CARS.md b/docs/CARS.md index 647b1b15c5..490fb59e13 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. -# 271 Supported Cars +# 272 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -99,7 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All |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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 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)|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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -108,14 +108,14 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2022[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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2023[6](#footnotes)|All|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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 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 N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|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 L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[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 N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|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
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2022-24[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
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China 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 K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (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 P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -135,6 +135,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 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 F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima Hybrid 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 H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -144,7 +145,7 @@ A supported vehicle is one that just works when you install a comma device. All |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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Hybrid 2021-23[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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 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)|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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2022-23|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 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -276,7 +277,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Teramont 2018-22|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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Teramont Cross Sport 2021-22|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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Teramont X 2021-22|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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-24|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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Tiguan eHybrid 2021-23|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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 7a074f12de..777788630b 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -1,26 +1,46 @@ # How to contribute -Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). - -Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/). +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai). ### Getting Started - * Setup your [development environment](../tools/) - * Join our [Discord](https://discord.comma.ai) - * Make sure you have a [GitHub account](https://github.com/signup/free) - * Fork [our repositories](https://github.com/commaai) on GitHub +* Setup your [development environment](../tools/) +* Read about the [development workflow](WORKFLOW.md) +* Join our [Discord](https://discord.comma.ai) +* Docs are at https://docs.comma.ai and https://blog.comma.ai + +### What contributions are we looking for? + +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all developoment is towards that goal. + +The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. +If a PR offers *some* value but will take lots of time to get merged, it will be closed. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. + +All of these are examples of good PRs: +* typo fix: https://github.com/commaai/openpilot/pull/30678 +* removing unused code: https://github.com/commaai/openpilot/pull/30573 +* simple car model port: https://github.com/commaai/openpilot/pull/30245 +* car brand port: https://github.com/commaai/openpilot/pull/23331 + +### What doesn't get merged? + +* arbitrary style changes +* PRs without a clear goal +* 500+ line PRs: it should be either cleaned up, broken up into smaller PRs, or both ### First contribution -Try out some of these first pull requests ideas to dive into the codebase: -* Increase our [mypy](http://mypy-lang.org/) coverage -* Write some documentation -* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) +Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started. + +### What do I need to contribute? + +A lot of openpilot work requires only a PC, and some requires a comma device. +Most car-related contributions require access to that car, plus a comma device installed in the car. ## Pull Requests -Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. +Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. A good pull request has all of the following: * a clearly stated purpose @@ -37,12 +57,10 @@ We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-f If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/). -## Testing - -### Automated Testing - -All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. - -### Code Style and Linting +## Contributing without Code -Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. +* Report bugs in GitHub issues. +* Report driving issues in the `#driving-feedback` Discord channel. +* Consider opting into driver camera uploads to improve the driver monitoring model. +* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. +* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release. diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md new file mode 100644 index 0000000000..85ae8d86f4 --- /dev/null +++ b/docs/WORKFLOW.md @@ -0,0 +1,42 @@ +# openpilot development workflow + +Aside from the ML models, most tools used for openpilot development are in this repo. + +Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development. + +## Quick start + +```bash +# get the latest stuff +git pull +git submodule update --init --recursive + +# update dependencies +tools/ubuntu_setup.sh + +# build everything +scons -j$(nproc) + +# build just the ui with either of these +scons -j8 selfdrive/ui/ +cd selfdrive/ui/ && scons -u -j8 + +# test everything +pytest . + +# test just logging services +cd system/loggerd && pytest . + +# run the linter +pre-commit run --all +``` + +## Testing + +### Automated Testing + +All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. + +### Code Style and Linting + +Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index a91bd677aa..7578c0296a 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -9,6 +9,11 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" function agnos_init { + # wait longer for weston to come up + if [ -f "$BASEDIR/prebuilt" ]; then + sleep 5 + fi + # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta diff --git a/opendbc b/opendbc index 5b0c73977f..93b983d49a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 5b0c73977f1428700d0344d52874a90a4c5168fb +Subproject commit 93b983d49a2d6d5c67e15ce7650f55e4f121485d diff --git a/panda b/panda index a5753a2077..a88fe8c883 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a5753a2077288b066e441dc2ba2f96d8062e5e49 +Subproject commit a88fe8c883758951ba2854eb2f6726d5365df099 diff --git a/poetry.lock b/poetry.lock index 1461d5457c..44e07568b3 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" @@ -346,20 +346,6 @@ files = [ docutils = ">=0.12" Sphinx = ">=4.0,<5.0.0 || >5.0.0" -[[package]] -name = "carla" -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"}, -] - -[package.source] -type = "url" -url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl" - [[package]] name = "casadi" version = "3.6.3" @@ -2081,16 +2067,6 @@ files = [ {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"}, {file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"}, {file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"}, - 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{file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:14ff806850827afd6b07a5f32bd917fb7f45b046ba40c57abdb636674a8b559c"}, - {file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8f9293864fe09b8149f0cc42ce56e3f0e54de883a9de90cd427f191c346eb2e1"}, - {file = "MarkupSafe-2.1.3-cp312-cp312-win32.whl", hash = "sha256:715d3562f79d540f251b99ebd6d8baa547118974341db04f5ad06d5ea3eb8007"}, - {file = "MarkupSafe-2.1.3-cp312-cp312-win_amd64.whl", hash = "sha256:1b8dd8c3fd14349433c79fa8abeb573a55fc0fdd769133baac1f5e07abf54aeb"}, {file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"}, {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"}, {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"}, @@ -2671,7 +2647,14 @@ 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" @@ -2690,7 +2673,14 @@ 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" @@ -3309,8 +3299,6 @@ files = [ {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"}, {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"}, {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"}, - 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-[tool.poetry.group.carla.dependencies] -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'" } - [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" @@ -181,7 +175,7 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] +ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 target-version="py311" exclude = [ @@ -202,4 +196,4 @@ flake8-implicit-str-concat.allow-multiline=false "tools".msg = "Use openpilot.tools" [tool.coverage.run] -concurrency = ["multiprocessing", "thread"] \ No newline at end of file +concurrency = ["multiprocessing", "thread"] diff --git a/release/files_common b/release/files_common index 637f8bd7d7..10bfe4e1f1 100644 --- a/release/files_common +++ b/release/files_common @@ -285,7 +285,6 @@ selfdrive/ui/.gitignore selfdrive/ui/SConscript selfdrive/ui/*.cc selfdrive/ui/*.h -selfdrive/ui/ui selfdrive/ui/text selfdrive/ui/spinner selfdrive/ui/soundd.py diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh index 65805b8485..74f765391a 100755 --- a/scripts/apply-pr.sh +++ b/scripts/apply-pr.sh @@ -8,4 +8,4 @@ fi BASE="https://github.com/commaai/openpilot/pull/" PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" -curl -L $BASE/$PR_NUM.patch | git apply +curl -L $BASE/$PR_NUM.patch | git apply -3 diff --git a/scripts/build_small.sh b/scripts/build_small.sh new file mode 100755 index 0000000000..d53c7a6c78 --- /dev/null +++ b/scripts/build_small.