diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a504e2b135..04ae841f77 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -7,6 +7,7 @@ on: env: BASE_IMAGE: openpilot-base + CL_BASE_IMAGE: openpilot-base-cl DOCKER_REGISTRY: ghcr.io/commaai AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} @@ -17,6 +18,13 @@ env: docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c + + BUILD_CL: | + docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true + docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true + docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c + UNIT_TEST: coverage run --append -m unittest discover jobs: @@ -193,10 +201,13 @@ jobs: submodules: true - name: Build Docker image run: eval "$BUILD" + - name: Build CL Docker image + run: eval "$BUILD_CL" - name: Push to container registry run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest + docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest static_analysis: name: static analysis @@ -295,7 +306,7 @@ jobs: ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./selfdrive/loggerd/tests/test_logger &&\ - ./selfdrive/proclogd/tests/test_proclog && \ + ./system/proclogd/tests/test_proclog && \ ./selfdrive/ui/replay/tests/test_replay && \ ./selfdrive/camerad/test/ae_gray_test && \ coverage xml" @@ -351,6 +362,44 @@ jobs: 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@v2 + + model_replay_onnx: + name: model replay onnx + runs-on: ubuntu-20.04 + timeout-minutes: 50 + steps: + - uses: actions/checkout@v3 + with: + submodules: true + - name: Pull LFS + run: git lfs pull + - name: Cache dependencies + id: dependency-cache + uses: actions/cache@v2 + with: + path: /tmp/comma_download_cache + key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/model_replay.py') }} + - name: Cache scons + id: scons-cache + # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. + uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + env: + CACHE_SKIP_SAVE: true + with: + path: /tmp/scons_cache + key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- + restore-keys: | + scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- + scons- + - name: Build Docker image + # Sim docker is needed to get the intel OPENCL drivers + run: eval "$BUILD_CL" + - name: Run replay + run: | + ${{ env.RUN_CL }} "scons -j$(nproc) && \ + ONNXCPU=1 FILEREADER_CACHE=1 CI=1 coverage run \ + selfdrive/test/process_replay/model_replay.py -j$(nproc) && \ + coverage xml" test_longitudinal: name: longitudinal diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 7b01728e5c..1e4ce7a4ae 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -5,6 +5,7 @@ on: env: BASE_IMAGE: openpilot-base + CL_BASE_IMAGE: openpilot-base-cl DOCKER_REGISTRY: ghcr.io/commaai DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} @@ -12,6 +13,10 @@ env: docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD_CL: | + docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true + docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true + docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \ GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c @@ -49,8 +54,10 @@ jobs: run: git lfs pull - name: Build base image run: eval "$BUILD" + - name: Build base cl image + run: eval "$BUILD_CL" - name: Pull latest simulator image - run: eval "$BUILD"docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true + run: docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true - name: Build simulator image run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - name: Push to container registry diff --git a/.gitignore b/.gitignore index 83ccbb4781..334b1b4fed 100644 --- a/.gitignore +++ b/.gitignore @@ -41,7 +41,7 @@ board/obj/ selfdrive/boardd/boardd selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json -selfdrive/proclogd/proclogd +system/proclogd/proclogd selfdrive/ui/_ui selfdrive/test/longitudinal_maneuvers/out selfdrive/visiond/visiond diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index daf85f8183..66b9f18a11 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -28,5 +28,6 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive +COPY ./system ${OPENPILOT_PATH}/system RUN scons -j$(nproc) diff --git a/Dockerfile.openpilot_base_cl b/Dockerfile.openpilot_base_cl new file mode 100644 index 0000000000..7652b7e4e6 --- /dev/null +++ b/Dockerfile.openpilot_base_cl @@ -0,0 +1,37 @@ +FROM ghcr.io/commaai/openpilot-base:latest + +RUN apt-get update && apt-get install -y --no-install-recommends\ + apt-utils \ + alien \ + unzip \ + tar \ + curl \ + xz-utils \ + dbus \ + gcc-arm-none-eabi \ + tmux \ + vim \ + lsb-core \ + libx11-6 \ + && rm -rf /var/lib/apt/lists/* + +# Intel OpenCL driver +ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz +ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532 +RUN mkdir -p /tmp/opencl-driver-intel +WORKDIR /tmp/opencl-driver-intel +RUN echo INTEL_DRIVER is $INTEL_DRIVER && \ + curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \ + tar -xzf $INTEL_DRIVER && \ + for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \ + dpkg -i *.deb && \ + rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \ + mkdir -p /etc/OpenCL/vendors && \ + echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \ + rm -rf /tmp/opencl-driver-intel +ENV NVIDIA_VISIBLE_DEVICES all +ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute +ENV QTWEBENGINE_DISABLE_SANDBOX 1 + +RUN dbus-uuidgen > /etc/machine-id + diff --git a/README.md b/README.md index 5af02de8d9..9d279fb84d 100755 --- a/README.md +++ b/README.md @@ -102,6 +102,9 @@ Directory Structure ├── panda # Code used to communicate on CAN ├── third_party # External libraries ├── pyextra # Extra python packages + └── system # Generic services + ├── logcatd # systemd journal as a service + └── proclogd # Logs information from /proc └── selfdrive # Code needed to drive the car ├── assets # Fonts, images, and sounds for UI ├── athena # Allows communication with the app @@ -112,7 +115,6 @@ Directory Structure ├── controls # Planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation - ├── logcatd # Android logcat as a service ├── loggerd # Logger and uploader of car data ├── modeld # Driving and monitoring model runners ├── proclogd # Logs information from proc diff --git a/RELEASES.md b/RELEASES.md index c02a54413c..de57d520d3 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -5,6 +5,7 @@ Version 0.8.15 (2022-XX-XX) * Much smoother control, consistent across the speed range * Effective feedforward that uses road roll * Simplified tuning, all car-specific parameters can be derived from data +* AGNOS 5 Version 0.8.14 (2022-06-01) ======================== diff --git a/SConstruct b/SConstruct index d9d05f7940..0aeb382c23 100644 --- a/SConstruct +++ b/SConstruct @@ -1,5 +1,4 @@ import os -import shutil import subprocess import sys import sysconfig @@ -7,6 +6,8 @@ import platform import numpy as np TICI = os.path.isfile('/TICI') +AGNOS = TICI + Decider('MD5-timestamp') AddOption('--test', @@ -56,7 +57,7 @@ real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rst if platform.system() == "Darwin": arch = "Darwin" -if arch == "aarch64" and TICI: +if arch == "aarch64" and AGNOS: arch = "larch64" USE_WEBCAM = os.getenv("USE_WEBCAM") is not None @@ -226,7 +227,7 @@ if GetOption('compile_db'): env.CompilationDatabase('compile_commands.json') # Setup cache dir -cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache' +cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache' CacheDir(cache_dir) Clean(["."], cache_dir) @@ -376,6 +377,14 @@ if arch != "larch64": Export('rednose_config') SConscript(['rednose/SConscript']) +# Build system services +SConscript([ + 'system/clocksd/SConscript', + 'system/proclogd/SConscript', +]) +if arch != "Darwin": + SConscript(['system/logcatd/SConscript']) + # Build openpilot SConscript(['cereal/SConscript']) @@ -395,8 +404,6 @@ SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript']) SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['selfdrive/boardd/SConscript']) -SConscript(['selfdrive/proclogd/SConscript']) -SConscript(['selfdrive/clocksd/SConscript']) SConscript(['selfdrive/loggerd/SConscript']) @@ -404,9 +411,6 @@ SConscript(['selfdrive/locationd/SConscript']) SConscript(['selfdrive/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) -if arch != "Darwin": - SConscript(['selfdrive/logcatd/SConscript']) - if GetOption('test'): SConscript('panda/tests/safety/SConscript') diff --git a/cereal b/cereal index bf4960f83c..7cbb4f1c8c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bf4960f83ccdefc7e9d2e405878ae6c8efced83b +Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52 diff --git a/common/modeldata.h b/common/modeldata.h index 4b776ef945..06d9398031 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -24,8 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs(10.0); constexpr auto X_IDXS = build_idxs(192.0); constexpr auto X_IDXS_FLOAT = build_idxs(192.0); -const int TICI_CAM_WIDTH = 1928; - namespace tici_dm_crop { const int x_offset = -72; const int y_offset = -144; diff --git a/common/params.cc b/common/params.cc index 2338969600..330eddc1a9 100644 --- a/common/params.cc +++ b/common/params.cc @@ -104,7 +104,6 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"EndToEndToggle", PERSISTENT}, {"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, diff --git a/common/realtime.py b/common/realtime.py index 8976832141..03051c6f67 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -8,19 +8,14 @@ from typing import Optional, List, Union from setproctitle import getproctitle # pylint: disable=no-name-in-module from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error -from selfdrive.hardware import PC, TICI +from selfdrive.hardware import PC # time step for each process DT_CTRL = 0.01 # controlsd DT_MDL = 0.05 # model DT_TRML = 0.5 # thermald and manager - -# driver monitoring -if TICI: - DT_DMON = 0.05 -else: - DT_DMON = 0.1 +DT_DMON = 0.05 # driver monitoring class Priority: diff --git a/common/swaglog.cc b/common/swaglog.cc index f0d0f0f508..75223854fe 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -50,11 +50,7 @@ class SwaglogState : public LogState { ctx_j["dirty"] = !getenv("CLEAN"); // device type - if (Hardware::TICI()) { - ctx_j["device"] = "tici"; - } else { - ctx_j["device"] = "pc"; - } + ctx_j["device"] = Hardware::get_name(); LogState::initialize(); } }; diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index a95ae45e03..b54d1d6338 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -56,10 +56,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) { REQUIRE(ctx["version"].string_value() == COMMA_VERSION); - std::string device = "pc"; - if (Hardware::TICI()) { - device = "tici"; - } + std::string device = Hardware::get_name(); REQUIRE(ctx["device"].string_value() == device); int thread_id = atoi(msg["msg"].string_value().c_str()); diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 7573877a3e..5d100d1047 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -1,7 +1,6 @@ import numpy as np import common.transformations.orientation as orient -from selfdrive.hardware import TICI ## -- hardcoded hardware params -- eon_f_focal_length = 910.0 @@ -45,14 +44,9 @@ tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics) tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics) -if not TICI: - FULL_FRAME_SIZE = eon_f_frame_size - FOCAL = eon_f_focal_length - fcam_intrinsics = eon_fcam_intrinsics -else: - FULL_FRAME_SIZE = tici_f_frame_size - FOCAL = tici_f_focal_length - fcam_intrinsics = tici_fcam_intrinsics +FULL_FRAME_SIZE = tici_f_frame_size +FOCAL = tici_f_focal_length +fcam_intrinsics = tici_fcam_intrinsics W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1] diff --git a/docs/CARS.md b/docs/CARS.md index 87be32f1d0..2aa624d849 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -51,13 +51,7 @@ How We Rate The Cars |Lexus|ES 2019-21|All|||||| |Lexus|ES Hybrid 2019-22|All|||||| |Lexus|NX 2020|All|||||| -|Lexus|RX 2020-22|All|||||| -|Lexus|RX Hybrid 2020-21|All|||||| |Lexus|UX Hybrid 2019-21|All|||||| -|Toyota|Alphard 2019-20|All|||||| -|Toyota|Alphard Hybrid 2021|All|||||| -|Toyota|Avalon 2022|All|||||| -|Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| |Toyota|Corolla 2020-22|All|||||| @@ -75,12 +69,7 @@ How We Rate The Cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| -|Audi|A3 2014-19|ACC + Lane Assist|||||| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| |Audi|Q2 2018|ACC + Lane Assist|||||| -|Audi|Q3 2020-21|ACC + Lane Assist|||||| -|Audi|RS3 2018|ACC + Lane Assist|||||| -|Audi|S3 2015-17|ACC + Lane Assist|||||| |Genesis|G70 2018|All|||||| |Genesis|G80 2018|All|||||| |Hyundai|Elantra 2021-22|SCC + LKAS|||||| @@ -94,7 +83,6 @@ How We Rate The Cars |Hyundai|Santa Fe 2021-22|All|||||| |Hyundai|Santa Fe Hybrid 2022|All|||||| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|||||| -|Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Tucson Diesel 2019|SCC + LKAS|||||| |Kia|Ceed 2019|SCC + LKAS|||||| |Kia|Forte 2018|SCC + LKAS|||||| @@ -107,18 +95,15 @@ How We Rate The Cars |Kia|Sorento 2018|SCC + LKAS|||||| |Kia|Sorento 2019|SCC + LKAS|||||| |Kia|Stinger 2018|SCC + LKAS|||||| -|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|NX 2018-19|All|[3](#footnotes)||||| |Lexus|NX Hybrid 2018-19|All|[3](#footnotes)||||| -|Lexus|RX 2016-18|All|[3](#footnotes)||||| -|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| +|Lexus|RX 2020-22|All|||||| +|Lexus|RX Hybrid 2020-21|All|||||| |Mazda|CX-5 2022|All|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| -|Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Forester 2019-21|EyeSight|||||| -|Subaru|Impreza 2017-19|EyeSight|||||| |Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance|||||| |Škoda|Karoq 2019|Driver Assistance|||||| |Škoda|Kodiaq 2018-19|Driver Assistance|||||| @@ -126,36 +111,20 @@ How We Rate The Cars |Škoda|Octavia RS 2016|Driver Assistance|||||| |Škoda|Scala 2020|Driver Assistance|||||| |Škoda|Superb 2015-18|Driver Assistance|||||| -|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|C-HR 2017-21|All|||||| -|Toyota|C-HR Hybrid 2017-19|All|||||| +|Toyota|Alphard 2019-20|All|||||| +|Toyota|Alphard Hybrid 2021|All|||||| +|Toyota|Avalon 2022|All|||||| +|Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| -|Toyota|Highlander 2017-19|All|[3](#footnotes)||||| -|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| |Toyota|RAV4 2022|All|||||| -|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 Hybrid 2022|All|||||| -|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| |Volkswagen|Arteon 2018, 2021[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Atlas 2018-19, 2022[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| -|Volkswagen|Golf 2015-20|Driver Assistance|||||| -|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|||||| -|Volkswagen|Golf GTE 2016|Driver Assistance|||||| -|Volkswagen|Golf GTI 2018-21|Driver Assistance|||||| -|Volkswagen|Golf R 2016-19|Driver Assistance|||||| -|Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| -|Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| -|Volkswagen|Jetta 2018-21|Driver Assistance|||||| -|Volkswagen|Jetta GLI 2021|Driver Assistance|||||| -|Volkswagen|Passat 2015-18[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Passat 2015-19[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Polo 2020|Driver Assistance|||||| |Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance|||||| |Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance|||||| |Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| ## Bronze Cars @@ -165,6 +134,11 @@ How We Rate The Cars |Acura|ILX 2016-19|AcuraWatch