From f2c73039d7799da139ec4e55520f525db4fb95cc Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 11 Jan 2024 21:09:39 -0500 Subject: [PATCH 001/205] fix metadrive after bump (#30967) * fix clip * wip * oop * 1.22 * ... ugly * fix tuning --- tools/sim/bridge/metadrive/metadrive_bridge.py | 8 +------- tools/sim/bridge/metadrive/metadrive_process.py | 12 ++++++++++-- 2 files changed, 11 insertions(+), 9 deletions(-) diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index b99596ac62..76d09a4529 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -3,15 +3,13 @@ import numpy as np from metadrive.component.sensors.rgb_camera import RGBCamera from metadrive.component.sensors.base_camera import _cuda_enable from metadrive.component.map.pg_map import MapGenerateMethod -from panda3d.core import Vec3, Texture, GraphicsOutput +from panda3d.core import Texture, GraphicsOutput from openpilot.tools.sim.bridge.common import SimulatorBridge from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld from openpilot.tools.sim.lib.camerad import W, H -C3_POSITION = Vec3(0.0, 1.0, 1.22) - class CopyRamRGBCamera(RGBCamera): """Camera which copies its content into RAM during the render process, for faster image grabbing.""" @@ -33,8 +31,6 @@ class CopyRamRGBCamera(RGBCamera): class RGBCameraWide(CopyRamRGBCamera): def __init__(self, *args, **kwargs): super(RGBCameraWide, self).__init__(*args, **kwargs) - cam = self.get_cam() - cam.setPos(C3_POSITION) lens = self.get_lens() lens.setFov(120) lens.setNear(0.1) @@ -42,8 +38,6 @@ class RGBCameraWide(CopyRamRGBCamera): class RGBCameraRoad(CopyRamRGBCamera): def __init__(self, *args, **kwargs): super(RGBCameraRoad, self).__init__(*args, **kwargs) - cam = self.get_cam() - cam.setPos(C3_POSITION) lens = self.get_lens() lens.setFov(40) lens.setNear(0.1) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 3fb4186bf9..8040d0d050 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -2,6 +2,7 @@ import math import numpy as np from collections import namedtuple +from panda3d.core import Vec3 from multiprocessing.connection import Connection from metadrive.engine.core.engine_core import EngineCore @@ -10,9 +11,13 @@ from metadrive.envs.metadrive_env import MetaDriveEnv from metadrive.obs.image_obs import ImageObservation from openpilot.common.realtime import Ratekeeper + from openpilot.tools.sim.lib.common import vec3 from openpilot.tools.sim.lib.camerad import W, H +C3_POSITION = Vec3(0.0, 0, 1.22) +C3_HPR = Vec3(0, 0,0) + metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"]) @@ -58,14 +63,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera def get_cam_as_rgb(cam): cam = env.engine.sensors[cam] - img = cam.perceive(env.vehicle, clip=False) + cam.get_cam().reparentTo(env.vehicle.origin) + cam.get_cam().setPos(C3_POSITION) + cam.get_cam().setHpr(C3_HPR) + img = cam.perceive(clip=False) if type(img) != np.ndarray: img = img.get() # convert cupy array to numpy return img rk = Ratekeeper(100, None) - steer_ratio = 15 + steer_ratio = 8 vc = [0,0] while not exit_event.is_set(): From 96c91c486e9b39c11632691fe5761975d9aa53b6 Mon Sep 17 00:00:00 2001 From: royjr Date: Thu, 11 Jan 2024 22:42:20 -0500 Subject: [PATCH 002/205] networking: add hidden network option (#30808) * init * once * match * fix * maybe * maybe * Revert "maybe" This reverts commit 8386a0a381d5cfe94d7bbf0187d5e311d4b4e9c3. * Revert "maybe" This reverts commit 3abf7b19836e5f353fbb94c9bee52b185bd3fc17. * Revert "fix" This reverts commit 09e0146f4deeac07b9c26e916a75b70c7dcff1f1. * Revert "match" This reverts commit 39a90c6cf88f310623d5e9058152d025ee7213ea. * fix not at bottom * padding * match * Update networking.cc * min chars * translations * shouldn't need * need! * just in case * Revert "just in case" This reverts commit a3c1e090682e30400ba9c20b04407b9e5677ad7a. * finish translations * not secret * optional * allow open networks * fix * try * working * add divider * update translations * fix * better name * translate hidden network * auto * v2 * remove v1 * fix * fix translations --- selfdrive/ui/qt/network/networking.cc | 20 ++++++++++++++++++++ selfdrive/ui/qt/network/networking.h | 2 ++ selfdrive/ui/translations/main_ar.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_de.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_fr.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_ja.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_ko.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_pt-BR.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_th.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_tr.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 20 ++++++++++++++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 20 ++++++++++++++++++++ 12 files changed, 222 insertions(+) diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 090b9b578c..5354a01fa0 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -48,6 +48,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { an = new AdvancedNetworking(this, wifi); connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); }); + connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); }); main_layout->addWidget(an); QPalette pal = palette(); @@ -181,6 +182,25 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid }); list->addItem(meteredToggle); + // Hidden Network + hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT")); + connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() { + QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1); + if (!ssid.isEmpty()) { + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1); + Network hidden_network; + hidden_network.ssid = ssid.toUtf8(); + if (!pass.isEmpty()) { + hidden_network.security_type = SecurityType::WPA; + wifi->connect(hidden_network, pass); + } else { + wifi->connect(hidden_network); + } + emit requestWifiScreen(); + } + }); + list->addItem(hiddenNetworkButton); + // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 4ff7380f42..9b6af005ea 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -62,12 +62,14 @@ private: ToggleControl* tetheringToggle; ToggleControl* roamingToggle; ButtonControl* editApnButton; + ButtonControl* hiddenNetworkButton; ToggleControl* meteredToggle; WifiManager* wifi = nullptr; Params params; signals: void backPress(); + void requestWifiScreen(); public slots: void toggleTethering(bool enabled); diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index dc771b8c6e..2032807630 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً + + Hidden Network + شبكة مخفية + + + CONNECT + الاتصال + + + Enter SSID + أدخل SSID + + + Enter password + أدخل كلمة المرور + + + for "%1" + من أجل "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 498d4c4438..782d65b06f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 5ae3acdc1e..219e9351cd 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Éviter les transferts de données importants sur une connexion limitée + + Hidden Network + + + + CONNECT + CONNECTER + + + Enter SSID + Entrer le SSID + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d01657f8e4..ba3ca8faf6 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 大量のデータのアップロードを防止します。 + + Hidden Network + + + + CONNECT + 接続 + + + Enter SSID + SSID を入力 + + + Enter password + パスワードを入力 + + + for "%1" + ﾈｯﾄﾜｰｸ名：%1 + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index d2d6a4ddc1..8c1a0fb40e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 + + Hidden Network + + + + CONNECT + 연결됨 + + + Enter SSID + SSID 입력 + + + Enter password + 비밀번호를 입력하세요 + + + for "%1" + "%1"에 접속하려면 비밀번호가 필요합니다 + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 04458974cb..f983c8fb4b 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Evite grandes uploads de dados quando estiver em uma conexão limitada + + Hidden Network + + + + CONNECT + CONEXÃO + + + Enter SSID + Insira SSID + + + Enter password + Insira a senha + + + for "%1" + para "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 5f77f6c9de..0d0bda4abe 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ + + Hidden Network + + + + CONNECT + เชื่อมต่อ + + + Enter SSID + ป้อนค่า SSID + + + Enter password + ใส่รหัสผ่าน + + + for "%1" + สำหรับ "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index f8a76669a2..d14dd518a1 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection + + Hidden Network + + + + CONNECT + BAĞLANTI + + + Enter SSID + APN Gir + + + Enter password + Parolayı girin + + + for "%1" + için "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 371106d571..ef0d78402e 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 当使用按流量计费的连接时，避免上传大流量数据 + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + 输入SSID + + + Enter password + 输入密码 + + + for "%1" + 网络名称："%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6aa6295ce2..121bf58f1a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 防止使用行動網路上傳大量的數據 + + Hidden Network + + + + CONNECT + 雲端服務 + + + Enter SSID + 輸入 SSID + + + Enter password + 輸入密碼 + + + for "%1" + 給 "%1" + AnnotatedCameraWidget From ef73ee7b37d8173191ed58fd695d39d56164954f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 11 Jan 2024 22:55:58 -0800 Subject: [PATCH 003/205] simple navd test (#30976) * simple test * can't check that * cleanup --- selfdrive/navd/tests/test_navd.py | 61 +++++++++++++++++++++++++++++++ 1 file changed, 61 insertions(+) create mode 100755 selfdrive/navd/tests/test_navd.py diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py new file mode 100755 index 0000000000..e2a5944c2b --- /dev/null +++ b/selfdrive/navd/tests/test_navd.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +import json +import random +import unittest +import numpy as np + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes + + +class TestNavd(unittest.TestCase): + def setUp(self): + self.params = Params() + self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) + + def tearDown(self): + managed_processes['navd'].stop() + + def _check_route(self, start, end, check_coords=True): + self.params.put("NavDestination", json.dumps(end)) + self.params.put("LastGPSPosition", json.dumps(start)) + + managed_processes['navd'].start() + for _ in range(30): + self.sm.update(1000) + if all(f > 0 for f in self.sm.rcv_frame.values()): + break + else: + raise Exception("didn't get a route") + + assert managed_processes['navd'].proc.is_alive() + managed_processes['navd'].stop() + + # ensure start and end match up + if check_coords: + coords = self.sm['navRoute'].coordinates + assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], + [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], + rtol=1e-3) + + def test_simple(self): + start = { + "latitude": 32.7427228, + "longitude": -117.2321177, + } + end = { + "latitude": 32.7557004, + "longitude": -117.268002, + } + self._check_route(start, end) + + def test_random(self): + for _ in range(10): + start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + self._check_route(start, end, check_coords=False) + + +if __name__ == "__main__": + unittest.main() From 5da573ff39afd137fb8d9c0b0c75c2ef82106b17 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 11 Jan 2024 23:15:29 -0800 Subject: [PATCH 004/205] navd: handle errors in parsing api response (#30977) --- selfdrive/navd/navd.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index fcaf46aff4..2be703cdb2 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -71,8 +71,11 @@ class RouteEngine: self.ui_pid = ui_pid[0] self.update_location() - self.recompute_route() - self.send_instruction() + try: + self.recompute_route() + self.send_instruction() + except Exception: + cloudlog.exception("navd.failed_to_compute") def update_location(self): location = self.sm['liveLocationKalman'] @@ -256,7 +259,10 @@ class RouteEngine: for i in range(self.step_idx + 1, len(self.route)): total_distance += self.route[i]['distance'] total_time += self.route[i]['duration'] - total_time_typical += self.route[i]['duration_typical'] + if self.route[i]['duration_typical'] is None: + total_time_typical += self.route[i]['duration'] + else: + total_time_typical += self.route[i]['duration_typical'] msg.navInstruction.distanceRemaining = total_distance msg.navInstruction.timeRemaining = total_time From ba792d576a49a0899b88a753fa1c52956bedf9e6 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 12 Jan 2024 01:16:04 -0600 Subject: [PATCH 005/205] VW MQB: Add FW for 2018 Volkswagen Tiguan (#30951) --- selfdrive/car/volkswagen/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index fa9061e582..f98a822f1e 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -540,6 +540,7 @@ FW_VERSIONS = { b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x875NA907115J \xf1\x890002', + b'\xf1\x875NA907115K \xf1\x890004', b'\xf1\x8783A907115 \xf1\x890007', b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', @@ -570,6 +571,7 @@ FW_VERSIONS = { b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100', b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100', b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100', b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', @@ -587,6 +589,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', From 9f1b72ac792b8961cd903e425874f3a00a33ab3e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 12 Jan 2024 14:43:32 -0500 Subject: [PATCH 006/205] Replace multilogiterator (#30980) --- tools/lib/README.md | 18 ------- tools/lib/logreader.py | 70 --------------------------- tools/lib/srreader.py | 15 ++++-- tools/scripts/save_ubloxraw_stream.py | 22 ++------- 4 files changed, 16 insertions(+), 109 deletions(-) diff --git a/tools/lib/README.md b/tools/lib/README.md index daf74aaf40..7d8f2f8bf9 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -31,21 +31,3 @@ for msg in lr: if msg.which() == "carState": print(msg.carState.steeringAngleDeg) ``` - -### MultiLogIterator - -`MultiLogIterator` is similar to `LogReader`, but reads multiple logs. - -```python -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator - -# setup a MultiLogIterator to read all the logs in the route -r = Route("a2a0ccea32023010|2023-07-27--13-01-19") -lr = MultiLogIterator(r.log_paths()) - -# print all the steering angles values from all the logs in the route -for msg in lr: - if msg.which() == "carState": - print(msg.carState.steeringAngleDeg) -``` diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 4af922c774..924e07afe9 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -10,71 +10,9 @@ from typing import Iterable, Iterator from cereal import log as capnp_log from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.route import Route, SegmentName LogIterable = Iterable[capnp._DynamicStructReader] -# this is an iterator itself, and uses private variables from LogReader -class MultiLogIterator: - def __init__(self, log_paths, sort_by_time=False): - self._log_paths = log_paths - self.sort_by_time = sort_by_time - - self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None) - self._current_log = self._first_log_idx - self._idx = 0 - self._log_readers = [None]*len(log_paths) - self.start_time = self._log_reader(self._first_log_idx)._ts[0] - - def _log_reader(self, i): - if self._log_readers[i] is None and self._log_paths[i] is not None: - log_path = self._log_paths[i] - self._log_readers[i] = LogReader(log_path, sort_by_time=self.sort_by_time) - - return self._log_readers[i] - - def __iter__(self) -> Iterator[capnp._DynamicStructReader]: - return self - - def _inc(self): - lr = self._log_reader(self._current_log) - if self._idx < len(lr._ents)-1: - self._idx += 1 - else: - self._idx = 0 - self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) - if i == len(self._log_readers) or self._log_paths[i] is not None) - if self._current_log == len(self._log_readers): - raise StopIteration - - def __next__(self): - while 1: - lr = self._log_reader(self._current_log) - ret = lr._ents[self._idx] - self._inc() - return ret - - def tell(self): - # returns seconds from start of log - return (self._log_reader(self._current_log)._ts[self._idx] - self.start_time) * 1e-9 - - def seek(self, ts): - # seek to nearest minute - minute = int(ts/60) - if minute >= len(self._log_paths) or self._log_paths[minute] is None: - return False - - self._current_log = minute - - # HACK: O(n) seek afterward - self._idx = 0 - while self.tell() < ts: - self._inc() - return True - - def reset(self): - self.__init__(self._log_paths, sort_by_time=self.sort_by_time) - class LogReader: def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): @@ -121,14 +59,6 @@ class LogReader: else: yield ent -def logreader_from_route_or_segment(r, sort_by_time=False): - sn = SegmentName(r, allow_route_name=True) - route = Route(sn.route_name.canonical_name) - if sn.segment_num < 0: - return MultiLogIterator(route.log_paths(), sort_by_time=sort_by_time) - else: - return LogReader(route.log_paths()[sn.segment_num], sort_by_time=sort_by_time) - if __name__ == "__main__": import codecs diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py index db2ebd1936..ea11e5e3c5 100644 --- a/tools/lib/srreader.py +++ b/tools/lib/srreader.py @@ -1,4 +1,5 @@ import enum +import itertools import numpy as np import pathlib import re @@ -132,10 +133,16 @@ class SegmentRangeReader: self.default_mode = default_mode self.default_source = default_source self.sort_by_time = sort_by_time + self.identifier = identifier - self.lrs = self._logreaders_from_identifier(identifier) + self.reset() def __iter__(self): - for lr in self.lrs: - for m in lr: - yield m + return self + + def __next__(self): + return next(self.chain) + + def reset(self): + self.lrs = self._logreaders_from_identifier(self.identifier) + self.chain = itertools.chain(*self.lrs) diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 541252d270..39722b4f29 100755 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -3,8 +3,7 @@ import argparse import os import sys from openpilot.common.basedir import BASEDIR -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.srreader import SegmentRangeReader os.environ['BASEDIR'] = BASEDIR @@ -14,28 +13,17 @@ def get_arg_parser(): description="Unlogging and save to file", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("data_dir", nargs='?', - help="Path to directory in which log and camera files are located.") - parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?", + parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?", help="The route whose messages will be published.") parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream', help="Output pickle file path") return parser -def main(argv): +def main(): args = get_arg_parser().parse_args(sys.argv[1:]) - if not args.data_dir: - print('Data directory invalid.') - return - if not args.route_name: - # Extract route name from path - args.route_name = os.path.basename(args.data_dir) - args.data_dir = os.path.dirname(args.data_dir) - - route = Route(args.route_name, args.data_dir) - lr = MultiLogIterator(route.log_paths()) + lr = SegmentRangeReader(args.route) with open(args.out_path, 'wb') as f: try: @@ -56,4 +44,4 @@ def main(argv): if __name__ == "__main__": - sys.exit(main(sys.argv[1:])) + main() From 3d73512c0702598d27e04039976fe0a91d5952f0 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 12 Jan 2024 15:53:50 -0500 Subject: [PATCH 007/205] rename segmentrangereader to logreader (#30981) * Replace multilogiterator * replace logreader * update readme * fix from_Bytes * new section * reset before iter * selector * fix internal * whitespace --- selfdrive/debug/can_print_changes.py | 7 +- selfdrive/debug/count_events.py | 4 +- selfdrive/debug/filter_log_message.py | 4 +- selfdrive/debug/fingerprint_from_route.py | 4 +- selfdrive/debug/run_process_on_route.py | 4 +- selfdrive/debug/toyota_eps_factor.py | 4 +- .../test/get_thumbnails_for_segment.py | 4 +- tools/car_porting/auto_fingerprint.py | 4 +- .../examples/subaru_long_accel.ipynb | 4 +- .../examples/subaru_steer_temp_fault.ipynb | 4 +- tools/latencylogger/latency_logger.py | 4 +- tools/lib/README.md | 20 +++ tools/lib/logreader.py | 153 +++++++++++++++++- tools/lib/srreader.py | 148 ----------------- .../{test_srreader.py => test_logreader.py} | 16 +- tools/plotjuggler/juggle.py | 4 +- tools/replay/can_replay.py | 4 +- tools/scripts/save_ubloxraw_stream.py | 4 +- tools/tuning/measure_steering_accuracy.py | 4 +- 19 files changed, 204 insertions(+), 196 deletions(-) delete mode 100644 tools/lib/srreader.py rename tools/lib/tests/{test_srreader.py => test_logreader.py} (83%) diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index 20fe502efc..810e45cfc6 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -7,8 +7,7 @@ from typing import Optional import cereal.messaging as messaging from openpilot.selfdrive.debug.can_table import can_table -from openpilot.tools.lib.logreader import LogIterable -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogIterable, LogReader RED = '\033[91m' CLEAR = '\033[0m' @@ -104,8 +103,8 @@ if __name__ == "__main__": if args.init == '': init_lr = [] else: - init_lr = SegmentRangeReader(args.init) + init_lr = LogReader(args.init) if args.comp: - new_lr = SegmentRangeReader(args.comp) + new_lr = LogReader(args.comp) can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 70f412bff1..0d545b3153 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -7,7 +7,7 @@ from pprint import pprint from typing import List, Tuple, cast from cereal.services import SERVICE_LIST -from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode +from openpilot.tools.lib.logreader import LogReader, ReadMode if __name__ == "__main__": cnt_valid: Counter = Counter() @@ -20,7 +20,7 @@ if __name__ == "__main__": start_time = math.inf end_time = -math.inf ignition_off = None - for msg in SegmentRangeReader(sys.argv[1], ReadMode.QLOG): + for msg in LogReader(sys.argv[1], ReadMode.QLOG): end_time = max(end_time, msg.logMonoTime) start_time = min(start_time, msg.logMonoTime) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index f8e78c8b98..20028f8fd2 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -3,7 +3,7 @@ import argparse import json import cereal.messaging as messaging -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader LEVELS = { "DEBUG": 10, @@ -55,7 +55,7 @@ if __name__ == "__main__": if args.route: for route in args.route: - lr = SegmentRangeReader(route) + lr = LogReader(route) for m in lr: if m.which() == 'logMessage': print_logmessage(m.logMonoTime, m.logMessage, min_level) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index 7126a282c9..68308bb627 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader, ReadMode def get_fingerprint(lr): @@ -39,5 +39,5 @@ if __name__ == "__main__": print("Usage: ./fingerprint_from_route.py ") sys.exit(1) - lr = SegmentRangeReader(sys.argv[1], ReadMode.QLOG) + lr = LogReader(sys.argv[1], ReadMode.QLOG) get_fingerprint(lr) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 51ba06ec14..441de9ef57 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -4,7 +4,7 @@ import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", @@ -16,7 +16,7 @@ if __name__ == "__main__": cfg = [c for c in CONFIGS if c.proc_name == args.process][0] - lr = SegmentRangeReader(args.route) + lr = LogReader(args.route) inputs = list(lr) outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index 1f72fa296a..dc83c8f7a4 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -5,7 +5,7 @@ import matplotlib.pyplot as plt from sklearn import linear_model from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader MIN_SAMPLES = 30 * 100 @@ -57,6 +57,6 @@ def get_eps_factor(lr, plot=False): if __name__ == "__main__": - lr = SegmentRangeReader(sys.argv[1]) + lr = LogReader(sys.argv[1]) n = get_eps_factor(lr, plot="--plot" in sys.argv) print("EPS torque factor: ", n) diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 95d865e4e4..21409f398d 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -3,7 +3,7 @@ import argparse import os from tqdm import tqdm -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": parser = argparse.ArgumentParser() @@ -13,7 +13,7 @@ if __name__ == "__main__": out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") os.makedirs(out_path, exist_ok=True) - lr = SegmentRangeReader(args.route) + lr = LogReader(args.route) for msg in tqdm(lr): if msg.which() == 'thumbnail': diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index ef3efc1cf3..fce7e33182 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versio from openpilot.selfdrive.car.fw_versions import match_fw_to_car from openpilot.selfdrive.car.interfaces import get_interface_attr -from openpilot.tools.lib.srreader import SegmentRangeReader, ReadMode +from openpilot.tools.lib.logreader import LogReader, ReadMode ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS") @@ -24,7 +24,7 @@ if __name__ == "__main__": parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?') args = parser.parse_args() - lr = SegmentRangeReader(args.route, ReadMode.QLOG) + lr = LogReader(args.route, ReadMode.QLOG) carFw = None carVin = None diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb index ea685dcd4f..24470b44d2 100644 --- a/tools/car_porting/examples/subaru_long_accel.ipynb +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -24,14 +24,14 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import DBC\n", - "from openpilot.tools.lib.srreader import SegmentRangeReader\n", + "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", "In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n", "\"\"\"\n", "\n", "for segment in segments:\n", - " lr = SegmentRangeReader(segment)\n", + " lr = LogReader(segment)\n", "\n", " messages = [\n", " (\"ES_Distance\", 20),\n", diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index b60915e6ec..46d8dc413e 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -27,7 +27,7 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", - "from openpilot.tools.lib.srreader import SegmentRangeReader\n", + "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n", @@ -36,7 +36,7 @@ "\"\"\"\n", "\n", "for segment in segments:\n", - " lr = SegmentRangeReader(segment)\n", + " lr = LogReader(segment)\n", "\n", " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", "\n", diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 29d4889d35..b561b65105 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,7 +8,7 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" @@ -236,7 +236,7 @@ if __name__ == "__main__": args = parser.parse_args() r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - lr = SegmentRangeReader(r, sort_by_time=True) + lr = LogReader(r, sort_by_time=True) data, _ = get_timestamps(lr) print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative) diff --git a/tools/lib/README.md b/tools/lib/README.md index 7d8f2f8bf9..a0c4a0863b 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -31,3 +31,23 @@ for msg in lr: if msg.which() == "carState": print(msg.carState.steeringAngleDeg) ``` + +### Segment Ranges + +We also support a new format called a "segment range", where you can specify which segments from a route to load. + +```python + +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4") # 4th segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1") # last segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/:5") # first 5 segments +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/1:") # all except first segment +``` + +and can select which type of logs to grab + +```python +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/q") # get qlogs +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/r") # get rlogs (default) +``` diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 924e07afe9..7142c7f854 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -1,20 +1,29 @@ #!