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -ex + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +# git clone --mirror +SRC=/tmp/openpilot.git/ +OUT=/tmp/smallpilot/ + +echo "starting size $(du -hs .git/)" + +rm -rf $OUT + +cd $SRC +git remote update + +# copy contents +#rsync -a --exclude='.git/' $DIR $OUT + +cp -r $SRC $OUT + +cd $OUT + +# remove all tags +git tag -l | xargs git tag -d + +# remove non-master branches +BRANCHES="release2 dashcam dashcam3 release3 devel master-ci nightly" +for branch in $BRANCHES; do + git branch -D $branch + git branch -D ${branch}-staging || true +done + +#git gc +git reflog expire --expire=now --all +git gc --prune=now +git gc --aggressive --prune=now +echo "new one is $(du -hs .)" diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0ec33c1a27..61e2424744 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -1,11 +1,5 @@ #include "selfdrive/boardd/boardd.h" -#include -#include -#include -#include -#include - #include #include #include @@ -13,10 +7,6 @@ #include #include #include -#include -#include -#include -#include #include #include #include diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 4036766faa..21cc0b5f37 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -116,4 +116,4 @@ class TestPandad(unittest.TestCase): if __name__ == "__main__": - unittest.main() \ No newline at end of file + unittest.main() diff --git a/selfdrive/car/README.MD b/selfdrive/car/README.MD index de4db0ee50..2dcbf56059 100644 --- a/selfdrive/car/README.MD +++ b/selfdrive/car/README.MD @@ -1,11 +1,77 @@ -## Port structure -##### interface.py +# selfdrive/car + +### Check out this blogpost for a high level overview of car ports +https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/ + +## Useful car porting utilities + +Testing car ports in your car is very time consuming! Checkout these utilities to do basic checks on your work before running it in your car. + +### [Cabana](/tools/cabana/README.md) + +View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. + +Example: +```bash +> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' +``` + +### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py) + +Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in values.py + +Example: +```bash +> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' +Attempting to add fw version for: SUBARU OUTBACK 6TH GEN +``` + +### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) + +Finds common bugs for car interfaces, without even requiring a route! + + +#### Example: Typo in signal name +```bash +> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # (replace with the brand you are working on!) + +===================================================================== +FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' + +``` + +### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py) + +Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and mismatches. + +#### Example: Panda safety mismatch for gasPressed +```bash +> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' + +===================================================================== +FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) +Assert that panda safety matches openpilot's carState +---------------------------------------------------------------------- +Traceback (most recent call last): + File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate + self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") +AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} +``` + + +## Car Port structure + +### interface.py Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) -##### carcontroller.py + +### carcontroller.py Builds CAN messages to send to car + ##### carstate.py Reads CAN from car and builds openpilot CarState message + ##### values.py -Fingerprints and absolute limits +Fingerprints, limits for actuation, car doc information, etc + ##### radar_interface.py -Radar interface +Interface for parsing radar points from the car diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 301847b7ea..68f276d4b5 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,12 +1,12 @@ from collections import defaultdict -from dataclasses import dataclass, field +from dataclasses import dataclass from enum import Enum, StrEnum from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import AngleRateLimit, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ - Device + Device from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -74,11 +74,13 @@ class Footnote(Enum): @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3])) def init_make(self, CP: car.CarParams): - if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): - self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3]) + harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3 + if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14): + self.car_parts = CarParts([Device.threex_angled_mount, harness]) + else: + self.car_parts = CarParts([Device.threex, harness]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 26b3491358..d04743502c 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1985. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022): ret.mass = 3543. * CV.LB_TO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.6 # average of all the cars @@ -260,8 +260,7 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in - (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)) + ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR) else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7c6fa7cb4f..840f6d7a42 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -112,6 +112,7 @@ class CAR(StrEnum): KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" + KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" @@ -248,6 +249,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], + CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.KIA_NIRO_HEV_2021: [ HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], @@ -279,7 +281,7 @@ 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 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], @@ -1140,6 +1142,7 @@ FW_VERSIONS = { b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1149,17 +1152,20 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3', ], }, CAR.PALISADE: { @@ -1619,6 +1625,23 @@ FW_VERSIONS = { b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', ], }, + CAR.KIA_NIRO_PHEV_2022: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + ], + }, CAR.KIA_NIRO_HEV_2021: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -2078,6 +2101,7 @@ FW_VERSIONS = { 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', b'\xf1\x00KA4 MFC AT KOR LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.05 99210-R0000 201221', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', @@ -2140,7 +2164,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N 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_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN, - CAR.AZERA_HEV_6TH_GEN} + CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} 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} @@ -2223,4 +2247,5 @@ DBC = { CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), } diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 1547f69b04..4dc5726f34 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -132,6 +132,7 @@ FW_VERSIONS = { b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 9802524886..66dafc1312 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -153,10 +153,12 @@ routes = [ 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), + CarTestRoute("23349923ba5c4e3b|2023-12-02--08-51-54", HYUNDAI.KIA_NIRO_PHEV_2022), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), + CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30), CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 8229cf239b..e602ad47b3 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -55,12 +55,10 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: seg_list = f.read().splitlines() - cnt = INTERNAL_SEG_CNT or len(seg_list) - seg_list_iter = iter(seg_list[:cnt]) - - for platform in seg_list_iter: - platform = platform[2:] # get rid of comment - segment_name = SegmentName(next(seg_list_iter)) + seg_list_grouped = [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] + seg_list_grouped = random.sample(seg_list_grouped, INTERNAL_SEG_CNT or