Plus|||||| |Acura|RDX 2016-18|AcuraWatch Plus|||||| |Acura|RDX 2019-21|All|||||| +|Audi|A3 2014-19|ACC + Lane Assist|||||| +|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| +|Audi|Q3 2020-21|ACC + Lane Assist|||||| +|Audi|RS3 2018|ACC + Lane Assist|||||| +|Audi|S3 2015-17|ACC + Lane Assist|||||| |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| |Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| @@ -196,29 +170,55 @@ How We Rate The Cars |Hyundai|Ioniq Electric 2019|SCC + LKAS|||||| |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| +|Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Veloster 2019-20|SCC + LKAS|||||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| |Kia|Optima 2017|SCC + LKAS|||||| -|Lexus|IS 2017-19|All|||||| -|Lexus|RC 2020|All|||||| +|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| +|Lexus|IS 2017-19|All|||||| +|Lexus|RC 2020|All|||||| +|Lexus|RX 2016-18|All|[3](#footnotes)||||| +|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| |Mazda|CX-9 2021|All|||||| |Nissan|Altima 2019-20|ProPILOT|||||| |Nissan|Leaf 2018-22|ProPILOT|||||| |Nissan|Rogue 2018-20|ProPILOT|||||| |Nissan|X-Trail 2017|ProPILOT|||||| |Subaru|Ascent 2019-20|EyeSight|||||| +|Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Crosstrek 2020-21|EyeSight|||||| +|Subaru|Impreza 2017-19|EyeSight|||||| |Subaru|Impreza 2020-21|EyeSight|||||| -|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| +|Toyota|C-HR 2017-21|All|||||| +|Toyota|C-HR Hybrid 2017-19|All|||||| |Toyota|Corolla 2017-19|All|[3](#footnotes)||||| +|Toyota|Highlander 2017-19|All|[3](#footnotes)||||| +|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| |Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||[5](#footnotes)|| |Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||[5](#footnotes)|| |Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||[5](#footnotes)|| -|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| +|Volkswagen|Atlas 2018-19, 2022[8](#footnotes)|Driver Assistance|||||| |Volkswagen|California 2021[8](#footnotes)|Driver Assistance|||||| |Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance|||||| +|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| +|Volkswagen|Golf 2015-20|Driver Assistance|||||| +|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|||||| +|Volkswagen|Golf GTE 2016|Driver Assistance|||||| +|Volkswagen|Golf GTI 2018-21|Driver Assistance|||||| +|Volkswagen|Golf R 2016-19|Driver Assistance|||||| +|Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| +|Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| +|Volkswagen|Jetta 2018-21|Driver Assistance|||||| +|Volkswagen|Jetta GLI 2021|Driver Assistance|||||| +|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance|||||| diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 1e080a826d..218cd5a7d9 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -66,7 +66,7 @@ qt proclogd ^^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_proclogd + :project: system_proclogd modeld ^^^^^^ diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 124feb1bfc..cefe9be855 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -30,6 +30,7 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive +COPY ./system ${OPENPILOT_PATH}/system COPY ./*.md ${OPENPILOT_PATH}/ RUN scons -j$(nproc) diff --git a/laika_repo b/laika_repo index 231eafbf65..ba6ed3277c 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 231eafbf659309b85acb5b575b7f898e7a4f196e +Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 503ebb5d41..a37e27c4fe 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -8,7 +8,7 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -function tici_init { +function agnos_init { # wait longer for weston to come up if [ -f "$BASEDIR/prebuilt" ]; then sleep 3 @@ -77,9 +77,7 @@ function launch { export PYTHONPATH="$PWD:$PWD/pyextra" # hardware specific init - if [ -f /TICI ]; then - tici_init - fi + agnos_init # write tmux scrollback to a file tmux capture-pane -pq -S-1000 > /tmp/launch_log diff --git a/launch_env.sh b/launch_env.sh index d4b57c909a..769613bc79 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="4" + export AGNOS_VERSION="5.1" fi if [ -z "$PASSIVE" ]; then diff --git a/opendbc b/opendbc index f107e767bd..8a5292158d 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit f107e767bda05b2101c88275646fffe33ad6dec0 +Subproject commit 8a5292158d24aa5892ceeda3edde28633a968537 diff --git a/panda b/panda index 6d19b46ef5..475a9a3124 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6d19b46ef525b0ae224e0bf7db71918e96f9be66 +Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f diff --git a/release/files_common b/release/files_common index 68dccb3e8f..259b61538f 100644 --- a/release/files_common +++ b/release/files_common @@ -119,9 +119,9 @@ selfdrive/car/tesla/*.py selfdrive/car/toyota/*.py selfdrive/car/volkswagen/*.py -selfdrive/clocksd/.gitignore -selfdrive/clocksd/SConscript -selfdrive/clocksd/clocksd.cc +system/clocksd/.gitignore +system/clocksd/SConscript +system/clocksd/clocksd.cc selfdrive/debug/*.py @@ -220,13 +220,13 @@ selfdrive/locationd/models/live_kf.cc selfdrive/locationd/calibrationd.py -selfdrive/logcatd/SConscript -selfdrive/logcatd/logcatd_systemd.cc +system/logcatd/SConscript +system/logcatd/logcatd_systemd.cc -selfdrive/proclogd/SConscript -selfdrive/proclogd/main.cc -selfdrive/proclogd/proclog.cc -selfdrive/proclogd/proclog.h +system/proclogd/SConscript +system/proclogd/main.cc +system/proclogd/proclog.cc +system/proclogd/proclog.h selfdrive/loggerd/SConscript selfdrive/loggerd/encoder/encoder.cc diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index c6936d5d40..ba86e02cc6 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -32,7 +32,7 @@ from common.basedir import PERSIST from common.file_helpers import CallbackReader from common.params import Params from common.realtime import sec_since_boot, set_core_affinity -from selfdrive.hardware import HARDWARE, PC, TICI +from selfdrive.hardware import HARDWARE, PC, AGNOS from selfdrive.loggerd.config import ROOT from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR @@ -413,8 +413,8 @@ def primeActivated(activated): @dispatcher.add_method def setBandwithLimit(upload_speed_kbps, download_speed_kbps): - if not TICI: - return {"success": 0, "error": "only supported on comma three"} + if not AGNOS: + return {"success": 0, "error": "only supported on AGNOS"} try: HARDWARE.set_bandwidth_limit(upload_speed_kbps, download_speed_kbps) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 2622f7eba1..2745c037b6 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -405,17 +405,12 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { auto ps = evt.initPeripheralState(); ps.setPandaType(panda->hw_type); - if (Hardware::TICI()) { - double read_time = millis_since_boot(); - ps.setVoltage(std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str())); - ps.setCurrent(std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str())); - read_time = millis_since_boot() - read_time; - if (read_time > 50) { - LOGW("reading hwmon took %lfms", read_time); - } - } else { - ps.setVoltage(pandaState.voltage_pkt); - ps.setCurrent(pandaState.current_pkt); + double read_time = millis_since_boot(); + ps.setVoltage(Hardware::get_voltage()); + ps.setCurrent(Hardware::get_current()); + read_time = millis_since_boot() - read_time; + if (read_time > 50) { + LOGW("reading hwmon took %lfms", read_time); } uint16_t fan_speed_rpm = panda->get_fan_speed(); @@ -534,9 +529,7 @@ void peripheral_control_thread(Panda *panda) { int cur_integ_lines = event.getDriverCameraState().getIntegLines(); float cur_gain = event.getDriverCameraState().getGain(); - if (Hardware::TICI()) { - cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain); - } + cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain); last_front_frame_t = event.getLogMonoTime(); if (cur_integ_lines <= CUTOFF_IL) { diff --git a/selfdrive/boardd/main.cc b/selfdrive/boardd/main.cc index b151832b72..6f1f83685b 100644 --- a/selfdrive/boardd/main.cc +++ b/selfdrive/boardd/main.cc @@ -12,7 +12,7 @@ int main(int argc, char *argv[]) { int err; err = util::set_realtime_priority(54); assert(err == 0); - err = util::set_core_affinity({Hardware::TICI() ? 4 : 3}); + err = util::set_core_affinity({4}); assert(err == 0); } diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index 40a3b86cdd..049324f085 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -90,12 +90,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, rgb_width = ci->frame_width; rgb_height = ci->frame_height; - if (!Hardware::TICI() && ci->bayer) { - // debayering does a 2x downscale - rgb_width = ci->frame_width / 2; - rgb_height = ci->frame_height / 2; - } - yuv_transform = get_model_yuv_transform(ci->bayer); vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height); diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index f59e03f8fa..c86543265c 100644 --- a/selfdrive/camerad/main.cc +++ b/selfdrive/camerad/main.cc @@ -7,7 +7,7 @@ #include "selfdrive/hardware/hw.h" int main(int argc, char *argv[]) { - if (Hardware::TICI()) { + if (!Hardware::PC()) { int ret; ret = util::set_realtime_priority(53); assert(ret == 0); diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py index bf37ca181e..9f9072c962 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/selfdrive/camerad/snapshot/snapshot.py @@ -4,13 +4,12 @@ import time import numpy as np from PIL import Image -from typing import List import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from common.params import Params from common.realtime import DT_MDL -from selfdrive.hardware import TICI, PC +from selfdrive.hardware import PC from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.manager.process_config import managed_processes @@ -52,11 +51,7 @@ def extract_image(buf, w, h, stride, uv_offset): return yuv_to_rgb(y, u, v) -def rois_in_focus(lapres: List[float]) -> float: - return sum(1. / len(lapres) for sharpness in lapres if sharpness >= LM_THRESH) - - -def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.): +def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"): sockets = [s for s in (frame, front_frame) if s is not None] sm = messaging.SubMaster(sockets) vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets} @@ -68,13 +63,6 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focu for client in vipc_clients.values(): client.connect(True) - # wait for focus - start_t = time.monotonic() - while time.monotonic() - start_t < 10: - sm.update(100) - if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold: - break - # grab images rear, front = None, None if frame is not None: @@ -113,11 +101,9 @@ def snapshot(): if not PC: managed_processes['camerad'].start() - frame = "wideRoadCameraState" if TICI else "roadCameraState" + frame = "wideRoadCameraState" front_frame = "driverCameraState" if front_camera_allowed else None - focus_perc_threshold = 0. if TICI else 10 / 12. - - rear, front = get_snapshots(frame, front_frame, focus_perc_threshold) + rear, front = get_snapshots(frame, front_frame) finally: managed_processes['camerad'].stop() params.put_bool("IsTakingSnapshot", False) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 806a060f97..c77e40daaf 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -24,12 +24,13 @@ def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, cap return be -def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder) -> List[int]: +def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False) -> List[int]: events = [] for b in buttonEvents: # do enable on both accel and decel buttons - if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: - events.append(EventName.buttonEnable) + if not pcm_cruise: + if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: + events.append(EventName.buttonEnable) # do disable on button down if b.type == ButtonType.cancel and b.pressed: events.append(EventName.buttonCancel) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 2b44200397..3d6bd5e22a 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -17,6 +17,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] ret.minSteerSpeed = -math.inf + ret.maxLateralAccel = math.inf # TODO: set to a reasonable value ret.steerRatio = 0.5 ret.steerRateCost = 0.5 ret.steerLimitTimer = 1.0 diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index a009b40bc9..0caf93b619 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -18,7 +18,7 @@ class CAR: BODY = "COMMA BODY" CAR_INFO: Dict[str, CarInfo] = { - CAR.BODY: CarInfo("comma body", package="All", good_torque=True, harness=Harness.none), + CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none), } FW_VERSIONS = { diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 85fcfa1fad..7863f0d882 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -1,9 +1,11 @@ import os -from typing import Any, Dict, List +from typing import Dict, List +from cereal import car from common.params import Params from common.basedir import BASEDIR from selfdrive.version import is_comma_remote, is_tested_branch +from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, VIN_UNKNOWN from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car @@ -11,7 +13,6 @@ from selfdrive.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint -from cereal import car EventName = car.CarEvent.EventName @@ -59,19 +60,6 @@ def load_interfaces(brand_names): return ret -def get_interface_attr(attr: str) -> Dict[str, Any]: - # returns given attribute from each interface - brand_names = {} - for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): - try: - brand_name = car_folder.split('/')[-1] - attr_data = getattr(__import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]), attr, None) - brand_names[brand_name] = attr_data - except (ImportError, OSError): - pass - return brand_names - - def _get_interface_names() -> Dict[str, List[str]]: # returns a dict of brand name and its respective models brand_names = {} @@ -116,6 +104,9 @@ def fingerprint(logcan, sendcan): vin = VIN_UNKNOWN exact_fw_match, fw_candidates, car_fw = True, set(), [] + if len(vin) != 17: + cloudlog.event("Malformed VIN", vin=vin, error=True) + vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) Params().put("CarVin", vin) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 55672dd4ab..e47b085533 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -23,6 +23,14 @@ class CarInterface(CarInterfaceBase): ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 + # set max lateral acceleration + if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): + ret.maxLateralAccel = 1.6 + if candidate in (CAR.PACIFICA_2018_HYBRID,): + ret.maxLateralAccel = 1.4 + if candidate in (CAR.PACIFICA_2017_HYBRID,): + ret.maxLateralAccel = 1.2 + if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): ret.wheelbase = 2.91 # in meters ret.steerRatio = 12.7 diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index fad110689c..899f2c0878 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -15,9 +15,8 @@ from selfdrive.car.tests.routes import non_tested_cars def get_all_footnotes() -> Dict[Enum, int]: all_footnotes = [] - for _, footnotes in get_interface_attr("Footnote").items(): - if footnotes is not None: - all_footnotes += footnotes + for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): + all_footnotes += footnotes return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)} @@ -28,21 +27,20 @@ CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] - for models in get_interface_attr("CAR_INFO").values(): - for model, car_info in models.items(): - # Hyundai exception: those with radar have openpilot longitudinal - fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}} - CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True) + for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): + # Hyundai exception: those with radar have openpilot longitudinal + fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}} + CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True) - if CP.dashcamOnly or car_info is None: - continue + if CP.dashcamOnly or car_info is None: + continue - # A platform can include multiple car models - if not isinstance(car_info, list): - car_info = (car_info,) + # A platform can include multiple car models + if not isinstance(car_info, list): + car_info = (car_info,) - for _car_info in car_info: - all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES)) + for _car_info in car_info: + all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES)) # Sort cars by make and model + year sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower()) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 3046f5c9e3..381bcfa7f8 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -1,9 +1,13 @@ +import math + from cereal import car from collections import namedtuple from dataclasses import dataclass from enum import Enum from typing import Dict, List, Optional, Union, no_type_check +STEERING_TORQUE_THRESHOLD = 2.0 # m/s^2 + class Tier(Enum): GOLD = "The best openpilot experience. Great highway driving and beyond." @@ -66,6 +70,11 @@ class CarInfo: if self.min_enable_speed is not None: min_enable_speed = self.min_enable_speed + # TODO: remove hardcoded good torque and just use maxLateralAccel + good_torque = self.good_torque + if not math.isnan(CP.maxLateralAccel): + good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD + self.car_name = CP.carName self.make, self.model = self.name.split(' ', 1) self.row = { @@ -76,7 +85,7 @@ class CarInfo: Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan, Column.FSR_LONGITUDINAL: min_enable_speed <= 0., Column.FSR_STEERING: min_steer_speed <= 0., - Column.STEERING_TORQUE: self.good_torque, + Column.STEERING_TORQUE: good_torque, Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none, } diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 9b280f3b45..1a9bb8c4e7 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,44 +1,12 @@ -import os -from common.basedir import BASEDIR +from selfdrive.car.interfaces import get_interface_attr -def get_attr_from_cars(attr, result=dict, combine_brands=True): - # read all the folders in selfdrive/car and return a dict where: - # - keys are all the car models - # - values are attr values from all car folders - result = result() - - for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: - try: - car_name = car_folder.split('/')[-1] - values = __import__(f'selfdrive.car.{car_name}.values', fromlist=[attr]) - if hasattr(values, attr): - attr_values = getattr(values, attr) - else: - continue - - if isinstance(attr_values, dict): - for f, v in attr_values.items(): - if combine_brands: - result[f] = v - else: - if car_name not in result: - result[car_name] = {} - result[car_name][f] = v - elif isinstance(attr_values, list): - result += attr_values - - except (ImportError, OSError): - pass - - return result - - -FW_VERSIONS = get_attr_from_cars('FW_VERSIONS') -_FINGERPRINTS = get_attr_from_cars('FINGERPRINTS') +FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) +_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True) _DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes + def is_valid_for_fingerprint(msg, car_fingerprint): adr = msg.address # ignore addresses that are more than 11 bits diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 120174c451..69b7c5f452 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,15 +1,15 @@ #!/usr/bin/env python3 import struct import traceback -from typing import Any, List from collections import defaultdict -from dataclasses import dataclass - +from dataclasses import dataclass, field +from typing import Any, List from tqdm import tqdm import panda.python.uds as uds from cereal import car -from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars +from selfdrive.car.interfaces import get_interface_attr +from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from selfdrive.car.toyota.values import CAR as TOYOTA from selfdrive.swaglog import cloudlog @@ -96,9 +96,11 @@ class Request: brand: str request: List[bytes] response: List[bytes] + whitelist_ecus: List[int] = field(default_factory=list) rx_offset: int = DEFAULT_RX_OFFSET bus: int = 1 + REQUESTS: List[Request] = [ # Subaru Request( @@ -303,7 +305,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr addrs = [] parallel_addrs = [] - versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False) + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) if extra is not None: versions.update(extra) @@ -328,23 +330,26 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr for addr_chunk in chunks(addr): for r in REQUESTS: try: - addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any')] + addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and + (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)] if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) t = 2 * timeout if i == 0 else timeout - fw_versions.update(query.get_data(t)) + fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()}) except Exception: cloudlog.warning(f"FW query exception: {traceback.format_exc()}") # Build capnp list to put into CarParams car_fw = [] - for addr, version in fw_versions.items(): + for addr, (version, request, rx_offset) in fw_versions.items(): f = car.CarParams.CarFw.new_message() f.ecu = ecu_types[addr] f.fwVersion = version f.address = addr[0] + f.responseAddress = addr[0] + rx_offset + f.request = request if addr[1] is not None: f.subAddress = addr[1] diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index b4265fc0bd..ce14faec5e 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -75,6 +75,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh + ret.maxLateralAccel = 1.6 ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] @@ -108,6 +109,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 # end to end is 13.46 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 + ret.maxLateralAccel = 1.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() elif candidate == CAR.BUICK_REGAL: diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 5b97b3389f..ad98f8863f 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -100,6 +100,7 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] else: + ret.maxLateralAccel = 1.7 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. @@ -112,6 +113,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 1. + ret.maxLateralAccel = 1.6 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.ACCORD, CAR.ACCORDH): @@ -126,6 +128,7 @@ class CarInterface(CarInterfaceBase): if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] else: + ret.maxLateralAccel = 1.6 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: @@ -162,6 +165,7 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] else: + ret.maxLateralAccel = 1.7 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] tire_stiffness_factor = 0.677 @@ -186,6 +190,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.75 + ret.maxLateralAccel = 1.7 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: @@ -216,8 +221,9 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.68 ret.centerToFront = ret.wheelbase * 0.38 ret.steerRatio = 15.0 # as spec - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 + ret.maxLateralAccel = 0.9 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: @@ -226,6 +232,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.75 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 11.95 # as spec + ret.maxLateralAccel = 1.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] tire_stiffness_factor = 0.677 @@ -238,6 +245,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 + ret.maxLateralAccel = 1.5 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate == CAR.ODYSSEY_CHN: @@ -258,6 +266,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.25 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 + ret.maxLateralAccel = 1.5 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: @@ -268,6 +277,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 + ret.maxLateralAccel = 1.3 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: @@ -278,6 +288,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 + ret.maxLateralAccel = 1.4 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: @@ -367,7 +378,7 @@ class CarInterface(CarInterfaceBase): events.add(EventName.manualRestart) # handle button presses - events.events.extend(create_button_enable_events(ret.buttonEvents)) + events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise)) ret.events = events.to_msg() diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 673b304e5a..e051079dc4 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -60,6 +60,7 @@ class CarInterface(CarInterfaceBase): # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 + ret.maxLateralAccel = 3.2 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): @@ -68,6 +69,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 + ret.maxLateralAccel = 2.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_LF: @@ -75,6 +77,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable + ret.maxLateralAccel = 1.8 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: @@ -83,6 +86,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 + ret.maxLateralAccel = 2.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): @@ -139,6 +143,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 + ret.maxLateralAccel = 3.0 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): @@ -188,6 +193,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 + ret.maxLateralAccel = 2.9 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_HEV: @@ -219,6 +225,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable + ret.maxLateralAccel = 2.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: @@ -244,6 +251,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) tire_stiffness_factor = 0.5 + ret.maxLateralAccel = 2.1 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_EV6: @@ -254,8 +262,8 @@ class CarInterface(CarInterfaceBase): get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] tire_stiffness_factor = 0.65 - max_lat_accel = 2. - set_torque_tune(ret.lateralTuning, max_lat_accel, 0.01) + ret.maxLateralAccel = 2. + set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01) # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 1ee237fe36..a2c11bf023 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,13 +1,14 @@ import os import time from abc import abstractmethod, ABC -from typing import Dict, Tuple, List +from typing import Any, Dict, Tuple, List from cereal import car +from common.basedir import BASEDIR +from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D from common.realtime import DT_CTRL from selfdrive.car import gen_empty_fingerprint -from common.conversions import Conversions as CV from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -22,7 +23,6 @@ ACCEL_MIN = -3.5 # generic car and radar interfaces - class CarInterfaceBase(ABC): def __init__(self, CP, CarController, CarState): self.CP = CP @@ -81,6 +81,7 @@ class CarInterfaceBase(ABC): ret.steerControlType = car.CarParams.SteerControlType.torque ret.minSteerSpeed = 0. ret.wheelSpeedFactor = 1.0 + ret.maxLateralAccel = float('nan') ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this @@ -293,3 +294,31 @@ class CarStateBase(ABC): @staticmethod def get_loopback_can_parser(CP): return None + + +# interface-specific helpers + +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]: + # read all the folders in selfdrive/car and return a dict where: + # - keys are all the car models or brand names + # - values are attr values from all car folders + result = {} + for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): + try: + brand_name = car_folder.split('/')[-1] + brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]) + if hasattr(brand_values, attr) or not ignore_none: + attr_data = getattr(brand_values, attr, None) + else: + continue + + if combine_brands: + if isinstance(attr_data, dict): + for f, v in attr_data.items(): + result[f] = v + else: + result[brand_name] = attr_data + except (ImportError, OSError): + pass + + return result diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 1209a8f1a1..becd66ba1f 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -132,7 +132,7 @@ class IsoTpParallelQuery: request_done[tx_addr] = True else: request_done[tx_addr] = True - cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}") + cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") cur_time = time.monotonic() if cur_time - last_response_time > timeout: diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index d0d8e91ce1..edd26a4449 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -51,6 +51,7 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock ret.steerActuatorDelay = 0.1 + ret.maxLateralAccel = 1.3 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] @@ -61,6 +62,7 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock ret.steerActuatorDelay = 0.1 + ret.maxLateralAccel = 3.2 ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 6e81fcb1b3..412333edcd 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -43,14 +43,14 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"), CAR.IMPREZA: [ - SubaruCarInfo("Subaru Impreza 2017-19", good_torque=True), - SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26", good_torque=True), + SubaruCarInfo("Subaru Impreza 2017-19"), + SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), ], CAR.IMPREZA_2020: [ SubaruCarInfo("Subaru Impreza 2020-21"), SubaruCarInfo("Subaru Crosstrek 2020-21"), ], - CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", good_torque=True), + CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 27fdc9c705..d2ec6b68d7 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -26,7 +26,7 @@ non_tested_cars = [ HYUNDAI.KIA_OPTIMA_H, ] -TestRoute = namedtuple('TestRoute', ['route', 'car_fingerprint', 'segment'], defaults=(None,)) +TestRoute = namedtuple('TestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) routes = [ TestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index fcc90b9584..fed6989d40 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -18,7 +18,7 @@ class TestCarDocs(unittest.TestCase): "Run selfdrive/car/docs.py to generate new supported cars documentation") def test_missing_car_info(self): - all_car_info_platforms = [p for i in get_interface_attr("CAR_INFO").values() for p in i] + all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys() for platform in sorted(interfaces.keys()): if platform not in all_car_info_platforms: self.fail("Platform: {} doesn't exist in CarInfo".format(platform)) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index ae209b2910..ed7e420e1a 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -4,9 +4,9 @@ import unittest from parameterized import parameterized from cereal import car -from selfdrive.car.car_helpers import interfaces +from selfdrive.car.car_helpers import get_interface_attr, interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import match_fw_to_car +from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -57,6 +57,23 @@ class TestFwFingerprint(unittest.TestCase): self.assertTrue(passed, "Blacklisted FW versions found") + def test_fw_request_ecu_whitelist(self): + passed = True + brands = set(r.brand for r in REQUESTS) + versions = get_interface_attr('FW_VERSIONS') + for brand in brands: + whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand] + brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw]) + + # each ecu in brand's fw versions needs to be whitelisted at least once + ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus) + if len(whitelisted_ecus) and len(ecus_not_whitelisted): + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) + print(f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') + passed = False + + self.assertTrue(passed, "Not all ecus in FW versions found in query whitelists") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index d2867b9f4f..9ab881279b 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -18,6 +18,7 @@ from selfdrive.car.hyundai.values import CAR as HYUNDAI from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader +from tools.lib.route import Route from panda.tests.safety import libpandasafety_py from panda.tests.safety.common import package_can_msg @@ -35,7 +36,7 @@ ignore_addr_checks_valid = [ # build list of test cases routes_by_car = defaultdict(set) for r in routes: - routes_by_car[r.car_fingerprint].add(r) + routes_by_car[r.car_model].add(r) test_cases: List[Tuple[str, Optional[TestRoute]]] = [] for i, c in enumerate(sorted(all_known_cars())): @@ -45,12 +46,17 @@ for i, c in enumerate(sorted(all_known_cars())): SKIP_ENV_VAR = "SKIP_LONG_TESTS" -@parameterized_class(('car_model', 'test_route'), test_cases) -class TestCarModel(unittest.TestCase): +class TestCarModelBase(unittest.TestCase): + car_model = None + test_route = None + ci = True @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run") @classmethod def setUpClass(cls): + if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): + raise unittest.SkipTest + if cls.test_route is None: if cls.car_model in non_tested_cars: print(f"Skipping tests for {cls.car_model}: missing route") @@ -64,7 +70,10 @@ class TestCarModel(unittest.TestCase): for seg in test_segs: try: - lr = LogReader(get_url(cls.test_route.route, seg)) + if cls.ci: + lr = LogReader(get_url(cls.test_route.route, seg)) + else: + lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) except Exception: continue @@ -79,6 +88,8 @@ class TestCarModel(unittest.TestCase): elif msg.which() == "carParams": if msg.carParams.openpilotLongitudinalControl: disable_radar = True + if cls.car_model is None and not cls.ci: + cls.car_model = msg.carParams.carFingerprint if len(can_msgs) > int(50 / DT_CTRL): break @@ -249,5 +260,10 @@ class TestCarModel(unittest.TestCase): self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") +@parameterized_class(('car_model', 'test_route'), test_cases) +class TestCarModel(TestCarModelBase): + pass + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 1b577cc6b7..a1ce8c4980 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -38,7 +38,8 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.74 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.7, FRICTION=0.06) + ret.maxLateralAccel = 1.7 + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -46,7 +47,8 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06) + ret.maxLateralAccel = 1.8 + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06) elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False @@ -54,14 +56,16 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.88 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06) + ret.maxLateralAccel = 1.8 + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06) elif candidate == CAR.COROLLA: ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.8, FRICTION=0.024) + ret.maxLateralAccel = 2.8 + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024) elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): stop_and_go = True @@ -70,6 +74,7 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.035 tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + ret.maxLateralAccel = 1.4 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.CHR, CAR.CHRH): @@ -78,6 +83,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG + ret.maxLateralAccel = 1.3 set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): @@ -87,8 +93,10 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05) + ret.maxLateralAccel = 2.4 + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05) else: + ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): @@ -97,6 +105,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people + ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): @@ -105,6 +114,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited + ret.maxLateralAccel = 1.8 set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): @@ -115,6 +125,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + ret.maxLateralAccel = 1.6 set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): @@ -123,6 +134,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid + ret.maxLateralAccel = 2.5 set_lat_tune(ret.lateralTuning, LatTunes.PID_D) # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. @@ -138,7 +150,8 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07) + ret.maxLateralAccel = 2.0 + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07) elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): stop_and_go = True @@ -146,6 +159,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + ret.maxLateralAccel = 2.2 set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: @@ -154,6 +168,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG + ret.maxLateralAccel = 1.6 set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): @@ -177,6 +192,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG + ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: @@ -185,6 +201,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.4 # True steerRatio from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG + ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: @@ -193,6 +210,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG + ret.maxLateralAccel = 2.4 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index 811b3a6e1b..e97ed6b056 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -50,7 +50,7 @@ def set_long_tune(tune, name): ###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1, use_steering_angle=True): +def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True): if name == LatTunes.TORQUE: set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION) elif 'PID' in str(name): diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 0b6948cf44..3204d36b5a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -100,7 +100,6 @@ class Footnote(Enum): @dataclass class ToyotaCarInfo(CarInfo): package: str = "All" - good_torque: bool = True harness: Enum = Harness.toyota diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index d5446ef408..b2356efc07 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -80,14 +80,17 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.ATLAS_MK1: ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 + ret.maxLateralAccel = 1.4 elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 + ret.maxLateralAccel = 1.5 elif candidate == CAR.JETTA_MK7: ret.mass = 1328 + STD_CARGO_KG ret.wheelbase = 2.71 + ret.maxLateralAccel = 1.2 elif candidate == CAR.PASSAT_MK8: ret.mass = 1551 + STD_CARGO_KG @@ -113,6 +116,7 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.TIGUAN_MK2: ret.mass = 1715 + STD_CARGO_KG ret.wheelbase = 2.74 + ret.maxLateralAccel = 1.1 elif candidate == CAR.TOURAN_MK2: ret.mass = 1516 + STD_CARGO_KG @@ -130,6 +134,7 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.AUDI_A3_MK3: ret.mass = 1335 + STD_CARGO_KG ret.wheelbase = 2.61 + ret.maxLateralAccel = 1.7 elif candidate == CAR.AUDI_Q2_MK1: ret.mass = 1205 + STD_CARGO_KG @@ -138,6 +143,7 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.AUDI_Q3_MK2: ret.mass = 1623 + STD_CARGO_KG ret.wheelbase = 2.68 + ret.maxLateralAccel = 1.6 elif candidate == CAR.SEAT_ATECA_MK1: ret.mass = 1900 + STD_CARGO_KG diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c111c70cf0..52e284761e 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -141,7 +141,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Jetta 2018-21"), VWCarInfo("Volkswagen Jetta GLI 2021"), ], - CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-18", footnotes=[Footnote.PASSAT]), + CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]), CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat 2017, 2021", footnotes=[Footnote.PASSAT_NMS]), CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"), CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), @@ -452,6 +452,7 @@ FW_VERSIONS = { b'\xf1\x873G0906264 \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300043H \xf1\x891601', b'\xf1\x870CW300048R \xf1\x890610', b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', @@ -463,6 +464,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], (Ecu.eps, 0x712, None): [ @@ -471,11 +473,13 @@ FW_VERSIONS = { b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572A \xf1\x890130', b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x873Q0907572C \xf1\x890196', b'\xf1\x875Q0907572R \xf1\x890771', ], }, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index fc0f289e39..edb1538c31 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.locationd.calibrationd import Calibration -from selfdrive.hardware import HARDWARE, TICI +from selfdrive.hardware import HARDWARE from selfdrive.manager.process_config import managed_processes SOFT_DISABLE_TIME = 3 # seconds @@ -68,17 +68,14 @@ class Controls: self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', 'carControl', 'carEvents', 'carParams']) - self.camera_packets = ["roadCameraState", "driverCameraState"] - if TICI: - self.camera_packets.append("wideRoadCameraState") + self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] self.can_sock = can_sock if can_sock is None: can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20 self.can_sock = messaging.sub_sock('can', timeout=can_timeout) - if TICI: - self.log_sock = messaging.sub_sock('androidLog') + self.log_sock = messaging.sub_sock('androidLog') if CI is None: # wait for one pandaState and one CAN packet @@ -358,17 +355,16 @@ class Controls: if planner_fcw or model_fcw: self.events.add(EventName.fcw) - if TICI: - for m in messaging.drain_sock(self.log_sock, wait_for_one=False): - try: - msg = m.androidLog.message - if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): - csid = msg.split("CSID:")[-1].split(" ")[0] - evt = CSID_MAP.get(csid, None) - if evt is not None: - self.events.add(evt) - except UnicodeDecodeError: - pass + for m in messaging.drain_sock(self.log_sock, wait_for_one=False): + try: + msg = m.androidLog.message + if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): + csid = msg.split("CSID:")[-1].split(" ")[0] + evt = CSID_MAP.get(csid, None) + if evt is not None: + self.events.add(evt) + except UnicodeDecodeError: + pass # TODO: fix simulator if not SIMULATION: diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 8a37f11fdb..7ca05cc744 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -284,7 +284,7 @@ def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') - bad_cams = [s for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])] + bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])] return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams)) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index aedf61a073..9bbad59084 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -3,20 +3,14 @@ from cereal import log from common.filter_simple import FirstOrderFilter from common.numpy_fast import interp from common.realtime import DT_MDL -from selfdrive.hardware import TICI from selfdrive.swaglog import cloudlog TRAJECTORY_SIZE = 33 # camera offset is meters from center car to camera -# model path is in the frame of the camera. Empirically -# the model knows the difference between TICI and EON -# so a path offset is not needed +# model path is in the frame of the camera PATH_OFFSET = 0.00 -if TICI: - CAMERA_OFFSET = 0.04 -else: - CAMERA_OFFSET = 0.0 +CAMERA_OFFSET = 0.04 class LanePlanner: diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 820862af9e..8b41dbf402 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -22,7 +22,7 @@ LOW_SPEED_FACTOR = 200 JERK_THRESHOLD = 0.2 -def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=.1): +def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01): tune.init('torque') tune.torque.useSteeringAngle = True tune.torque.kp = 1.0 / MAX_LAT_ACCEL diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 32438fa799..083aeb79cc 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -5,19 +5,18 @@ from common.realtime import Priority, config_realtime_process from selfdrive.swaglog import cloudlog from selfdrive.controls.lib.longitudinal_planner import Planner from selfdrive.controls.lib.lateral_planner import LateralPlanner -from selfdrive.hardware import TICI import cereal.messaging as messaging def plannerd_thread(sm=None, pm=None): - config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW) + config_realtime_process(5, Priority.CTRL_LOW) cloudlog.info("plannerd is waiting for CarParams") params = Params() CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) cloudlog.info("plannerd got CarParams: %s", CP.carName) - use_lanelines = not params.get_bool('EndToEndToggle') + use_lanelines = False wide_camera = params.get_bool('WideCameraOnly') cloudlog.event("e2e mode", on=use_lanelines) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index cae9474faf..0e514193dc 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -11,7 +11,6 @@ from common.realtime import Ratekeeper, Priority, config_realtime_process from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA from selfdrive.swaglog import cloudlog -from selfdrive.hardware import TICI class KalmanParams(): @@ -180,7 +179,7 @@ class RadarD(): # fuses camera and radar data for best lead detection def radard_thread(sm=None, pm=None, can_sock=None): - config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW) + config_realtime_process(5, Priority.CTRL_LOW) # wait for stats about the car to come in from controls cloudlog.info("radard is waiting for CarParams") diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py new file mode 100755 index 0000000000..9082dbe3d6 --- /dev/null +++ b/selfdrive/debug/test_car_model.