/usr/bin/env python3 +import bz2 +import capnp +import enum +import itertools +import numpy as np import os +import pathlib +import re import sys -import bz2 import urllib.parse -import capnp import warnings from typing import Iterable, Iterator +from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log +from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.helpers import RE +from openpilot.tools.lib.route import Route, SegmentRange LogIterable = Iterable[capnp._DynamicStructReader] -class LogReader: +class _LogFileReader: def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -44,10 +53,6 @@ class LogReader: self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) self._ts = [x.logMonoTime for x in self._ents] - @classmethod - def from_bytes(cls, dat): - return cls("", dat=dat) - def __iter__(self) -> Iterator[capnp._DynamicStructReader]: for ent in self._ents: if self._only_union_types: @@ -60,6 +65,140 @@ class LogReader: yield ent +class ReadMode(enum.StrEnum): + RLOG = "r" # only read rlogs + QLOG = "q" # only read qlogs + #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet + + +def create_slice_from_string(s: str): + m = re.fullmatch(RE.SLICE, s) + assert m is not None, f"Invalid slice: {s}" + start, end, step = m.groups() + start = int(start) if start is not None else None + end = int(end) if end is not None else None + step = int(step) if step is not None else None + + if start is not None and ":" not in s and end is None and step is None: + return start + return slice(start, end, step) + +def parse_slice(sr: SegmentRange): + route = Route(sr.route_name) + segs = np.arange(route.max_seg_number+1) + s = create_slice_from_string(sr._slice) + return segs[s] if isinstance(s, slice) else [segs[s]] + +def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): + segs = parse_slice(sr) + route = Route(sr.route_name) + + log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() + + invalid_segs = [seg for seg in segs if log_paths[seg] is None] + + assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" + + for seg in segs: + yield _LogFileReader(log_paths[seg], sort_by_time=sort_by_time) + +def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): + segs = parse_slice(sr) + + for seg in segs: + yield _LogFileReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time) + +def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): + segs = parse_slice(sr) + + for seg in segs: + yield _LogFileReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time) + +def direct_source(file_or_url, sort_by_time): + yield _LogFileReader(file_or_url, sort_by_time=sort_by_time) + +def auto_source(*args, **kwargs): + # Automatically determine viable source + + try: + next(internal_source(*args, **kwargs)) + return internal_source(*args, **kwargs) + except Exception: + pass + + try: + next(openpilotci_source(*args, **kwargs)) + return openpilotci_source(*args, **kwargs) + except Exception: + pass + + return comma_api_source(*args, **kwargs) + +def parse_useradmin(identifier): + if "useradmin.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["onebox"][0] + return None + +def parse_cabana(identifier): + if "cabana.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["route"][0] + return None + +def parse_direct(identifier): + if identifier.startswith(("http://", "https://", "cd:/")) or pathlib.Path(identifier).exists(): + return identifier + return None + +def parse_indirect(identifier): + parsed = parse_useradmin(identifier) or parse_cabana(identifier) + + if parsed is not None: + return parsed, comma_api_source, True + + return identifier, None, False + + +class LogReader: + def _logreaders_from_identifier(self, identifier): + parsed, source, is_indirect = parse_indirect(identifier) + + if not is_indirect: + direct_parsed = parse_direct(identifier) + if direct_parsed is not None: + return direct_source(identifier, sort_by_time=self.sort_by_time) + + sr = SegmentRange(parsed) + mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) + source = self.default_source if source is None else source + + return source(sr, mode, sort_by_time=self.sort_by_time) + + def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): + self.default_mode = default_mode + self.default_source = default_source + self.sort_by_time = sort_by_time + self.identifier = identifier + + self.reset() + + def __iter__(self): + self.reset() + return self + + def __next__(self): + return next(self.chain) + + def reset(self): + self.lrs = self._logreaders_from_identifier(self.identifier) + self.chain = itertools.chain(*self.lrs) + + @staticmethod + def from_bytes(dat): + return _LogFileReader("", dat=dat) + + if __name__ == "__main__": import codecs # capnproto <= 0.8.0 throws errors converting byte data to string diff --git a/tools/lib/srreader.py b/tools/lib/srreader.py deleted file mode 100644 index ea11e5e3c5..0000000000 --- a/tools/lib/srreader.py +++ /dev/null @@ -1,148 +0,0 @@ -import enum -import itertools -import numpy as np -import pathlib -import re -from urllib.parse import parse_qs, urlparse - -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.tools.lib.helpers import RE -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route, SegmentRange - -class ReadMode(enum.StrEnum): - RLOG = "r" # only read rlogs - QLOG = "q" # only read qlogs - #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet - - -def create_slice_from_string(s: str): - m = re.fullmatch(RE.SLICE, s) - assert m is not None, f"Invalid slice: {s}" - start, end, step = m.groups() - start = int(start) if start is not None else None - end = int(end) if end is not None else None - step = int(step) if step is not None else None - - if start is not None and ":" not in s and end is None and step is None: - return start - return slice(start, end, step) - - -def parse_slice(sr: SegmentRange): - route = Route(sr.route_name) - segs = np.arange(route.max_seg_number+1) - s = create_slice_from_string(sr._slice) - return segs[s] if isinstance(s, slice) else [segs[s]] - -def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): - segs = parse_slice(sr) - route = Route(sr.route_name) - - log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() - - invalid_segs = [seg for seg in segs if log_paths[seg] is None] - - assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" - - for seg in segs: - yield LogReader(log_paths[seg], sort_by_time=sort_by_time) - -def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): - segs = parse_slice(sr) - - for seg in segs: - yield LogReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time) - -def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): - segs = parse_slice(sr) - - for seg in segs: - yield LogReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time) - -def direct_source(file_or_url, sort_by_time): - yield LogReader(file_or_url, sort_by_time=sort_by_time) - -def auto_source(*args, **kwargs): - # Automatically determine viable source - - try: - next(internal_source(*args, **kwargs)) - return internal_source(*args, **kwargs) - except Exception: - pass - - try: - next(openpilotci_source(*args, **kwargs)) - return openpilotci_source(*args, **kwargs) - except Exception: - pass - - return comma_api_source(*args, **kwargs) - -def parse_useradmin(identifier): - if "useradmin.comma.ai" in identifier: - query = parse_qs(urlparse(identifier).query) - return query["onebox"][0] - return None - -def parse_cabana(identifier): - if "cabana.comma.ai" in identifier: - query = parse_qs(urlparse(identifier).query) - return query["route"][0] - return None - -def parse_cd(identifier): - if "cd:/" in identifier: - return identifier.replace("cd:/", "") - return None - -def parse_direct(identifier): - if "https://" in identifier or "http://" in identifier or pathlib.Path(identifier).exists(): - return identifier - return None - -def parse_indirect(identifier): - parsed = parse_useradmin(identifier) or parse_cabana(identifier) - - if parsed is not None: - return parsed, comma_api_source, True - - parsed = parse_cd(identifier) - if parsed is not None: - return parsed, internal_source, True - - return identifier, None, False - -class SegmentRangeReader: - def _logreaders_from_identifier(self, identifier): - parsed, source, is_indirect = parse_indirect(identifier) - - if not is_indirect: - direct_parsed = parse_direct(identifier) - if direct_parsed is not None: - return direct_source(identifier, sort_by_time=self.sort_by_time) - - sr = SegmentRange(parsed) - mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) - source = self.default_source if source is None else source - - return source(sr, mode, sort_by_time=self.sort_by_time) - - def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): - self.default_mode = default_mode - self.default_source = default_source - self.sort_by_time = sort_by_time - self.identifier = identifier - - self.reset() - - def __iter__(self): - return self - - def __next__(self): - return next(self.chain) - - def reset(self): - self.lrs = self._logreaders_from_identifier(self.identifier) - self.chain = itertools.chain(*self.lrs) diff --git a/tools/lib/tests/test_srreader.py b/tools/lib/tests/test_logreader.py similarity index 83% rename from tools/lib/tests/test_srreader.py rename to tools/lib/tests/test_logreader.py index b22599dee8..db207a6522 100644 --- a/tools/lib/tests/test_srreader.py +++ b/tools/lib/tests/test_logreader.py @@ -4,16 +4,15 @@ import numpy as np import unittest from parameterized import parameterized import requests - +from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode from openpilot.tools.lib.route import SegmentRange -from openpilot.tools.lib.srreader import ReadMode, SegmentRangeReader, parse_slice, parse_indirect NUM_SEGS = 17 # number of segments in the test route ALL_SEGS = list(np.arange(NUM_SEGS)) TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12" QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" -class TestSegmentRangeReader(unittest.TestCase): +class TestLogReader(unittest.TestCase): @parameterized.expand([ (f"{TEST_ROUTE}", ALL_SEGS), (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS), @@ -38,7 +37,6 @@ class TestSegmentRangeReader(unittest.TestCase): (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS), (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS), (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS), - (f"cd:/{TEST_ROUTE}", ALL_SEGS), ]) def test_indirect_parsing(self, identifier, expected): parsed, _, _ = parse_indirect(identifier) @@ -54,7 +52,7 @@ class TestSegmentRangeReader(unittest.TestCase): shutil.copyfileobj(r.raw, f) for f in [QLOG_FILE, qlog.name]: - l = len(list(SegmentRangeReader(f))) + l = len(list(LogReader(f))) self.assertGreater(l, 100) @parameterized.expand([ @@ -72,14 +70,14 @@ class TestSegmentRangeReader(unittest.TestCase): parse_slice(sr) def test_modes(self): - qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) - rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) + rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) self.assertLess(qlog_len * 6, rlog_len) def test_modes_from_name(self): - qlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/q"))) - rlog_len = len(list(SegmentRangeReader(f"{TEST_ROUTE}/0/r"))) + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) + rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) self.assertLess(qlog_len * 6, rlog_len) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 3df777c959..b497bdaa39 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -14,7 +14,7 @@ from functools import partial from openpilot.common.basedir import BASEDIR from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -74,7 +74,7 @@ def process(can, lr): return [d for d in lr if can or d.which() not in ['can', 'sendcan']] def juggle_route(route_or_segment_name, can, layout, dbc=None): - sr = SegmentRangeReader(route_or_segment_name) + sr = LogReader(route_or_segment_name) with multiprocessing.Pool(24) as pool: all_data = [] diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 4be516a108..d0a5304cff 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -9,7 +9,7 @@ os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader from panda import Panda, PandaJungle def send_thread(s, flock): @@ -97,7 +97,7 @@ if __name__ == "__main__": if args.route_or_segment_name is None: args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16" - sr = SegmentRangeReader(args.route_or_segment_name) + sr = LogReader(args.route_or_segment_name) with multiprocessing.Pool(24) as pool: CAN_MSGS = [] diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 39722b4f29..ecbc2bb31e 100755 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -3,7 +3,7 @@ import argparse import os import sys from openpilot.common.basedir import BASEDIR -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader os.environ['BASEDIR'] = BASEDIR @@ -23,7 +23,7 @@ def get_arg_parser(): def main(): args = get_arg_parser().parse_args(sys.argv[1:]) - lr = SegmentRangeReader(args.route) + lr = LogReader(args.route) with open(args.out_path, 'wb') as f: try: diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index de4de46c2a..06523497a5 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from openpilot.tools.lib.srreader import SegmentRangeReader +from openpilot.tools.lib.logreader import LogReader def sigint_handler(signal, frame): exit(0) @@ -128,7 +128,7 @@ if __name__ == "__main__": if args.route is not None: print(f"loading {args.route}...") - lr = SegmentRangeReader(args.route, sort_by_time=True) + lr = LogReader(args.route, sort_by_time=True) sm = {} for msg in lr: From 28e5d1bb49000b0740d36d6cd714126e9dab825c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 12 Jan 2024 17:42:40 -0500 Subject: [PATCH 008/205] Metadrive: fix map config on main (#30983) * Fix map api too * dont render --- .../sim/bridge/metadrive/metadrive_bridge.py | 34 +++++++++++-------- 1 file changed, 19 insertions(+), 15 deletions(-) diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 76d09a4529..821af7c7f7 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -60,6 +60,24 @@ def curve_block(length, angle=45, direction=0): "dir": direction } +def create_map(track_size=60): + return dict( + type=MapGenerateMethod.PG_MAP_FILE, + lane_num=2, + lane_width=3.5, + config=[ + None, + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + ] + ) + class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 @@ -82,7 +100,6 @@ class MetaDriveBridge(SimulatorBridge): vehicle_config=dict( enable_reverse=False, image_source="rgb_road", - spawn_longitude=15 ), sensors=sensors, image_on_cuda=_cuda_enable, @@ -93,20 +110,7 @@ class MetaDriveBridge(SimulatorBridge): crash_vehicle_done=False, crash_object_done=False, traffic_density=0.0, # traffic is incredibly expensive - map_config=dict( - type=MapGenerateMethod.PG_MAP_FILE, - config=[ - None, - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - ] - ), + map_config=create_map(), decision_repeat=1, physics_world_step_size=self.TICKS_PER_FRAME/100, preload_models=False From d39b31aed1f63075d83fa29cad3a2d62b28d6a8b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 12 Jan 2024 20:36:38 -0500 Subject: [PATCH 009/205] remove get_url instances (#30986) rm --- selfdrive/locationd/test/test_locationd_scenarios.py | 6 ++---- selfdrive/test/process_replay/test_debayer.py | 7 +++---- 2 files changed, 5 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index b1792e0fd8..4cfbd6f8a9 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -5,12 +5,10 @@ import numpy as np from collections import defaultdict from enum import Enum - -from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name -TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4 +TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4" GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation'] SELECT_COMPARE_FIELDS = { 'yaw_rate': ['angularVelocityCalibrated', 'value', 2], @@ -108,7 +106,7 @@ class TestLocationdScenarios(unittest.TestCase): @classmethod def setUpClass(cls): - cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) + cls.logs = list(LogReader(TEST_ROUTE)) def test_base(self): """ diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index a6e6955dbf..baa9e255e6 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -8,14 +8,13 @@ import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta from openpilot.system.hardware import PC, TICI from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.selfdrive.test.openpilotci import BASE_URL from openpilot.system.version import get_commit from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.filereader import FileReader -TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" -SEGMENT = 0 +TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0" FRAME_WIDTH = 1928 FRAME_HEIGHT = 1208 @@ -116,7 +115,7 @@ if __name__ == "__main__": ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit") # load logs - lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) + lr = list(LogReader(TEST_ROUTE)) # run replay frames = debayer_replay(lr) From 4178f7c1e16d9b97fb0f1859310bc8a1581def68 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 12 Jan 2024 23:25:41 -0300 Subject: [PATCH 010/205] Multilang: Update pt-BR translation (#30987) * add instructions to my fork * Revert "add instructions to my fork" This reverts commit 46fbee3ebe7ecbb211d855e63b2d4c8919c31b63. * test llm * Revert "test llm" This reverts commit fc531f0a1ba81b3444a34a1be8d02a51a060ec7a. * update pt-BR translation --- selfdrive/ui/translations/main_pt-BR.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f983c8fb4b..e89a3b1f5a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -68,23 +68,23 @@ Hidden Network - + Rede Oculta CONNECT - CONEXÃO + CONECTE Enter SSID - Insira SSID + Digite o SSID Enter password - Insira a senha + Insira a senha for "%1" - para "%1" + para "%1" From f55d04c17212cb90ccb82ae1b96105e2e3971a48 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Sat, 13 Jan 2024 13:44:03 +0900 Subject: [PATCH 011/205] kor translation update (#30990) --- selfdrive/ui/translations/main_ko.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 8c1a0fb40e..b2b76f3903 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -68,23 +68,23 @@ Hidden Network - + 숨겨진 네트워크 CONNECT - 연결됨 + 연결됨 Enter SSID - SSID 입력 + SSID 입력 Enter password - 비밀번호를 입력하세요 + 비밀번호를 입력하세요 for "%1" - "%1"에 접속하려면 비밀번호가 필요합니다 + "%1"에 접속하려면 비밀번호가 필요합니다 From dafde02da36cc13b6b9d3f9bd56aecdf2ddf93f7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 12 Jan 2024 20:58:13 -0800 Subject: [PATCH 012/205] Fingerprints: automatically add missing FW versions from users [bot] (#30988) Export fingerprints --- selfdrive/car/honda/fingerprints.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 543a283e47..f28c85a076 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -218,6 +218,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', + b'36802-TWA-A210\x00\x00', b'36802-TWA-A330\x00\x00', b'36802-TWB-H060\x00\x00', ], @@ -574,6 +575,7 @@ FW_VERSIONS = { b'37805-5PA-6630\x00\x00', b'37805-5PA-6640\x00\x00', b'37805-5PA-7630\x00\x00', + b'37805-5PA-9530\x00\x00', b'37805-5PA-9630\x00\x00', b'37805-5PA-9640\x00\x00', b'37805-5PA-9730\x00\x00', @@ -634,6 +636,7 @@ FW_VERSIONS = { b'46114-TMC-U020\x00\x00', ], (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TLA-A020\x00\x00', b'78109-TLA-A110\x00\x00', b'78109-TLA-A120\x00\x00', b'78109-TLA-A210\x00\x00', @@ -928,7 +931,9 @@ FW_VERSIONS = { b'28101-5EZ-A060\x00\x00', b'28101-5EZ-A100\x00\x00', b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A330\x00\x00', b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A500\x00\x00', b'28101-5EZ-A600\x00\x00', b'28101-5EZ-A700\x00\x00', ], @@ -940,13 +945,19 @@ FW_VERSIONS = { b'37805-RLV-B210\x00\x00', b'37805-RLV-B220\x00\x00', b'37805-RLV-B420\x00\x00', + b'37805-RLV-B430\x00\x00', + b'37805-RLV-B720\x00\x00', b'37805-RLV-C430\x00\x00', b'37805-RLV-C510\x00\x00', b'37805-RLV-C520\x00\x00', b'37805-RLV-C530\x00\x00', b'37805-RLV-C910\x00\x00', b'37805-RLV-F120\x00\x00', + b'37805-RLV-L090\x00\x00', b'37805-RLV-L160\x00\x00', + b'37805-RLV-L180\x00\x00', + b'37805-RLV-L410\x00\x00', + b'37805-RLV-L850\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', @@ -980,6 +991,7 @@ FW_VERSIONS = { b'36161-TGS-A030\x00\x00', b'36161-TGS-A130\x00\x00', b'36161-TGS-A220\x00\x00', + b'36161-TGS-A320\x00\x00', b'36161-TGT-A030\x00\x00', b'36161-TGT-A130\x00\x00', ], @@ -1016,7 +1028,9 @@ FW_VERSIONS = { b'78109-TG8-AJ10\x00\x00', b'78109-TG8-AJ20\x00\x00', b'78109-TG8-AK20\x00\x00', + b'78109-TGS-AB10\x00\x00', b'78109-TGS-AC10\x00\x00', + b'78109-TGS-AD10\x00\x00', b'78109-TGS-AJ20\x00\x00', b'78109-TGS-AK20\x00\x00', b'78109-TGS-AP20\x00\x00', @@ -1069,6 +1083,7 @@ FW_VERSIONS = { b'37805-5YF-A420\x00\x00', b'37805-5YF-A430\x00\x00', b'37805-5YF-A750\x00\x00', + b'37805-5YF-A760\x00\x00', b'37805-5YF-A850\x00\x00', b'37805-5YF-A870\x00\x00', b'37805-5YF-AD20\x00\x00', @@ -1118,6 +1133,7 @@ FW_VERSIONS = { b'78109-TJB-AS10\x00\x00', b'78109-TJB-AU10\x00\x00', b'78109-TJB-AW10\x00\x00', + b'78109-TJC-A240\x00\x00', b'78109-TJC-A420\x00\x00', b'78109-TJC-AA10\x00\x00', b'78109-TJC-AD10\x00\x00', From 884de6e4570545ccf4ee3e6ff8d2f59e4a0847c6 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sat, 13 Jan 2024 00:30:55 -0500 Subject: [PATCH 013/205] test_proclog: fix conflict with pytest (#30989) --- system/proclogd/tests/test_proclog.cc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc index 20298cd3d8..613c326166 100644 --- a/system/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -143,11 +143,10 @@ TEST_CASE("buildProcLogerMessage") { std::ifstream stream(cmd_path); auto cmdline = Parser::cmdline(stream); REQUIRE(cmdline.size() == p.getCmdline().size()); - // do not check the cmdline of pytest as it will change. - if (cmdline.size() > 0 && cmdline[0].find("[pytest") != 0) { - for (int i = 0; i < p.getCmdline().size(); ++i) { - REQUIRE(cmdline[i] == p.getCmdline()[i].cStr()); - } + for (int i = 0; i < p.getCmdline().size(); ++i) { + // do not check the cmdline of pytest as it will change. + if (cmdline[i].find("[pytest") || std::string(p.getCmdline()[i]).find("[pytest")) continue; + REQUIRE(cmdline[i] == p.getCmdline()[i].cStr()); } } } From 2f744f5df464c1980da218e1dac9141ee56fa7df Mon Sep 17 00:00:00 2001 From: Korben Date: Sat, 13 Jan 2024 22:03:23 +0100 Subject: [PATCH 014/205] Update French language (#30992) Update main_fr.ts validation of new elements --- selfdrive/ui/translations/main_fr.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 219e9351cd..f3aef3d43c 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -68,23 +68,23 @@ Hidden Network - + Réseau Caché CONNECT - CONNECTER + CONNECTER Enter SSID - Entrer le SSID + Entrer le SSID Enter password - Entrer le mot de passe + Entrer le mot de passe for "%1" - pour "%1" + pour "%1" From 66ddfece826ed41bb52175dffb1f5252be15f086 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 13 Jan 2024 15:01:35 -0800 Subject: [PATCH 015/205] speedup devcontainer ci job (#30993) --- .github/workflows/tools_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index d564606c3e..f549ece1b1 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -85,7 +85,7 @@ jobs: devcontainer up --workspace-folder . - name: Test environment run: | - devcontainer exec --workspace-folder . scons -j$(nproc) + devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/ devcontainer exec --workspace-folder . pip install pip-install-test devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json devcontainer exec --workspace-folder . sudo touch /root/test.txt \ No newline at end of file From 3e601b5e8fcaf2fd0885cc64949fa1349a8069eb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 13 Jan 2024 15:40:25 -0800 Subject: [PATCH 016/205] camerad: move ae test to pytest/catch2 (#30994) * mv ae gray test * cleanup --- .github/workflows/selfdrive_tests.yaml | 3 +-- pyproject.toml | 1 + system/camerad/SConscript | 2 +- system/camerad/test/.gitignore | 1 + system/camerad/test/ae_gray_test.h | 17 ------------ .../test/{ae_gray_test.cc => test_ae_gray.cc} | 26 +++++++++++++++---- 6 files changed, 25 insertions(+), 25 deletions(-) delete mode 100644 system/camerad/test/ae_gray_test.h rename system/camerad/test/{ae_gray_test.cc => test_ae_gray.cc} (63%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3c95d8055b..e00be7958e 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -180,8 +180,7 @@ jobs: $PYTEST --timeout 30 -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ - ./selfdrive/ui/tests/test_translations.py && \ - ./system/camerad/test/ae_gray_test" + ./selfdrive/ui/tests/test_translations.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: diff --git a/pyproject.toml b/pyproject.toml index 2fec88f244..da027ae95b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -21,6 +21,7 @@ testpaths = [ "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", + "system/camerad", "system/hardware/tici", "system/loggerd", "system/proclogd", diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 60a8f261e5..8f19e7ee19 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -7,4 +7,4 @@ camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": - env.Program('test/ae_gray_test', ['test/ae_gray_test.cc', camera_obj], LIBS=libs) + env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs) diff --git a/system/camerad/test/.gitignore b/system/camerad/test/.gitignore index 44cd0b2730..d67473ebcd 100644 --- a/system/camerad/test/.gitignore +++ b/system/camerad/test/.gitignore @@ -1 +1,2 @@ jpegs/ +test_ae_gray diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h deleted file mode 100644 index 8953fb017f..0000000000 --- a/system/camerad/test/ae_gray_test.h +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once - -#define W 240 -#define H 160 - -#define TONE_SPLITS 3 - -float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { - 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, - 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, - 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000}; diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/test_ae_gray.cc similarity index 63% rename from system/camerad/test/ae_gray_test.cc rename to system/camerad/test/test_ae_gray.cc index 8d18f7e93b..06d784927a 100644 --- a/system/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/test_ae_gray.cc @@ -1,6 +1,5 @@ -// unittest for set_exposure_target - -#include "system/camerad/test/ae_gray_test.h" +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" #include @@ -10,7 +9,25 @@ #include "common/util.h" #include "system/camerad/cameras/camera_common.h" -int main() { +#define W 240 +#define H 160 + + +#define TONE_SPLITS 3 + +float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { + 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, + 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, + 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000}; + + +TEST_CASE("camera.test_set_exposure_target") { // set up fake camerabuf CameraBuf cb = {}; VisionBuf vb = {}; @@ -63,5 +80,4 @@ int main() { assert(passed); delete[] fb_y; - return 0; } From e17e66180c3a9432e6d303ca36ff0e4af763dace Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 13 Jan 2024 21:16:35 -0800 Subject: [PATCH 017/205] CI: speedup unit test job (#30995) * start * mv to buildjet * fix --- .github/workflows/selfdrive_tests.yaml | 6 +++++- selfdrive/test/process_replay/test_fuzzy.py | 4 +++- tools/lib/tests/test_logreader.py | 2 ++ tools/sim/tests/test_metadrive_bridge.py | 3 ++- 4 files changed, 12 insertions(+), 3 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e00be7958e..78502d3799 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -163,12 +163,16 @@ jobs: unit_tests: name: unit tests - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: submodules: true - uses: ./.github/workflows/setup-with-retry + with: + docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - name: Build openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 4b8629fc7d..adff06f88a 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -14,13 +14,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] + TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] class TestFuzzProcesses(unittest.TestCase): + # TODO: make this faster and increase examples @parameterized.expand(TEST_CASES) @given(st.data()) - @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) + @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) def test_fuzz_process(self, proc_name, cfg, data): msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) lr = [log.Event.new_message(**m).as_reader() for m in msgs] diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index db207a6522..10bb7d9737 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -69,12 +69,14 @@ class TestLogReader(unittest.TestCase): sr = SegmentRange(segment_range) parse_slice(sr) + @unittest.skip("this test is too slow for the minimal coverage it provides") def test_modes(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) self.assertLess(qlog_len * 6, rlog_len) + @unittest.skip("this test is too slow for the minimal coverage it provides") def test_modes_from_name(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 2c534656bb..4d784956d2 100755 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,11 +1,12 @@ #!