len(seg_list_grouped)) + for platform, segment in seg_list_grouped: + segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) return test_cases diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index c7a1566b32..242a38b3d0 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -20,6 +20,7 @@ KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 KIA SELTOS 2021: HYUNDAI SONATA 2020 KIA NIRO HYBRID 2019: KIA NIRO EV 2020 +KIA NIRO PLUG-IN HYBRID 2022: KIA NIRO EV 2020 KIA NIRO HYBRID 2021: KIA NIRO EV 2020 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c8e6daaef8..c47dd2d161 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -239,7 +239,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), CAR.TIGUAN_MK2: [ - VWCarInfo("Volkswagen Tiguan 2018-23"), + VWCarInfo("Volkswagen Tiguan 2018-24"), VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), ], CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), @@ -667,6 +667,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906264 \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ @@ -682,6 +683,7 @@ FW_VERSIONS = { b'\xf1\x870CW300042H \xf1\x891607', b'\xf1\x870GC300042H \xf1\x891404', b'\xf1\x870D9300018C \xf1\x895297', + b'\xf1\x870D9300042H \xf1\x894901', b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ @@ -696,6 +698,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012416612124111', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], (Ecu.eps, 0x712, None): [ @@ -709,6 +712,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ @@ -718,6 +722,7 @@ FW_VERSIONS = { b'\xf1\x873Q0907572C \xf1\x890195', b'\xf1\x873Q0907572C \xf1\x890196', b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x873Q0907572B \xf1\x890194', b'\xf1\x875Q0907572R \xf1\x890771', ], }, @@ -843,6 +848,7 @@ FW_VERSIONS = { b'\xf1\x8783A907115K \xf1\x890002', b'\xf1\x8704E906024AP\xf1\x891461', b'\xf1\x8783A907115 \xf1\x890007', + b'\xf1\x8783A907115Q \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', @@ -851,6 +857,7 @@ FW_VERSIONS = { b'\xf1\x8709G927158GD\xf1\x893820', b'\xf1\x8709G927158GM\xf1\x893936', b'\xf1\x8709G927158GN\xf1\x893938', + b'\xf1\x8709G927158HB\xf1\x894069', b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', @@ -1265,6 +1272,7 @@ FW_VERSIONS = { b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x875NA906259E \xf1\x890003', + b'\xf1\x8704E906027LD\xf1\x893433', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', @@ -1275,6 +1283,7 @@ FW_VERSIONS = { b'\xf1\x870GC300014N \xf1\x892801', b'\xf1\x870GC300019H \xf1\x892806', b'\xf1\x870GC300046Q \xf1\x892802', + b'\xf1\x870D9300014S \xf1\x895201', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', @@ -1284,6 +1293,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', @@ -1299,6 +1309,7 @@ FW_VERSIONS = { b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572AB\xf1\x890397', + b'\xf1\x872Q0907572M \xf1\x890233', ], }, CAR.SKODA_OCTAVIA_MK3: { @@ -1383,6 +1394,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x8704L906026MT\xf1\x893076', + b'\xf1\x8705L906022BK\xf1\x899971', b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906259L \xf1\x890003', @@ -1403,6 +1415,7 @@ FW_VERSIONS = { b'\xf1\x870GC300014M \xf1\x892801', b'\xf1\x870GC300019G \xf1\x892803', b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870GC300046D \xf1\x892402', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', @@ -1412,6 +1425,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 41866efc3d..bbfde95cd6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -93,8 +93,7 @@ class Controls: else: self.CI, self.CP = CI, CI.CP - self.joystick_enabled = self.params.get_bool("JoystickDebugMode") - self.joystick_mode = self.joystick_enabled or self.CP.notCar + self.joystick_mode = self.params.get_bool("JoystickDebugMode") # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") @@ -192,9 +191,6 @@ class Controls: set_offroad_alert("Offroad_NoFirmware", True) elif self.CP.passive: self.events.add(EventName.dashcamMode, static=True) - elif self.joystick_mode: - self.events.add(EventName.joystickDebug, static=True) - self.startup_event = None # controlsd is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) @@ -215,6 +211,11 @@ class Controls: self.events.clear() + # Add joystick event, static on cars, dynamic on nonCars + if self.joystick_mode: + self.events.add(EventName.joystickDebug) + self.startup_event = None + # Add startup event if self.startup_event is not None: self.events.add(self.startup_event) @@ -371,7 +372,7 @@ class Controls: else: self.logged_comm_issue = None - if not (self.CP.notCar and self.joystick_enabled): + if not (self.CP.notCar and self.joystick_mode): if not self.sm['lateralPlan'].mpcSolutionValid: self.events.add(EventName.plannerError) if not self.sm['liveLocationKalman'].posenetOK: @@ -853,6 +854,8 @@ class Controls: self.is_metric = self.params.get_bool("IsMetric") self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl + if self.CP.notCar: + self.joystick_mode = self.params.get_bool("JoystickDebugMode") # Sample data from sockets and get a carState CS = self.data_sample() diff --git a/selfdrive/debug/auto_fingerprint.py b/selfdrive/debug/auto_fingerprint.py index 78b109b0bd..10e438e546 100755 --- a/selfdrive/debug/auto_fingerprint.py +++ b/selfdrive/debug/auto_fingerprint.py @@ -102,4 +102,4 @@ if __name__ == "__main__": if not new_fw_versions: print("No new fw versions found...") - add_fw_versions(brand, platform, new_fw_versions) \ No newline at end of file + add_fw_versions(brand, platform, new_fw_versions) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index c7b6250d3f..8209b409ca 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -10,6 +10,8 @@ from openpilot.tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--qlog", help="Use qlog instead of log", action="store_true") + parser.add_argument("--fingerprint", help="The fingerprint to use") parser.add_argument("route", help="The route name to use") parser.add_argument("process", help="The process to run") args = parser.parse_args() @@ -17,10 +19,10 @@ if __name__ == "__main__": cfg = [c for c in CONFIGS if c.proc_name == args.process][0] route = Route(args.route) - lr = MultiLogIterator(route.log_paths()) + lr = MultiLogIterator(route.qlog_paths() if args.qlog else route.log_paths()) inputs = list(lr) - outputs = replay_process(cfg, inputs) + outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) # Remove message generated by the process under test and merge in the new messages produces = {o.which() for o in outputs} diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index e2897b08a5..9697c01793 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850 -size 52524758 +oid sha256:cf6133c5bff295a3ee69eeb01297ba77adb6b83dbc1d774442a48117dbaf4626 +size 48457192 diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py index a16b5707f5..f9d3e681a5 100755 --- a/selfdrive/test/cpp_harness.py +++ b/selfdrive/test/cpp_harness.py @@ -8,4 +8,4 @@ from openpilot.common.prefix import OpenpilotPrefix with OpenpilotPrefix(): ret = subprocess.call(sys.argv[1:]) -exit(ret) \ No newline at end of file +exit(ret) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 552070f024..78b01c983f 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -71,4 +71,4 @@ def with_processes(processes, init_time=0, ignore_stopped=None): def noop(*args, **kwargs): - pass \ No newline at end of file + pass diff --git a/selfdrive/test/process_replay/conftest.py b/selfdrive/test/process_replay/conftest.py deleted file mode 100644 index 3f9744ed61..0000000000 --- a/selfdrive/test/process_replay/conftest.py +++ /dev/null @@ -1,37 +0,0 @@ -import pytest - -from openpilot.selfdrive.test.process_replay.helpers import ALL_PROCS -from openpilot.selfdrive.test.process_replay.test_processes import ALL_CARS - - -def pytest_addoption(parser: pytest.Parser): - parser.addoption("--whitelist-procs", type=str, nargs="*", default=ALL_PROCS, - help="Whitelist given processes from the test (e.g. controlsd)") - parser.addoption("--whitelist-cars", type=str, nargs="*", default=ALL_CARS, - help="Whitelist given cars from the test (e.g. HONDA)") - parser.addoption("--blacklist-procs", type=str, nargs="*", default=[], - help="Blacklist given processes from the test (e.g. controlsd)") - parser.addoption("--blacklist-cars", type=str, nargs="*", default=[], - help="Blacklist given cars from the test (e.g. HONDA)") - parser.addoption("--ignore-fields", type=str, nargs="*", default=[], - help="Extra fields or msgs to ignore (e.g. carState.events)") - parser.addoption("--ignore-msgs", type=str, nargs="*", default=[], - help="Msgs to ignore (e.g. onroadEvents)") - parser.addoption("--update-refs", action="store_true", - help="Updates reference logs using current commit") - parser.addoption("--upload-only", action="store_true", - help="Skips testing processes and uploads logs from previous test run") - parser.addoption("--long-diff", action="store_true", - help="Outputs diff in long format") - - -@pytest.fixture(scope="class", autouse=True) -def process_replay_test_arguments(request): - if hasattr(request.cls, "segment"): # check if a subclass of TestProcessReplayBase - request.cls.tested_procs = list(set(request.config.getoption("--whitelist-procs")) - set(request.config.getoption("--blacklist-procs"))) - request.cls.tested_cars = list({c.upper() for c in set(request.config.getoption("--whitelist-cars")) - set(request.config.getoption("--blacklist-cars"))}) - request.cls.ignore_fields = request.config.getoption("--ignore-fields") - request.cls.ignore_msgs = request.config.getoption("--ignore-msgs") - request.cls.upload_only = request.config.getoption("--upload-only") - request.cls.update_refs = request.config.getoption("--update-refs") - request.cls.long_diff = request.config.getoption("--long-diff") \ No newline at end of file diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py deleted file mode 100755 index 0952a01870..0000000000 --- a/selfdrive/test/process_replay/helpers.py +++ /dev/null @@ -1,150 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import unittest - -from parameterized import parameterized -from typing import Optional, Union, List - - -from openpilot.selfdrive.test.openpilotci import get_url, upload_file -from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process -from openpilot.system.version import get_commit -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.logreader import LogReader, LogIterable - - -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") -EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} - - -def get_log_data(segment): - r, n = segment.rsplit("--", 1) - with FileReader(get_url(r, n)) as f: - return f.read() - - -ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}) -PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS} - -cpu_count = os.cpu_count() or 1 - - -class TestProcessReplayBase(unittest.TestCase): - """ - Base class that replays all processes within test_proceses from a segment, - and puts the log messages in self.log_msgs for analysis by other tests. - """ - segment: Optional[Union[str, LogIterable]] = None - tested_procs: List[str] = ALL_PROCS - - @classmethod - def setUpClass(cls, create_logs=True): - if "Base" in cls.__name__: - raise unittest.SkipTest("skipping base class") - - if isinstance(cls.segment, str): - cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment)) - else: - cls.log_reader = cls.segment - - if create_logs: - cls._create_log_msgs() - - @classmethod - def _run_replay(cls, cfg): - try: - return replay_process(cfg, cls.log_reader, disable_progress=True) - except Exception as e: - raise Exception(f"failed on segment: {cls.segment} \n{e}") from e - - @classmethod - def _create_log_msgs(cls): - cls.log_msgs = {} - cls.proc_cfg = {} - - for proc in cls.tested_procs: - cfg = PROC_TO_CFG[proc] - - log_msgs = cls._run_replay(cfg) - - cls.log_msgs[proc] = log_msgs - cls.proc_cfg[proc] = cfg - - -class TestProcessReplayDiffBase(TestProcessReplayBase): - """ - Base class for checking for diff between process outputs. - """ - update_refs = False - upload_only = False - long_diff = False - ignore_msgs: List[str] = [] - ignore_fields: List[str] = [] - - def setUp(self): - super().setUp() - if self.upload_only: - raise unittest.SkipTest("skipping test, uploading only") - - @classmethod - def setUpClass(cls): - super().setUpClass(not cls.upload_only) - - if cls.long_diff: - cls.maxDiff = None - - os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) - - cls.cur_commit = get_commit() - cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit") - - cls.upload = cls.update_refs or cls.upload_only - - try: - with open(REF_COMMIT_FN) as f: - cls.ref_commit = f.read().strip() - except FileNotFoundError: - print("Couldn't find reference commit") - sys.exit(1) - - cls._create_ref_log_msgs() - - @classmethod - def _create_ref_log_msgs(cls): - cls.ref_log_msgs = {} - - for proc in cls.tested_procs: - cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2") - if cls.update_refs: # reference logs will not exist if routes were just regenerated - ref_log_path = get_url(*cls.segment.rsplit("--", 1)) - else: - ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2") - ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) - - if not cls.upload_only: - save_log(cur_log_fn, cls.log_msgs[proc]) - cls.ref_log_msgs[proc] = list(LogReader(ref_log_path)) - - if cls.upload: - assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" - upload_file(cur_log_fn, os.path.basename(cur_log_fn)) - os.remove(cur_log_fn) - - @parameterized.expand(ALL_PROCS) - def test_process_diff(self, proc): - if proc not in self.tested_procs: - raise unittest.SkipTest(f"{proc} was not requested to be tested") - - cfg = self.proc_cfg[proc] - log_msgs = self.log_msgs[proc] - ref_log_msgs = self.ref_log_msgs[proc] - - diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs) - - diff_short, diff_long = format_process_diff(diff) - - self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short) \ No newline at end of file diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 977f19e7bc..bb111e22e2 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -35a05ff1b68062c9478b2adfe96f1c294bee1b6c +91cd2bf71771c2770c0effc26c0bb23d27208138 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c3c3670a74..19f1c127a6 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -749,6 +749,9 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non if CP.openpilotLongitudinalControl: params_dict["ExperimentalLongitudinalEnabled"] = True + if CP.notCar: + params_dict["JoystickDebugMode"] = True + return params_dict diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index 070cb5f783..656a5b89e1 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -8,8 +8,7 @@ from tqdm import tqdm from openpilot.common.prefix import OpenpilotPrefix from openpilot.selfdrive.test.process_replay.regen import regen_and_save -from openpilot.selfdrive.test.process_replay.process_replay import FAKEDATA -from openpilot.selfdrive.test.process_replay.test_processes import source_segments as segments +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/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index eb01e50e33..5429c9b63e 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -1,15 +1,20 @@ #!/usr/bin/env python3 -import unittest -import pytest +import argparse +import concurrent.futures +import os import sys - -from parameterized import parameterized_class -from typing import List, Optional +from collections import defaultdict +from tqdm import tqdm +from typing import Any, DefaultDict, Dict from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled -from openpilot.selfdrive.test.process_replay.helpers import TestProcessReplayDiffBase - +from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff +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 @@ -58,42 +63,166 @@ segments = [ # dashcamOnly makes don't need to be tested until a full port is done excluded_interfaces = ["mock", "tesla"] -ALL_CARS = sorted({car for car, _ in segments}) - - -@pytest.mark.slow -@parameterized_class(('case_name', 'segment'), segments) -@pytest.mark.xdist_group_class_property('case_name') -class TestCarProcessReplay(TestProcessReplayDiffBase): - """ - Runs a replay diff on a segment for each car. - """ - - case_name: Optional[str] = None - tested_cars: List[str] = ALL_CARS - - @classmethod - def setUpClass(cls): - if cls.case_name not in cls.tested_cars: - raise unittest.SkipTest(f"{cls.case_name} was not requested to be tested") - super().setUpClass() - - def test_all_makes_are_tested(self): - if set(self.tested_cars) != set(ALL_CARS): - raise unittest.SkipTest("skipping check because some cars were skipped via command line") - - # check to make sure all car brands are tested - untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in self.tested_cars} - self.assertEqual(len(untested), 0, f"Cars missing routes: {str(untested)}") - - def test_controlsd_engaged(self): - if "controlsd" not in self.tested_procs: - raise unittest.SkipTest("controlsd was not requested to be tested") - - # check to make sure openpilot is engaged in the route - log_msgs = self.log_msgs["controlsd"] - self.assertTrue(check_openpilot_enabled(log_msgs), f"Route did not enable at all or for long enough: {self.segment}") - - -if __name__ == '__main__': - pytest.main([*sys.argv[1:], __file__]) \ No newline at end of file +BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" +REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") +EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} + + +def run_test_process(data): + segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data + res = None + if not args.upload_only: + lr = LogReader.from_bytes(lr_dat) + res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) + # save logs so we can upload when updating refs + save_log(cur_log_fn, log_msgs) + + if args.update_refs or args.upload_only: + print(f'Uploading: {os.path.basename(cur_log_fn)}') + assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" + upload_file(cur_log_fn, os.path.basename(cur_log_fn)) + os.remove(cur_log_fn) + return (segment, cfg.proc_name, res) + + +def get_log_data(segment): + r, n = segment.rsplit("--", 1) + with FileReader(get_url(r, n)) as f: + return (segment, f.read()) + + +def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): + if ignore_fields is None: + ignore_fields = [] + if ignore_msgs is None: + ignore_msgs = [] + + ref_log_msgs = list(LogReader(ref_log_path)) + + try: + log_msgs = replay_process(cfg, lr, disable_progress=True) + except Exception as e: + raise Exception("failed on segment: " + segment) from e + + # check to make sure openpilot is engaged in the route + if cfg.proc_name == "controlsd": + if not check_openpilot_enabled(log_msgs): + 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), log_msgs + except Exception as e: + return str(e), log_msgs + + +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)") + parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars, + help="Whitelist given cars from the test (e.g. HONDA)") + parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[], + help="Blacklist given processes from the test (e.g. controlsd)") + parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[], + help="Blacklist given cars from the test (e.g. HONDA)") + parser.add_argument("--ignore-fields", type=str, nargs="*", default=[], + help="Extra fields or msgs to ignore (e.g. carState.events)") + parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[], + help="Msgs to ignore (e.g. carEvents)") + parser.add_argument("--update-refs", action="store_true", + 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=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) + tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars) + tested_cars = {c.upper() for c in tested_cars} + + full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs)) + upload = args.update_refs or args.upload_only + os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) + + if upload: + assert full_test, "Need to run full test when updating refs" + + try: + ref_commit = open(REF_COMMIT_FN).read().strip() + except FileNotFoundError: + print("Couldn't find reference commit") + sys.exit(1) + + cur_commit = get_commit() + if cur_commit is None: + raise Exception("Couldn't get current commit") + + print(f"***** testing against commit {ref_commit} *****") + + # check to make sure all car brands are tested + if full_test: + untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} + assert len(untested) == 0, f"Cars missing routes: {str(untested)}" + + log_paths: DefaultDict[str, Dict[str, Dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) + with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: + if not args.upload_only: + download_segments = [seg for car, seg in segments if car in tested_cars] + log_data: Dict[str, LogReader] = {} + p1 = pool.map(get_log_data, download_segments) + for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): + log_data[segment] = lr + + pool_args: Any = [] + for car_brand, segment in segments: + if car_brand not in tested_cars: + continue + + for cfg in CONFIGS: + if cfg.proc_name not in tested_procs: + continue + + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") + if args.update_refs: # reference logs will not exist if routes were just regenerated + ref_log_path = get_url(*segment.rsplit("--", 1)) + else: + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") + ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) + + dat = None if args.upload_only else log_data[segment] + pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) + + log_paths[segment][cfg.proc_name]['ref'] = ref_log_path + log_paths[segment][cfg.proc_name]['new'] = cur_log_fn + + results: Any = defaultdict(dict) + p2 = pool.map(run_test_process, pool_args) + for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): + if not args.upload_only: + results[segment][proc] = result + + diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) + if not upload: + with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: + f.write(diff_long) + print(diff_short) + + if failed: + print("TEST FAILED") + print("\n\nTo push the new reference logs for this commit run:") + print("./test_processes.py --upload-only") + else: + print("TEST SUCCEEDED") + + else: + with open(REF_COMMIT_FN, "w") as f: + f.write(cur_commit) + print(f"\n\nUpdated reference logs for commit: {cur_commit}") + + sys.exit(int(failed)) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index b4121529d1..d7c5c58280 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -36,7 +36,7 @@ PROCS = { "./locationd": 11.0, "./mapsd": (1.0, 10.0), "selfdrive.controls.plannerd": 11.0, - "./_ui": 18.0, + "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, "./sensord": 7.0, "selfdrive.controls.radard": 4.5, @@ -46,13 +46,13 @@ PROCS = { "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, - "selfdrive.ui.soundd": 5.8, + "selfdrive.ui.soundd": 3.5, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, "selfdrive.tombstoned": 0, "./logcatd": 0, - "system.micd": 10.0, + "system.micd": 6.0, "system.timezoned": 0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, @@ -303,7 +303,7 @@ class TestOnroad(unittest.TestCase): self.assertLessEqual(max(mems) - min(mems), 3.0) def test_gpu_usage(self): - self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"}) + self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}) def test_camera_processing_time(self): result = "\n" diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index 8ad5d39493..99f9097905 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,6 +3,7 @@ moc_* translations/main_test_en.* +ui watch3 installer/installers/* qt/text diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index f0db1f63a7..b0f5a4f4a6 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -77,7 +77,7 @@ 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_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) +qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs) 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) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 693a0253b4..df9bb24651 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -3,62 +3,39 @@ #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(this, &CameraWidget::clicked, this, &DriverViewWindow::done); + QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { + if (isVisible()) { + emit 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(); + CameraWidget::hideEvent(event); } -void DriverViewScene::frameUpdated() { - frame_updated = true; - update(); -} +void DriverViewWindow::paintGL() { + CameraWidget::paintGL(); -void DriverViewScene::paintEvent(QPaintEvent* event) { + std::lock_guard lk(frame_lock); 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)); @@ -68,10 +45,8 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { const auto &sm = *(uiState()->sm); cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); - cereal::DriverStateV2::DriverData::Reader driver_data; - - is_rhd = driver_state.getWheelOnRightProb() > 0.5; - driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; + auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { 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/qt/util.cc b/selfdrive/ui/qt/util.cc index 78da183503..c5222b865f 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -112,6 +112,8 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { #endif } + qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); + setQtSurfaceFormat(); } diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index 9d6d24a594..01148ec199 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -8,14 +8,14 @@ from typing import Dict, Optional, Tuple from cereal import car, messaging from openpilot.common.basedir import BASEDIR from openpilot.common.filter_simple import FirstOrderFilter - -from openpilot.system import micd -from openpilot.system.hardware import TICI - from openpilot.common.realtime import Ratekeeper +from openpilot.common.retry import retry from openpilot.common.swaglog import cloudlog +from openpilot.system import micd + SAMPLE_RATE = 48000 +SAMPLE_BUFFER = 4096 # (approx 100ms) MAX_VOLUME = 1.0 MIN_VOLUME = 0.1 CONTROLS_TIMEOUT = 5 # 5 seconds @@ -126,18 +126,23 @@ class Soundd: volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1)) + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + def soundd_thread(self): # sounddevice must be imported after forking processes import sounddevice as sd - if TICI: - micd.wait_for_devices(sd) # wait for alsa to be initialized on device + sm = messaging.SubMaster(['controlsState', 'microphone']) - with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: + with self.get_stream(sd) as stream: rk = Ratekeeper(20) - sm = messaging.SubMaster(['controlsState', 'microphone']) - cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") + cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") while True: sm.update(0) @@ -158,4 +163,4 @@ def main(): if __name__ == "__main__": - main() \ No newline at end of file + main() diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 4159f28c31..dc771b8c6e 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -275,7 +275,7 @@ - DriverViewScene + DriverViewWindow camera starting بدء تشغيل الكاميرا diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index e2e5771905..498d4c4438 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -275,7 +275,7 @@ - DriverViewScene + DriverViewWindow camera starting Kamera startet diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 456efe6366..5ae3acdc1e 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -275,7 +275,7 @@ - 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 63de8f0471..d01657f8e4 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -275,7 +275,7 @@ - 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 bc0c5f2b0e..d2d6a4ddc1 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -275,7 +275,7 @@ - DriverViewScene + DriverViewWindow camera starting 카메라 시작 중 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4cf37cc585..04458974cb 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -275,7 +275,7 @@ - DriverViewScene + DriverViewWindow camera starting câmera iniciando diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index a1748a6951..5f77f6c9de 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -275,7 +275,7 @@ - DriverViewScene + DriverViewWindow camera starting กำลังเปิดกล้อง diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 51fdddd5ce..f8a76669a2 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -275,7 +275,7 @@ - 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 7b682535ce..371106d571 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -275,7 +275,7 @@ - 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 1794cc78ac..6aa6295ce2 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -275,7 +275,7 @@ - DriverViewScene + DriverViewWindow camera starting 開啟相機中 diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui deleted file mode 100755 index acb2a705a8..0000000000 --- a/selfdrive/ui/ui +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export QT_DBL_CLICK_DIST=150 -exec ./_ui diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index e36766ca2d..645a6f305c 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -61,9 +61,9 @@ private: cl_kernel krnl_; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; - this->yuv_type = init_yuv_type; + stream_type = type; frame_buf_count = frame_cnt; const SensorInfo *ci = s->ci.get(); @@ -87,7 +87,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height)); size_t nv12_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage size_t nv12_uv_offset = nv12_width * nv12_height; - vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset); @@ -113,7 +113,7 @@ bool CameraBuf::acquire() { } cur_frame_data = camera_bufs_metadata[cur_buf_idx]; - cur_yuv_buf = vipc_server->get_buffer(yuv_type); + cur_yuv_buf = vipc_server->get_buffer(stream_type); cur_camera_buf = &camera_bufs[cur_buf_idx]; double start_time = millis_since_boot(); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index e93d357b8d..9ebe018408 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -55,7 +55,7 @@ class CameraBuf { private: VisionIpcServer *vipc_server; Debayer *debayer = nullptr; - VisionStreamType yuv_type; + VisionStreamType stream_type; int cur_buf_idx; SafeQueue safe_queue; int frame_buf_count; @@ -71,7 +71,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type); bool acquire(); void queue(size_t buf_idx); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 194f11fe6d..7f2118e7e4 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -426,7 +426,7 @@ void CameraState::camera_map_bufs(MultiCameraState *s) { enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } -void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { +void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { if (!enabled) return; LOGD("camera init %d", camera_num); @@ -618,9 +618,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_DRIVER); - s->road_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_ROAD); - s->wide_road_cam.camera_init(s, v, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD); + s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER); + s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD); + s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 3da5ec207d..d61c087f7c 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -50,7 +50,7 @@ public: void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); void sensor_set_parameters(); void camera_map_bufs(MultiCameraState *s); - void camera_init(MultiCameraState *s, VisionIpcServer *v, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); + void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); void camera_close(); int32_t session_handle; diff --git a/system/hardware/hw.py b/system/hardware/hw.py index 6c3d90345c..a8967520e3 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -53,4 +53,4 @@ class Paths: if PC: return Paths.comma_home() else: - return "/tmp/.comma" \ No newline at end of file + return "/tmp/.comma" diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 869b4617b3..0aba4b8b49 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -27,8 +27,11 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t edat.setData(dat); if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header); - auto words = new kj::Array(capnp::messageToFlatArray(msg)); - auto bytes = words->asBytes(); - e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size()); - delete words; + uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); + if (e->msg_cache.size() < bytes_size) { + e->msg_cache.resize(bytes_size); + } + kj::ArrayOutputStream output_stream(kj::ArrayPtr(e->msg_cache.data(), bytes_size)); + capnp::writeMessage(output_stream, msg); + e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index a8bfd5c054..9c23928cc6 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -4,6 +4,7 @@ #include #include #include +#include #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" @@ -23,7 +24,6 @@ public: static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - protected: int in_width, in_height; const EncoderInfo encoder_info; @@ -32,4 +32,5 @@ private: // total frames encoded int cnt = 0; std::unique_ptr pm; + std::vector msg_cache; }; diff --git a/system/micd.py b/system/micd.py index f4085becd4..8b738ebe93 100755 --- a/system/micd.py +++ b/system/micd.py @@ -5,24 +5,12 @@ from cereal import messaging from openpilot.common.realtime import Ratekeeper from openpilot.common.retry import retry from openpilot.common.swaglog import cloudlog -from openpilot.system.hardware import TICI RATE = 10 FFT_SAMPLES = 4096 REFERENCE_SPL = 2e-5 # newtons/m^2 SAMPLE_RATE = 44100 - - -@retry(attempts=7, delay=3) -def wait_for_devices(sd): - # reload sounddevice to reinitialize portaudio - sd._terminate() - sd._initialize() - - devices = sd.query_devices() - cloudlog.info(f"sounddevice available devices: {list(devices)}") - - assert len(devices) > 0 +SAMPLE_BUFFER = 4096 # (approx 100ms) def calculate_spl(measurements): @@ -91,15 +79,19 @@ class Mic: self.measurements = self.measurements[FFT_SAMPLES:] + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + def micd_thread(self): # sounddevice must be imported after forking processes import sounddevice as sd - if TICI: - wait_for_devices(sd) # wait for alsa to be initialized on device - - 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=}") + with self.get_stream(sd) as stream: + cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") while True: self.update() diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index e07903e680..0262a546f6 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,12 +1,10 @@ #pragma once #include -#include #include #include #include -#include #include #include @@ -47,7 +45,7 @@ struct std::hash { std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } }; -typedef QList> ValueDescription; +typedef std::vector> ValueDescription; namespace cabana { diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index a22d979212..fbbb54fd58 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -52,8 +52,7 @@ void DBCFile::cleanupAutoSaveFile() { bool DBCFile::writeContents(const QString &fn) { QFile file(fn); if (file.open(QIODevice::WriteOnly)) { - file.write(generateDBC().toUtf8()); - return true; + return file.write(generateDBC().toUtf8()) >= 0; } return false; } @@ -77,10 +76,6 @@ cabana::Msg *DBCFile::msg(const QString &name) { return it != msgs.end() ? &(it->second) : nullptr; } -int DBCFile::signalCount() { - return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); }); -} - void DBCFile::parse(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); @@ -226,7 +221,7 @@ QString DBCFile::generateDBC() { if (!sig->comment.isEmpty()) { signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); } - if (!sig->val_desc.isEmpty()) { + if (!sig->val_desc.empty()) { QStringList text; for (auto &[val, desc] : sig->val_desc) { text << QString("%1 \"%2\"").arg(val).arg(desc); diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index ade6b249e2..551bac4946 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -27,10 +27,8 @@ public: cabana::Msg *msg(const QString &name); inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - int signalCount(); - inline int msgCount() { return msgs.size(); } - inline QString name() { return name_.isEmpty() ? "untitled" : name_; } - inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); } + inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } + inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); } QString filename; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 87a7d962c5..250ec225b5 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -106,12 +106,6 @@ QString DBCManager::newSignalName(const MessageId &id) { return m ? m->newSignalName() : ""; } -const std::vector &DBCManager::mask(const MessageId &id) { - static std::vector empty_mask; - auto m = msg(id); - return m ? m->mask : empty_mask; -} - const std::map &DBCManager::getMessages(uint8_t source) { static std::map empty_msgs; auto dbc_file = findDBCFile(source); @@ -143,25 +137,6 @@ QStringList DBCManager::signalNames() { return ret; } -int DBCManager::signalCount(const MessageId &id) { - auto m = msg(id); - return m ? m->sigs.size() : 0; -} - -int DBCManager::signalCount() { - auto files = allDBCFiles(); - return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); }); -} - -int DBCManager::msgCount() { - auto files = allDBCFiles(); - return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); }); -} - -int DBCManager::dbcCount() { - return allDBCFiles().size(); -} - int DBCManager::nonEmptyDBCCount() { auto files = allDBCFiles(); return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); }); diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 53a77a2c13..5f183752d2 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -4,7 +4,6 @@ #include #include #include -#include #include "tools/cabana/dbc/dbcfile.h" @@ -34,17 +33,13 @@ public: QString newMsgName(const MessageId &id); QString newSignalName(const MessageId &id); - const std::vector& mask(const MessageId &id); const std::map &getMessages(uint8_t source); cabana::Msg *msg(const MessageId &id); cabana::Msg* msg(uint8_t source, const QString &name); QStringList signalNames(); - int signalCount(const MessageId &id); - int signalCount(); - int msgCount(); - int dbcCount(); + inline int dbcCount() { return allDBCFiles().size(); } int nonEmptyDBCCount(); const SourceSet sources(const DBCFile *dbc_file) const; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index f7f2fba45f..410f3a65f4 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -46,7 +46,6 @@ MainWindow::MainWindow() : QMainWindow() { static auto static_main_win = this; qRegisterMetaType("uint64_t"); qRegisterMetaType("SourceSet"); - qRegisterMetaType("ReplyMsgType"); installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) { emit static_main_win->updateProgressBar(cur, total, success); }); @@ -54,9 +53,7 @@ MainWindow::MainWindow() : QMainWindow() { if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; emit static_main_win->showMessage(msg, 2000); }); - installMessageHandler([](ReplyMsgType type, const std::string msg) { - qInfo() << QString::fromStdString(msg); - }); + installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); }); setStyleSheet(QString(R"(QMainWindow::separator { width: %1px; /* when vertical */ @@ -329,7 +326,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { QString dbc_str = QGuiApplication::clipboard()->text(); QString error; bool ret = dbc()->open(s, "", dbc_str, &error); - if (ret && dbc()->msgCount() > 0) { + if (ret && dbc()->nonEmptyDBCCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format.")); @@ -356,7 +353,7 @@ void MainWindow::streamStarted() { video_splitter->setSizes({1, 1}); } // Don't overwrite already loaded DBC - if (!dbc()->msgCount()) { + if (!dbc()->nonEmptyDBCCount()) { newFile(); } @@ -371,7 +368,7 @@ void MainWindow::eventsMerged() { .arg(can->routeName()) .