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +import argparse +import sys +from typing import List, Tuple +import unittest + +from selfdrive.car.tests.routes import TestRoute +from selfdrive.car.tests.test_models import TestCarModel + + +def create_test_models_suite(routes: List[Tuple[str, TestRoute]], ci=False) -> unittest.TestSuite: + test_suite = unittest.TestSuite() + for car_model, test_route in routes: + # create new test case and discover tests + test_case_args = {"car_model": car_model, "test_route": test_route, "ci": ci} + CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args) + test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase)) + return test_suite + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " + + "Uses selfdrive/car/tests/test_models.py") + parser.add_argument("route", help="Specify route to run tests on") + parser.add_argument("--car", help="Specify car model for test route") + parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test") + parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car") + args = parser.parse_args() + if len(sys.argv) == 1: + parser.print_help() + sys.exit() + + test_route = TestRoute(args.route, args.car, segment=args.segment) + test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci) + + unittest.TextTestRunner().run(test_suite) diff --git a/selfdrive/hardware/__init__.py b/selfdrive/hardware/__init__.py index 03dfce86d7..a1bf2e912f 100644 --- a/selfdrive/hardware/__init__.py +++ b/selfdrive/hardware/__init__.py @@ -6,6 +6,7 @@ from selfdrive.hardware.tici.hardware import Tici from selfdrive.hardware.pc.hardware import Pc TICI = os.path.isfile('/TICI') +AGNOS = TICI PC = not TICI diff --git a/selfdrive/hardware/base.h b/selfdrive/hardware/base.h index 2826d09700..b70948d482 100644 --- a/selfdrive/hardware/base.h +++ b/selfdrive/hardware/base.h @@ -2,6 +2,7 @@ #include #include +#include "cereal/messaging/messaging.h" // no-op base hw class class HardwareNone { @@ -10,6 +11,10 @@ public: static constexpr float MIN_VOLUME = 0.2; static std::string get_os_version() { return ""; } + static std::string get_name() { return ""; }; + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }; + static int get_voltage() { return 0; }; + static int get_current() { return 0; }; static void reboot() {} static void poweroff() {} @@ -21,4 +26,5 @@ public: static bool PC() { return false; } static bool TICI() { return false; } + static bool AGNOS() { return false; } }; diff --git a/selfdrive/hardware/hw.h b/selfdrive/hardware/hw.h index 5f178ec0f9..364a1c5c33 100644 --- a/selfdrive/hardware/hw.h +++ b/selfdrive/hardware/hw.h @@ -10,8 +10,11 @@ class HardwarePC : public HardwareNone { public: static std::string get_os_version() { return "openpilot for PC"; } + static std::string get_name() { return "pc"; }; + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }; static bool PC() { return true; } static bool TICI() { return util::getenv("TICI", 0) == 1; } + static bool AGNOS() { return util::getenv("TICI", 0) == 1; } }; #define Hardware HardwarePC #endif diff --git a/selfdrive/hardware/tici/agnos.json b/selfdrive/hardware/tici/agnos.json index 6674ddaa5b..004a0f9dfb 100644 --- a/selfdrive/hardware/tici/agnos.json +++ b/selfdrive/hardware/tici/agnos.json @@ -1,10 +1,10 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-0a86272196cb54607f8ba082f412fed4607baaf6ce3eb8dc8e950b4a1d763954.img.xz", - "hash": "0a86272196cb54607f8ba082f412fed4607baaf6ce3eb8dc8e950b4a1d763954", - "hash_raw": "0a86272196cb54607f8ba082f412fed4607baaf6ce3eb8dc8e950b4a1d763954", - "size": 14776320, + "url": "https://commadist.azureedge.net/agnosupdate/boot-bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f.img.xz", + "hash": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f", + "hash_raw": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f", + "size": 14780416, "sparse": false, "full_check": true, "has_ab": true @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-9b0b534ed0c35c25850dbb73d3f052611f2e2c9db32410edc25d75fbcfc6c15e.img.xz", - "hash": "b1f622f00037bbdb28c0a6016c0e42fa7f87e99591ff2417c757a67ff559b526", - "hash_raw": "9b0b534ed0c35c25850dbb73d3f052611f2e2c9db32410edc25d75fbcfc6c15e", + "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz", + "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36", + "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/selfdrive/hardware/tici/hardware.h b/selfdrive/hardware/tici/hardware.h index ec53e9ae8f..b11a0a5bb0 100644 --- a/selfdrive/hardware/tici/hardware.h +++ b/selfdrive/hardware/tici/hardware.h @@ -12,9 +12,15 @@ public: static constexpr float MAX_VOLUME = 0.9; static constexpr float MIN_VOLUME = 0.2; static bool TICI() { return true; } + static bool AGNOS() { return true; } static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); }; + static std::string get_name() { return "tici"; }; + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; }; + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; + static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; + static void reboot() { std::system("sudo reboot"); }; static void poweroff() { std::system("sudo poweroff"); }; diff --git a/selfdrive/hardware/tici/test_power_draw.py b/selfdrive/hardware/tici/test_power_draw.py index 934d72e3a1..ab2d691a09 100755 --- a/selfdrive/hardware/tici/test_power_draw.py +++ b/selfdrive/hardware/tici/test_power_draw.py @@ -16,11 +16,11 @@ class Proc: power: float rtol: float = 0.05 atol: float = 0.1 - warmup: float = 3. + warmup: float = 6. PROCS = [ - Proc('camerad', 2.25), - Proc('modeld', 0.95), + Proc('camerad', 2.15), + Proc('modeld', 1.0), Proc('dmonitoringmodeld', 0.25), Proc('encoderd', 0.23), ] diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index dae359b905..eee07e7805 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,4 +1,6 @@ #!/usr/bin/env python3 +import threading +import time from typing import List import numpy as np @@ -8,7 +10,9 @@ from numpy.linalg import linalg from cereal import log, messaging from laika import AstroDog -from laika.ephemeris import convert_ublox_ephem +from laika.constants import SECS_IN_HR, SECS_IN_MIN +from laika.ephemeris import EphemerisType, convert_ublox_ephem +from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -22,14 +26,18 @@ MAX_TIME_GAP = 10 class Laikad: - def __init__(self, use_internet): - self.astro_dog = AstroDog(use_internet=use_internet) + def __init__(self, valid_const=("GPS",), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)): + self.astro_dog = AstroDog(valid_const=valid_const, use_internet=auto_update, valid_ephem_types=valid_ephem_types) self.gnss_kf = GNSSKalman(GENERATED_DIR) + self.latest_epoch_fetched = GPSTime(0, 0) + self.latest_time_msg = None def process_ublox_msg(self, ublox_msg, ublox_mono_time: int): if ublox_msg.which == 'measurementReport': report = ublox_msg.measurementReport new_meas = read_raw_ublox(report) + if report.gpsWeek > 0: + self.latest_time_msg = GPSTime(report.gpsWeek, report.rcvTow) measurements = process_measurements(new_meas, self.astro_dog) pos_fix = calc_pos_fix(measurements, min_measurements=4) # To get a position fix a minimum of 5 measurements are needed. @@ -41,29 +49,29 @@ class Laikad: t = ublox_mono_time * 1e-9 self.update_localizer(pos_fix, t, corrected_measurements) localizer_valid = self.localizer_valid(t) + ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() - pos_std = float(np.linalg.norm(self.gnss_kf.P[GStates.ECEF_POS])) - vel_std = float(np.linalg.norm(self.gnss_kf.P[GStates.ECEF_VELOCITY])) + pos_std = self.gnss_kf.P[GStates.ECEF_POS].flatten().tolist() + vel_std = self.gnss_kf.P[GStates.ECEF_VELOCITY].flatten().tolist() bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std) meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] - dat = messaging.new_message("gnssMeasurements") - measurement_msg = log.GnssMeasurements.Measurement.new_message + measurement_msg = log.LiveLocationKalman.Measurement.new_message dat.gnssMeasurements = { "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=localizer_valid), "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=localizer_valid), - "bearingDeg": measurement_msg(value=[bearing_deg], std=bearing_std, valid=localizer_valid), + "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=localizer_valid), "ubloxMonoTime": ublox_mono_time, "correctedMeasurements": meas_msgs } return dat elif ublox_msg.which == 'ephemeris': ephem = convert_ublox_ephem(ublox_msg.ephemeris) - self.astro_dog.add_ephem(ephem, self.astro_dog.orbits) + self.astro_dog.add_ephems([ephem], self.astro_dog.nav) # elif ublox_msg.which == 'ionoData': # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them. @@ -77,7 +85,7 @@ class Laikad: filter_time = self.gnss_kf.filter.filter_time if filter_time is None: cloudlog.info("Init gnss kalman filter") - elif (t - filter_time) > MAX_TIME_GAP: + elif abs(t - filter_time) > MAX_TIME_GAP: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") else: cloudlog.error("Gnss kalman filter state is nan") @@ -90,8 +98,7 @@ class Laikad: def localizer_valid(self, t: float): filter_time = self.gnss_kf.filter.filter_time - return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and \ - all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS])) + return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS])) def init_gnss_localizer(self, est_pos): x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial)) @@ -100,6 +107,22 @@ class Laikad: self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) + def orbit_thread(self, end_event: threading.Event): + while not end_event.is_set(): + if self.latest_time_msg: + self.fetch_orbits(self.latest_time_msg) + time.sleep(0.1) + + def fetch_orbits(self, t: GPSTime): + if self.latest_epoch_fetched < t + SECS_IN_MIN: + cloudlog.info("Start to download/parse orbits") + orbit_ephems = self.astro_dog.download_parse_orbit_data(t, skip_before_epoch=t - 2 * SECS_IN_HR) + if len(orbit_ephems) > 0: + cloudlog.info(f"downloaded and parsed correctly new orbits {len(orbit_ephems)}, Constellations:{set([e.prn[0] for e in orbit_ephems])}") + self.astro_dog.add_ephems(orbit_ephems, self.astro_dog.orbits) + latest_orbit = max(orbit_ephems, key=lambda e: e.epoch) # type: ignore + self.latest_epoch_fetched = latest_orbit.epoch + def create_measurement_msg(meas: GNSSMeasurement): c = log.GnssMeasurements.CorrectedMeasurement.new_message() @@ -136,7 +159,7 @@ def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std): ned_vel = np.einsum('ij,j ->i', converter.ned_from_ecef_matrix, ecef_vel) bearing = np.arctan2(ned_vel[1], ned_vel[0]) - bearing_std = np.arctan2(vel_std, np.linalg.norm(ned_vel)) + bearing_std = np.arctan2(np.linalg.norm(vel_std), np.linalg.norm(ned_vel)) return float(np.rad2deg(bearing)), float(bearing_std) @@ -144,16 +167,22 @@ def main(): sm = messaging.SubMaster(['ubloxGnss']) pm = messaging.PubMaster(['gnssMeasurements']) - laikad = Laikad(use_internet=True) - - while True: - sm.update() - - if sm.updated['ubloxGnss']: - ublox_msg = sm['ubloxGnss'] - msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) - if msg is not None: - pm.send('gnssMeasurements', msg) + laikad = Laikad() + + end_event = threading.Event() + threading.Thread(target=laikad.orbit_thread, args=(end_event,)).start() + try: + while not end_event.is_set(): + sm.update() + + if sm.updated['ubloxGnss']: + ublox_msg = sm['ubloxGnss'] + msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) + if msg is not None: + pm.send('gnssMeasurements', msg) + except (KeyboardInterrupt, SystemExit): + end_event.set() + raise if __name__ == "__main__": diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index bf984becb8..baa17792bd 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -2,9 +2,10 @@ import unittest from datetime import datetime +from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime from laika.helpers import ConstellationId -from laika.raw_gnss import GNSSMeasurement +from laika.raw_gnss import GNSSMeasurement, read_raw_ublox from selfdrive.locationd.laikad import Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader @@ -17,11 +18,11 @@ def get_log(segs=range(0)): return [m for m in logs if m.which() == 'ubloxGnss'] -def process_msgs(lr, laikad: Laikad): +def verify_messages(lr, laikad): good_msgs = [] for m in lr: msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime) - if msg is not None: + if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) return good_msgs @@ -42,32 +43,63 @@ class TestLaikad(unittest.TestCase): self.assertEqual(msg.constellationId, 'gps') def test_laika_online(self): - # Set to offline forces to use ephemeris messages - laikad = Laikad(use_internet=True) - msgs = process_msgs(self.logs, laikad) - correct_msgs = [m for m in msgs if len(m.gnssMeasurements.correctedMeasurements) > 0] + laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) + correct_msgs = verify_messages(self.logs, laikad) + + correct_msgs_expected = 560 + self.assertEqual(correct_msgs_expected, len(correct_msgs)) + self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + + def test_laika_online_nav_only(self): + laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) + correct_msgs = verify_messages(self.logs, laikad) + correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_offline(self): - # Set to offline forces to use ephemeris messages - laikad = Laikad(use_internet=False) - msgs = process_msgs(self.logs, laikad) - correct_msgs = [m for m in msgs if len(m.gnssMeasurements.correctedMeasurements) > 0] + # Set auto_update to false forces to use ephemeris messages + laikad = Laikad(auto_update=False) + correct_msgs = verify_messages(self.logs, laikad) self.assertEqual(256, len(correct_msgs)) self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_offline_ephem_at_start(self): # Test offline but process ephemeris msgs of segment first - laikad = Laikad(use_internet=False) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV) ephemeris_logs = [m for m in self.logs if m.ubloxGnss.which() == 'ephemeris'] - msgs = process_msgs(ephemeris_logs+self.logs, laikad) - correct_msgs = [m for m in msgs if len(m.gnssMeasurements.correctedMeasurements) > 0] + correct_msgs = verify_messages(ephemeris_logs+self.logs, laikad) + self.assertEqual(554, len(correct_msgs)) self.assertGreaterEqual(554, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + def test_laika_get_orbits(self): + laikad = Laikad(auto_update=False) + first_gps_time = None + for m in self.logs: + if m.ubloxGnss.which == 'measurementReport': + new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) + if len(new_meas) != 0: + first_gps_time = new_meas[0].recv_time + break + # Pretend thread has loaded the orbits on startup by using the time of the first gps message. + laikad.fetch_orbits(first_gps_time) + self.assertEqual(31, len(laikad.astro_dog.orbits.keys())) + correct_msgs = verify_messages(self.logs, laikad) + correct_msgs_expected = 560 + self.assertEqual(correct_msgs_expected, len(correct_msgs)) + self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + + @unittest.skip("Use to debug live data") + def test_laika_get_orbits_now(self): + laikad = Laikad(auto_update=False) + laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow())) + print(laikad.latest_epoch_fetched.as_datetime()) + + print(min(laikad.astro_dog.orbits[list(laikad.astro_dog.orbits.keys())[0]], key=lambda e: e.epoch).epoch.as_datetime()) + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc index eee6b86720..882b749fe9 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/selfdrive/loggerd/bootlog.cc @@ -8,7 +8,7 @@ static kj::Array build_boot_log() { std::vector bootlog_commands; - if (Hardware::TICI()) { + if (Hardware::AGNOS()) { bootlog_commands.push_back("journalctl"); bootlog_commands.push_back("sudo nvme smart-log --output-format=json /dev/nvme0"); } diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc index 5eb70dad33..87cf4a492f 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/selfdrive/loggerd/encoderd.cc @@ -133,7 +133,7 @@ void encoderd_thread() { } int main() { - if (Hardware::TICI()) { + if (!Hardware::PC()) { int ret; ret = util::set_realtime_priority(52); assert(ret == 0); diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc index d8a409e93e..5aed47e291 100644 --- a/selfdrive/loggerd/logger.cc +++ b/selfdrive/loggerd/logger.cc @@ -33,12 +33,7 @@ kj::Array logger_build_init_data() { MessageBuilder msg; auto init = msg.initEvent().initInitData(); - if (Hardware::TICI()) { - init.setDeviceType(cereal::InitData::DeviceType::TICI); - } else { - init.setDeviceType(cereal::InitData::DeviceType::PC); - } - + init.setDeviceType(Hardware::get_device_type()); init.setVersion(COMMA_VERSION); std::ifstream cmdline_stream("/proc/cmdline"); diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index 1a10ab0c07..4086f4991e 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -267,7 +267,7 @@ void loggerd_thread() { } int main(int argc, char** argv) { - if (Hardware::TICI()) { + if (!Hardware::PC()) { int ret; ret = util::set_core_affinity({0, 1, 2, 3}); assert(ret == 0); @@ -279,4 +279,4 @@ int main(int argc, char** argv) { loggerd_thread(); return 0; -} \ No newline at end of file +} diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 21aa66ea12..3b9b01a0fc 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -33,8 +33,8 @@ #endif constexpr int MAIN_FPS = 20; -const int MAIN_BITRATE = Hardware::TICI() ? 