/usr/bin/env python3 +import pytest import unittest from openpilot.tools.sim.run_bridge import parse_args from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase - +@pytest.mark.slow class TestMetaDriveBridge(TestSimBridgeBase): def create_bridge(self): return MetaDriveBridge(parse_args([])) From fe6aff01311ca3c5a4a549b0eb5d081fa1740f86 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 13 Jan 2024 22:21:43 -0800 Subject: [PATCH 018/205] more unit test speedup (#30997) * that's super slow * fix startup test * fix --- selfdrive/controls/tests/test_startup.py | 27 ++++++++++++------------ tools/replay/tests/test_replay.cc | 6 ++---- 2 files changed, 16 insertions(+), 17 deletions(-) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 6eb803e8aa..a93152e84e 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -import time +import os import unittest from parameterized import parameterized @@ -11,7 +11,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.mazda.values import CAR as MAZDA from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.manager.process_config import managed_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu @@ -38,6 +38,9 @@ CX5_FW_VERSIONS = [ class TestStartup(unittest.TestCase): + def tearDown(self): + managed_processes['controlsd'].stop() + @parameterized.expand([ # TODO: test EventName.startup for release branches @@ -61,15 +64,11 @@ class TestStartup(unittest.TestCase): (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), ]) - @with_processes(['controlsd']) def test_startup_alert(self, expected_event, car_model, fw_versions, brand): - - # TODO: this should be done without any real sockets controls_sock = messaging.sub_sock("controlsState") pm = messaging.PubMaster(['can', 'pandaStates']) params = Params() - params.clear_all() params.put_bool("Passive", False) params.put_bool("OpenpilotEnabledToggle", True) @@ -91,11 +90,13 @@ class TestStartup(unittest.TestCase): cp.carVin = "1" * 17 cp.carFw = car_fw params.put("CarParamsCache", cp.to_bytes()) + else: + os.environ['SKIP_FW_QUERY'] = '1' - time.sleep(2) # wait for controlsd to be ready + managed_processes['controlsd'].start() + assert pm.wait_for_readers_to_update('can', 5) pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - time.sleep(0.1) msg = messaging.new_message('pandaStates', 1) msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno @@ -107,18 +108,18 @@ class TestStartup(unittest.TestCase): else: finger = _FINGERPRINTS[car_model][0] + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] for _ in range(1000): # controlsd waits for boardd to echo back that it has changed the multiplexing mode if not params.get_bool("ObdMultiplexingChanged"): params.put_bool("ObdMultiplexingChanged", True) - msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] pm.send('can', can_list_to_can_capnp(msgs)) + assert pm.wait_for_readers_to_update('can', 2, dt=0.001) - time.sleep(0.01) - msgs = messaging.drain_sock(controls_sock) - if len(msgs): - event_name = msgs[0].controlsState.alertType.split("/")[0] + ctrls = messaging.drain_sock(controls_sock) + if len(ctrls): + event_name = ctrls[0].controlsState.alertType.split("/")[0] self.assertEqual(EVENT_NAME[expected_event], event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}") break diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 1873daaf4b..a01e0c2c5b 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -126,8 +126,6 @@ std::string download_demo_route() { std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); util::create_directories(log_path, 0755); REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); - REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc")); - REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc")); REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); } } @@ -139,7 +137,7 @@ std::string download_demo_route() { TEST_CASE("Local route") { std::string data_dir = download_demo_route(); - auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); + auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE, QString::fromStdString(data_dir)); REQUIRE(route.load()); REQUIRE(route.segments().size() == 2); @@ -149,7 +147,7 @@ TEST_CASE("Local route") { } TEST_CASE("Remote route") { - auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); + auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE); REQUIRE(route.load()); REQUIRE(route.segments().size() == 13); From 4c6f7da4049869d3dd1fe66a13f1aba7362c9b8c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 14 Jan 2024 22:55:15 -0500 Subject: [PATCH 019/205] Subaru: remove incorrect fingerprints from other brands queries (#30984) s --- selfdrive/car/subaru/fingerprints.py | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index 73bab9ecac..25fc2a0aa9 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -8,7 +8,6 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'\xa5 \x19\x02\x00', b'\xa5 !\x02\x00', - b'\xf1\x82\xa5 \x19\x02\x00', ], (Ecu.eps, 0x746, None): [ b'\x05\xc0\xd0\x00', @@ -25,10 +24,6 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xbb,\xa0t\x07', b'\xd1,\xa0q\x07', - b'\xf1\x82\xbb,\xa0t\x07', - b'\xf1\x82\xbb,\xa0t\x87', - b'\xf1\x82\xd1,\xa0q\x07', - b'\xf1\x82\xd9,\xa0@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\x00\xfe\xf7\x00\x00', @@ -96,7 +91,6 @@ FW_VERSIONS = { b'\xa2 \x193\x00', b'\xa2 \x194\x00', b'\xa2 \x19`\x00', - b'\xf1\x00\xb2\x06\x04', ], (Ecu.eps, 0x746, None): [ b'z\xc0\x00\x00', @@ -170,7 +164,6 @@ FW_VERSIONS = { b'\xa2 !3\x00', b'\xa2 !`\x00', b'\xa2 !i\x00', - b'\xf1\x00\xb2\x06\x04', ], (Ecu.eps, 0x746, None): [ b'\n\xc0\x04\x00', @@ -214,7 +207,6 @@ FW_VERSIONS = { b'\xe9\xf5B0\x00', b'\xe9\xf6B0\x00', b'\xe9\xf6F0\x00', - b'\xf1\x00\xd7\x10@', ], }, CAR.CROSSTREK_HYBRID: { @@ -243,7 +235,6 @@ FW_VERSIONS = { b'\xa3 \x19&\x00', b'\xa3 \x14\x00', b'\xa3 \x14\x01', - b'\xf1\x00\xbb\r\x05', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x00\x00', @@ -257,7 +248,6 @@ FW_VERSIONS = { b'\x00\x00e`\x1f@ ', b'\x00\x00e\x97\x00\x00\x00\x00', b'\x00\x00e\x97\x1f@ 0', - b'\xf1\x00\xac\x02\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xb6"`A\x07', @@ -266,7 +256,6 @@ FW_VERSIONS = { b'\xcb"`p\x07', b'\xcf"`0\x07', b'\xcf"`p\x07', - b'\xf1\x00\xa2\x10\n', ], (Ecu.transmission, 0x7e1, None): [ b'\x1a\xe6B1\x00', @@ -299,7 +288,6 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'm\x97\x14@', b'}\x97\x14@', - b'\xf1\x00\xbb\x0c\x04', ], (Ecu.eps, 0x746, None): [ b'm\xc0\x10\x00', @@ -316,7 +304,6 @@ FW_VERSIONS = { b'\xa7)\xa0q\x07', b'\xba"@@\x07', b'\xba"@p\x07', - b'\xf1\x82\xa7)\xa0q\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\x1a\xf6F`\x00', @@ -387,7 +374,6 @@ FW_VERSIONS = { b'\x00\x00c\xd1\x1f@\x10\x17', b'\x00\x00c\xec\x1f@ \x04', b'\x00\x00c\xec7@\x04', - b'\xf1\x00\xf0\xe0\x0e', ], (Ecu.engine, 0x7e0, None): [ b'\xa0"@\x80\x07', @@ -494,9 +480,6 @@ FW_VERSIONS = { b'\xe2"`0\x07', b'\xe2"`p\x07', b'\xe3,\xa0@\x07', - b'\xf1\x82\xbc,\xa0q\x07', - b'\xf1\x82\xe2,\xa0@\x07', - b'\xf1\x82\xe3,\xa0@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xa5\xf6D@\x00', @@ -506,7 +489,6 @@ FW_VERSIONS = { b'\xa7\x8e\xf40\x00', b'\xa7\xf6D@\x00', b'\xa7\xfe\xf4@\x00', - b'\xf1\x82\xa7\xf6D@\x00', ], }, CAR.FORESTER_2022: { From f256225f294f5312ed425c7022300787c60f1d66 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 15 Jan 2024 04:58:43 -0800 Subject: [PATCH 020/205] docs: include dashcam (#31004) include dashcam --- selfdrive/car/docs.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 8475a69d8a..5142b6fc15 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -25,7 +25,7 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md") CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") -def get_all_car_info() -> List[CarInfo]: +def get_all_car_info(include_dashcam_only: bool = False) -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): @@ -33,7 +33,7 @@ def get_all_car_info() -> List[CarInfo]: CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) - if CP.dashcamOnly or car_info is None: + if (CP.dashcamOnly and not include_dashcam_only) or car_info is None: continue # A platform can include multiple car models From a4fac38cf9ce34dc498f2622ed44172ccc5318ec Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Jan 2024 10:34:08 -0800 Subject: [PATCH 021/205] Bump submodules (#31002) bump submodules Co-authored-by: jnewb1 --- body | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/body b/body index 3aa61382b7..61ace31efa 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 3aa61382b7ea9328cab7f1a2fe1ec701dffd018f +Subproject commit 61ace31efad27ae0d6d86888842f82bc92545e72 diff --git a/panda b/panda index 2a0536c631..d66161966d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2a0536c63148a02add52555386b5533f3555ef58 +Subproject commit d66161966d8468223b645c8eba1324e9a49de916 From a8afaf39d4d8c1b1b2b4070441d05aed14f982f5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Jan 2024 10:34:25 -0800 Subject: [PATCH 022/205] Update Python packages and pre-commit hooks (#31003) * Update Python packages and pre-commit hooks * fix --------- Co-authored-by: jnewb1 --- .pre-commit-config.yaml | 2 +- common/logging_extra.py | 4 +- poetry.lock | 411 +++++++++++++++++++----------------- selfdrive/athena/athenad.py | 2 +- 4 files changed, 220 insertions(+), 199 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0a92b9d38e..4bae3294ab 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -44,7 +44,7 @@ repos: - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.11 + rev: v0.1.13 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' diff --git a/common/logging_extra.py b/common/logging_extra.py index 5e0584c7bc..f53d503108 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter): return record_dict - def format(self, record): # noqa: A003 + def format(self, record): if self.swaglogger is None: raise Exception("must set swaglogger before calling format()") return json_robust_dumps(self.format_dict(record)) @@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter): k += "$a" return k, v - def format(self, record): # noqa: A003 + def format(self, record): if isinstance(record, str): v = json.loads(record) else: diff --git a/poetry.lock b/poetry.lock index 597ed19b28..e58fe0f128 100644 --- a/poetry.lock +++ b/poetry.lock @@ -171,13 +171,13 @@ frozenlist = ">=1.1.0" [[package]] name = "alabaster" -version = "0.7.15" +version = "0.7.16" description = "A light, configurable Sphinx theme" optional = false python-versions = ">=3.9" files = [ - {file = "alabaster-0.7.15-py3-none-any.whl", hash = "sha256:d99c6fd0f7a86fca68ecc5231c9de45227991c10ee6facfb894cf6afb953b142"}, - {file = "alabaster-0.7.15.tar.gz", hash = "sha256:0127f4b1db0afc914883f930e3d40763131aebac295522fc4a04d9e77c703705"}, + {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"}, + {file = "alabaster-0.7.16.tar.gz", 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b/selfdrive/athena/athenad.py index ce9e64188b..2df44cb090 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -79,7 +79,7 @@ class UploadItem: url: str headers: Dict[str, str] created_at: int - id: Optional[str] # noqa: A003 (to match the response from the remote server) + id: Optional[str] retry_count: int = 0 current: bool = False progress: float = 0 From 94cd4c90464615d763af43904fd3902730b13515 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 15 Jan 2024 15:52:15 -0500 Subject: [PATCH 023/205] Subaru: ensure consistent firmware version size (#31001) * fix copying mistakes * fix SA * remove print * ensure size is same * fix SA * not in database --- selfdrive/car/subaru/fingerprints.py | 5 ++--- selfdrive/car/subaru/tests/test_subaru.py | 20 ++++++++++++++++++++ 2 files changed, 22 insertions(+), 3 deletions(-) create mode 100644 selfdrive/car/subaru/tests/test_subaru.py diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index 25fc2a0aa9..aaee2e1c71 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -54,7 +54,7 @@ FW_VERSIONS = { b'\xa1 \x02\x01', b'\xa1 \x02\x02', b'\xa1 \x03\x03', - b'\xa1\\ x04\x01', + b'\xa1 \x04\x01', ], (Ecu.eps, 0x746, None): [ b'\x9b\xc0\x11\x00', @@ -373,7 +373,6 @@ FW_VERSIONS = { b'\x00\x00c\xb7\x1f@\x10\x16', b'\x00\x00c\xd1\x1f@\x10\x17', b'\x00\x00c\xec\x1f@ \x04', - b'\x00\x00c\xec7@\x04', ], (Ecu.engine, 0x7e0, None): [ b'\xa0"@\x80\x07', @@ -447,9 +446,9 @@ FW_VERSIONS = { }, CAR.OUTBACK: { (Ecu.abs, 0x7b0, None): [ - b'\xa1 \x06\x02', b'\xa1 \x06\x00', b'\xa1 \x06\x01', + b'\xa1 \x06\x02', b'\xa1 \x07\x00', b'\xa1 \x07\x02', b'\xa1 \x08\x00', diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py new file mode 100644 index 0000000000..c8cdf66065 --- /dev/null +++ b/selfdrive/car/subaru/tests/test_subaru.py @@ -0,0 +1,20 @@ +from cereal import car +import unittest +from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS + +Ecu = car.CarParams.Ecu + +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + + +class TestSubaruFingerprint(unittest.TestCase): + def test_fw_version_format(self): + for platform, fws_per_ecu in FW_VERSIONS.items(): + for (ecu, _, _), fws in fws_per_ecu.items(): + fw_size = len(fws[0]) + for fw in fws: + self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}") + + +if __name__ == "__main__": + unittest.main() From e1a05deadd08d375537df4304bcad826da2d125e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 15 Jan 2024 19:57:12 -0500 Subject: [PATCH 024/205] test_athena: make test more independent (#31012) get port auto --- selfdrive/athena/tests/helpers.py | 38 +++++++++----------------- selfdrive/athena/tests/test_athenad.py | 31 ++++++++++++++++----- 2 files changed, 37 insertions(+), 32 deletions(-) diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 34edeb2de5..5aca899cc2 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -1,12 +1,7 @@ import http.server -import random -import requests +import threading import socket -import time from functools import wraps -from multiprocessing import Process - -from openpilot.common.timeout import Timeout class MockResponse: @@ -101,30 +96,23 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler): self.end_headers() -def with_http_server(func): +def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None): @wraps(func) def inner(*args, **kwargs): - with Timeout(2, 'HTTP Server did not start'): - p = None - host = '127.0.0.1' - while p is None or p.exitcode is not None: - port = random.randrange(40000, 50000) - p = Process(target=http.server.test, - kwargs={'port': port, 'HandlerClass': HTTPRequestHandler, 'bind': host}) - p.start() - time.sleep(0.1) - - with Timeout(2, 'HTTP Server seeding failed'): - while True: - try: - requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) - break - except requests.exceptions.ConnectionError: - time.sleep(0.1) + host = '127.0.0.1' + server = http.server.HTTPServer((host, 0), handler) + port = server.server_port + t = threading.Thread(target=server.serve_forever) + t.start() + + if setup is not None: + setup(host, port) try: return func(*args, f'http://{host}:{port}', **kwargs) finally: - p.terminate() + server.shutdown() + server.server_close() + t.join() return inner diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index a562ae8582..8f6372ec84 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +from functools import partial import json import multiprocessing import os @@ -17,11 +18,27 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException +from cereal import messaging + +from openpilot.common.timeout import Timeout from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server -from cereal import messaging from openpilot.system.hardware.hw import Paths +from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler + + +def seed_athena_server(host, port): + with Timeout(2, 'HTTP Server seeding failed'): + while True: + try: + requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) + break + except requests.exceptions.ConnectionError: + time.sleep(0.1) + + +with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server) class TestAthenadMethods(unittest.TestCase): @@ -138,7 +155,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) @parameterized.expand([(True,), (False,)]) - @with_http_server + @with_mock_athena def test_do_upload(self, compress, host): # random bytes to ensure rather large object post-compression fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) @@ -152,7 +169,7 @@ class TestAthenadMethods(unittest.TestCase): resp = athenad._do_upload(item) self.assertEqual(resp.status_code, 201) - @with_http_server + @with_mock_athena def test_uploadFileToUrl(self, host): fn = self._create_file('qlog.bz2') @@ -163,7 +180,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) - @with_http_server + @with_mock_athena def test_uploadFileToUrl_duplicate(self, host): self._create_file('qlog.bz2') @@ -175,12 +192,12 @@ class TestAthenadMethods(unittest.TestCase): resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) self.assertEqual(resp, {'enqueued': 0, 'items': []}) - @with_http_server + @with_mock_athena def test_uploadFileToUrl_does_not_exist(self, host): not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) - @with_http_server + @with_mock_athena def test_upload_handler(self, host): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -199,7 +216,7 @@ class TestAthenadMethods(unittest.TestCase): finally: end_event.set() - @with_http_server + @with_mock_athena @mock.patch('requests.put') def test_upload_handler_retry(self, host, mock_put): for status, retry in ((500, True), (412, False)): From 8e9be48b7b02e679868b50aab34cd38cb48b3905 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 15 Jan 2024 23:49:07 -0800 Subject: [PATCH 025/205] Revert "docs: include dashcam" (#31017) --- selfdrive/car/docs.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 5142b6fc15..8475a69d8a 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -25,7 +25,7 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md") CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") -def get_all_car_info(include_dashcam_only: bool = False) -> List[CarInfo]: +def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): @@ -33,7 +33,7 @@ def get_all_car_info(include_dashcam_only: bool = False) -> List[CarInfo]: CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) - if (CP.dashcamOnly and not include_dashcam_only) or car_info is None: + if CP.dashcamOnly or car_info is None: continue # A platform can include multiple car models From 4da8d165144404e7356e611e68b036ecb33126ef Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 13:03:55 -0500 Subject: [PATCH 026/205] LogReader: support only_union_types (#31019) support only-union-types --- tools/lib/logreader.py | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 7142c7f854..86c38f2749 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -89,7 +89,7 @@ def parse_slice(sr: SegmentRange): s = create_slice_from_string(sr._slice) return segs[s] if isinstance(s, slice) else [segs[s]] -def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): +def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): segs = parse_slice(sr) route = Route(sr.route_name) @@ -100,22 +100,22 @@ def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" for seg in segs: - yield _LogFileReader(log_paths[seg], sort_by_time=sort_by_time) + yield _LogFileReader(log_paths[seg], **kwargs) -def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): +def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): segs = parse_slice(sr) for seg in segs: - yield _LogFileReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time) + yield _LogFileReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", **kwargs) -def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): +def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): segs = parse_slice(sr) for seg in segs: - yield _LogFileReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time) + yield _LogFileReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), **kwargs) -def direct_source(file_or_url, sort_by_time): - yield _LogFileReader(file_or_url, sort_by_time=sort_by_time) +def direct_source(file_or_url, **kwargs): + yield _LogFileReader(file_or_url, **kwargs) def auto_source(*args, **kwargs): # Automatically determine viable source @@ -173,14 +173,16 @@ class LogReader: mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) source = self.default_source if source is None else source - return source(sr, mode, sort_by_time=self.sort_by_time) + return source(sr, mode, sort_by_time=self.sort_by_time, only_union_types=self.only_union_types) - def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): + def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): self.default_mode = default_mode self.default_source = default_source - self.sort_by_time = sort_by_time self.identifier = identifier + self.sort_by_time = sort_by_time + self.only_union_types = only_union_types + self.reset() def __iter__(self): From 0739d5d7b25f1fbcb70a4dd2ef9b5071afb2c526 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 13:40:00 -0500 Subject: [PATCH 027/205] LogReader: support lists of identifiers (#31020) * support lists of logs * mark as slow instead --- tools/lib/logreader.py | 9 ++++++--- tools/lib/tests/test_logreader.py | 12 ++++++++++-- 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 86c38f2749..2512be8ee2 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -11,7 +11,7 @@ import sys import urllib.parse import warnings -from typing import Iterable, Iterator +from typing import Iterable, Iterator, List from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -161,7 +161,10 @@ def parse_indirect(identifier): class LogReader: - def _logreaders_from_identifier(self, identifier): + def _logreaders_from_identifier(self, identifier: str | List[str]): + if isinstance(identifier, list): + return [LogReader(i) for i in identifier] + parsed, source, is_indirect = parse_indirect(identifier) if not is_indirect: @@ -175,7 +178,7 @@ class LogReader: return source(sr, mode, sort_by_time=self.sort_by_time, only_union_types=self.only_union_types) - def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): + def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): self.default_mode = default_mode self.default_source = default_source self.identifier = identifier diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 10bb7d9737..a9769e5e63 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -2,6 +2,7 @@ import shutil import tempfile import numpy as np import unittest +import pytest from parameterized import parameterized import requests from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode @@ -69,20 +70,27 @@ class TestLogReader(unittest.TestCase): sr = SegmentRange(segment_range) parse_slice(sr) - @unittest.skip("this test is too slow for the minimal coverage it provides") + @pytest.mark.slow def test_modes(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) self.assertLess(qlog_len * 6, rlog_len) - @unittest.skip("this test is too slow for the minimal coverage it provides") + @pytest.mark.slow def test_modes_from_name(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) self.assertLess(qlog_len * 6, rlog_len) + @pytest.mark.slow + def test_list(self): + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) + qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"]))) + + self.assertEqual(qlog_len*2, qlog_len_2) + if __name__ == "__main__": unittest.main() From 7d400112df6692ef026245b03951345cc36dd83e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 13:58:51 -0500 Subject: [PATCH 028/205] LogReader: move opci to tools/lib (#31021) move opci --- selfdrive/car/tests/test_models.py | 2 +- selfdrive/test/process_replay/model_replay.py | 6 +++--- selfdrive/test/process_replay/test_debayer.py | 4 ++-- selfdrive/test/process_replay/test_processes.py | 2 +- selfdrive/test/process_replay/test_regen.py | 2 +- selfdrive/test/test_valgrind_replay.py | 2 +- selfdrive/test/update_ci_routes.py | 2 +- tools/lib/logreader.py | 2 +- {selfdrive/test => tools/lib}/openpilotci.py | 0 tools/replay/unlog_ci_segment.py | 2 +- 10 files changed, 12 insertions(+), 12 deletions(-) rename {selfdrive/test => tools/lib}/openpilotci.py (100%) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 253841877f..abca99b55a 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -22,7 +22,7 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.helpers import read_segment_list -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 2841386bf4..a96dd18503 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -9,7 +9,7 @@ import cereal.messaging as messaging from openpilot.common.params import Params from openpilot.system.hardware import PC from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.tools.lib.openpilotci import BASE_URL, get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process from openpilot.system.version import get_commit @@ -143,7 +143,7 @@ if __name__ == "__main__": import requests import threading import http.server - from openpilot.selfdrive.test.openpilotci import upload_bytes + from openpilot.tools.lib.openpilotci import upload_bytes os.environ['MAPS_HOST'] = 'http://localhost:5000' class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): @@ -229,7 +229,7 @@ if __name__ == "__main__": # upload new refs if (update or failed) and not PC: - from openpilot.selfdrive.test.openpilotci import upload_file + from openpilot.tools.lib.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index baa9e255e6..bea1b1fb00 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -8,7 +8,7 @@ import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta from openpilot.system.hardware import PC, TICI from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import BASE_URL +from openpilot.tools.lib.openpilotci import BASE_URL from openpilot.system.version import get_commit from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb from openpilot.tools.lib.logreader import LogReader @@ -171,7 +171,7 @@ if __name__ == "__main__": # upload new refs if update or (failed and TICI): - from openpilot.selfdrive.test.openpilotci import upload_file + from openpilot.tools.lib.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5429c9b63e..46fa93ba4d 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -8,7 +8,7 @@ from tqdm import tqdm from typing import Any, DefaultDict, Dict from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.tools.lib.openpilotci import get_url, upload_file from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process from openpilot.system.version import get_commit diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index f352205564..41d67ea376 100755 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -6,7 +6,7 @@ from parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.framereader import FrameReader diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index a8a3463104..75520df91b 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -15,7 +15,7 @@ else: import cereal.messaging as messaging from collections import namedtuple from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.common.basedir import BASEDIR ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index ccaa7f9b84..2a841025e3 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -11,7 +11,7 @@ from tqdm import tqdm from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, +from openpilot.tools.lib.