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); // Don't overwrite already loaded DBC - if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) { + if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) { auto dbc_name = fingerprint_to_dbc[car_fingerprint]; if (dbc_name != QJsonValue::Undefined) { // Prevent dialog that load autosaved file from blocking replay->start(). @@ -529,7 +526,6 @@ void MainWindow::updateRecentFiles(const QString &fn) { void MainWindow::updateRecentFileActions() { int num_recent_files = std::min(settings.recent_files.size(), MAX_RECENT_FILES); - for (int i = 0; i < num_recent_files; ++i) { QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName()); recent_files_acts[i]->setText(text); @@ -543,15 +539,11 @@ void MainWindow::updateRecentFileActions() { } void MainWindow::remindSaveChanges() { - bool discard_changes = false; - while (!UndoStack::instance()->isClean() && !discard_changes) { + while (!UndoStack::instance()->isClean()) { QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard."); - int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel)); - if (ret == QMessageBox::Ok) { - save(); - } else { - discard_changes = true; - } + int ret = QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel); + if (ret != QMessageBox::Ok) break; + save(); } UndoStack::instance()->clear(); } @@ -660,7 +652,7 @@ HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) { void HelpOverlay::paintEvent(QPaintEvent *event) { QPainter painter(this); painter.fillRect(rect(), QColor(0, 0, 0, 50)); - MainWindow *parent = (MainWindow *)parentWidget(); + auto parent = parentWidget(); drawHelpForWidget(painter, parent->findChild()); drawHelpForWidget(painter, parent->findChild()); drawHelpForWidget(painter, parent->findChild()); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 1a889b88c2..ea0bad5ea4 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -101,7 +101,6 @@ protected: int prev_undostack_index = 0; int prev_undostack_count = 0; QByteArray default_state; - friend class OnlineHelp; }; class HelpOverlay : public QWidget { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index aba655d66f..0cec551017 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -151,7 +151,7 @@ void MessagesWidget::menuAboutToShow() { action->setEnabled(logical_index > 0); } menu->addSeparator(); - auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes); + auto action = menu->addAction(tr("Multi-Line bytes"), this, &MessagesWidget::setMultiLineBytes); action->setCheckable(true); action->setChecked(settings.multiple_lines_hex); } diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index c7dc91e7aa..bf7550be0b 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -3,9 +3,7 @@ #include #include "catch2/catch.hpp" -#include "tools/replay/logreader.h" #include "tools/cabana/dbc/dbcmanager.h" -#include "tools/cabana/streams/abstractstream.h" const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; @@ -14,7 +12,7 @@ TEST_CASE("DBCFile::generateDBC") { DBCFile dbc_origin(fn); DBCFile dbc_from_generated("", dbc_origin.generateDBC()); - REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); + REQUIRE(dbc_origin.getMessages().size() == dbc_from_generated.getMessages().size()); auto &msgs = dbc_origin.getMessages(); auto &new_msgs = dbc_from_generated.getMessages(); for (auto &[id, m] : msgs) { diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index f984230c47..a17961243f 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -12,7 +12,6 @@ #include #include #include -#include #include #include "selfdrive/ui/qt/util.h" diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index c6e05a0af8..ac7ca2520b 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -19,11 +19,7 @@ ENCODE_SOCKETS = { VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData", } -def decoder(addr, vst, nvidia, debug=False): - vipc_server = VisionIpcServer("camerad") - vipc_server.create_buffers(vst, 4, False, W, H) - vipc_server.start_listener() - +def decoder(addr, vipc_server, vst, nvidia, debug=False): sock_name = ENCODE_SOCKETS[vst] if debug: print("start decoder for %s" % sock_name) @@ -105,9 +101,14 @@ def decoder(addr, vst, nvidia, debug=False): class CompressedVipc: def __init__(self, addr, vision_streams, nvidia=False, debug=False): + self.vipc_server = VisionIpcServer("camerad") + for vst in vision_streams: + self.vipc_server.create_buffers(vst, 4, False, W, H) + self.vipc_server.start_listener() + self.procs = [] for vst in vision_streams: - p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug)) + p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug)) p.start() self.procs.append(p) diff --git a/tools/joystick/README.md b/tools/joystick/README.md index 65422afe80..aea93dad53 100644 --- a/tools/joystick/README.md +++ b/tools/joystick/README.md @@ -45,17 +45,6 @@ In order to use a joystick over the network, we need to run joystickd locally fr tools/joystick/joystickd.py ``` -### Web joystick on your mobile device - -A browser-based virtual joystick designed for touch screens. Starts automatically when installed on comma body (non-car robotics platform). -For cars, start the web joystick service manually via SSH before starting the car. - -```shell -tools/joystick/web.py -``` - -After starting the car/body, open the web joystick app at this URL: `http://[comma three IP address]:5000` - --- Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell. diff --git a/tools/sim/README.md b/tools/sim/README.md index 0892e77736..f6ddde2580 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -1,7 +1,7 @@ openpilot in simulator ===================== -openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/). +openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive). ## Launching openpilot First, start openpilot. @@ -13,8 +13,7 @@ First, start openpilot. ## Bridge usage ``` $ ./run_bridge.py -h -usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT] - +usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] Bridge between the simulator and openpilot. options: @@ -22,11 +21,6 @@ options: --joystick --high_quality --dual_camera - --simulator SIMULATOR - --town TOWN - --spawn_point NUM_SELECTED_SPAWN_POINT - --host HOST - --port PORT ``` #### Bridge Controls: @@ -52,33 +46,5 @@ options: ### Launching Metadrive Start bridge processes located in tools/sim: ``` bash -./run_bridge.py --simulator metadrive -``` - -## Carla - -CARLA is also partially supported, though the performance is not great. It needs to be manually installed with: - -```bash -poetry install --with=carla -``` - -openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system. -For this case, we have the simulator in low quality by default. - -You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system. - -### Launching Carla -Start Carla simulator and bridge processes located in tools/sim: -``` bash -# Terminal 1 -./start_carla.sh - -# Terminal 2 -./run_bridge.py --simulator carla -``` - -## Further Reading - -The following resources contain more details and troubleshooting tips. -* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA) +./run_bridge.py +``` \ No newline at end of file diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py deleted file mode 100644 index dc2377df30..0000000000 --- a/tools/sim/bridge/carla/carla_bridge.py +++ /dev/null @@ -1,22 +0,0 @@ -from openpilot.tools.sim.bridge.common import SimulatorBridge -from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld - - -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) - - return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera, - num_selected_spawn_point=self.num_selected_spawn_point, town=self.town) \ No newline at end of file diff --git a/tools/sim/bridge/carla/carla_world.py b/tools/sim/bridge/carla/carla_world.py deleted file mode 100644 index 14b300ed7b..0000000000 --- a/tools/sim/bridge/carla/carla_world.py +++ /dev/null @@ -1,145 +0,0 @@ -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 -from openpilot.tools.sim.lib.camerad import W, H - - -class CarlaWorld(World): - def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town): - super().