10000000 : 5000000; -const int DCAM_BITRATE = Hardware::TICI() ? MAIN_BITRATE : 2500000; +const int MAIN_BITRATE = 10000000; +const int DCAM_BITRATE = MAIN_BITRATE; #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead @@ -89,8 +89,8 @@ const LogCameraInfo cameras_logged[] = { .bitrate = MAIN_BITRATE, .is_h265 = true, .has_qcamera = false, - .enable = Hardware::TICI(), - .record = Hardware::TICI(), + .enable = true, + .record = true, .frame_width = 1928, .frame_height = 1208, }, @@ -102,6 +102,6 @@ const LogCameraInfo qcam_info = { .is_h265 = false, .enable = true, .record = true, - .frame_width = Hardware::TICI() ? 526 : 480, - .frame_height = Hardware::TICI() ? 330 : 360 // keep pixel count the same? + .frame_width = 526, + .frame_height = 330, }; diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index 8eecd834e1..54f7aaaa2b 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -15,14 +15,12 @@ from cereal.services import service_list from common.basedir import BASEDIR from common.params import Params from common.timeout import Timeout -from selfdrive.hardware import TICI from selfdrive.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from selfdrive.version import get_version from tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import eon_f_frame_size, tici_f_frame_size, \ - eon_d_frame_size, tici_d_frame_size, tici_e_frame_size +from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size SentinelType = log.Sentinel.SentinelType @@ -108,20 +106,15 @@ class TestLoggerd(unittest.TestCase): os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") - expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc"} - streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216) if TICI else eon_f_frame_size, "roadCameraState"), - (VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216) if TICI else eon_d_frame_size, "driverCameraState")] - if TICI: - expected_files.add("ecamera.hevc") - streams.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")) + expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} + streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"), + (VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"), + (VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")] pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) vipc_server = VisionIpcServer("camerad") for stream_type, frame_spec, _ in streams: - if TICI: - vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) - else: - vipc_server.create_buffers(stream_type, 40, False, *(frame_spec)) + vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) vipc_server.start_listener() for _ in range(5): @@ -134,10 +127,7 @@ class TestLoggerd(unittest.TestCase): fps = 20.0 for n in range(1, int(num_segs*length*fps)+1): for stream_type, frame_spec, state in streams: - if TICI: - dat = np.empty(frame_spec[2], dtype=np.uint8) - else: - dat = np.empty(int(frame_spec[0]*frame_spec[1]*3/2), dtype=np.uint8) + dat = np.empty(frame_spec[2], dtype=np.uint8) vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) camera_state = messaging.new_message(state) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 806aa58bb7..8421605a55 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -10,14 +10,14 @@ from pathlib import Path from common.basedir import BASEDIR from common.spinner import Spinner from common.text_window import TextWindow -from selfdrive.hardware import TICI +from selfdrive.hardware import AGNOS from selfdrive.swaglog import cloudlog, add_file_handler from selfdrive.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 -CACHE_DIR = Path("/data/scons_cache" if TICI else "/tmp/scons_cache") +CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2405 +TOTAL_SCONS_NODES = 2035 MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7f31d837b5..5d996d1169 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -2,7 +2,7 @@ import os from cereal import car from common.params import Params -from selfdrive.hardware import TICI, PC +from selfdrive.hardware import PC from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None @@ -21,16 +21,16 @@ procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview), - NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]), + NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), - NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if TICI else None)), + NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), @@ -45,7 +45,7 @@ procs = [ PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), - PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, offroad=True), + PythonProcess("timezoned", "selfdrive.timezoned", enabled=not PC, offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index c1a6d4816b..31949de0b9 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,7 +5,7 @@ import time import unittest import selfdrive.manager.manager as manager -from selfdrive.hardware import TICI, HARDWARE +from selfdrive.hardware import AGNOS, HARDWARE from selfdrive.manager.process import DaemonProcess from selfdrive.manager.process_config import managed_processes @@ -50,7 +50,7 @@ class TestManager(unittest.TestCase): self.assertTrue(state.running, f"{p} not running") exit_code = managed_processes[p].stop(retry=False) - if (TICI and p in ['ui',]): + if (AGNOS and p in ['ui',]): # TODO: make Qt UI exit gracefully continue diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 593abbc9e4..10cc2fe56e 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -163,7 +163,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl } int main(int argc, char **argv) { - if (Hardware::TICI()) { + if (!Hardware::PC()) { int ret; ret = util::set_realtime_priority(54); assert(ret == 0); diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index a0cdd7967e..6b704cbfa8 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -23,64 +23,8 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr * The recurrent state vector that is fed back into the GRU for temporal context : 512 -### Supercombo output format (Full size: 6472 x float32) -* **plan** - * 5 potential desired plan predictions : 4955 = 5 * 991 - * predicted mean and standard deviation of the following values at 33 timesteps : 990 = 2 * 33 * 15 - * x,y,z position in current frame (meters) - * x,y,z velocity in local frame (meters/s) - * x,y,z acceleration local frame (meters/(s*s)) - * roll, pitch , yaw in current frame (radians) - * roll, pitch , yaw rates in local frame (radians/s) - * probability[^1] of this plan hypothesis being the most likely: 1 -* **lanelines** - * 4 lanelines (outer left, left, right, and outer right): 528 = 4 * 132 - * predicted mean and standard deviation for the following values at 33 x positions : 132 = 2 * 33 * 2 - * y position in current frame (meters) - * z position in current frame (meters) -* **laneline probabilties** - * 2 probabilities[^1] that each of the 4 lanelines exists : 8 = 4 * 2 - * deprecated probability - * used probability -* **road-edges** - * 2 road-edges (left and right): 264 = 2 * 132 - * predicted mean and standard deviation for the following values at 33 x positions : 132 = 2 * 33 * 2 - * y position in current frame (meters) - * z position in current frame (meters) -* **leads** - * 2 hypotheses for potential lead cars : 102 = 2 * 51 - * predicted mean and stadard deviation for the following values at 0,2,4,6,8,10s : 48 = 2 * 6 * 4 - * x position of lead in current frame (meters) - * y position of lead in current frame (meters) - * speed of lead (meters/s) - * acceleration of lead(meters/(s*s)) - * probabilities[^1] this hypothesis is the most likely hypothesis at 0s, 2s or 4s from now : 3 -* **lead probabilities** - * probability[^1] that there is a lead car at 0s, 2s, 4s from now : 3 = 1 * 3 -* **desire state** - * probability[^1] that the model thinks it is executing each of the 8 potential desire actions : 8 -* **meta** [^2] - * Various metadata about the scene : 80 = 1 + 35 + 12 + 32 - * Probability[^1] that openpilot is engaged : 1 - * Probabilities[^1] of various things happening between now and 2,4,6,8,10s : 35 = 5 * 7 - * Disengage of openpilot with gas pedal - * Disengage of openpilot with brake pedal - * Override of openpilot steering - * 3m/(s*s) of deceleration - * 4m/(s*s) of deceleration - * 5m/(s*s) of deceleration - * Probabilities[^1] of left or right blinker being active at 0,2,4,6,8,10s : 12 = 6 * 2 - * Probabilities[^1] that each of the 8 desires is being executed at 0,2,4,6s : 32 = 4 * 8 - -* **pose** [^2] - * predicted mean and standard deviation of current translation and rotation rates : 12 = 2 * 6 - * x,y,z velocity in current frame (meters/s) - * roll, pitch , yaw rates in current frame (radians/s) -* **recurrent state** - * The recurrent state vector that is fed back into the GRU for temporal context : 512 - -[^1]: All probabilities are in logits, so you need to apply sigmoid or softmax functions to get actual probabilities -[^2]: These outputs come directly from the vision blocks, they do not have access to temporal state or the desire input +### Supercombo output format (Full size: XXX x float32) +Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more. ## Driver Monitoring Model diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index 4cc1cd1229..e134ad3a5a 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -69,22 +69,13 @@ void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8 } DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { - Rect crop_rect; - if (width == TICI_CAM_WIDTH) { - const int cropped_height = tici_dm_crop::width / 1.33; - crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset, - height / 2 - cropped_height / 2 + tici_dm_crop::y_offset, - cropped_height / 2, - cropped_height}; - if (!s->is_rhd) { - crop_rect.x += tici_dm_crop::width - crop_rect.w; - } - } else { - const int adapt_width = 372; - crop_rect = {0, 0, adapt_width, height}; - if (!s->is_rhd) { - crop_rect.x += width - crop_rect.w; - } + const int cropped_height = tici_dm_crop::width / 1.33; + Rect crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset, + height / 2 - cropped_height / 2 + tici_dm_crop::y_offset, + cropped_height / 2, + cropped_height}; + if (!s->is_rhd) { + crop_rect.x += tici_dm_crop::width - crop_rect.w; } int resized_width = MODEL_WIDTH; @@ -108,31 +99,16 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_ auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height); uint8_t *resized_y = resized_buf; libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear; - if (Hardware::TICI()) { - libyuv::I420Scale(cropped_y, crop_rect.w, - cropped_u, crop_rect.w / 2, - cropped_v, crop_rect.w / 2, - crop_rect.w, crop_rect.h, - resized_y, resized_width, - resized_u, resized_width / 2, - resized_v, resized_width / 2, - resized_width, resized_height, - mode); - } else { - const int source_height = 0.7*resized_height; - const int extra_height = (resized_height - source_height) / 2; - const int extra_width = (resized_width - source_height / 2) / 2; - const int source_width = source_height / 2 + extra_width; - libyuv::I420Scale(cropped_y, crop_rect.w, - cropped_u, crop_rect.w / 2, - cropped_v, crop_rect.w / 2, - crop_rect.w, crop_rect.h, - resized_y + extra_height * resized_width, resized_width, - resized_u + extra_height / 2 * resized_width / 2, resized_width / 2, - resized_v + extra_height / 2 * resized_width / 2, resized_width / 2, - source_width, source_height, - mode); - } + libyuv::I420Scale(cropped_y, crop_rect.w, + cropped_u, crop_rect.w / 2, + cropped_v, crop_rect.w / 2, + crop_rect.w, crop_rect.h, + resized_y, resized_width, + resized_u, resized_width / 2, + resized_v, resized_width / 2, + resized_width, resized_height, + mode); + int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index 2a6238c1d2..e282a66b66 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -59,7 +59,10 @@ if __name__ == "__main__": options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL provider = 'CPUExecutionProvider' - print("Onnx selected provider: ", [provider], file=sys.stderr) - ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) - print("Onnx using ", ort_session.get_providers(), file=sys.stderr) - run_loop(ort_session) + try: + print("Onnx selected provider: ", [provider], file=sys.stderr) + ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) + print("Onnx using ", ort_session.get_providers(), file=sys.stderr) + run_loop(ort_session) + except KeyboardInterrupt: + pass diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 66b28c39b7..662e0d76ce 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -3,7 +3,6 @@ from math import atan2 from cereal import car from common.numpy_fast import interp from common.realtime import DT_DMON -from selfdrive.hardware import TICI from common.filter_simple import FirstOrderFilter from common.stat_live import RunningStatFilter @@ -16,7 +15,7 @@ EventName = car.CarEvent.EventName # ****************************************************************************************** class DRIVER_MONITOR_SETTINGS(): - def __init__(self, TICI=TICI, DT_DMON=DT_DMON): + def __init__(self): self._DT_DMON = DT_DMON # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2 self._AWARENESS_TIME = 30. # passive wheeltouch total timeout @@ -27,15 +26,15 @@ class DRIVER_MONITOR_SETTINGS(): self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. self._FACE_THRESHOLD = 0.5 - self._PARTIAL_FACE_THRESHOLD = 0.8 if TICI else 0.45 - self._EYE_THRESHOLD = 0.65 if TICI else 0.6 - self._SG_THRESHOLD = 0.925 if TICI else 0.91 - self._BLINK_THRESHOLD = 0.8 if TICI else 0.55 - self._BLINK_THRESHOLD_SLACK = 0.9 if TICI else 0.7 + self._PARTIAL_FACE_THRESHOLD = 0.8 + self._EYE_THRESHOLD = 0.65 + self._SG_THRESHOLD = 0.925 + self._BLINK_THRESHOLD = 0.8 + self._BLINK_THRESHOLD_SLACK = 0.9 self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD - self._EE_THRESH11 = 0.75 if TICI else 0.4 - self._EE_THRESH12 = 3.25 if TICI else 2.45 + self._EE_THRESH11 = 0.75 + self._EE_THRESH12 = 3.25 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index 89fd5e7e4e..eda813154a 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -2,18 +2,24 @@ from __future__ import annotations import json import math -from typing import Any, Dict, List, Optional, Tuple +from typing import Any, Dict, List, Optional, Tuple, Union, cast +from common.conversions import Conversions from common.numpy_fast import clip from common.params import Params EARTH_MEAN_RADIUS = 6371007.2 +SPEED_CONVERSIONS = { + 'km/h': Conversions.KPH_TO_MS, + 'mph': Conversions.MPH_TO_MS, + } class Coordinate: def __init__(self, latitude: float, longitude: float) -> None: self.latitude = latitude self.longitude = longitude + self.annotations: Dict[str, float] = {} @classmethod def from_mapbox_tuple(cls, t: Tuple[float, float]) -> Coordinate: @@ -116,6 +122,12 @@ def string_to_direction(direction: str) -> str: return 'none' +def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float: + unit = cast(str, maxspeed['unit']) + speed = cast(float, maxspeed['speed']) + return SPEED_CONVERSIONS[unit] * speed + + def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None: if not len(banners): return diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 0a8eab7e06..52db9b1d08 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -10,11 +10,11 @@ from cereal import log from common.api import Api from common.params import Params from common.realtime import Ratekeeper -from selfdrive.swaglog import cloudlog from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, - distance_along_geometry, + distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) +from selfdrive.