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, DATA_CI_CONTAINER, get_azure_credential, get_container_sas, upload_file) DATA_PROD_ACCOUNT = "commadata2" diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 2512be8ee2..ee893c7e15 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -15,7 +15,7 @@ from typing import Iterable, Iterator, List from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import FileReader from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.route import Route, SegmentRange diff --git a/selfdrive/test/openpilotci.py b/tools/lib/openpilotci.py similarity index 100% rename from selfdrive/test/openpilotci.py rename to tools/lib/openpilotci.py diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index ae97ad45d6..a2011f6876 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -12,7 +12,7 @@ from collections import defaultdict import cereal.messaging as messaging from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url IGNORE = ['initData', 'sentinel'] From 61fe705160ddb9e5c55292c7f702c5502e2c0d2e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 15:40:49 -0500 Subject: [PATCH 029/205] LogReader: fix plotjuggler not reading properly (#31023) * fix plotjuggler * simpler * fix juggler * fix that --- tools/lib/logreader.py | 62 +++++++++++++++------------ tools/plotjuggler/juggle.py | 6 +-- tools/plotjuggler/test_plotjuggler.py | 2 + tools/replay/can_replay.py | 6 +-- 4 files changed, 39 insertions(+), 37 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index ee893c7e15..36cff0d724 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 import bz2 +from functools import partial +import multiprocessing import capnp import enum -import itertools import numpy as np import os import pathlib @@ -89,7 +90,7 @@ def parse_slice(sr: SegmentRange): s = create_slice_from_string(sr._slice) return segs[s] if isinstance(s, slice) else [segs[s]] -def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): +def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG): segs = parse_slice(sr) route = Route(sr.route_name) @@ -99,40 +100,39 @@ def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" - for seg in segs: - yield _LogFileReader(log_paths[seg], **kwargs) + return [(log_paths[seg]) for seg in segs] -def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): +def internal_source(sr: SegmentRange, mode=ReadMode.RLOG): segs = parse_slice(sr) - for seg in segs: - yield _LogFileReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", **kwargs) + return [f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2" for seg in segs] -def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, **kwargs): +def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG): segs = parse_slice(sr) - for seg in segs: - yield _LogFileReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), **kwargs) + return [get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog') for seg in segs] -def direct_source(file_or_url, **kwargs): - yield _LogFileReader(file_or_url, **kwargs) +def direct_source(file_or_url): + return [file_or_url] -def auto_source(*args, **kwargs): +def auto_source(*args): # Automatically determine viable source try: - next(internal_source(*args, **kwargs)) - return internal_source(*args, **kwargs) + identifiers = internal_source(*args) + _LogFileReader(identifiers[0]) + return internal_source(*args) except Exception: pass try: - next(openpilotci_source(*args, **kwargs)) - return openpilotci_source(*args, **kwargs) + identifiers = openpilotci_source(*args) + _LogFileReader(identifiers[0]) + return openpilotci_source(*args) except Exception: pass - return comma_api_source(*args, **kwargs) + return comma_api_source(*args) def parse_useradmin(identifier): if "useradmin.comma.ai" in identifier: @@ -161,22 +161,22 @@ def parse_indirect(identifier): class LogReader: - def _logreaders_from_identifier(self, identifier: str | List[str]): + def _parse_identifiers(self, identifier: str | List[str]): if isinstance(identifier, list): - return [LogReader(i) for i in identifier] + return [i for j in identifier for i in self._parse_identifiers(j)] parsed, source, is_indirect = parse_indirect(identifier) if not is_indirect: direct_parsed = parse_direct(identifier) if direct_parsed is not None: - return direct_source(identifier, sort_by_time=self.sort_by_time) + return direct_source(identifier) sr = SegmentRange(parsed) mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) source = self.default_source if source is None else source - return source(sr, mode, sort_by_time=self.sort_by_time, only_union_types=self.only_union_types) + return source(sr, mode) def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): self.default_mode = default_mode @@ -190,14 +190,22 @@ class LogReader: def __iter__(self): self.reset() - return self + for identifier in self.logreader_identifiers: + yield from _LogFileReader(identifier) - def __next__(self): - return next(self.chain) + def _run_on_segment(self, func, identifier): + lr = _LogFileReader(identifier) + return func(lr) + + def run_across_segments(self, num_processes, func): + with multiprocessing.Pool(num_processes) as pool: + ret = [] + for p in pool.map(partial(self._run_on_segment, func), self.logreader_identifiers): + ret.extend(p) + return ret def reset(self): - self.lrs = self._logreaders_from_identifier(self.identifier) - self.chain = itertools.chain(*self.lrs) + self.logreader_identifiers = self._parse_identifiers(self.identifier) @staticmethod def from_bytes(dat): diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index b497bdaa39..292db5a50a 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import multiprocessing import os import sys import platform @@ -76,10 +75,7 @@ def process(can, lr): def juggle_route(route_or_segment_name, can, layout, dbc=None): sr = LogReader(route_or_segment_name) - with multiprocessing.Pool(24) as pool: - all_data = [] - for p in pool.map(partial(process, can), sr.lrs): - all_data.extend(p) + all_data = sr.run_across_segments(24, partial(process, can)) # Infer DBC name from logs if dbc is None: diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 1cb2dc0674..17287fb803 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -31,6 +31,8 @@ class TestPlotJuggler(unittest.TestCase): self.assertEqual(p.poll(), None) os.killpg(os.getpgid(p.pid), signal.SIGTERM) + self.assertNotIn("Raw file read failed", output) + # TODO: also test that layouts successfully load def test_layouts(self): bad_strings = ( diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index d0a5304cff..8ed6c63aa4 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -3,7 +3,6 @@ import argparse import os import time import threading -import multiprocessing os.environ['FILEREADER_CACHE'] = '1' @@ -99,10 +98,7 @@ if __name__ == "__main__": sr = LogReader(args.route_or_segment_name) - with multiprocessing.Pool(24) as pool: - CAN_MSGS = [] - for p in pool.map(process, sr.lrs): - CAN_MSGS.extend(p) + CAN_MSGS = sr.run_across_segments(24, process) print("Finished loading...") From 8a05d212ec91598264a53747167c1bbeaae643a9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Moritz=20W=C3=B6rmann?= Date: Tue, 16 Jan 2024 22:40:38 +0100 Subject: [PATCH 030/205] CI: Add GH Actions workflow Bot to check for a PR template (#30999) * Add GH Actions workflow to check for a PR template * switch to headings and checkboxes for template detection * check for bold text in template too * move template check over to auto_pr_review action and remove label only if check succeeded * only run template check on external PRs * wording --------- Co-authored-by: Justin Newberry --- .github/workflows/auto_pr_review.yaml | 164 ++++++++++++++++++++++++++ 1 file changed, 164 insertions(+) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 0b748063bc..74911b9100 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -1,6 +1,7 @@ name: "PR review" on: pull_request_target: + types: [opened, reopened, synchronize, edited, edited] jobs: labeler: @@ -32,3 +33,166 @@ jobs: change-to: ${{ github.base_ref }} already-exists-action: close_this already-exists-comment: "Your PR should be made against the `master` branch" + + check-pr-template: + runs-on: ubuntu-latest + permissions: + contents: read + issues: write + pull-requests: write + actions: read + if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + steps: + - uses: actions/github-script@v7 + with: + script: | + // Comment to add to the PR if no template has been used + const NO_TEMPLATE_MESSAGE = + "It looks like you didn't use on of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ + Also make sure that you didn't modify any of the checkboxes or headings within the template."; + // body data for future requests + const body_data = { + issue_number: context.issue.number, + owner: context.repo.owner, + repo: context.repo.repo, + }; + + // Utility function to extract all headings + const extractHeadings = (markdown) => { + const headingRegex = /^(#{1,6})\s+(.+)$/gm; + const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm; + const headings = []; + let headingMatch; + while ((headingMatch = headingRegex.exec(markdown))) { + headings.push(headingMatch[2].trim()); + } + let boldMatch; + while ((boldMatch = boldTextRegex.exec(markdown))) { + headings.push(boldMatch[1].trim()); + } + return headings; + }; + + // Utility function to extract all check box descriptions + const extractCheckBoxTexts = (markdown) => { + const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm; + const checkboxes = []; + let match; + while ((match = checkboxRegex.exec(markdown))) { + checkboxes.push(match[2].trim()); + } + return checkboxes; + }; + + // Utility function to check if a list is a subset of another list + isSubset = (subset, superset) => { + return subset.every((item) => superset.includes(item)); + }; + + // Add an 'in-bot-review' label while this PR is under review + github.rest.issues.addLabels({ + ...body_data, + labels: ["in-bot-review"], + }); + + // Get filenames of all currently checked-in PR templates + const template_contents = await github.rest.repos.getContent({ + owner: context.repo.owner, + repo: context.repo.repo, + path: ".github/PULL_REQUEST_TEMPLATE", + }); + var template_filenames = []; + for (const content of template_contents.data) { + template_filenames.push(content.path); + } + console.debug("Received template filenames: " + template_filenames); + // Retrieve templates + var templates = []; + for (const template_filename of template_filenames) { + const template_response = await github.rest.repos.getContent({ + owner: context.repo.owner, + repo: context.repo.repo, + path: template_filename, + }); + // Convert Base64 content back + const decoded_template = atob(template_response.data.content); + const headings = extractHeadings(decoded_template); + const checkboxes = extractCheckBoxTexts(decoded_template); + if (!headings.length && !checkboxes.length) { + console.warn( + "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" + + decoded_template + ); + } else { + templates.push({ headings: headings, checkboxes: checkboxes }); + } + } + // Retrieve the PR Body + const pull_request = await github.rest.issues.get({ + ...body_data, + }); + const pull_request_text = pull_request.data.body; + console.debug("Received Pull Request body: \n" + pull_request_text); + + /* Check if the PR Body matches one of the templates + A template is defined by all headings and checkboxes it contains + We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that + */ + const pr_headings = extractHeadings(pull_request_text); + const pr_checkboxes = extractCheckBoxTexts(pull_request_text); + console.debug("Found Headings in PR body:\n" + pr_headings); + console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes); + var template_found = false; + // Iterate over each template to check if it applies + for (const template of templates) { + console.log( + "Checking for headings: [" + + template.headings + + "] and checkboxes: [" + + template.checkboxes + "]" + ); + if ( + isSubset(template.checkboxes, pr_checkboxes) && + isSubset(template.headings, pr_headings) + ) { + console.debug("Found matching template!"); + template_found = true; + } + } + + // List comments from previous runs + var existing_comments = []; + const comments = await github.rest.issues.listComments({ + ...body_data, + }); + for (const comment of comments.data) { + if (comment.body === NO_TEMPLATE_MESSAGE) { + existing_comments.push(comment); + } + } + + // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already) + if (!template_found) { + var comment_already_sent = false; + + if (existing_comments.length < 1) { + github.rest.issues.createComment({ + ...body_data, + body: NO_TEMPLATE_MESSAGE, + }); + } + } else { + // If template has been found, delete any old comment about missing template + for (const existing_comment of existing_comments) { + github.rest.issues.deleteComment({ + ...body_data, + comment_id: existing_comment.id, + }); + } + // Remove the 'in-bot-review' label after the review is done and the PR has passed + github.rest.issues.removeLabel({ + ...body_data, + name: "in-bot-review", + }); + } + From 5c24527683cd4a9d338fe64dd9e98179e903316e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 18:08:44 -0500 Subject: [PATCH 031/205] test_models: sanitize segment before running test (#31026) to ensure sanetized routes will work --- selfdrive/car/tests/test_models.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index abca99b55a..cce5979899 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,7 +21,7 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls -from openpilot.selfdrive.test.helpers import read_segment_list +from openpilot.selfdrive.test.helpers import read_segment_list, sanitize from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -83,6 +83,7 @@ class TestCarModelBase(unittest.TestCase): @classmethod def get_testing_data_from_logreader(cls, lr): + lr = sanitize(lr) car_fw = [] can_msgs = [] cls.elm_frame = None From 2967cada71fd1b40e86356585fa5d68301d9f1c8 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 20:24:37 -0500 Subject: [PATCH 032/205] auto_source: optimize api calls and use head to determine if file exists (#31025) * fast * catch all * source * fix file_exists * remove duplicate reset * test multiple loops * iterations * cleanup imports --- tools/lib/filereader.py | 8 ++++++ tools/lib/logreader.py | 46 ++++++++++++++----------------- tools/lib/tests/test_logreader.py | 13 +++++++-- 3 files changed, 40 insertions(+), 27 deletions(-) diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 4aec965f1a..15e618f649 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,4 +1,6 @@ import os +import requests + from openpilot.tools.lib.url_file import URLFile DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") @@ -8,6 +10,12 @@ def resolve_name(fn): return fn.replace("cd:/", DATA_ENDPOINT) return fn +def file_exists(fn): + fn = resolve_name(fn) + if fn.startswith(("http://", "https://")): + return requests.head(fn, allow_redirects=True).status_code == 200 + return os.path.exists(fn) + def FileReader(fn, debug=False): fn = resolve_name(fn) if fn.startswith(("http://", "https://")): diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 36cff0d724..36d099de50 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -17,7 +17,7 @@ from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.filereader import FileReader, file_exists from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.route import Route, SegmentRange @@ -84,15 +84,13 @@ def create_slice_from_string(s: str): return start return slice(start, end, step) -def parse_slice(sr: SegmentRange): - route = Route(sr.route_name) +def parse_slice(sr: SegmentRange, route: Route): segs = np.arange(route.max_seg_number+1) s = create_slice_from_string(sr._slice) return segs[s] if isinstance(s, slice) else [segs[s]] -def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG): - segs = parse_slice(sr) - route = Route(sr.route_name) +def comma_api_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): + segs = parse_slice(sr, route) log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() @@ -102,35 +100,33 @@ def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG): return [(log_paths[seg]) for seg in segs] -def internal_source(sr: SegmentRange, mode=ReadMode.RLOG): - segs = parse_slice(sr) +def internal_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): + segs = parse_slice(sr, route) return [f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2" for seg in segs] -def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG): - segs = parse_slice(sr) +def openpilotci_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): + segs = parse_slice(sr, route) return [get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog') for seg in segs] def direct_source(file_or_url): return [file_or_url] -def auto_source(*args): - # Automatically determine viable source - +def check_source(source, *args): try: - identifiers = internal_source(*args) - _LogFileReader(identifiers[0]) - return internal_source(*args) + files = source(*args) + assert all(file_exists(f) for f in files) + return True, files except Exception: - pass + return False, None - try: - identifiers = openpilotci_source(*args) - _LogFileReader(identifiers[0]) - return openpilotci_source(*args) - except Exception: - pass +def auto_source(*args): + # Automatically determine viable source + for source in [internal_source, openpilotci_source]: + valid, ret = check_source(source, *args) + if valid: + return ret return comma_api_source(*args) @@ -173,10 +169,11 @@ class LogReader: return direct_source(identifier) sr = SegmentRange(parsed) + route = Route(sr.route_name) mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) source = self.default_source if source is None else source - return source(sr, mode) + return source(sr, route, mode) def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): self.default_mode = default_mode @@ -189,7 +186,6 @@ class LogReader: self.reset() def __iter__(self): - self.reset() for identifier in self.logreader_identifiers: yield from _LogFileReader(identifier) diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index a9769e5e63..74ee82d152 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -6,7 +6,7 @@ import pytest from parameterized import parameterized import requests from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode -from openpilot.tools.lib.route import SegmentRange +from openpilot.tools.lib.route import Route, SegmentRange NUM_SEGS = 17 # number of segments in the test route ALL_SEGS = list(np.arange(NUM_SEGS)) @@ -42,7 +42,8 @@ class TestLogReader(unittest.TestCase): def test_indirect_parsing(self, identifier, expected): parsed, _, _ = parse_indirect(identifier) sr = SegmentRange(parsed) - segs = parse_slice(sr) + route = Route(sr.route_name) + segs = parse_slice(sr, route) self.assertListEqual(list(segs), expected) def test_direct_parsing(self): @@ -91,6 +92,14 @@ class TestLogReader(unittest.TestCase): self.assertEqual(qlog_len*2, qlog_len_2) + @pytest.mark.slow + def test_multiple_iterations(self): + lr = LogReader(f"{TEST_ROUTE}/0/q") + qlog_len1 = len(list(lr)) + qlog_len2 = len(list(lr)) + + self.assertEqual(qlog_len1, qlog_len2) + if __name__ == "__main__": unittest.main() From b93382523120b0eec61e2e1cd3d4ee976619b033 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 17:30:11 -0800 Subject: [PATCH 033/205] fix typo --- .github/workflows/auto_pr_review.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 74911b9100..17c83de89d 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -48,7 +48,7 @@ jobs: script: | // Comment to add to the PR if no template has been used const NO_TEMPLATE_MESSAGE = - "It looks like you didn't use on of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ + "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ Also make sure that you didn't modify any of the checkboxes or headings within the template."; // body data for future requests const body_data = { From 1bf8e04f54c50b47e1553e5290539bd88cc39f05 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 21:02:26 -0500 Subject: [PATCH 034/205] CI: only apply bot-review label when it doesn't pass (#31028) bot template --- .github/workflows/auto_pr_review.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 17c83de89d..0f82eaa789 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -89,12 +89,6 @@ jobs: return subset.every((item) => superset.includes(item)); }; - // Add an 'in-bot-review' label while this PR is under review - github.rest.issues.addLabels({ - ...body_data, - labels: ["in-bot-review"], - }); - // Get filenames of all currently checked-in PR templates const template_contents = await github.rest.repos.getContent({ owner: context.repo.owner, @@ -175,6 +169,12 @@ jobs: if (!template_found) { var comment_already_sent = false; + // Add an 'in-bot-review' label since this PR doesn't have the template + github.rest.issues.addLabels({ + ...body_data, + labels: ["in-bot-review"], + }); + if (existing_comments.length < 1) { github.rest.issues.createComment({ ...body_data, From 49586fc30e8f1b70b9bda4bdb4c682d414a635fc Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 16 Jan 2024 21:23:33 -0500 Subject: [PATCH 035/205] CI: auto_pr_review fix error when label doesn't exist (#31030) * bot template * catch error --- .github/workflows/auto_pr_review.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 0f82eaa789..820801a2c7 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -193,6 +193,8 @@ jobs: github.rest.issues.removeLabel({ ...body_data, name: "in-bot-review", + }).catch((error) => { + console.log("Label 'in-bot-review' not found, ignoring"); }); } From baa4e801fe6566f061dec258838b3aafa970bb47 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Jan 2024 19:11:59 -0800 Subject: [PATCH 036/205] athena: remove MockParams from tests --- selfdrive/athena/tests/helpers.py | 29 -------------------------- selfdrive/athena/tests/test_athenad.py | 21 ++++++++++++++----- 2 files changed, 16 insertions(+), 34 deletions(-) diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 5aca899cc2..87202665aa 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -44,35 +44,6 @@ class MockApi(): return "fake-token" -class MockParams(): - default_params = { - "DongleId": b"0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 - "GithubUsername": b"commaci", - "GsmMetered": True, - "AthenadUploadQueue": '[]', - } - params = default_params.copy() - - @staticmethod - def restore_defaults(): - MockParams.params = MockParams.default_params.copy() - - def get_bool(self, k): - return bool(MockParams.params.get(k)) - - def get(self, k, encoding=None): - ret = MockParams.params.get(k) - if ret is not None and encoding is not None: - ret = ret.decode(encoding) - return ret - - def put(self, k, v): - if k not in MockParams.params: - raise KeyError(f"key: {k} not in MockParams") - MockParams.params[k] = v - - class MockWebsocket(): def __init__(self, recv_queue, send_queue): self.recv_queue = recv_queue diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 8f6372ec84..9c7582a260 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -20,10 +20,11 @@ from websocket._exceptions import WebSocketConnectionClosedException from cereal import messaging +from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server +from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server from openpilot.system.hardware.hw import Paths from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler @@ -45,12 +46,22 @@ class TestAthenadMethods(unittest.TestCase): @classmethod def setUpClass(cls): cls.SOCKET_PORT = 45454 - athenad.Params = MockParams athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} def setUp(self): - MockParams.restore_defaults() + self.default_params = { + "DongleId": "0000000000000000", + "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubUsername": b"commaci", + "AthenadUploadQueue": '[]', + } + + self.params = Params() + for k, v in self.default_params.items(): + self.params.put(k, v) + self.params.put_bool("GsmMetered", True) + athenad.upload_queue = queue.Queue() athenad.cur_upload_items.clear() athenad.cancelled_uploads.clear() @@ -394,11 +405,11 @@ class TestAthenadMethods(unittest.TestCase): def test_getSshAuthorizedKeys(self): keys = dispatcher["getSshAuthorizedKeys"]() - self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8')) + self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8')) def test_getGithubUsername(self): keys = dispatcher["getGithubUsername"]() - self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8')) + self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8')) def test_getVersion(self): resp = dispatcher["getVersion"]() From 60a41028924858bfd94db3c49d217f298013ea15 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 16 Jan 2024 19:32:21 -0800 Subject: [PATCH 037/205] Fingerprints: automatically add missing FW versions from users [bot] (#31027) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 40 ++++++++++++++++++++++++++ selfdrive/car/honda/fingerprints.py | 1 + 2 files changed, 41 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 4a1299d763..aeacc4cfcd 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -65,6 +65,7 @@ FW_VERSIONS = { CAR.JEEP_GRAND_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ b'68402971AD', + b'68454144AD', ], (Ecu.srs, 0x744, None): [ b'68355363AB', @@ -77,12 +78,15 @@ FW_VERSIONS = { ], (Ecu.eps, 0x75a, None): [ b'68453431AA', + b'68453433AA', ], (Ecu.engine, 0x7e0, None): [ b'05035674AB ', + b'68496223AA ', ], (Ecu.transmission, 0x7e1, None): [ b'05035707AA', + b'68495807AA', ], }, CAR.RAM_1500: { @@ -95,17 +99,26 @@ FW_VERSIONS = { b'68294063AI', b'68434846AC', b'68434858AC', + b'68434859AC', b'68434860AC', + b'68453483AC', + b'68453487AD', + b'68453491AC', + b'68453499AD', b'68453503AC', b'68453505AC', + b'68453505AD', b'68453511AC', b'68453513AD', b'68453514AD', b'68510280AG', + b'68510282AH', b'68510283AG', b'68527346AE', + b'68527361AD', b'68527375AD', b'68527382AE', + b'68527387AE', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -155,13 +168,18 @@ FW_VERSIONS = { b'68312176AE', b'68312176AG', b'68440789AC', + b'68466110AA', b'68466110AB', b'68469901AA', + b'68469907AA', + b'68522583AA', b'68522583AB', + b'68522584AA', b'68522585AB', b'68552788AA', b'68552789AA', b'68552790AA', + b'68552791AB', b'68585106AB', b'68585109AB', b'68585112AB', @@ -170,30 +188,52 @@ FW_VERSIONS = { b'05036065AE ', b'05036066AE ', b'05149591AD ', + b'05149591AE ', b'05149592AE ', b'05149846AA ', b'05149848AA ', + b'68378695AJ ', + b'68378696AJ ', b'68378701AI ', b'68378748AL ', b'68378758AM ', b'68448163AJ', b'68448165AK', + b'68455119AC ', + b'68455145AC ', + b'68455145AE ', + b'68455146AC ', b'68500630AD', b'68500630AE', + b'68502719AC ', + b'68502722AC ', + b'68502734AF ', + b'68502740AF ', + b'68502742AC ', b'68539650AD', + b'68539650AF', + b'68586101AA ', + b'68586105AB ', ], (Ecu.transmission, 0x7e1, None): [ + b'05036069AA', b'05149536AC', b'68360078AL', b'68360080AM', b'68360081AM', + b'68360085AJ', b'68360085AL', b'68384328AD', b'68384332AD', + b'68445531AC', b'68445533AB', + b'68445537AB', + b'68484466AC', b'68484467AC', + b'68484471AC', b'68502994AD', b'68520867AE', + b'68520867AF', b'68540431AB', ], }, diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index f28c85a076..e3e95483a0 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -1091,6 +1091,7 @@ FW_VERSIONS = { b'37805-5YF-C220\x00\x00', b'37805-5YF-C410\x00\x00', b'37805-5YF-C420\x00\x00', + b'37805-5YF-C430\x00\x00', ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', From c6c6a441eb61c7ac28fb94b05b91fbb8837b9236 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Jan 2024 19:54:07 -0800 Subject: [PATCH 038/205] uploader cleanup (#31029) * cleanup * startup cleanup * step * Update test_uploader.py --- system/loggerd/tests/loggerd_tests_common.py | 28 ++------ system/loggerd/tests/test_uploader.py | 4 +- system/loggerd/uploader.py | 67 ++++++-------------- 3 files changed, 28 insertions(+), 71 deletions(-) diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 8bfb571861..3aa9e40531 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -3,10 +3,12 @@ import random import unittest from pathlib import Path from typing import Optional -from openpilot.system.hardware.hw import Paths + import openpilot.system.loggerd.deleter as deleter import openpilot.system.loggerd.uploader as uploader +from openpilot.common.params import Params +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr @@ -53,25 +55,6 @@ class MockApiIgnore(): def get_token(self): return "fake-token" -class MockParams(): - def __init__(self): - self.params = { - "DongleId": b"0000000000000000", - "IsOffroad": b"1", - } - - def get(self, k, block=False, encoding=None): - val = self.params[k] - - if encoding is not None: - return val.decode(encoding) - else: - return val - - def get_bool(self, k): - val = self.params[k] - return (val == b'1') - class UploaderTestCase(unittest.TestCase): f_type = "UNKNOWN" @@ -86,7 +69,6 @@ class UploaderTestCase(unittest.TestCase): def setUp(self): uploader.Api = MockApi - uploader.Params = MockParams uploader.fake_upload = True uploader.force_wifi = True uploader.allow_sleep = False @@ -95,6 +77,10 @@ class UploaderTestCase(unittest.TestCase): self.seg_format2 = "2019-05-18--11-22-33--{}" self.seg_dir = self.seg_format.format(self.seg_num) + self.params = Params() + self.params.put("IsOffroad", "1") + self.params.put("DongleId", "0000000000000000") + def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 538d99f66f..b674de5438 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -10,7 +10,7 @@ from typing import List, Optional from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog -from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase @@ -45,7 +45,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) + self.up_thread = threading.Thread(target=main, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 8f27d4763d..aac5c07e53 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -77,9 +77,6 @@ class Uploader: self.last_resp: Optional[UploadResponse] = None self.last_exc: Optional[Tuple[Exception, str]] = None - self.immediate_size = 0 - self.immediate_count = 0 - # stats for last successfully uploaded file self.last_time = 0.0 self.last_speed = 0.0 @@ -88,18 +85,10 @@ class Uploader: self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name: str) -> int: - if name in self.immediate_priority: - return self.immediate_priority[name] - return 1000 - def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: if not os.path.isdir(self.root): return - self.immediate_size = 0 - self.immediate_count = 0 - for logname in listdir_by_creation(self.root): path = os.path.join(self.root, logname) try: @@ -110,7 +99,7 @@ class Uploader: if any(name.endswith(".lock") for name in names): continue - for name in sorted(names, key=self.get_upload_sort): + for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): key = os.path.join(logname, name) fn = os.path.join(path, name) # skip files already uploaded @@ -122,13 +111,6 @@ class Uploader: if is_uploaded: continue - try: - if name in self.immediate_priority: - self.immediate_count += 1 - self.immediate_size += os.path.getsize(fn) - except OSError: - pass - yield name, key, fn def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: @@ -227,18 +209,25 @@ class Uploader: return success - def get_msg(self): - msg = messaging.new_message("uploaderState", valid=True) - us = msg.uploaderState - us.immediateQueueSize = int(self.immediate_size / 1e6) - us.immediateQueueCount = self.immediate_count - us.lastTime = self.last_time - us.lastSpeed = self.last_speed - us.lastFilename = self.last_filename - return msg + + def step(self, network_type: int, metered: bool) -> bool: + d = self.next_file_to_upload() + if d is None: + return True + + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): + key += ".bz2" + + return self.upload(name, key, fn, network_type, metered) -def uploader_fn(exit_event: threading.Event) -> None: +def main(exit_event: Optional[threading.Event] = None) -> None: + if exit_event is None: + exit_event = threading.Event() + try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -257,7 +246,6 @@ def uploader_fn(exit_event: threading.Event) -> None: cloudlog.warning("NVME not mounted") sm = messaging.SubMaster(['deviceState']) - pm = messaging.PubMaster(['uploaderState']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 @@ -270,19 +258,8 @@ def uploader_fn(exit_event: threading.Event) -> None: time.sleep(60 if offroad else 5) continue - d = uploader.next_file_to_upload() - if d is None: # Nothing to upload - if allow_sleep: - time.sleep(60 if offroad else 5) - continue + success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) - name, key, fn = d - - # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" - - success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) if success: backoff = 0.1 elif allow_sleep: @@ -290,12 +267,6 @@ def uploader_fn(exit_event: threading.Event) -> None: time.sleep(backoff + random.uniform(0, backoff)) backoff = min(backoff*2, 120) - pm.send("uploaderState", uploader.get_msg()) - - -def main() -> None: - uploader_fn(threading.Event()) - if __name__ == "__main__": main() From 86ac700805ef1ca913cfc859b6bfb1c528d83605 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 16 Jan 2024 20:22:05 -0800 Subject: [PATCH 039/205] update onnxruntime to 1.16.3 (#31024) --- poetry.lock | 42 ++++++++++++++++++------------------------ pyproject.toml | 4 ++-- 2 files changed, 20 insertions(+), 26 deletions(-) diff --git a/poetry.lock b/poetry.lock index e58fe0f128..a098703d62 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. 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[ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py) - [ ] route with openpilot: - [ ] route with stock system: diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md index 466d4f98f4..b94f7dc53f 100644 --- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md +++ b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md @@ -6,6 +6,8 @@ labels: 'fingerprint' assignees: '' --- -Discord username: [] +**Car** +Which car (make, model, year) this fingerprint is for -Route: [] +**Route** +A route with the fingerprint \ No newline at end of file diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md index 05e4312699..4397e5ad20 100644 --- a/.github/PULL_REQUEST_TEMPLATE/tuning.md +++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md @@ -28,5 +28,4 @@ Longitudinal: Lateral: * Straight driving at ~25, ~45 and ~65mph * Turns driving at ~25, ~45 and ~65mph - ---> +--> \ No newline at end of file diff --git a/.github/build.py b/.github/build.py new file mode 100644 index 0000000000..e141ea05df --- /dev/null +++ b/.github/build.py @@ -0,0 +1,30 @@ +import pathlib + +GITHUB_FOLDER = pathlib.Path(__file__).parent + +PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE") + +order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"] + +def create_pull_request_template(): + with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f: + f.write("\n\n") + + for t in order: + template = PULL_REQUEST_TEMPLATES / f"{t}.md" + text = template.read_text() + + # Remove metadata for GitHub + start = text.find("---") + end = text.find("---", start+1) + text = text[end + 4:] + + # Remove comments + text = text.replace("", "") + + f.write(f"\n\n") + +create_pull_request_template() diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 6fbccfbdbb..3e3f42dcbc 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -10,39 +10,59 @@ A route with the fingerprint --> - - - + From 5e4df41b2f4c379157844dc4c19ef496ca658088 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 17 Jan 2024 14:07:38 -0500 Subject: [PATCH 041/205] Revert "uploader cleanup" (#31033) --- system/loggerd/tests/loggerd_tests_common.py | 28 ++++++-- system/loggerd/tests/test_uploader.py | 4 +- system/loggerd/uploader.py | 67 ++++++++++++++------ 3 files changed, 71 insertions(+), 28 deletions(-) diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 3aa9e40531..8bfb571861 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -3,12 +3,10 @@ import random import unittest from pathlib import Path from typing import Optional - +from openpilot.system.hardware.hw import Paths import openpilot.system.loggerd.deleter as deleter import openpilot.system.loggerd.uploader as uploader -from openpilot.common.params import Params -from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr @@ -55,6 +53,25 @@ class MockApiIgnore(): def get_token(self): return "fake-token" +class MockParams(): + def __init__(self): + self.params = { + "DongleId": b"0000000000000000", + "IsOffroad": b"1", + } + + def get(self, k, block=False, encoding=None): + val = self.params[k] + + if encoding is not None: + return val.decode(encoding) + else: + return val + + def get_bool(self, k): + val = self.params[k] + return (val == b'1') + class UploaderTestCase(unittest.TestCase): f_type = "UNKNOWN" @@ -69,6 +86,7 @@ class UploaderTestCase(unittest.TestCase): def setUp(self): uploader.Api = MockApi + uploader.Params = MockParams uploader.fake_upload = True uploader.force_wifi = True uploader.allow_sleep = False @@ -77,10 +95,6 @@ class UploaderTestCase(unittest.TestCase): self.seg_format2 = "2019-05-18--11-22-33--{}" self.seg_dir = self.seg_format.format(self.seg_num) - self.params = Params() - self.params.put("IsOffroad", "1") - self.params.put("DongleId", "0000000000000000") - def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index b674de5438..538d99f66f 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -10,7 +10,7 @@ from typing import List, Optional from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog -from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase @@ -45,7 +45,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=main, args=[self.end_event]) + self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index aac5c07e53..8f27d4763d 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -77,6 +77,9 @@ class Uploader: self.last_resp: Optional[UploadResponse] = None self.last_exc: Optional[Tuple[Exception, str]] = None + self.immediate_size = 0 + self.immediate_count = 0 + # stats for last successfully uploaded file self.last_time = 0.0 self.last_speed = 0.0 @@ -85,10 +88,18 @@ class Uploader: self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} + def get_upload_sort(self, name: str) -> int: + if name in self.immediate_priority: + return self.immediate_priority[name] + return 1000 + def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: if not os.path.isdir(self.root): return + self.immediate_size = 0 + self.immediate_count = 0 + for logname in listdir_by_creation(self.root): path = os.path.join(self.root, logname) try: @@ -99,7 +110,7 @@ class Uploader: if any(name.endswith(".lock") for name in names): continue - for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): + for name in sorted(names, key=self.get_upload_sort): key = os.path.join(logname, name) fn = os.path.join(path, name) # skip files already uploaded @@ -111,6 +122,13 @@ class Uploader: if is_uploaded: continue + try: + if name in self.immediate_priority: + self.immediate_count += 1 + self.immediate_size += os.path.getsize(fn) + except OSError: + pass + yield name, key, fn def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: @@ -209,25 +227,18 @@ class Uploader: return success - - def step(self, network_type: int, metered: bool) -> bool: - d = self.next_file_to_upload() - if d is None: - return True - - name, key, fn = d - - # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" - - return self.upload(name, key, fn, network_type, metered) + def get_msg(self): + msg = messaging.new_message("uploaderState", valid=True) + us = msg.uploaderState + us.immediateQueueSize = int(self.immediate_size / 1e6) + us.immediateQueueCount = self.immediate_count + us.lastTime = self.last_time + us.lastSpeed = self.last_speed + us.lastFilename = self.last_filename + return msg -def main(exit_event: Optional[threading.Event] = None) -> None: - if exit_event is None: - exit_event = threading.Event() - +def uploader_fn(exit_event: threading.Event) -> None: try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -246,6 +257,7 @@ def main(exit_event: Optional[threading.Event] = None) -> None: cloudlog.warning("NVME not mounted") sm = messaging.SubMaster(['deviceState']) + pm = messaging.PubMaster(['uploaderState']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 @@ -258,8 +270,19 @@ def main(exit_event: Optional[threading.Event] = None) -> None: time.sleep(60 if offroad else 5) continue - success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) + d = uploader.next_file_to_upload() + if d is None: # Nothing to upload + if allow_sleep: + time.sleep(60 if offroad else 5) + continue + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): + key += ".bz2" + + success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) if success: backoff = 0.1 elif allow_sleep: @@ -267,6 +290,12 @@ def main(exit_event: Optional[threading.Event] = None) -> None: time.sleep(backoff + random.uniform(0, backoff)) backoff = min(backoff*2, 120) + pm.send("uploaderState", uploader.get_msg()) + + +def main() -> None: + uploader_fn(threading.Event()) + if __name__ == "__main__": main() From 3f0b56b36472b04dca653ac5870f10d4bd53bc01 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 17 Jan 2024 17:21:47 -0500 Subject: [PATCH 042/205] cleanup azure handling (#31034) * wip cleanup * Wip * fixes * fix * cleanup * keep this for now * dest --- selfdrive/test/update_ci_routes.py | 39 ++++++---------- tools/lib/azure_container.py | 74 ++++++++++++++++++++++++++++++ tools/lib/openpilotci.py | 70 ++++------------------------ tools/lib/openpilotcontainers.py | 6 +++ 4 files changed, 102 insertions(+), 87 deletions(-) create mode 100644 tools/lib/azure_container.py mode change 100755 => 100644 tools/lib/openpilotci.py create mode 100755 tools/lib/openpilotcontainers.py diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 2a841025e3..5ab5042b2b 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -3,33 +3,21 @@ import os import re import subprocess import sys -from functools import lru_cache -from typing import Iterable, Optional +from typing import Iterable, List, Optional -from azure.storage.blob import ContainerClient from tqdm import tqdm from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from openpilot.tools.lib.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, - DATA_CI_CONTAINER, get_azure_credential, get_container_sas, upload_file) +from openpilot.tools.lib.azure_container import AzureContainer +from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer -DATA_PROD_ACCOUNT = "commadata2" -DATA_PROD_CONTAINER = "commadata2" - -SOURCES = [ - (DATA_PROD_ACCOUNT, DATA_PROD_CONTAINER), - (DATA_CI_ACCOUNT, DATA_CI_CONTAINER), +SOURCES: List[AzureContainer] = [ + DataProdContainer, + DataCIContainer ] - -@lru_cache -def get_azure_keys(): - dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, credential=get_azure_credential()) - dest_key = get_container_sas(DATA_CI_ACCOUNT, OPENPILOT_CI_CONTAINER) - source_keys = [get_container_sas(*s) for s in SOURCES] - return dest_container, dest_key, source_keys - +DEST = OpenpilotCIContainer def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: if exclude_patterns is None: @@ -41,11 +29,11 @@ def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> for file in os.listdir(path): if any(re.search(pattern, file) for pattern in exclude_patterns): continue - upload_file(os.path.join(path, file), f"{destpath}/{file}") + DEST.upload_file(os.path.join(path, file), f"{destpath}/{file}") def sync_to_ci_public(route: str) -> bool: - dest_container, dest_key, source_keys = get_azure_keys() + dest_container, dest_key = DEST.get_client_and_key() key_prefix = route.replace('|', '/') dongle_id = key_prefix.split('/')[0] @@ -53,14 +41,15 @@ def sync_to_ci_public(route: str) -> bool: return True print(f"Uploading {route}") - for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True): + for source_container in SOURCES: # assumes az login has been run - print(f"Trying {source_account}/{source_bucket}") + print(f"Trying {source_container.ACCOUNT}/{source_container.CONTAINER}") + _, source_key = source_container.get_client_and_key() cmd = [ "azcopy", "copy", - f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{OPENPILOT_CI_CONTAINER}/{dongle_id}?{dest_key}", + f"{source_container.BASE_URL}{key_prefix}?{source_key}", + f"{DEST.BASE_URL}{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py new file mode 100644 index 0000000000..aa132a92f3 --- /dev/null +++ b/tools/lib/azure_container.py @@ -0,0 +1,74 @@ +import os +from datetime import datetime, timedelta +from functools import lru_cache +from pathlib import Path +from typing import IO, Union + +from azure.storage.blob import ContainerClient + +TOKEN_PATH = Path("/data/azure_token") + +@lru_cache +def get_azure_credential(): + if "AZURE_TOKEN" in os.environ: + return os.environ["AZURE_TOKEN"] + elif TOKEN_PATH.is_file(): + return TOKEN_PATH.read_text().strip() + else: + from azure.identity import AzureCliCredential + return AzureCliCredential() + +@lru_cache +def get_container_sas(account_name: str, container_name: str): + from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas + start_time = datetime.utcnow() + expiry_time = start_time + timedelta(hours=1) + blob_service = BlobServiceClient( + account_url=f"https://{account_name}.blob.core.windows.net", + credential=get_azure_credential(), + ) + return generate_container_sas( + account_name, + container_name, + user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), + permission=ContainerSasPermissions(read=True, write=True, list=True), + expiry=expiry_time, + ) + +class AzureContainer: + def __init__(self, account, container): + self.ACCOUNT = account + self.CONTAINER = container + + @property + def ACCOUNT_URL(self) -> str: + return f"https://{self.ACCOUNT}.blob.core.windows.net" + + @property + def BASE_URL(self) -> str: + return f"{self.ACCOUNT_URL}/{self.CONTAINER}/" + + def get_client_and_key(self): + client = ContainerClient(self.ACCOUNT_URL, self.CONTAINER, credential=get_azure_credential()) + key = get_container_sas(self.ACCOUNT, self.CONTAINER) + return client, key + + def get_url(self, route_name: str, segment_num, log_type="rlog") -> str: + ext = "hevc" if log_type.endswith('camera') else "bz2" + return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" + + def upload_bytes(self, data: Union[bytes, IO], blob_name: str) -> str: + from azure.storage.blob import BlobClient + blob = BlobClient( + account_url=self.ACCOUNT_URL, + container_name=self.CONTAINER, + blob_name=blob_name, + credential=get_azure_credential(), + overwrite=False, + ) + blob.upload_blob(data) + return self.BASE_URL + blob_name + + def upload_file(self, path: Union[str, os.PathLike], blob_name: str) -> str: + with open(path, "rb") as f: + return self.upload_bytes(f, blob_name) diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py old mode 100755 new mode 100644 index 4e0da1bccf..1c1e1f171b --- a/tools/lib/openpilotci.py +++ b/tools/lib/openpilotci.py @@ -1,66 +1,12 @@ -#!/usr/bin/env python3 -import os -from datetime import datetime, timedelta -from functools import lru_cache -from pathlib import Path -from typing import IO, Union +from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer -DATA_CI_ACCOUNT = "commadataci" -DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net" -OPENPILOT_CI_CONTAINER = "openpilotci" -DATA_CI_CONTAINER = "commadataci" -BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{OPENPILOT_CI_CONTAINER}/" +def get_url(*args, **kwargs): + return OpenpilotCIContainer.get_url(*args, **kwargs) -TOKEN_PATH = Path("/data/azure_token") +def upload_file(*args, **kwargs): + return OpenpilotCIContainer.upload_file(*args, **kwargs) +def upload_bytes(*args, **kwargs): + return OpenpilotCIContainer.upload_bytes(*args, **kwargs) -def get_url(route_name: str, segment_num, log_type="rlog") -> str: - ext = "hevc" if log_type.endswith('camera') else "bz2" - return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" - - -@lru_cache -def get_azure_credential(): - if "AZURE_TOKEN" in os.environ: - return os.environ["AZURE_TOKEN"] - elif TOKEN_PATH.is_file(): - return TOKEN_PATH.read_text().strip() - else: - from azure.identity import AzureCliCredential - return AzureCliCredential() - - -@lru_cache -def get_container_sas(account_name: str, container_name: str): - from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas - start_time = datetime.utcnow() - expiry_time = start_time + timedelta(hours=1) - blob_service = BlobServiceClient( - account_url=f"https://{account_name}.blob.core.windows.net", - credential=get_azure_credential(), - ) - return generate_container_sas( - account_name, - container_name, - user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), - permission=ContainerSasPermissions(read=True, write=True, list=True), - expiry=expiry_time, - ) - - -def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: - from azure.storage.blob import BlobClient - blob = BlobClient( - account_url=DATA_CI_ACCOUNT_URL, - container_name=OPENPILOT_CI_CONTAINER, - blob_name=blob_name, - credential=get_azure_credential(), - overwrite=False, - ) - blob.upload_blob(data) - return BASE_URL + blob_name - - -def upload_file(path: Union[str, os.PathLike], blob_name: str) -> str: - with open(path, "rb") as f: - return upload_bytes(f, blob_name) +BASE_URL = OpenpilotCIContainer.BASE_URL diff --git a/tools/lib/openpilotcontainers.py b/tools/lib/openpilotcontainers.py new file mode 100755 index 0000000000..9882461111 --- /dev/null +++ b/tools/lib/openpilotcontainers.py @@ -0,0 +1,6 @@ +#!/usr/bin/env python3 +from openpilot.tools.lib.azure_container import AzureContainer + +OpenpilotCIContainer = AzureContainer("commadataci", "openpilotci") +DataCIContainer = AzureContainer("commadataci", "commadataci") +DataProdContainer = AzureContainer("commadata2", "commadata2") From 0b5fd7287e715707e32b7e6978e296918dd34234 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 14:24:09 -0800 Subject: [PATCH 043/205] uploader cleanup (#31035) * Reapply "uploader cleanup" (#31033) This reverts commit 5e4df41b2f4c379157844dc4c19ef496ca658088. * always sleep * more cleanup * little more * fix linter * little more --- system/loggerd/tests/loggerd_tests_common.py | 28 +--- system/loggerd/tests/test_uploader.py | 4 +- system/loggerd/uploader.py | 163 +++++++------------ 3 files changed, 64 insertions(+), 131 deletions(-) diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 8bfb571861..3aa9e40531 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -3,10 +3,12 @@ import random import unittest from pathlib import Path from typing import Optional -from openpilot.system.hardware.hw import Paths + import openpilot.system.loggerd.deleter as deleter import openpilot.system.loggerd.uploader as uploader +from openpilot.common.params import Params +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr @@ -53,25 +55,6 @@ class MockApiIgnore(): def get_token(self): return "fake-token" -class MockParams(): - def __init__(self): - self.params = { - "DongleId": b"0000000000000000", - "IsOffroad": b"1", - } - - def get(self, k, block=False, encoding=None): - val = self.params[k] - - if encoding is not None: - return val.decode(encoding) - else: - return val - - def get_bool(self, k): - val = self.params[k] - return (val == b'1') - class UploaderTestCase(unittest.TestCase): f_type = "UNKNOWN" @@ -86,7 +69,6 @@ class UploaderTestCase(unittest.TestCase): def setUp(self): uploader.Api = MockApi - uploader.Params = MockParams uploader.fake_upload = True uploader.force_wifi = True uploader.allow_sleep = False @@ -95,6 +77,10 @@ class UploaderTestCase(unittest.TestCase): self.seg_format2 = "2019-05-18--11-22-33--{}" self.seg_dir = self.seg_format.format(self.seg_num) + self.params = Params() + self.params.put("IsOffroad", "1") + self.params.put("DongleId", "0000000000000000") + def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 538d99f66f..b674de5438 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -10,7 +10,7 @@ from typing import List, Optional from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog -from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase @@ -45,7 +45,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) + self.up_thread = threading.Thread(target=main, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 8f27d4763d..65259d1e45 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -8,15 +8,13 @@ import requests import threading import time import traceback -from pathlib import Path -from typing import BinaryIO, Iterator, List, Optional, Tuple, Union +from typing import BinaryIO, Iterator, List, Optional, Tuple from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity -from openpilot.system.hardware import TICI from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog @@ -43,8 +41,6 @@ class FakeResponse: self.request = FakeRequest() -UploadResponse = Union[requests.Response, FakeResponse] - def get_directory_sort(d: str) -> List[str]: return [s.rjust(10, '0') for s in d.rsplit('--', 1)] @@ -74,32 +70,16 @@ class Uploader: self.api = Api(dongle_id) self.root = root - self.last_resp: Optional[UploadResponse] = None - self.last_exc: Optional[Tuple[Exception, str]] = None - - self.immediate_size = 0 - self.immediate_count = 0 - # stats for last successfully uploaded file - self.last_time = 0.0 - self.last_speed = 0.0 self.last_filename = "" self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name: str) -> int: - if name in self.immediate_priority: - return self.immediate_priority[name] - return 1000 - def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: if not os.path.isdir(self.root): return - self.immediate_size = 0 - self.immediate_count = 0 - for logname in listdir_by_creation(self.root): path = os.path.join(self.root, logname) try: @@ -110,25 +90,18 @@ class Uploader: if any(name.endswith(".lock") for name in names): continue - for name in sorted(names, key=self.get_upload_sort): + for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): key = os.path.join(logname, name) fn = os.path.join(path, name) # skip files already uploaded try: is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: - cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) + cloudlog.event("uploader_getxattr_failed", key=key, fn=fn) is_uploaded = True # deleter could have deleted if is_uploaded: continue - try: - if name in self.immediate_priority: - self.immediate_count += 1 - self.immediate_size += os.path.getsize(fn) - except OSError: - pass - yield name, key, fn def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: @@ -144,45 +117,28 @@ class Uploader: return None - def do_upload(self, key: str, fn: str) -> None: - try: - url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) - if url_resp.status_code == 412: - self.last_resp = url_resp - return - - url_resp_json = json.loads(url_resp.text) - url = url_resp_json['url'] - headers = url_resp_json['headers'] - cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) - - if fake_upload: - cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") - self.last_resp = FakeResponse() - else: - with open(fn, "rb") as f: - data: BinaryIO - if key.endswith('.bz2') and not fn.endswith('.bz2'): - compressed = bz2.compress(f.read()) - data = io.BytesIO(compressed) - else: - data = f - - self.last_resp = requests.put(url, data=data, headers=headers, timeout=10) - except Exception as e: - self.last_exc = (e, traceback.format_exc()) - raise - - def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]: - self.last_resp = None - self.last_exc = None + def do_upload(self, key: str, fn: str): + url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) + if url_resp.status_code == 412: + return url_resp - try: - self.do_upload(key, fn) - except Exception: - pass + url_resp_json = json.loads(url_resp.text) + url = url_resp_json['url'] + headers = url_resp_json['headers'] + cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) + + if fake_upload: + return FakeResponse() - return self.last_resp + with open(fn, "rb") as f: + data: BinaryIO + if key.endswith('.bz2') and not fn.endswith('.bz2'): + compressed = bz2.compress(f.read()) + data = io.BytesIO(compressed) + else: + data = f + + return requests.put(url, data=data, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: @@ -201,44 +157,57 @@ class Uploader: success = True else: start_time = time.monotonic() - stat = self.normal_upload(key, fn) + + stat = None + last_exc = None + try: + stat = self.do_upload(key, fn) + except Exception as e: + last_exc = (e, traceback.format_exc()) + if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn - self.last_time = time.monotonic() - start_time + dt = time.monotonic() - start_time if stat.status_code == 412: - self.last_speed = 0 cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: content_length = int(stat.request.headers.get("Content-Length", 0)) - self.last_speed = (content_length / 1e6) / self.last_time + speed = (content_length / 1e6) / dt cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, - network_type=network_type, metered=metered, speed=self.last_speed) + network_type=network_type, metered=metered, speed=speed) success = True else: success = False - cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) if success: # tag file as uploaded try: setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) except OSError: - cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz) + cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz) return success - def get_msg(self): - msg = messaging.new_message("uploaderState", valid=True) - us = msg.uploaderState - us.immediateQueueSize = int(self.immediate_size / 1e6) - us.immediateQueueCount = self.immediate_count - us.lastTime = self.last_time - us.lastSpeed = self.last_speed - us.lastFilename = self.last_filename - return msg + + def step(self, network_type: int, metered: bool) -> bool: + d = self.next_file_to_upload() + if d is None: + return True + + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): + key += ".bz2" + + return self.upload(name, key, fn, network_type, metered) -def uploader_fn(exit_event: threading.Event) -> None: +def main(exit_event: Optional[threading.Event] = None) -> None: + if exit_event is None: + exit_event = threading.Event() + try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -253,11 +222,7 @@ def uploader_fn(exit_event: threading.Event) -> None: cloudlog.info("uploader missing dongle_id") raise Exception("uploader can't start without dongle id") - if TICI and not Path("/data/media").is_mount(): - cloudlog.warning("NVME not mounted") - sm = messaging.SubMaster(['deviceState']) - pm = messaging.PubMaster(['uploaderState']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 @@ -270,31 +235,13 @@ def uploader_fn(exit_event: threading.Event) -> None: time.sleep(60 if offroad else 5) continue - d = uploader.next_file_to_upload() - if d is None: # Nothing to upload - if allow_sleep: - time.sleep(60 if offroad else 5) - continue - - name, key, fn = d - - # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" - - success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) + success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) if success: backoff = 0.1 elif allow_sleep: cloudlog.info("upload backoff %r", backoff) - time.sleep(backoff + random.uniform(0, backoff)) backoff = min(backoff*2, 120) - - pm.send("uploaderState", uploader.get_msg()) - - -def main() -> None: - uploader_fn(threading.Event()) + time.sleep(backoff + random.uniform(0, backoff)) if __name__ == "__main__": From 8c544d91392b6039c13b70657a0502ab1f993c76 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Jan 2024 14:39:31 -0800 Subject: [PATCH 044/205] Fix f-string in test_fw_query_on_routes.py --- selfdrive/debug/test_fw_query_on_routes.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 20c5486c32..78f7a5d3e5 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -113,7 +113,7 @@ if __name__ == "__main__": for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + - "(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False From 7ce29ef08e9ee9c930238f697bfe3b69f6be368e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 14:42:07 -0800 Subject: [PATCH 045/205] cleanup old params (#31039) * cleanup old params * one more --- common/params.cc | 6 ------ selfdrive/athena/registration.py | 1 - system/hardware/base.py | 4 ---- system/hardware/pc/hardware.py | 3 --- system/hardware/tici/hardware.py | 7 ------- 5 files changed, 21 deletions(-) diff --git a/common/params.cc b/common/params.cc index 7b14ac6955..b1fc15e4c5 100644 --- a/common/params.cc +++ b/common/params.cc @@ -144,16 +144,13 @@ std::unordered_map keys = { {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, - {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, - {"LastSystemShutdown", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, @@ -164,7 +161,6 @@ std::unordered_map keys = { {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavSettingTime24h", PERSISTENT}, - {"NavdRender", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, @@ -189,10 +185,8 @@ std::unordered_map keys = { {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, - {"SubscriberInfo", PERSISTENT}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index c9a4b949ac..7db94c28c8 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -25,7 +25,6 @@ def is_registered_device() -> bool: def register(show_spinner=False) -> Optional[str]: params = Params() - params.put("SubscriberInfo", HARDWARE.get_subscriber_info()) IMEI = params.get("IMEI", encoding='utf8') HardwareSerial = params.get("HardwareSerial", encoding='utf8') diff --git a/system/hardware/base.py b/system/hardware/base.py index b432a41907..9c7a618337 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -54,10 +54,6 @@ class HardwareBase(ABC): def get_serial(self): pass - @abstractmethod - def get_subscriber_info(self): - pass - @abstractmethod def get_network_info(self): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 27c05f5904..4c2c104f94 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -29,9 +29,6 @@ class Pc(HardwareBase): def get_serial(self): return "cccccccc" - def get_subscriber_info(self): - return "" - def get_network_info(self): return None diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index d1ac52c8dc..3431718e22 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -206,9 +206,6 @@ class Tici(HardwareBase): 'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED, } - def get_subscriber_info(self): - return "" - def get_imei(self, slot): if slot != 0: return "" @@ -337,10 +334,6 @@ class Tici(HardwareBase): pass return ret - def get_usb_present(self): - # Not sure if relevant on tici, but the file exists - return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False) - def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) From 5f1e7649e3725667a7a753a89f31834aa28eb2b1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 15:08:36 -0800 Subject: [PATCH 046/205] update param in loggerd unit test --- system/loggerd/tests/test_loggerd.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 9d7d3fa7bd..49d97505e8 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -116,7 +116,7 @@ class TestLoggerd(unittest.TestCase): params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemerisV3", "abc") + params.put("AccessToken", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -133,14 +133,14 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'} + expected_params = {k for k, _, __ in fake_params} | {'AccessToken'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" + assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}" for param_key, initData_key, v in fake_params: self.assertEqual(getattr(initData, initData_key), v) self.assertEqual(logged_params[param_key].decode(), v) - params.put("LaikadEphemerisV3", "") + params.put("AccessToken", "") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" From 840db1f1b70e5014f504908eb1beb6358c555cf2 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 17 Jan 2024 18:34:24 -0500 Subject: [PATCH 047/205] prevent typing issue in azure_container (#31044) prvent that issue --- tools/lib/azure_container.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py index aa132a92f3..7d9550266d 100644 --- a/tools/lib/azure_container.py +++ b/tools/lib/azure_container.py @@ -4,7 +4,6 @@ from functools import lru_cache from pathlib import Path from typing import IO, Union -from azure.storage.blob import ContainerClient TOKEN_PATH = Path("/data/azure_token") @@ -49,6 +48,7 @@ class AzureContainer: return f"{self.ACCOUNT_URL}/{self.CONTAINER}/" def get_client_and_key(self): + from azure.storage.blob import ContainerClient client = ContainerClient(self.ACCOUNT_URL, self.CONTAINER, credential=get_azure_credential()) key = get_container_sas(self.ACCOUNT, self.CONTAINER) return client, key From d36103791c9432155413e1044bcca2ac37bfa852 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 17 Jan 2024 16:00:50 -0800 Subject: [PATCH 048/205] No curv rate for lateral control (#31042) * No more Curvature rate for lat control * Update cereal * Update * Fix lat control test --- cereal | 2 +- selfdrive/controls/controlsd.py | 9 ++------- selfdrive/controls/lib/drive_helpers.py | 9 ++------- selfdrive/controls/lib/latcontrol.py | 2 +- selfdrive/controls/lib/latcontrol_angle.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/controls/lib/tests/test_latcontrol.py | 2 +- 8 files changed, 10 insertions(+), 20 deletions(-) diff --git a/cereal b/cereal index d81d86e7cd..20b65eeb1f 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit d81d86e7cd83d1eb40314964a4d194231381d557 +Subproject commit 20b65eeb1f6c580cdd7d63e53639f4fc48bc2f56 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 698c149515..78bcf8a9b0 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -172,7 +172,6 @@ class Controls: self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 - self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False @@ -611,13 +610,10 @@ class Controls: actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) # Steering PID loop and lateral MPC - self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, - lat_plan.psis, - lat_plan.curvatures, - lat_plan.curvatureRates) + self.desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures) actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited, self.desired_curvature, - self.desired_curvature_rate, self.sm['liveLocationKalman']) + self.sm['liveLocationKalman']) actuators.curvature = self.desired_curvature else: lac_log = log.ControlsState.LateralDebugState.new_message() @@ -787,7 +783,6 @@ class Controls: controlsState.active = self.active controlsState.curvature = curvature controlsState.desiredCurvature = self.desired_curvature - controlsState.desiredCurvatureRate = self.desired_curvature_rate controlsState.state = self.state controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index b728f1114c..9a5d1779fc 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -163,11 +163,10 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): +def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures): if len(psis) != CONTROL_N: psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N - curvature_rates = [0.0]*CONTROL_N v_ego = max(MIN_SPEED, v_ego) # TODO this needs more thought, use .2s extra for now to estimate other delays @@ -182,16 +181,12 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): desired_curvature = 2 * average_curvature_desired - current_curvature_desired # This is the "desired rate of the setpoint" not an actual desired rate - desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 - safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) safe_desired_curvature = clip(desired_curvature, current_curvature_desired - max_curvature_rate * DT_MDL, current_curvature_desired + max_curvature_rate * DT_MDL) - return safe_desired_curvature, safe_desired_curvature_rate + return safe_desired_curvature def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 723af7f806..fddb331ccb 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index d363295f0c..329c486eb9 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index c673159ebb..9e6160838b 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f46ab9eb6c..65fd1b51c5 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -36,7 +36,7 @@ class LatControlTorque(LatControl): self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() if not active: diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 5faad914cf..248abf1d7b 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -34,7 +34,7 @@ class TestLatControl(unittest.TestCase): llk = gen_llk() for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, False, 1, 0, llk) + _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk) self.assertTrue(lac_log.saturated) From 4c2bb9f380a93149864d11096002ada4d002a94f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 16:30:08 -0800 Subject: [PATCH 049/205] updated: only fetch on metered connection when necessary (#31041) * updated: only fetch on metered connection when necessary * button always fetches --- common/params.cc | 2 ++ selfdrive/thermald/thermald.py | 2 ++ selfdrive/updated.py | 48 ++++++++++++++++++++++------------ 3 files changed, 36 insertions(+), 16 deletions(-) diff --git a/common/params.cc b/common/params.cc index b1fc15e4c5..b416b801a8 100644 --- a/common/params.cc +++ b/common/params.cc @@ -161,6 +161,7 @@ std::unordered_map keys = { {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavSettingTime24h", PERSISTENT}, + {"NetworkMetered", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, @@ -201,6 +202,7 @@ std::unordered_map keys = { {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, + {"UpdaterLastFetchTime", PERSISTENT}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, {"WheeledBody", PERSISTENT}, diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 7011ff0a99..75e091febb 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -447,6 +447,8 @@ def thermald_thread(end_event, hw_queue) -> None: except Exception: cloudlog.exception("failed to save offroad status") + params.put_bool_nonblocking("NetworkMetered", (msg.deviceState.networkType != NetworkType.wifi)) + count += 1 should_start_prev = should_start diff --git a/selfdrive/updated.py b/selfdrive/updated.py index a623aaefc8..8a46a11a78 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -35,26 +35,42 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days +class UserRequest: + NONE = 0 + CHECK = 1 + FETCH = 2 + class WaitTimeHelper: def __init__(self): self.ready_event = threading.Event() - self.only_check_for_update = False + self.user_request = UserRequest.NONE signal.signal(signal.SIGHUP, self.update_now) signal.signal(signal.SIGUSR1, self.check_now) def update_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGHUP, attempting to downloading update") - self.only_check_for_update = False + self.user_request = UserRequest.FETCH self.ready_event.set() def check_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGUSR1, checking for updates") - self.only_check_for_update = True + self.user_request = UserRequest.CHECK self.ready_event.set() def sleep(self, t: float) -> None: self.ready_event.wait(timeout=t) +def write_time_to_param(params, param) -> None: + t = datetime.datetime.utcnow() + params.put(param, t.isoformat().encode('utf8')) + +def read_time_from_param(params, param) -> Optional[datetime.datetime]: + t = params.get(param, encoding='utf8') + try: + return datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass + return None def run(cmd: List[str], cwd: Optional[str] = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -266,14 +282,11 @@ class Updater: last_update = datetime.datetime.utcnow() if update_success: - t = last_update.isoformat() - self.params.put("LastUpdateTime", t.encode('utf8')) + write_time_to_param(self.params, "LastUpdateTime") else: - try: - t = self.params.get("LastUpdateTime", encoding='utf8') - last_update = datetime.datetime.fromisoformat(t) - except (TypeError, ValueError): - pass + t = read_time_from_param(self.params, "LastUpdateTime") + if t is not None: + last_update = t if exception is None: self.params.remove("LastUpdateException") @@ -421,10 +434,7 @@ def main() -> None: updater = Updater() update_failed_count = 0 # TODO: Load from param? - - # no fetch on the first time wait_helper = WaitTimeHelper() - wait_helper.only_check_for_update = True # invalidate old finalized update set_consistent_flag(False) @@ -458,10 +468,16 @@ def main() -> None: updater.check_for_update() # download update - if wait_helper.only_check_for_update: - cloudlog.info("skipping fetch this cycle") + last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") + timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3)) + user_requested_fetch = wait_helper.user_request == UserRequest.FETCH + if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: + cloudlog.info("skipping fetch, connection metered") + elif wait_helper.user_request == UserRequest.CHECK: + cloudlog.info("skipping fetch, only checking") else: updater.fetch_update() + write_time_to_param(params, "UpdaterLastFetchTime") update_failed_count = 0 except subprocess.CalledProcessError as e: cloudlog.event( @@ -485,7 +501,7 @@ def main() -> None: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") # infrequent attempts if we successfully updated recently - wait_helper.only_check_for_update = False + wait_helper.user_request = UserRequest.NONE wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) From 19630c5af989fb62d1c920e54f838969c6158453 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 17:43:41 -0800 Subject: [PATCH 050/205] uploader: delay uploading crash and boot logs on metered connections (#31045) * uploader: delay uploading some files on metered connections * just crash and boot for now --- system/loggerd/uploader.py | 36 ++++++++++++++++++++++-------------- 1 file changed, 22 insertions(+), 14 deletions(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 65259d1e45..8b45627751 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -8,6 +8,7 @@ import requests import threading import time import traceback +import datetime from typing import BinaryIO, Iterator, List, Optional, Tuple from cereal import log @@ -45,17 +46,20 @@ def get_directory_sort(d: str) -> List[str]: return [s.rjust(10, '0') for s in d.rsplit('--', 1)] def listdir_by_creation(d: str) -> List[str]: + if not os.path.isdir(d): + return [] + try: paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))] paths = sorted(paths, key=get_directory_sort) return paths except OSError: cloudlog.exception("listdir_by_creation failed") - return list() + return [] def clear_locks(root: str) -> None: - for logname in os.listdir(root): - path = os.path.join(root, logname) + for logdir in os.listdir(root): + path = os.path.join(root, logdir) try: for fname in os.listdir(path): if fname.endswith(".lock"): @@ -76,12 +80,9 @@ class Uploader: self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: - if not os.path.isdir(self.root): - return - - for logname in listdir_by_creation(self.root): - path = os.path.join(self.root, logname) + def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]: + for logdir in listdir_by_creation(self.root): + path = os.path.join(self.root, logdir) try: names = os.listdir(path) except OSError: @@ -91,21 +92,28 @@ class Uploader: continue for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): - key = os.path.join(logname, name) + key = os.path.join(logdir, name) fn = os.path.join(path, name) # skip files already uploaded try: + ctime = os.path.getctime(fn) is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: cloudlog.event("uploader_getxattr_failed", key=key, fn=fn) - is_uploaded = True # deleter could have deleted + # deleter could have deleted, so skip + continue if is_uploaded: continue + # delay uploading crash and boot logs on metered connections + dt = datetime.timedelta(hours=12) + if metered and logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: + continue + yield name, key, fn - def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: - upload_files = list(self.list_upload_files()) + def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]: + upload_files = list(self.list_upload_files(metered)) for name, key, fn in upload_files: if any(f in fn for f in self.immediate_folders): @@ -191,7 +199,7 @@ class Uploader: def step(self, network_type: int, metered: bool) -> bool: - d = self.next_file_to_upload() + d = self.next_file_to_upload(metered) if d is None: return True From 005a6e4f17d88473440607bb4aa9218e44e906b4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 17:45:22 -0800 Subject: [PATCH 051/205] thermald: match metered param to packet --- selfdrive/thermald/thermald.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 75e091febb..96cf0f49f8 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -447,7 +447,7 @@ def thermald_thread(end_event, hw_queue) -> None: except Exception: cloudlog.exception("failed to save offroad status") - params.put_bool_nonblocking("NetworkMetered", (msg.deviceState.networkType != NetworkType.wifi)) + params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered) count += 1 should_start_prev = should_start From f96aa247cc0834296a3f85ea58617ef700de596c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Jan 2024 19:05:31 -0800 Subject: [PATCH 052/205] FW query timing test: mock inconsistent, timing-based functions (#31048) * Revert "Revert "FW query timing test: mock get_data function for timeout" (#30696)" This reverts commit b1ecfd55ce73062f297a5ea7d99d0c55d57c58ab. * no thread * clean up a bit * no thread! * combine functions * re-enable total time check * back to 5 * minimal diff * minimal diff --- selfdrive/car/tests/test_fw_fingerprint.py | 95 ++++++++++++---------- 1 file changed, 53 insertions(+), 42 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 257a40f6a3..36619f4cde 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -5,10 +5,9 @@ import time import unittest from collections import defaultdict from parameterized import parameterized -import threading +from unittest import mock from cereal import car -from openpilot.common.params import Params from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ @@ -176,29 +175,36 @@ class TestFwFingerprint(unittest.TestCase): class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.12 - - @staticmethod - def _run_thread(thread: threading.Thread) -> float: - params = Params() - params.put_bool("ObdMultiplexingEnabled", True) - thread.start() - t = time.perf_counter() - while thread.is_alive(): - time.sleep(0.02) - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - return time.perf_counter() - t + TOL: float = 0.05 + + # for patched functions + current_obd_multiplexing: bool + total_time: float + + def fake_set_obd_multiplexing(self, _, obd_multiplexing): + """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change""" + if obd_multiplexing != self.current_obd_multiplexing: + self.current_obd_multiplexing = obd_multiplexing + self.total_time += 0.1 / 2 + + def fake_get_data(self, timeout): + self.total_time += timeout + return {} def _benchmark_brand(self, brand, num_pandas): fake_socket = FakeSocket() - brand_time = 0 - for _ in range(self.N): - thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), - kwargs=dict(num_pandas=num_pandas)) - brand_time += self._run_thread(thread) + self.total_time = 0 + with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), + mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on + self.current_obd_multiplexing = True - return brand_time / self.N + t = time.perf_counter() + get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) + self.total_time += time.perf_counter() - t + + return self.total_time / self.N def _assert_timing(self, avg_time, ref_time): self.assertLess(avg_time, ref_time + self.TOL) @@ -207,44 +213,49 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time vin_ref_time = 1.0 - present_ecu_ref_time = 0.8 + present_ecu_ref_time = 0.75 + + def fake_get_ecu_addrs(*_, timeout): + self.total_time += timeout + return set() fake_socket = FakeSocket() - present_ecu_time = 0.0 - for _ in range(self.N): - thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket), - kwargs=dict(num_pandas=2)) - present_ecu_time += self._run_thread(thread) - self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time) - print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds') - - vin_time = 0.0 - for _ in range(self.N): - thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1)) - vin_time += self._run_thread(thread) - self._assert_timing(vin_time / self.N, vin_ref_time) - print(f'get_vin, query time={vin_time / self.N} seconds') + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), + mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)): + for _ in range(self.N): + self.current_obd_multiplexing = True + get_present_ecus(fake_socket, fake_socket, num_pandas=2) + self._assert_timing(self.total_time / self.N, present_ecu_ref_time) + print(f'get_present_ecus, query time={self.total_time / self.N} seconds') + + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + get_vin(fake_socket, fake_socket, 1) + self._assert_timing(self.total_time / self.N, vin_ref_time) + print(f'get_vin, query time={self.total_time / self.N} seconds') @pytest.mark.timeout(60) def test_fw_query_timing(self): - total_ref_time = 6.41 + total_ref_time = 6.1 brand_ref_times = { 1: { - 'body': 0.11, + 'body': 0.1, 'chrysler': 0.3, 'ford': 0.2, - 'honda': 0.52, - 'hyundai': 0.72, + 'honda': 0.45, + 'hyundai': 0.65, 'mazda': 0.2, 'nissan': 0.4, - 'subaru': 0.52, + 'subaru': 0.45, 'tesla': 0.2, 'toyota': 1.6, 'volkswagen': 0.2, }, 2: { 'ford': 0.3, - 'hyundai': 1.12, + 'hyundai': 1.05, } } From 2280ac50b76264dadd170e8f23bf0c3bf68ef61c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Jan 2024 21:41:58 -0800 Subject: [PATCH 053/205] uploader: restrict qcam upload on metered connctions (#31047) * uploader: restrict qcam upload on metered connctions * route requesting * rename * str * cleanup * strip dongle * upload bookmarked segments --------- Co-authored-by: Comma Device --- common/params.cc | 1 + selfdrive/athena/athenad.py | 15 +++++++++++++++ system/loggerd/loggerd.cc | 7 +++++++ system/loggerd/uploader.py | 17 +++++++++++++---- 4 files changed, 36 insertions(+), 4 deletions(-) diff --git a/common/params.cc b/common/params.cc index b416b801a8..639de5322b 100644 --- a/common/params.cc +++ b/common/params.cc @@ -94,6 +94,7 @@ std::unordered_map keys = { {"AssistNowToken", PERSISTENT}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, + {"AthenadRecentlyViewedRoutes", PERSISTENT}, {"CalibrationParams", PERSISTENT}, {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 2df44cb090..0a5c9b7999 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -432,6 +432,21 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]] cancelled_uploads.update(cancelled_ids) return {"success": 1} +@dispatcher.add_method +def setRouteViewed(route: str) -> Dict[str, Union[int, str]]: + # maintain a list of the last 10 routes viewed in connect + params = Params() + + r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + routes = [] if r is None else r.split(",") + routes.append(route) + + # remove duplicates + routes = list(dict.fromkeys(routes)) + + params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:])) + return {"success": 1} + def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: try: diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 