__init__(dual_camera) - import carla - - low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals) - - layers = carla.MapLayer.All if high_quality else low_quality_layers - - world = client.load_world(town, map_layers=layers) - - settings = world.get_settings() - settings.fixed_delta_seconds = 0.01 - world.apply_settings(settings) - - world.set_weather(carla.WeatherParameters.ClearSunset) - - self.world = world - world_map = world.get_map() - - blueprint_library = world.get_blueprint_library() - - 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) > num_selected_spawn_point, \ - f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.''' - self.spawn_point = spawn_points[num_selected_spawn_point] - self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point) - - physics_control = self.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 - self.vehicle.apply_physics_control(physics_control) - - self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False) - self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle - self.params = Params() - - self.steer_ratio = 15 - - self.carla_objects = [] - - 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=self.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=self.vehicle) - - gps_bp = blueprint_library.find('sensor.other.gnss') - self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle) - self.params.put_bool("UbloxAvailable", True) - - self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle] - - 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() - - def reset(self): - import carla - self.vehicle.set_transform(self.spawn_point) - self.vehicle.set_target_velocity(carla.Vector3D()) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index a0e6538b2c..35656f39f3 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -147,7 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga self.simulator_state.user_brake = brake_manual self.simulator_state.user_gas = throttle_manual - self.simulator_state.user_torque = steer_manual * 10000 + self.simulator_state.user_torque = steer_manual * -10000 steer_manual = steer_manual * -40 diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 3d21c0e508..3ce89d7d41 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -96,4 +96,4 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re # wide_road_image = get_cam_as_rgb("rgb_wide") road_image[...] = get_cam_as_rgb("rgb_road") - rk.keep_time() \ No newline at end of file + rk.keep_time() diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index cc6f0cd664..95769dd44e 100644 --- a/tools/sim/lib/camerad.py +++ b/tools/sim/lib/camerad.py @@ -67,4 +67,4 @@ class Camerad: 0.0, 0.0, 1.0] } setattr(dat, pub_type, msg) - self.pm.send(pub_type, dat) \ No newline at end of file + self.pm.send(pub_type, dat) diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index b7aa66f5c5..29c5858d33 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -91,4 +91,4 @@ class World(ABC): @abstractmethod def reset(self): - pass \ No newline at end of file + pass diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index c37f6ea479..f03d79c312 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/tools/sim/lib/keyboard_ctrl.py @@ -62,11 +62,11 @@ def keyboard_poll_thread(q: 'Queue[str]'): elif c == 'w': q.put("throttle_%f" % 1.0) elif c == 'a': - q.put("steer_%f" % 0.15) + q.put("steer_%f" % -0.15) elif c == 's': q.put("brake_%f" % 1.0) elif c == 'd': - q.put("steer_%f" % -0.15) + q.put("steer_%f" % 0.15) elif c == 'z': q.put("blinker_left") elif c == 'x': diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 04e228c18c..5e826e7baa 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -183,6 +183,6 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: if __name__ == '__main__': from multiprocessing import Process, Queue - q: Queue[str] = Queue() + q: 'Queue[str]' = Queue() p = Process(target=wheel_poll_thread, args=(q,)) p.start() diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index ab60fad8d3..0740f9e3aa 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -116,4 +116,4 @@ class SimulatedCar: if self.idx % 50 == 0: # only send panda states at 2hz self.send_panda_state(simulator_state) - self.idx += 1 \ No newline at end of file + self.idx += 1 diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py index 764f99f4d5..e85665f903 100644 --- a/tools/sim/lib/simulated_sensors.py +++ b/tools/sim/lib/simulated_sensors.py @@ -44,11 +44,10 @@ class SimulatedSensors: if not simulator_state.valid: return - # transform vel from carla to NED - # north is -Y in CARLA + # transform from vel to NED 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.y, + simulator_state.velocity.x, simulator_state.velocity.z, ] @@ -122,4 +121,4 @@ class SimulatedSensors: if (now - self.last_perp_update) > 0.25: self.send_peripheral_state() - self.last_perp_update = now \ No newline at end of file + self.last_perp_update = now diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py index 99617b181e..5f0f0d5e99 100755 --- a/tools/sim/run_bridge.py +++ b/tools/sim/run_bridge.py @@ -1,12 +1,9 @@ #!/usr/bin/env python import argparse -import os from typing import Any from multiprocessing import Queue -from openpilot.tools.sim.bridge.common import SimulatorBridge -from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge @@ -15,13 +12,6 @@ def parse_args(add_args=None): 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='metadrive') - - # 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=os.environ.get("CARLA_HOST", '127.0.0.1')) - parser.add_argument('--port', dest='port', type=int, default=2000) return parser.parse_args(add_args) @@ -29,13 +19,7 @@ if __name__ == "__main__": q: Any = Queue() args = parse_args() - simulator_bridge: SimulatorBridge - if args.simulator == "carla": - simulator_bridge = CarlaBridge(args) - elif args.simulator == "metadrive": - simulator_bridge = MetaDriveBridge(args) - else: - raise AssertionError("simulator type not supported") + simulator_bridge = MetaDriveBridge(args) p = simulator_bridge.run(q) if args.joystick: diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh deleted file mode 100755 index f14e0efd16..0000000000 --- a/tools/sim/start_carla.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker -if ! $(apt list --installed | grep -q nvidia-container-toolkit); then - read -p "Nvidia docker is required. Do you want to install it now? (y/n)"; - if [ "${REPLY}" == "y" ]; then - distribution=$(. /etc/os-release;echo $ID$VERSION_ID) - echo $distribution - curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - - curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list - sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit - sudo systemctl restart docker - else - exit 0 - fi -fi - -docker pull carlasim/carla:0.9.14 - -EXTRA_ARGS="-it" -if [[ "$DETACH" ]]; then - EXTRA_ARGS="-d" -fi - -docker kill carla_sim || true -docker run \ - --name carla_sim \ - --rm \ - --gpus all \ - --net=host \ - -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ - $EXTRA_ARGS \ - carlasim/carla:0.9.14 \ - /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index 54f4995e45..3dce660579 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -10,7 +10,7 @@ if ! [[ -z "$MOUNT_OPENPILOT" ]]; then fi if [[ "$CI" ]]; then - CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py" + CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py" else # expose X to the container xhost +local:root diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py deleted file mode 100755 index 3a654c993a..0000000000 --- a/tools/sim/tests/test_carla_bridge.py +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 -import subprocess -import time -import unittest -from subprocess import Popen - -from openpilot.selfdrive.manager.helpers import unblock_stdout -from openpilot.tools.sim.run_bridge import parse_args -from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge -from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase - -from typing import Optional - -class TestCarlaBridge(TestSimBridgeBase): - """ - Tests need Carla simulator to run - """ - carla_process: Optional[Popen] = None - - def setUp(self): - super().setUp() - - # We want to make sure that carla_sim docker isn't still running. - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR) - - # Too many lagging messages in bridge.py can cause a crash. This prevents it. - unblock_stdout() - # Wait 10 seconds to startup carla - time.sleep(10) - - def create_bridge(self): - return CarlaBridge(parse_args([])) - - def tearDown(self): - super().tearDown() - - # Stop carla simulator by removing docker container - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - if self.carla_process is not None: - self.carla_process.wait() - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index 2654526fa8..2a12ef791a 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -14,7 +14,7 @@ class TestSimBridgeBase(unittest.TestCase): @classmethod def setUpClass(cls): if cls is TestSimBridgeBase: - raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead") + raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead") def setUp(self): self.processes = [] @@ -26,15 +26,15 @@ class TestSimBridgeBase(unittest.TestCase): sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState']) q = Queue() - carla_bridge = self.create_bridge() - p_bridge = carla_bridge.run(q, retries=10) + bridge = self.create_bridge() + p_bridge = bridge.run(q, retries=10) self.processes.append(p_bridge) max_time_per_step = 60 # Wait for bridge to startup start_waiting = time.monotonic() - while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step: + while not bridge.started and time.monotonic() < start_waiting + max_time_per_step: time.sleep(0.1) self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}") diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh deleted file mode 100755 index 2a1e74958a..0000000000 --- a/tools/sim/tmux_script.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/bash -tmux new -d -s carla-sim -tmux send-keys "./launch_openpilot.sh" ENTER -tmux neww -tmux send-keys "./run_bridge.py $*" ENTER -tmux a -t carla-sim