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 @@ -110,7 +110,7 @@ class RouteEngine: params = { 'access_token': self.mapbox_token, - # 'annotations': 'maxspeed', + 'annotations': 'maxspeed', 'geometries': 'geojson', 'overview': 'full', 'steps': 'true', @@ -131,9 +131,25 @@ class RouteEngine: self.route = r['routes'][0]['legs'][0]['steps'] self.route_geometry = [] + maxspeed_idx = 0 + maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed'] + # Convert coordinates for step in self.route: - self.route_geometry.append([Coordinate.from_mapbox_tuple(c) for c in step['geometry']['coordinates']]) + coords = [] + + for c in step['geometry']['coordinates']: + coord = Coordinate.from_mapbox_tuple(c) + + # Last step does not have maxspeed + if (maxspeed_idx < len(maxspeeds)) and ('unknown' not in maxspeeds[maxspeed_idx]): + coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeeds[maxspeed_idx]) + + coords.append(coord) + maxspeed_idx += 1 + + self.route_geometry.append(coords) + maxspeed_idx -= 1 # Every segment ends with the same coordinate as the start of the next self.step_idx = 0 else: @@ -179,6 +195,23 @@ class RouteEngine: msg.navInstruction.timeRemaining = total_time msg.navInstruction.timeRemainingTypical = total_time_typical + # Speed limit + closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position)) + if closest_idx > 0: + # If we are not past the closest point, show previous + if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]): + closest = geometry[closest_idx - 1] + + if 'maxspeed' in closest.annotations: + msg.navInstruction.speedLimit = closest.annotations['maxspeed'] + + # Speed limit sign type + if 'speedLimitSign' in step: + if step['speedLimitSign'] == 'mutcd': + msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd + elif step['speedLimitSign'] == 'vienna': + msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna + self.pm.send('navInstruction', msg) # Transition to next route segment diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py index b650ecb69a..8571f36c36 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/selfdrive/test/process_replay/helpers.py @@ -23,4 +23,4 @@ class OpenpilotPrefix(object): os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) del os.environ['OPENPILOT_PREFIX'] - return True + return False diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 34f35e0ed7..b83629c76a 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -10,9 +10,8 @@ import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType from common.spinner import Spinner from common.timeout import Timeout -from common.transformations.camera import get_view_frame_from_road_frame, eon_f_frame_size, tici_f_frame_size, \ - eon_d_frame_size, tici_d_frame_size -from selfdrive.hardware import PC, TICI +from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size +from selfdrive.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url from selfdrive.test.process_replay.compare_logs import compare_logs, save_log @@ -23,14 +22,14 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" SEGMENT = 0 +MAX_FRAMES = 20 if PC else 1300 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER, "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD} - -def get_log_fn(ref_commit, test_route, tici=True): - return f"{test_route}_{'model_tici' if tici else 'model'}_{ref_commit}.bz2" +def get_log_fn(ref_commit, test_route): + return f"{test_route}_model_tici_{ref_commit}.bz2" def replace_calib(msg, calib): @@ -41,12 +40,15 @@ def replace_calib(msg, calib): def model_replay(lr, frs): - spinner = Spinner() - spinner.update("starting model replay") + if not PC: + spinner = Spinner() + spinner.update("starting model replay") + else: + spinner = None vipc_server = VisionIpcServer("camerad") - vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size if TICI else eon_f_frame_size)) - vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size)) + vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size)) + vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size)) vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size)) vipc_server.start_listener() @@ -76,7 +78,7 @@ def model_replay(lr, frs): for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']): # need a pair of road/wide msgs - if TICI and None in (cam_msgs[0], cam_msgs[1]): + if None in (cam_msgs[0], cam_msgs[1]): break for msg in cam_msgs: @@ -107,7 +109,7 @@ def model_replay(lr, frs): recv = None if msg.which() in ('roadCameraState', 'wideRoadCameraState'): - if not TICI or min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: + if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: recv = "modelV2" elif msg.which() == 'driverCameraState': recv = "driverState" @@ -118,14 +120,19 @@ def model_replay(lr, frs): recv_cnt[recv] += 1 log_msgs.append(messaging.recv_one(sm.sock[recv])) - spinner.update("replaying models: road %d/%d, driver %d/%d" % (frame_idxs['roadCameraState'], - frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count)) + if spinner: + spinner.update("replaying models: road %d/%d, driver %d/%d" % (frame_idxs['roadCameraState'], + frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count)) + - if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()): + if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES: break + else: + print(f'Received {frame_idxs["roadCameraState"]} frames') finally: - spinner.close() + if spinner: + spinner.close() managed_processes['modeld'].stop() managed_processes['dmonitoringmodeld'].stop() @@ -144,9 +151,8 @@ if __name__ == "__main__": frs = { 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")), 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")), + 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera")) } - if TICI: - frs['wideRoadCameraState'] = FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera")) # run replay log_msgs = model_replay(lr, frs) @@ -156,9 +162,9 @@ if __name__ == "__main__": if not update: with open(ref_commit_fn) as f: ref_commit = f.read().strip() - log_fn = get_log_fn(ref_commit, TEST_ROUTE, tici=TICI) + log_fn = get_log_fn(ref_commit, TEST_ROUTE) try: - cmp_log = LogReader(BASE_URL + log_fn) + cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES] ignore = [ 'logMonoTime', @@ -167,7 +173,8 @@ if __name__ == "__main__": 'driverState.modelExecutionTime', 'driverState.dspExecutionTime' ] - tolerance = None if not PC else 1e-3 + # TODO this tolerence is absurdly large + tolerance = 5e-1 if PC else None results: Any = {TEST_ROUTE: {}} results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) diff1, diff2, failed = format_diff(results, ref_commit) @@ -182,13 +189,13 @@ if __name__ == "__main__": failed = True # upload new refs - if update or failed: + if (update or failed) and not PC: from selfdrive.test.openpilotci import upload_file print("Uploading new refs") new_commit = get_commit() - log_fn = get_log_fn(new_commit, TEST_ROUTE, tici=TICI) + log_fn = get_log_fn(new_commit, TEST_ROUTE) save_log(log_fn, log_msgs) try: upload_file(log_fn, os.path.basename(log_fn)) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 0690f1d8cf..1eda9bc7f5 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -242,14 +242,17 @@ CONFIGS = [ pub_sub={ "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], - "modelV2": [], "driverCameraState": [], "roadCameraState": [], "managerState": [], "testJoystick": [], + "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], "testJoystick": [], }, ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], init_callback=fingerprint, should_recv_callback=controlsd_rcv_callback, tolerance=NUMPY_TOLERANCE, fake_pubsubmaster=True, - submaster_config={'ignore_avg_freq': ['radarState', 'longitudinalPlan']} + submaster_config={ + 'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'], # dcam is expected at 20 Hz + 'ignore_alive': ['wideRoadCameraState'], # TODO: Add to regen + } ), ProcessConfig( proc_name="radard", diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index de8599a58e..3a9b1d9479 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0956446adfa91506f0a3d88f893e041bfb2890c1 +0e18bb3317437f2cad6d0a5782a9222eda655d58 diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index bcc91b3ab6..653efaf32c 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -3,8 +3,8 @@ import bz2 import os import time import multiprocessing -from tqdm import tqdm import argparse +from tqdm import tqdm # run DM procs os.environ["USE_WEBCAM"] = "1" @@ -24,7 +24,6 @@ from tools.lib.route import Route from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader - def replay_panda_states(s, msgs): pm = messaging.PubMaster([s, 'peripheralState']) rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) @@ -118,7 +117,7 @@ def replay_service(s, msgs): rk.keep_time() -def replay_cameras(lr, frs): +def replay_cameras(lr, frs, disable_tqdm=False): eon_cameras = [ ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True), ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), @@ -163,7 +162,7 @@ def replay_cameras(lr, frs): if fr is not None: print(f"Decompressing frames {s}") frames = [] - for i in tqdm(range(fr.frame_count)): + for i in tqdm(range(fr.frame_count), disable=disable_tqdm): img = fr.get(i, pix_fmt='nv12')[0] frames.append(img.flatten().tobytes()) @@ -177,7 +176,7 @@ def replay_cameras(lr, frs): return vs, p -def regen_segment(lr, frs=None, outdir=FAKEDATA): +def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): lr = list(lr) if frs is None: frs = dict() @@ -207,7 +206,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA): elif msg.which() == 'liveCalibration': params.put("CalibrationParams", msg.as_builder().to_bytes()) - vs, cam_procs = replay_cameras(lr, frs) + vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) fake_daemons = { 'sensord': [ @@ -219,7 +218,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA): multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)), ], 'managerState': [ - multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)), + multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)), ], 'thermald': [ multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)), @@ -236,13 +235,13 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA): time.sleep(5) # start procs up - ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader'] + ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd'] ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore) for procs in fake_daemons.values(): for p in procs: p.start() - for _ in tqdm(range(60)): + for _ in tqdm(range(60), disable=disable_tqdm): # ensure all procs are running for d, procs in fake_daemons.items(): for p in procs: @@ -268,7 +267,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA): return seg_path -def regen_and_save(route, sidx, upload=False, use_route_meta=False): +def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False): if use_route_meta: r = Route(args.route) lr = LogReader(r.log_paths()[args.seg]) @@ -276,7 +275,7 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False): else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") - rpath = regen_segment(lr, {'roadCameraState': fr}) + rpath = regen_segment(lr, {'roadCameraState': fr}, outdir=outdir, disable_tqdm=disable_tqdm) # compress raw rlog before uploading with open(os.path.join(rpath, "rlog"), "rb") as f: @@ -294,7 +293,7 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False): print("\n\n", "*"*30, "\n\n") print("New route:", relr, "\n") if upload: - upload_route(relr) + upload_route(relr, exclude_patterns=['*.hevc', ]) return relr diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index 4f057bbf50..765e5c3b68 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -1,22 +1,36 @@ #!/usr/bin/env python3 +import argparse +import concurrent.futures +import os +import random +from tqdm import tqdm + +from selfdrive.test.process_replay.helpers import OpenpilotPrefix from selfdrive.test.process_replay.regen import regen_and_save -from selfdrive.test.process_replay.test_processes import original_segments as segments +from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments -if __name__ == "__main__": - new_segments = [] - for segment in segments: +def regen_job(segment): + with OpenpilotPrefix(): route = segment[1].rsplit('--', 1)[0] sidx = int(segment[1].rsplit('--', 1)[1]) - print("Regen", route, sidx) - relr = regen_and_save(route, sidx, upload=True, use_route_meta=False) + fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for i in range(11)) + try: + relr = regen_and_save(route, sidx, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=True) + relr = '|'.join(relr.split('/')[-2:]) + return f' ("{segment[0]}", "{relr}"), ' + except Exception as e: + return f" {segment} failed: {str(e)}" + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Generate new segments from old ones") + parser.add_argument("-j", "--jobs", type=int, default=1) + args = parser.parse_args() - print("\n\n", "*"*30, "\n\n") - print("New route:", relr, "\n") - relr = relr.replace('/', '|') - new_segments.append(f' ("{segment[0]}", "{relr}"), ') - print() - print() - print() - print('COPY THIS INTO test_processes.py') - for seg in new_segments: - print(seg) + with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: + p = list(pool.map(regen_job, segments)) + msg = "Copy these new segments into test_processes.py:" + for seg in tqdm(p, desc="Generating segments"): + msg += "\n" + str(seg) + print() + print() + print(msg) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 1d5969b1ec..c1b5b85391 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -59,9 +59,9 @@ REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") def run_test_process(data): segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data - lr = LogReader.from_bytes(lr_dat) res = None if not args.upload_only: + lr = LogReader.from_bytes(lr_dat) res, log_msgs = test_process(cfg, lr, ref_log_path, args.ignore_fields, args.ignore_msgs) # save logs so we can upload when updating refs save_log(cur_log_fn, log_msgs) @@ -160,7 +160,7 @@ if __name__ == "__main__": tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars) tested_cars = {c.upper() for c in tested_cars} - full_test = all(len(x) == 0 for x in (args.whitelist_procs, args.whitelist_cars, args.blacklist_procs, args.blacklist_cars, args.ignore_fields, args.ignore_msgs)) + 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) @@ -181,8 +181,7 @@ if __name__ == "__main__": # check to make sure all car brands are tested if full_test: - tested_cars = {c.lower() for c, _ in segments} - untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars + untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} assert len(untested) == 0, f"Cars missing routes: {str(untested)}" with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index b388e599f7..99a63b8dfd 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -18,8 +18,12 @@ DEST_KEY = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") SOURCE_KEYS = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] SERVICE = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=DEST_KEY) -def upload_route(path): +def upload_route(path, exclude_patterns=None): + if exclude_patterns is None: + exclude_patterns = ['*/dcamera.hevc'] + r, n = path.rsplit("--", 1) + r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path