8d5fcb95ac..27dfa187c4 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -6,6 +6,7 @@ #include #include +#include "common/params.h" #include "system/loggerd/encoder/encoder.h" #include "system/loggerd/loggerd.h" #include "system/loggerd/video_writer.h" @@ -187,6 +188,12 @@ void handle_user_flag(LoggerdState *s) { if (ret) { LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno)); } + + // mark route for uploading + Params params; + std::string routes = Params().get("AthenadRecentlyViewedRoutes"); + params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName()); + prev_segment = s->logger.segment(); } diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 8b45627751..105e830a4c 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -74,6 +74,8 @@ class Uploader: self.api = Api(dongle_id) self.root = root + self.params = Params() + # stats for last successfully uploaded file self.last_filename = "" @@ -81,6 +83,9 @@ class Uploader: self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]: + r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + requested_routes = [] if r is None else r.split(",") + for logdir in listdir_by_creation(self.root): path = os.path.join(self.root, logdir) try: @@ -105,10 +110,14 @@ class Uploader: if is_uploaded: continue - # delay uploading crash and boot logs on metered connections - dt = datetime.timedelta(hours=12) - if metered and logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: - continue + # limit uploading on metered connections + if metered: + dt = datetime.timedelta(hours=12) + if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: + continue + + if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes): + continue yield name, key, fn From 5791afda15db08448e770be9f7b03cb7daee7a39 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 11:50:17 -0800 Subject: [PATCH 054/205] update bolt bounty --- docs/BOUNTIES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index a927a33b89..4fcfc1607c 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -59,4 +59,4 @@ We're contributing $5k to the [community-organized bounty](https://github.com/co #### Chevy Bolt with SuperCruise - $2500 -The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. +The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port. From 292f2ea2884f52b0e2729c2b493521546197a5b3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 11:51:39 -0800 Subject: [PATCH 055/205] Update BOUNTIES.md --- docs/BOUNTIES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index 4fcfc1607c..5ff5dd939f 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -8,7 +8,7 @@ Get paid to improve openpilot! * bounty eligibility is solely at our discretion * once you open a PR, the bounty is locked to you until you stop working on it * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim -* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit +* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders) New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord. From 1c09ae99eb4c961719bc5ca82df5d6b39bf25843 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 15:06:02 -0800 Subject: [PATCH 056/205] Bump submodules (#31054) bump submodules Co-authored-by: jnewb1 --- panda | 2 +- teleoprtc_repo | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda b/panda index d66161966d..06feb083cf 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d66161966d8468223b645c8eba1324e9a49de916 +Subproject commit 06feb083cf9107a7c38147134bde10fe7df9e9e9 diff --git a/teleoprtc_repo b/teleoprtc_repo index ca10fb2410..3f9e8176d1 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit ca10fb2410ee14e207f30aadebeec707904dc559 +Subproject commit 3f9e8176d1be3d217528baee09fc418fa980a0c3 From d98b33adc8aaf10d0174d59e4065802c70a3413a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 18 Jan 2024 19:19:49 -0500 Subject: [PATCH 057/205] replace pytest-timeouts with pytest-timeout (#31053) * one timeout * timeout * higher timeout for now * bump --- .github/workflows/selfdrive_tests.yaml | 2 +- poetry.lock | 17 +---------------- pyproject.toml | 1 - 3 files changed, 2 insertions(+), 18 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 78502d3799..b9e80e9f74 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -181,7 +181,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - $PYTEST --timeout 30 -m 'not slow' && \ + $PYTEST --timeout 40 -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py" diff --git a/poetry.lock b/poetry.lock index a098703d62..41b677e5e0 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3282,8 +3282,6 @@ files = [ {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"}, {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"}, {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"}, - {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"}, - {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"}, {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"}, {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"}, {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"}, @@ -3699,19 +3697,6 @@ files = [ [package.dependencies] pytest = ">=5.0.0" -[[package]] -name = "pytest-timeouts" -version = "1.2.1" -description = "Linux-only Pytest plugin to control durations of various test case execution phases" -optional = false -python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" -files = [ - {file = "pytest-timeouts-1.2.1.tar.gz", hash = "sha256:390351afc7ecb422ea0ec38081e0acd91cad416b383944a9a3358087de50c2fb"}, -] - -[package.dependencies] -pytest = ">=3.1" - [[package]] name = "pytest-xdist" version = "3.5.0" @@ -4886,4 +4871,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "ad5e6e7b632c35edf6945774c6a4d0370177fd995c9b37efea68dd206a4ce1be" +content-hash = "1976ee7795d5ac5b257cac8dd83e408ae6e75c48d8c349e3e8e56519727cf52f" diff --git a/pyproject.toml b/pyproject.toml index b12a21a962..5641a55101 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -145,7 +145,6 @@ pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" -pytest-timeouts = "*" pytest-randomly = "*" ruff = "*" sphinx = "*" From 00b5424407be17dc1b193e2f52bc10d13a2c8794 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 16:38:46 -0800 Subject: [PATCH 058/205] time to remove this --- launch_chffrplus.sh | 5 ----- 1 file changed, 5 deletions(-) diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 7578c0296a..a91bd677aa 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" function agnos_init { - # wait longer for weston to come up - if [ -f "$BASEDIR/prebuilt" ]; then - sleep 5 - fi - # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta From 9ee0a8a2b1abb01eeaca7aa9de5fa86ee60a59e9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 18 Jan 2024 20:17:53 -0500 Subject: [PATCH 059/205] CI: use namespace.so (#31056) * namespace * mkdir * fix * restore only * restore * v3 --- .../workflows/auto-cache-restore/action.yaml | 34 +++++++++++++++++++ .../workflows/compile-openpilot/action.yaml | 8 +---- .github/workflows/selfdrive_tests.yaml | 17 +++++----- .../workflows/setup-with-retry/action.yaml | 7 ---- .github/workflows/setup/action.yaml | 25 +++----------- .github/workflows/tools_tests.yaml | 2 +- 6 files changed, 49 insertions(+), 44 deletions(-) create mode 100644 .github/workflows/auto-cache-restore/action.yaml diff --git a/.github/workflows/auto-cache-restore/action.yaml b/.github/workflows/auto-cache-restore/action.yaml new file mode 100644 index 0000000000..0aab3b3eef --- /dev/null +++ b/.github/workflows/auto-cache-restore/action.yaml @@ -0,0 +1,34 @@ +name: 'automatically cache based on current runner' + +inputs: + path: + description: 'path to cache' + required: true + key: + description: 'key' + required: true + restore-keys: + description: 'restore-keys' + required: true + +runs: + using: "composite" + steps: + - name: setup namespace cache + if: ${{ contains(runner.name, 'nsc') }} + uses: namespacelabs/nscloud-cache-action@v1 + with: + path: ${{ inputs.path }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') }} + uses: actions/cache/restore@v3 + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + run: mkdir -p ${{ inputs.path }} diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml index 8775c96262..2945b67d2e 100644 --- a/.github/workflows/compile-openpilot/action.yaml +++ b/.github/workflows/compile-openpilot/action.yaml @@ -1,11 +1,5 @@ name: 'compile openpilot' -inputs: - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons' - runs: using: "composite" steps: @@ -24,4 +18,4 @@ runs: if: github.ref == 'refs/heads/master' with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b9e80e9f74..dfd3570d4f 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -75,7 +75,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -83,18 +83,15 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache - with: - cache_key_prefix: scons_${{ matrix.arch }} docker_push: name: docker push strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 @@ -133,7 +130,9 @@ jobs: static_analysis: name: static analysis - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -165,7 +164,7 @@ jobs: name: unit tests runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -181,7 +180,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - $PYTEST --timeout 40 -m 'not slow' && \ + $PYTEST --timeout 40 -m 'not slow' -n $(nproc) && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py" @@ -196,7 +195,7 @@ jobs: name: process replay runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index e0da746b44..369ac45c9a 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: false default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons_x86_64' sleep_time: description: 'Time to sleep between retries' required: false @@ -22,7 +18,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash @@ -33,7 +28,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash @@ -43,5 +37,4 @@ runs: uses: ./.github/workflows/setup with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 8bb1ccc376..ec1626c01b 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: true default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: true - default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' required: false @@ -47,19 +43,14 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - id: restore-scons-cache - uses: actions/cache/restore@v3 + - id: scons-cache + uses: ./.github/workflows/auto-cache-restore with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}- - ${{ inputs.cache_key_prefix }}- - # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps - - id: scons-cache-setup - shell: bash - if: steps.restore-scons-cache.outputs.cache-hit != 'true' - run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache + scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }} # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - id: normalize-file-permissions shell: bash @@ -67,12 +58,6 @@ runs: run: | find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - - id: setup-buildx-action - if: contains(runner.name, 'buildjet') - name: Set up Docker Buildx on buildjet to ensure a consistent cache - uses: docker/setup-buildx-action@v2 - with: - driver: docker-container # build our docker image - shell: bash run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index f549ece1b1..5cecfb7e4e 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -81,7 +81,7 @@ jobs: - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ - cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/ + cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/ devcontainer up --workspace-folder . - name: Test environment run: | From 23cbfe9eb3fc3fd3655e41d44a63a20e04bae1f1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 18 Jan 2024 20:35:24 -0500 Subject: [PATCH 060/205] Revert "CI: use namespace.so" (#31060) --- .../workflows/auto-cache-restore/action.yaml | 34 ------------------- .../workflows/compile-openpilot/action.yaml | 8 ++++- .github/workflows/selfdrive_tests.yaml | 17 +++++----- .../workflows/setup-with-retry/action.yaml | 7 ++++ .github/workflows/setup/action.yaml | 25 +++++++++++--- .github/workflows/tools_tests.yaml | 2 +- 6 files changed, 44 insertions(+), 49 deletions(-) delete mode 100644 .github/workflows/auto-cache-restore/action.yaml diff --git a/.github/workflows/auto-cache-restore/action.yaml b/.github/workflows/auto-cache-restore/action.yaml deleted file mode 100644 index 0aab3b3eef..0000000000 --- a/.github/workflows/auto-cache-restore/action.yaml +++ /dev/null @@ -1,34 +0,0 @@ -name: 'automatically cache based on current runner' - -inputs: - path: - description: 'path to cache' - required: true - key: - description: 'key' - required: true - restore-keys: - description: 'restore-keys' - required: true - -runs: - using: "composite" - steps: - - name: setup namespace cache - if: ${{ contains(runner.name, 'nsc') }} - uses: namespacelabs/nscloud-cache-action@v1 - with: - path: ${{ inputs.path }} - - - name: setup github cache - if: ${{ !contains(runner.name, 'nsc') }} - uses: actions/cache/restore@v3 - with: - path: ${{ inputs.path }} - key: ${{ inputs.key }} - restore-keys: ${{ inputs.restore-keys }} - - # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps - - id: scons-cache-setup - shell: bash - run: mkdir -p ${{ inputs.path }} diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml index 2945b67d2e..8775c96262 100644 --- a/.github/workflows/compile-openpilot/action.yaml +++ b/.github/workflows/compile-openpilot/action.yaml @@ -1,5 +1,11 @@ name: 'compile openpilot' +inputs: + cache_key_prefix: + description: 'Prefix for caching key' + required: false + default: 'scons' + runs: using: "composite" steps: @@ -18,4 +24,4 @@ runs: if: github.ref == 'refs/heads/master' with: path: .ci_cache/scons_cache - key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index dfd3570d4f..b9e80e9f74 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -75,7 +75,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -83,15 +83,18 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} + cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache + with: + cache_key_prefix: scons_${{ matrix.arch }} docker_push: name: docker push strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 @@ -130,9 +133,7 @@ jobs: static_analysis: name: static analysis - runs-on: ${{ ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} + runs-on: ubuntu-20.04 steps: - uses: actions/checkout@v4 with: @@ -164,7 +165,7 @@ jobs: name: unit tests runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -180,7 +181,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - $PYTEST --timeout 40 -m 'not slow' -n $(nproc) && \ + $PYTEST --timeout 40 -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py" @@ -195,7 +196,7 @@ jobs: name: process replay runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index 369ac45c9a..e0da746b44 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -5,6 +5,10 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: false default: '' + cache_key_prefix: + description: 'Prefix for caching key' + required: false + default: 'scons_x86_64' sleep_time: description: 'Time to sleep between retries' required: false @@ -18,6 +22,7 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} + cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash @@ -28,6 +33,7 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} + cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash @@ -37,4 +43,5 @@ runs: uses: ./.github/workflows/setup with: docker_hub_pat: ${{ inputs.docker_hub_pat }} + cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index ec1626c01b..8bb1ccc376 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,6 +5,10 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: true default: '' + cache_key_prefix: + description: 'Prefix for caching key' + required: true + default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' required: false @@ -43,14 +47,19 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - id: scons-cache - uses: ./.github/workflows/auto-cache-restore + - id: restore-scons-cache + uses: actions/cache/restore@v3 with: path: .ci_cache/scons_cache - key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} - scons-${{ runner.arch }} + ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}- + ${{ inputs.cache_key_prefix }}- + # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + if: steps.restore-scons-cache.outputs.cache-hit != 'true' + run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - id: normalize-file-permissions shell: bash @@ -58,6 +67,12 @@ runs: run: | find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; + - id: setup-buildx-action + if: contains(runner.name, 'buildjet') + name: Set up Docker Buildx on buildjet to ensure a consistent cache + uses: docker/setup-buildx-action@v2 + with: + driver: docker-container # build our docker image - shell: bash run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 5cecfb7e4e..f549ece1b1 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -81,7 +81,7 @@ jobs: - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ - cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/ + cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/ devcontainer up --workspace-folder . - name: Test environment run: | From 29536324c1dceceb064c6b3ef6a3e0ef3dd0d578 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 18 Jan 2024 18:51:24 -0800 Subject: [PATCH 061/205] Toyota: combine more hybrid platforms (#31057) * Combine * migrate test models segs * fix highlander engine * no change --- docs/CARS.md | 2 +- selfdrive/car/fw_versions.py | 1 + selfdrive/car/tests/routes.py | 6 +- selfdrive/car/tests/test_models_segs.txt | 4 +- selfdrive/car/torque_data/params.toml | 6 +- selfdrive/car/torque_data/substitute.toml | 1 - selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/toyota/fingerprints.py | 103 +++++----------------- selfdrive/car/toyota/interface.py | 9 +- selfdrive/car/toyota/tests/test_toyota.py | 11 ++- selfdrive/car/toyota/values.py | 74 ++++++++-------- 11 files changed, 83 insertions(+), 136 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 407c1d8cc7..b27fb1b943 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -155,7 +155,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index a4c8db6797..072c2ae4e4 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -123,6 +123,7 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s found_versions = live_fw_versions.get(addr, set()) if not len(found_versions): # Some models can sometimes miss an ecu, or show on two different addresses + # FIXME: this logic can be improved to be more specific, should require one of the two addresses if candidate in config.non_essential_ecus.get(ecu_type, []): continue diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index c711f81929..69b39b3b2e 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -193,14 +193,14 @@ routes = [ CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), + CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), - CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), - CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), + CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2), # hybrid CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), @@ -210,7 +210,7 @@ routes = [ CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), - CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), + CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER), # hybrid CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt index 27a2104cf7..92835ae8ad 100644 --- a/selfdrive/car/tests/test_models_segs.txt +++ b/selfdrive/car/tests/test_models_segs.txt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887 -size 125301 +oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d +size 125147 diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml index 2e04e1c6a0..564f50df5e 100644 --- a/selfdrive/car/torque_data/params.toml +++ b/selfdrive/car/torque_data/params.toml @@ -49,9 +49,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533] "LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] "LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] -"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] +"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] "LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] -"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] "MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] "SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] "SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] @@ -66,9 +65,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436] "TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] "TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] -"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796] +"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] "TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] -"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600] "TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] "TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515] "TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml index 2d3c4dc55c..2e4513a484 100644 --- a/selfdrive/car/torque_data/substitute.toml +++ b/selfdrive/car/torque_data/substitute.toml @@ -10,7 +10,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "LEXUS IS 2018" = "LEXUS NX 2018" "LEXUS CT HYBRID 2018" = "LEXUS NX 2018" "LEXUS ES 2018" = "TOYOTA CAMRY 2018" -"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018" "LEXUS RC 2020" = "LEXUS NX 2020" "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020" diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index badfd33e0b..e8ed9cfcb2 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -102,7 +102,7 @@ class CarController: if self.CP.enableGasInterceptor and CC.longActive: MAX_INTERCEPTOR_GAS = 0.5 # RAV4 has very sensitive gas pedal - if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH): + if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) elif self.CP.carFingerprint in (CAR.COROLLA,): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index c72766f40a..2ecd780843 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -614,13 +614,22 @@ FW_VERSIONS = { b'\x01896630E88000\x00\x00\x00\x00', b'\x01896630EA0000\x00\x00\x00\x00', ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], (Ecu.eps, 0x7a1, None): [ b'8965B48140\x00\x00\x00\x00\x00\x00', b'8965B48150\x00\x00\x00\x00\x00\x00', + b'8965B48160\x00\x00\x00\x00\x00\x00', b'8965B48210\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F15260E011\x00\x00\x00\x00\x00\x00', + b'F152648541\x00\x00\x00\x00\x00\x00', + b'F152648542\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ b'881510E01100\x00\x00\x00\x00', @@ -635,29 +644,6 @@ FW_VERSIONS = { b'8646F0E01300\x00\x00\x00\x00', ], }, - CAR.HIGHLANDERH: { - (Ecu.eps, 0x7a1, None): [ - b'8965B48160\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152648541\x00\x00\x00\x00\x00\x00', - b'F152648542\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0E01200\x00\x00\x00\x00', - b'8646F0E01300\x00\x00\x00\x00', - ], - }, CAR.HIGHLANDER_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B48241\x00\x00\x00\x00\x00\x00', @@ -1273,39 +1259,24 @@ FW_VERSIONS = { }, CAR.LEXUS_ES: { (Ecu.engine, 0x7e0, None): [ + b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152606202\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881513309500\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B33502\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4701200\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F3302200\x00\x00\x00\x00', - ], - }, - CAR.LEXUS_ESH: { - (Ecu.engine, 0x7e0, None): [ - b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ b'F152633171\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ + b'881513309500\x00\x00\x00\x00', b'881513310400\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ + b'8965B33502\x00\x00\x00\x00\x00\x00', b'8965B33512\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F4701100\x00\x00\x00\x00', + b'8821F4701200\x00\x00\x00\x00', b'8821F4701300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ @@ -1463,43 +1434,6 @@ FW_VERSIONS = { b'\x018966348W1300\x00\x00\x00\x00', b'\x018966348W2300\x00\x00\x00\x00', ], - (Ecu.abs, 0x7b0, None): [ - b'F152648472\x00\x00\x00\x00\x00\x00', - b'F152648473\x00\x00\x00\x00\x00\x00', - b'F152648474\x00\x00\x00\x00\x00\x00', - b'F152648492\x00\x00\x00\x00\x00\x00', - b'F152648493\x00\x00\x00\x00\x00\x00', - b'F152648494\x00\x00\x00\x00\x00\x00', - b'F152648630\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514810300\x00\x00\x00\x00', - b'881514810500\x00\x00\x00\x00', - b'881514810700\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B0E011\x00\x00\x00\x00\x00\x00', - b'8965B0E012\x00\x00\x00\x00\x00\x00', - b'8965B48102\x00\x00\x00\x00\x00\x00', - b'8965B48111\x00\x00\x00\x00\x00\x00', - b'8965B48112\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4701000\x00\x00\x00\x00', - b'8821F4701100\x00\x00\x00\x00', - b'8821F4701200\x00\x00\x00\x00', - b'8821F4701300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4801100\x00\x00\x00\x00', - b'8646F4801200\x00\x00\x00\x00', - b'8646F4802001\x00\x00\x00\x00', - b'8646F4802100\x00\x00\x00\x00', - b'8646F4802200\x00\x00\x00\x00', - b'8646F4809000\x00\x00\x00\x00', - ], - }, - CAR.LEXUS_RXH: { (Ecu.engine, 0x7e0, None): [ b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1513,13 +1447,23 @@ FW_VERSIONS = { ], (Ecu.abs, 0x7b0, None): [ b'F152648361\x00\x00\x00\x00\x00\x00', + b'F152648472\x00\x00\x00\x00\x00\x00', + b'F152648473\x00\x00\x00\x00\x00\x00', + b'F152648474\x00\x00\x00\x00\x00\x00', + b'F152648492\x00\x00\x00\x00\x00\x00', + b'F152648493\x00\x00\x00\x00\x00\x00', + b'F152648494\x00\x00\x00\x00\x00\x00', b'F152648501\x00\x00\x00\x00\x00\x00', b'F152648502\x00\x00\x00\x00\x00\x00', b'F152648504\x00\x00\x00\x00\x00\x00', + b'F152648630\x00\x00\x00\x00\x00\x00', b'F152648740\x00\x00\x00\x00\x00\x00', b'F152648A30\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ + b'881514810300\x00\x00\x00\x00', + b'881514810500\x00\x00\x00\x00', + b'881514810700\x00\x00\x00\x00', b'881514811300\x00\x00\x00\x00', b'881514811500\x00\x00\x00\x00', b'881514811700\x00\x00\x00\x00', @@ -1538,6 +1482,7 @@ FW_VERSIONS = { b'8821F4701300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4801100\x00\x00\x00\x00', b'8646F4801200\x00\x00\x00\x00', b'8646F4802001\x00\x00\x00\x00', b'8646F4802100\x00\x00\x00\x00', diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index b5151f4cda..90b2b760fe 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2): + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end @@ -98,7 +98,8 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): + # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU stop_and_go = True ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 @@ -141,9 +142,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG - elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2): - if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2): ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized ret.tireStiffnessFactor = 0.444 # not optimized yet diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index f4bf18dc5b..d9d4fe087f 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -50,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase): class TestToyotaFingerprint(unittest.TestCase): + def test_non_essential_ecus(self): + # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model.value): + engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine} + self.assertEqual(len(engine_ecus) > 1, + car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine], + f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list") + # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy # fingerprint in the absence of full FW matches: @settings(max_examples=100) @@ -144,7 +153,7 @@ class TestToyotaFingerprint(unittest.TestCase): self.assertEqual(list(matches)[0], platform) else: # If a platform has