destpath = f"{r}/{n}" cmd = [ "azcopy", @@ -28,9 +32,7 @@ def upload_route(path): f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{DEST_KEY}", "--recursive=false", "--overwrite=false", - "--exclude-pattern=*/dcamera.hevc", - "--exclude-pattern=*.mkv", - ] + ] + [f"--exclude-pattern={p}" for p in exclude_patterns] subprocess.check_call(cmd) def sync_to_ci_public(route): diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 76573e37e6..4df1e072b8 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -17,7 +17,7 @@ from common.filter_simple import FirstOrderFilter from common.params import Params from common.realtime import DT_TRML, sec_since_boot from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.hardware import HARDWARE, TICI +from selfdrive.hardware import HARDWARE, TICI, AGNOS from selfdrive.loggerd.config import get_available_percent from selfdrive.statsd import statlog from selfdrive.swaglog import cloudlog @@ -31,7 +31,7 @@ NetworkStrength = log.DeviceState.NetworkStrength CURRENT_TAU = 15. # 15s time constant TEMP_TAU = 5. # 5s time constant DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert -PANDA_STATES_TIMEOUT = int(1000 * 2.5 * DT_TRML) # 2.5x the expected pandaState frequency +PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML) # 1.5x the expected pandaState frequency ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) HardwareState = namedtuple("HardwareState", ['network_type', 'network_metered', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps']) @@ -113,7 +113,7 @@ def hw_state_thread(end_event, hw_queue): modem_temps = prev_hw_state.modem_temps # Log modem version once - if TICI and ((modem_version is None) or (modem_nv is None)): + if AGNOS and ((modem_version is None) or (modem_nv is None)): modem_version = HARDWARE.get_modem_version() # pylint: disable=assignment-from-none modem_nv = HARDWARE.get_modem_nv() # pylint: disable=assignment-from-none @@ -134,7 +134,7 @@ def hw_state_thread(end_event, hw_queue): except queue.Full: pass - if TICI and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): + if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): registered_count += 1 else: registered_count = 0 @@ -220,6 +220,11 @@ def thermald_thread(end_event, hw_queue): if TICI: fan_controller = TiciFanController() + elif (sec_since_boot() - sm.rcv_time['pandaStates']/1e9) > DISCONNECT_TIMEOUT: + if onroad_conditions["ignition"]: + onroad_conditions["ignition"] = False + cloudlog.error("panda timed out onroad") + try: last_hw_state = hw_queue.get_nowait() except queue.Empty: diff --git a/selfdrive/timezoned.py b/selfdrive/timezoned.py index 6a7e9122c1..fc1ca92cdf 100755 --- a/selfdrive/timezoned.py +++ b/selfdrive/timezoned.py @@ -9,7 +9,7 @@ import requests from timezonefinder import TimezoneFinder from common.params import Params -from selfdrive.hardware import TICI +from selfdrive.hardware import AGNOS from selfdrive.swaglog import cloudlog @@ -20,7 +20,7 @@ def set_timezone(valid_timezones, timezone): cloudlog.debug(f"Setting timezone to {timezone}") try: - if TICI: + if AGNOS: tzpath = os.path.join("/usr/share/zoneinfo/", timezone) subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ mv /data/etc/tmptime /data/etc/localtime"', shell=True) diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index dcf3ee0f67..1d0f8532db 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -10,15 +10,12 @@ import glob from typing import NoReturn from common.file_helpers import mkdirs_exists_ok -from selfdrive.hardware import TICI from selfdrive.loggerd.config import ROOT import selfdrive.sentry as sentry from selfdrive.swaglog import cloudlog from selfdrive.version import get_commit -MAX_SIZE = 100000 * 10 # mal size is 40-100k, allow up to 1M -if TICI: - MAX_SIZE = MAX_SIZE * 100 # Allow larger size for tici since files contain coredump +MAX_SIZE = 1_000_000 * 100 # allow up to 100M MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") TOMBSTONE_DIR = "/data/tombstones/" diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 3302687bf4..06578b455a 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -63,12 +63,10 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { // blackout const QColor bg(0, 0, 0, 140); - const QRect& blackout_rect = Hardware::TICI() ? rect() : rect2; + const QRect& blackout_rect = rect(); p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg); p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg); - if (Hardware::TICI()) { - p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz - } + p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz // face bounding box cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 00e120d867..ac6f1f1ba0 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -57,12 +57,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "../assets/offroad/icon_monitoring.png", }, - { - "EndToEndToggle", - "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c", - "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.", - "../assets/offroad/icon_road.png", - }, { "DisengageOnAccelerator", "Disengage On Accelerator Pedal", @@ -95,9 +89,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { auto toggle = new ParamControl(param, title, desc, icon, this); bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); - if (!locked) { - connect(uiState(), &UIState::offroadTransition, toggle, &ParamControl::setEnabled); - } addItem(toggle); } } @@ -162,7 +153,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { power_layout->addWidget(poweroff_btn); QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff); - if (Hardware::TICI()) { + if (!Hardware::PC()) { connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible); } diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 31d94c2c65..ce61c094bd 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -311,24 +311,19 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, height() / 4); - if (scene.end_to_end) { - const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); - float orientation_future = 0; - if (orientation.getZ().size() > 16) { - orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds - } - // straight: 112, in turns: 70 - float curve_hue = fmax(70, 112 - (orientation_future * 420)); - // FIXME: painter.drawPolygon can be slow if hue is not rounded - curve_hue = int(curve_hue * 100 + 0.5) / 100; - - bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); - bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0)); - } else { - bg.setColorAt(0, whiteColor()); - bg.setColorAt(1, whiteColor(0)); + const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); + float orientation_future = 0; + if (orientation.getZ().size() > 16) { + orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds } + // straight: 112, in turns: 70 + float curve_hue = fmax(70, 112 - (orientation_future * 420)); + // FIXME: painter.drawPolygon can be slow if hue is not rounded + curve_hue = int(curve_hue * 100 + 0.5) / 100; + + bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); + bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0)); painter.setBrush(bg); painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index eade9cbe30..f16e8e4e0d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -55,25 +55,15 @@ const mat4 device_transform = {{ mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { const float driver_view_ratio = 1.333; - mat4 transform; - if (stream_width == TICI_CAM_WIDTH) { - const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width; - const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; - transform = (mat4){{ - xscale, 0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2, - 0.0, yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - } else { - // frame from 4/3 to 16/9 display - transform = (mat4){{ - driver_view_ratio * screen_height / screen_width, 0.0, 0.0, 0.0, - 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - } + const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width; + const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; + mat4 transform = (mat4){{ + xscale, 0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2, + 0.0, yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + }}; + return transform; } diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 27d472535b..8a208bf3cf 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -198,7 +198,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->addWidget(features, 0, Qt::AlignBottom); main_layout->addSpacing(30); - QVector bullets = {"Remote access", "14 days of storage", "Developer perks"}; + QVector bullets = {"Remote access", "1 year of storage", "Developer perks"}; for (auto &b: bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index cd9bacf725..c1af4ed6f4 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -114,7 +114,7 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); } max_idx = get_path_length_idx(model_position, max_distance); - update_line_data(s, model_position, scene.end_to_end ? 0.9 : 0.5, 1.22, &scene.track_vertices, max_idx, false); + update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); } static void update_sockets(UIState *s) { @@ -182,7 +182,7 @@ static void update_state(UIState *s) { } } } - if (Hardware::TICI() && sm.updated("wideRoadCameraState")) { + if (sm.updated("wideRoadCameraState")) { auto camera_state = sm["wideRoadCameraState"].getWideRoadCameraState(); float max_lines = 1618; @@ -221,7 +221,6 @@ void UIState::updateStatus() { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; - scene.end_to_end = Params().getBool("EndToEndToggle"); wide_camera = Params().getBool("WideCameraOnly"); } started_prev = scene.started; diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 51a1f6e21f..192a353ad1 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -107,7 +107,7 @@ typedef struct UIScene { QPointF lead_vertices[2]; float light_sensor, accel_sensor, gyro_sensor; - bool started, ignition, is_metric, longitudinal_control, end_to_end; + bool started, ignition, is_metric, longitudinal_control; uint64_t started_frame; } UIScene; diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 19dba9825e..f835522cdb 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -37,7 +37,7 @@ from markdown_it import MarkdownIt from common.basedir import BASEDIR from common.params import Params -from selfdrive.hardware import TICI, HARDWARE +from selfdrive.hardware import AGNOS, HARDWARE from selfdrive.swaglog import cloudlog from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.version import is_tested_branch @@ -328,7 +328,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: ] cloudlog.info("git reset success: %s", '\n'.join(r)) - if TICI: + if AGNOS: handle_agnos_update(wait_helper) # Create the finalized, ready-to-swap update diff --git a/selfdrive/clocksd/.gitignore b/system/clocksd/.gitignore similarity index 100% rename from selfdrive/clocksd/.gitignore rename to system/clocksd/.gitignore diff --git a/selfdrive/clocksd/SConscript b/system/clocksd/SConscript similarity index 100% rename from selfdrive/clocksd/SConscript rename to system/clocksd/SConscript diff --git a/selfdrive/clocksd/clocksd.cc b/system/clocksd/clocksd.cc similarity index 100% rename from selfdrive/clocksd/clocksd.cc rename to system/clocksd/clocksd.cc diff --git a/selfdrive/logcatd/.gitignore b/system/logcatd/.gitignore similarity index 100% rename from selfdrive/logcatd/.gitignore rename to system/logcatd/.gitignore diff --git a/selfdrive/logcatd/SConscript b/system/logcatd/SConscript similarity index 100% rename from selfdrive/logcatd/SConscript rename to system/logcatd/SConscript diff --git a/selfdrive/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc similarity index 100% rename from selfdrive/logcatd/logcatd_systemd.cc rename to system/logcatd/logcatd_systemd.cc diff --git a/selfdrive/proclogd/SConscript b/system/proclogd/SConscript similarity index 100% rename from selfdrive/proclogd/SConscript rename to system/proclogd/SConscript diff --git a/selfdrive/proclogd/main.cc b/system/proclogd/main.cc similarity index 89% rename from selfdrive/proclogd/main.cc rename to system/proclogd/main.cc index 288238dc9a..c4faa916d9 100644 --- a/selfdrive/proclogd/main.cc +++ b/system/proclogd/main.cc @@ -2,7 +2,7 @@ #include #include "common/util.h" -#include "selfdrive/proclogd/proclog.h" +#include "system/proclogd/proclog.h" ExitHandler do_exit; diff --git a/selfdrive/proclogd/proclog.cc b/system/proclogd/proclog.cc similarity index 99% rename from selfdrive/proclogd/proclog.cc rename to system/proclogd/proclog.cc index 215d9e9df0..9064547d29 100644 --- a/selfdrive/proclogd/proclog.cc +++ b/system/proclogd/proclog.cc @@ -1,4 +1,4 @@ -#include "selfdrive/proclogd/proclog.h" +#include "system/proclogd/proclog.h" #include diff --git a/selfdrive/proclogd/proclog.h b/system/proclogd/proclog.h similarity index 100% rename from selfdrive/proclogd/proclog.h rename to system/proclogd/proclog.h diff --git a/selfdrive/proclogd/tests/.gitignore b/system/proclogd/tests/.gitignore similarity index 100% rename from selfdrive/proclogd/tests/.gitignore rename to system/proclogd/tests/.gitignore diff --git a/selfdrive/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc similarity index 99% rename from selfdrive/proclogd/tests/test_proclog.cc rename to system/proclogd/tests/test_proclog.cc index 3e346988c6..230e855acb 100644 --- a/selfdrive/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -1,7 +1,7 @@ #define CATCH_CONFIG_MAIN #include "catch2/catch.hpp" #include "common/util.h" -#include "selfdrive/proclogd/proclog.h" +#include "system/proclogd/proclog.h" const std::string allowed_states = "RSDTZtWXxKWPI"; diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 27cf25550f..d869db90a6 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -1,41 +1,10 @@ -FROM ghcr.io/commaai/openpilot-base:latest +FROM ghcr.io/commaai/openpilot-base-cl:latest RUN apt-get update && apt-get install -y --no-install-recommends\ - apt-utils \ - unzip \ - tar \ - curl \ - xz-utils \ - alien \ - dbus \ - gcc-arm-none-eabi \ tmux \ vim \ - lsb-core \ - libx11-6 \ && rm -rf /var/lib/apt/lists/* -# Intel OpenCL driver -ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz -ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532 -RUN mkdir -p /tmp/opencl-driver-intel -WORKDIR /tmp/opencl-driver-intel -RUN echo INTEL_DRIVER is $INTEL_DRIVER && \ - curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \ - tar -xzf $INTEL_DRIVER && \ - for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \ - dpkg -i *.deb && \ - rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \ - mkdir -p /etc/OpenCL/vendors && \ - echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \ - rm -rf /tmp/opencl-driver-intel - -ENV NVIDIA_VISIBLE_DEVICES all -ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute -ENV QTWEBENGINE_DISABLE_SANDBOX 1 - -RUN dbus-uuidgen > /etc/machine-id - # get same tmux config used on NEOS for debugging RUN cd $HOME && \ curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf @@ -54,6 +23,7 @@ COPY ./opendbc $HOME/openpilot/opendbc COPY ./cereal $HOME/openpilot/cereal COPY ./panda $HOME/openpilot/panda COPY ./selfdrive $HOME/openpilot/selfdrive +COPY ./system $HOME/openpilot/system COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot diff --git a/tools/sim/README.md b/tools/sim/README.md index c77bd718ac..cb1aea35ac 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -46,8 +46,8 @@ All inputs: | key | functionality | |:----:|:-----------------:| -| 1 | Cruise up 5 mph | -| 2 | Cruise down 5 mph | +| 1 | Cruise up 1 mph | +| 2 | Cruise down 1 mph | | 3 | Cruise cancel | | q | Exit all | | wasd | Control manually |