multiple matches, add it and its matches - platforms_with_shared_codes |= {platform, *matches} + platforms_with_shared_codes |= {str(platform), *matches} self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b3b6fd7377..a16864cce8 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -62,7 +62,6 @@ class CAR(StrEnum): COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" HIGHLANDER = "TOYOTA HIGHLANDER 2017" HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" - HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" PRIUS = "TOYOTA PRIUS 2017" PRIUS_V = "TOYOTA PRIUS v 2017" PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" @@ -77,7 +76,6 @@ class CAR(StrEnum): # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" LEXUS_ES = "LEXUS ES 2018" - LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_IS = "LEXUS IS 2018" LEXUS_IS_TSS2 = "LEXUS IS 2023" @@ -85,7 +83,6 @@ class CAR(StrEnum): LEXUS_NX_TSS2 = "LEXUS NX 2020" LEXUS_RC = "LEXUS RC 2020" LEXUS_RX = "LEXUS RX 2016" - LEXUS_RXH = "LEXUS RX HYBRID 2017" LEXUS_RX_TSS2 = "LEXUS RX 2020" LEXUS_GS_F = "LEXUS GS F 2016" @@ -147,12 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], - CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + CAR.HIGHLANDER: [ + ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), + ], CAR.HIGHLANDER_TSS2: [ ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ], - CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.PRIUS: [ ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), @@ -188,8 +187,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + CAR.LEXUS_ES: [ + ToyotaCarInfo("Lexus ES 2017-18"), + ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + ], CAR.LEXUS_ES_TSS2: [ ToyotaCarInfo("Lexus ES 2019-24"), ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), @@ -209,8 +210,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), - ], - CAR.LEXUS_RXH: [ + # Hybrid platforms ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], @@ -222,33 +222,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ - (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), + (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), + (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), - (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), - (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), - (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), - (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), - (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, + (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), - (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), + (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), - (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), - (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'), + (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] @@ -395,8 +394,8 @@ FW_QUERY_CONFIG = FwQueryConfig( # FIXME: On some models, abs can sometimes be missing Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], # On some models, the engine can show on two different addresses - Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC, - CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2], + Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, + CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], }, extra_ecus=[ # All known ECUs on a late-model Toyota vehicle not queried here: @@ -444,7 +443,6 @@ DBC = { CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), @@ -452,7 +450,6 @@ DBC = { CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -462,7 +459,6 @@ DBC = { CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -495,4 +491,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA} From c4362bd958d1473b97ae336fd0e9bd7b50fe4fb9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 20:04:08 -0800 Subject: [PATCH 062/205] bootlog doesn't block startup (#31061) * bootlog doesn't block startup * keep params * fix * cleanup --- selfdrive/manager/helpers.py | 19 +++++++++++++++++++ selfdrive/manager/manager.py | 6 ++---- system/hardware/hw.h | 4 ++-- 3 files changed, 23 insertions(+), 6 deletions(-) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index f8607fffc6..ba529910e5 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -3,7 +3,13 @@ import sys import fcntl import errno import signal +import shutil +import subprocess +import tempfile +import threading +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params def unblock_stdout() -> None: # get a non-blocking stdout @@ -41,3 +47,16 @@ def unblock_stdout() -> None: def write_onroad_params(started, params): params.put_bool("IsOnroad", started) params.put_bool("IsOffroad", not started) + + +def save_bootlog(): + # copy current params + tmp = tempfile.mkdtemp() + shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True) + + env = os.environ.copy() + env['PARAMS_ROOT'] = tmp + + t = threading.Thread(target=subprocess.call, args=("./bootlog", ), kwargs={'cwd': os.path.join(BASEDIR, "system/loggerd"), 'env': env}) + t.daemon = True + t.start() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 8b9bba4a47..2bc14945fe 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -2,7 +2,6 @@ import datetime import os import signal -import subprocess import sys import traceback from typing import List, Tuple, Union @@ -10,12 +9,11 @@ from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging import openpilot.selfdrive.sentry as sentry -from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE, PC -from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.selfdrive.manager.process import ensure_running from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID @@ -31,7 +29,7 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) + save_bootlog() params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 2f6ccfffda..013a885a81 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -30,13 +30,13 @@ namespace Path { } inline std::string params() { - return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params"; + return util::getenv("PARAMS_ROOT", Hardware::PC ? (Path::comma_home() + "/params") : "/data/params"); } inline std::string rsa_file() { return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; } - + inline std::string swaglog_ipc() { return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); } From e2df83089fe0050d41ef3d7f9241c75b14cba134 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Thu, 18 Jan 2024 20:12:04 -0800 Subject: [PATCH 063/205] fix param path --- system/hardware/hw.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 013a885a81..394807ccb5 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -30,7 +30,7 @@ namespace Path { } inline std::string params() { - return util::getenv("PARAMS_ROOT", Hardware::PC ? (Path::comma_home() + "/params") : "/data/params"); + return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params"); } inline std::string rsa_file() { From ce947ffe9a1f31190b89b83e2266bf2a78f2d798 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 20:45:41 -0800 Subject: [PATCH 064/205] manager: merge prepare and init --- selfdrive/manager/manager.py | 14 ++------------ 1 file changed, 2 insertions(+), 12 deletions(-) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 2bc14945fe..13b03c4dce 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -105,8 +105,7 @@ def manager_init() -> None: dirty=is_dirty(), device=HARDWARE.get_device_type()) - -def manager_prepare() -> None: + # preimport all processes for p in managed_processes.values(): p.prepare() @@ -186,17 +185,8 @@ def manager_thread() -> None: def main() -> None: - prepare_only = os.getenv("PREPAREONLY") is not None - manager_init() - - # Start UI early so prepare can happen in the background - if not prepare_only: - managed_processes['ui'].start() - - manager_prepare() - - if prepare_only: + if os.getenv("PREPAREONLY") is not None: return # SystemExit on sigterm From e3b17d10f35d6b2107d501c4e5d6b748f23b8900 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 21:02:18 -0800 Subject: [PATCH 065/205] speedup prebuilt check (#31065) * speedup prebuilt check * one place --- launch_chffrplus.sh | 9 +++++++-- selfdrive/manager/build.py | 3 +-- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index a91bd677aa..8ebf3a53f2 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -72,14 +72,19 @@ function launch { export PYTHONPATH="$PWD" # hardware specific init - agnos_init + if [ -f /AGNOS ]; then + agnos_init + fi # write tmux scrollback to a file tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager cd selfdrive/manager - ./build.py && ./manager.py + if [ ! -f $DIR/prebuilt ]; then + ./build.py + fi + ./manager.py # if broken, keep on screen error while true; do sleep 1; done diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 836723e5a8..f2758cf32b 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -17,7 +17,6 @@ CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 -PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: env = os.environ.copy() @@ -85,7 +84,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: f.unlink() -if __name__ == "__main__" and not PREBUILT: +if __name__ == "__main__": spinner = Spinner() spinner.update_progress(0, 100) build(spinner, is_dirty(), minimal = AGNOS) From 7a6463b2b4f8737101c8d78d5622f55f25d7c1b2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 21:05:57 -0800 Subject: [PATCH 066/205] remove early RTC time pull (#31066) --- launch_chffrplus.sh | 3 --- 1 file changed, 3 deletions(-) diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 8ebf3a53f2..9271c15436 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -30,9 +30,6 @@ function launch { # Remove orphaned git lock if it exists on boot [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock - # Pull time from panda - $DIR/selfdrive/boardd/set_time.py - # Check to see if there's a valid overlay-based update available. Conditions # are as follows: # From b4ebba384b0d5e884f99a56caa8de92675cbd60f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jan 2024 22:09:55 -0800 Subject: [PATCH 067/205] cleanup startup params (#31068) --- Jenkinsfile | 1 + selfdrive/manager/helpers.py | 10 ++++++---- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0ae5f5076d..4b0fe6a845 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -35,6 +35,7 @@ source ~/.bash_profile if [ -f /TICI ]; then source /etc/profile + rm -rf /tmp/tmp* rm -rf ~/.commacache if ! systemctl is-active --quiet systemd-resolved; then diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index ba529910e5..1b6f8df1ef 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -54,9 +54,11 @@ def save_bootlog(): tmp = tempfile.mkdtemp() shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True) - env = os.environ.copy() - env['PARAMS_ROOT'] = tmp - - t = threading.Thread(target=subprocess.call, args=("./bootlog", ), kwargs={'cwd': os.path.join(BASEDIR, "system/loggerd"), 'env': env}) + def fn(tmpdir): + env = os.environ.copy() + env['PARAMS_ROOT'] = tmpdir + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env) + shutil.rmtree(tmpdir) + t = threading.Thread(target=fn, args=(tmp, )) t.daemon = True t.start() From 35ed8a0886d8badf05f72edc597a536e1b03d08c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 01:13:19 -0500 Subject: [PATCH 068/205] CI: use namespace.io (#31064) * namespace * mkdir * fix * restore only * restore * v3 * disable provenance --- .../workflows/auto-cache-restore/action.yaml | 34 +++++++++++++++++++ .../workflows/compile-openpilot/action.yaml | 8 +---- .github/workflows/selfdrive_tests.yaml | 17 +++++----- .../workflows/setup-with-retry/action.yaml | 7 ---- .github/workflows/setup/action.yaml | 25 +++----------- .github/workflows/tools_tests.yaml | 2 +- selfdrive/test/docker_build.sh | 2 +- 7 files changed, 50 insertions(+), 45 deletions(-) create mode 100644 .github/workflows/auto-cache-restore/action.yaml diff --git a/.github/workflows/auto-cache-restore/action.yaml b/.github/workflows/auto-cache-restore/action.yaml new file mode 100644 index 0000000000..0aab3b3eef --- /dev/null +++ b/.github/workflows/auto-cache-restore/action.yaml @@ -0,0 +1,34 @@ +name: 'automatically cache based on current runner' + +inputs: + path: + description: 'path to cache' + required: true + key: + description: 'key' + required: true + restore-keys: + description: 'restore-keys' + required: true + +runs: + using: "composite" + steps: + - name: setup namespace cache + if: ${{ contains(runner.name, 'nsc') }} + uses: namespacelabs/nscloud-cache-action@v1 + with: + path: ${{ inputs.path }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') }} + uses: actions/cache/restore@v3 + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + run: mkdir -p ${{ inputs.path }} diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml index 8775c96262..2945b67d2e 100644 --- a/.github/workflows/compile-openpilot/action.yaml +++ b/.github/workflows/compile-openpilot/action.yaml @@ -1,11 +1,5 @@ name: 'compile openpilot' -inputs: - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons' - runs: using: "composite" steps: @@ -24,4 +18,4 @@ runs: if: github.ref == 'refs/heads/master' with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b9e80e9f74..dfd3570d4f 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -75,7 +75,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -83,18 +83,15 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache - with: - cache_key_prefix: scons_${{ matrix.arch }} docker_push: name: docker push strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 @@ -133,7 +130,9 @@ jobs: static_analysis: name: static analysis - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -165,7 +164,7 @@ jobs: name: unit tests runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -181,7 +180,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - $PYTEST --timeout 40 -m 'not slow' && \ + $PYTEST --timeout 40 -m 'not slow' -n $(nproc) && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py" @@ -196,7 +195,7 @@ jobs: name: process replay runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index e0da746b44..369ac45c9a 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: false default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons_x86_64' sleep_time: description: 'Time to sleep between retries' required: false @@ -22,7 +18,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash @@ -33,7 +28,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash @@ -43,5 +37,4 @@ runs: uses: ./.github/workflows/setup with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 8bb1ccc376..ec1626c01b 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: true default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: true - default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' required: false @@ -47,19 +43,14 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - id: restore-scons-cache - uses: actions/cache/restore@v3 + - id: scons-cache + uses: ./.github/workflows/auto-cache-restore with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}- - ${{ inputs.cache_key_prefix }}- - # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps - - id: scons-cache-setup - shell: bash - if: steps.restore-scons-cache.outputs.cache-hit != 'true' - run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache + scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }} # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - id: normalize-file-permissions shell: bash @@ -67,12 +58,6 @@ runs: run: | find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - - id: setup-buildx-action - if: contains(runner.name, 'buildjet') - name: Set up Docker Buildx on buildjet to ensure a consistent cache - uses: docker/setup-buildx-action@v2 - with: - driver: docker-container # build our docker image - shell: bash run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index f549ece1b1..5cecfb7e4e 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -81,7 +81,7 @@ jobs: - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ - cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/ + cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/ devcontainer up --workspace-folder . - name: Test environment run: | diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index bd8c34c472..5f77ceb10d 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,7 +17,7 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -DOCKER_BUILDKIT=1 docker buildx build --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG From dfb56abf9180e20fc30c8857229d69761c3e0f71 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 01:40:28 -0500 Subject: [PATCH 069/205] silence xvfb (#31069) silence --- selfdrive/test/setup_xvfb.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh index 2c79adec4a..79110fc4fb 100755 --- a/selfdrive/test/setup_xvfb.sh +++ b/selfdrive/test/setup_xvfb.sh @@ -5,7 +5,7 @@ DISP_ID=99 export DISPLAY=:$DISP_ID -sudo Xvfb $DISPLAY -screen 0 2160x1080x24 & +sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null & # check for x11 socket for the specified display ID while [ ! -S /tmp/.X11-unix/X$DISP_ID ] From a6695e4489f8aaeccd246dba8aa5107393cf6565 Mon Sep 17 00:00:00 2001 From: ugtthis <142481257+ugtthis@users.noreply.github.com> Date: Fri, 19 Jan 2024 10:38:11 -0800 Subject: [PATCH 070/205] UI/close_btn: Removed unused border code (#31073) --- selfdrive/ui/qt/offroad/settings.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 669de5eae9..eec9fede08 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -356,7 +356,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton { font-size: 140px; padding-bottom: 20px; - border 1px grey solid; border-radius: 100px; background-color: #292929; font-weight: 400; From f3689ef56108e4eafd00f17086e1f462451edefd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 19 Jan 2024 10:44:46 -0800 Subject: [PATCH 071/205] remove old ref to manager_prepare --- selfdrive/manager/test/test_manager.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 0fa186baff..e97c4d14d7 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -53,7 +53,6 @@ class TestManager(unittest.TestCase): """ HARDWARE.set_power_save(False) manager.manager_init() - manager.manager_prepare() CP = car.CarParams.new_message() procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) From 16cd20f4eb87acb1559b3d8e710b750b7eb0c2cc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 19 Jan 2024 11:51:58 -0800 Subject: [PATCH 072/205] don't block startup on time (#31074) * don't block startup on time * cleanup * unused --- selfdrive/thermald/thermald.py | 7 ------- 1 file changed, 7 deletions(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 96cf0f49f8..605cf51089 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import datetime import os import json import queue @@ -15,7 +14,6 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.dict_helpers import strip_deprecated_keys -from openpilot.common.time import MIN_DATE from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_TRML @@ -293,11 +291,6 @@ def thermald_thread(end_event, hw_queue) -> None: # **** starting logic **** - # Ensure date/time are valid - now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = now > MIN_DATE - set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present) - startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version From bbbe94bc3efd9a6de32f4d806a025a734e215a6f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 15:43:47 -0500 Subject: [PATCH 073/205] CI: auto-cache add option to save cache (#31076) * save cache option * inputs --- .../{auto-cache-restore => auto-cache}/action.yaml | 13 ++++++++++++- .github/workflows/setup/action.yaml | 2 +- 2 files changed, 13 insertions(+), 2 deletions(-) rename .github/workflows/{auto-cache-restore => auto-cache}/action.yaml (71%) diff --git a/.github/workflows/auto-cache-restore/action.yaml b/.github/workflows/auto-cache/action.yaml similarity index 71% rename from .github/workflows/auto-cache-restore/action.yaml rename to .github/workflows/auto-cache/action.yaml index 0aab3b3eef..523ce9fe8f 100644 --- a/.github/workflows/auto-cache-restore/action.yaml +++ b/.github/workflows/auto-cache/action.yaml @@ -10,6 +10,10 @@ inputs: restore-keys: description: 'restore-keys' required: true + save: + description: 'whether to save the cache' + default: 'false' + required: false runs: using: "composite" @@ -20,7 +24,7 @@ runs: with: path: ${{ inputs.path }} - - name: setup github cache + - name: restore github cache if: ${{ !contains(runner.name, 'nsc') }} uses: actions/cache/restore@v3 with: @@ -32,3 +36,10 @@ runs: - id: scons-cache-setup shell: bash run: mkdir -p ${{ inputs.path }} + + - name: save github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }} + uses: actions/cache/save@v3 + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index ec1626c01b..970d62030d 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -44,7 +44,7 @@ runs: - shell: bash run: echo "$CACHE_COMMIT_DATE" - id: scons-cache - uses: ./.github/workflows/auto-cache-restore + uses: ./.github/workflows/auto-cache with: path: .ci_cache/scons_cache key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} From f0f7e86dcc1c1a5ab3fbf68854e6f609691eda25 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Fri, 19 Jan 2024 16:06:02 -0500 Subject: [PATCH 074/205] Enable cache for pre-commit (#31071) * enable cache * test cache * commai cache * remove id * only save on master --------- Co-authored-by: Justin Newberry --- .github/workflows/selfdrive_tests.yaml | 8 +++++--- .github/workflows/setup-pre-commit/action.yaml | 12 ++++++++++++ 2 files changed, 17 insertions(+), 3 deletions(-) create mode 100644 .github/workflows/setup-pre-commit/action.yaml diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index dfd3570d4f..c8864bd663 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -20,7 +20,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c BUILD_CL: selfdrive/test/docker_build.sh cl @@ -42,6 +42,7 @@ jobs: - name: Build devel timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh + - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' @@ -66,7 +67,7 @@ jobs: cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all" + ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit" build: strategy: @@ -137,10 +138,11 @@ jobs: - uses: actions/checkout@v4 with: submodules: true + - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: pre-commit timeout-minutes: 4 - run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" + run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" valgrind: name: valgrind diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml new file mode 100644 index 0000000000..1b3e16e73f --- /dev/null +++ b/.github/workflows/setup-pre-commit/action.yaml @@ -0,0 +1,12 @@ +name: 'set up pre-commit environment' + +runs: + using: "composite" + steps: + - uses: ./.github/workflows/auto-cache + with: + path: .ci_cache/pre-commit + key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }} + restore-keys: | + pre-commit- + save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }} From 8a26b4383f6dfa6a1fca7d4db5bfcc0d4b06deda Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 19 Jan 2024 13:19:41 -0800 Subject: [PATCH 075/205] bump that up --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index c8864bd663..f58a861235 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -182,7 +182,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - $PYTEST --timeout 40 -m 'not slow' -n $(nproc) && \ + $PYTEST --timeout 60 -m 'not slow' -n $(nproc) && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py" From c907dd9e7026d0ed5f7ab765b035714c341361cb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 16:25:41 -0500 Subject: [PATCH 076/205] CI: fix post run cache (#31078) * post cache only * fix * newline * really github??? --- .github/workflows/auto-cache/action.yaml | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml index 523ce9fe8f..ec929d3de2 100644 --- a/.github/workflows/auto-cache/action.yaml +++ b/.github/workflows/auto-cache/action.yaml @@ -24,9 +24,17 @@ runs: with: path: ${{ inputs.path }} - - name: restore github cache - if: ${{ !contains(runner.name, 'nsc') }} - uses: actions/cache/restore@v3 + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }} + uses: 'actions/cache@v3' + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }} + uses: 'actions/cache/restore@v3' with: path: ${{ inputs.path }} key: ${{ inputs.key }} @@ -36,10 +44,3 @@ runs: - id: scons-cache-setup shell: bash run: mkdir -p ${{ inputs.path }} - - - name: save github cache - if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }} - uses: actions/cache/save@v3 - with: - path: ${{ inputs.path }} - key: ${{ inputs.key }} From 28028aef174ddce0f1c8317f7fe2bc055db0b295 Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Fri, 19 Jan 2024 23:28:29 +0200 Subject: [PATCH 077/205] Support for newer versions of Qt (#31072) * Dynamic QtGui version * Fixed use of undeclared identifier 'va_start' * Fix for Qt deprecations * Fix for dynamic QtGui version * Update selfdrive/ui/SConscript --------- Co-authored-by: Adeeb Shihadeh --- SConstruct | 5 ++++- common/swaglog.cc | 1 + selfdrive/ui/SConscript | 3 +++ 3 files changed, 8 insertions(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index 11b95702c3..a95a77817b 100644 --- a/SConstruct +++ b/SConstruct @@ -297,8 +297,11 @@ else: qt_env['QTDIR'] = qt_install_prefix qt_dirs = [ f"{qt_install_headers}", - f"{qt_install_headers}/QtGui/5.12.8/QtGui", ] + + qt_gui_path = os.path.join(qt_install_headers, "QtGui") + qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))] + qt_dirs += f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui" if qt_gui_dirs else [] qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] qt_libs = [f"Qt5{m}" for m in qt_modules] diff --git a/common/swaglog.cc b/common/swaglog.cc index c22571dc9f..873836b725 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -10,6 +10,7 @@ #include #include +#include #include "third_party/json11/json11.hpp" #include "common/version.h" #include "system/hardware/hw.h" diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 7b570b93f8..03006e3b49 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -19,6 +19,9 @@ if arch == "Darwin": del base_libs[base_libs.index('OpenCL')] qt_env['FRAMEWORKS'] += ['OpenCL'] +# FIXME: remove this once we're on 5.15 (24.04) +qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", From 574fd03208013eda46fa9bbfef9a6ed0eb44f803 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Fri, 19 Jan 2024 13:45:06 -0800 Subject: [PATCH 078/205] fix tici build --- SConstruct | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index a95a77817b..3faa978087 100644 --- a/SConstruct +++ b/SConstruct @@ -301,7 +301,7 @@ else: qt_gui_path = os.path.join(qt_install_headers, "QtGui") qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))] - qt_dirs += f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui" if qt_gui_dirs else [] + qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else [] qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] qt_libs = [f"Qt5{m}" for m in qt_modules] From 18467c8383dbfbd08cfc3bd6534dce068991c9aa Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 16:57:10 -0500 Subject: [PATCH 079/205] fix cache permissions (#31084) * fix cache permissions * chown --- .github/workflows/auto-cache/action.yaml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml index ec929d3de2..173803f7f0 100644 --- a/.github/workflows/auto-cache/action.yaml +++ b/.github/workflows/auto-cache/action.yaml @@ -43,4 +43,7 @@ runs: # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps - id: scons-cache-setup shell: bash - run: mkdir -p ${{ inputs.path }} + run: | + mkdir -p ${{ inputs.path }} + sudo chmod -R 777 ${{ inputs.path }} + sudo chown -R $USER ${{ inputs.path }} \ No newline at end of file From 7cd9568423a2e78187d16018b70a78f56c02027d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 19 Jan 2024 14:05:03 -0800 Subject: [PATCH 080/205] remove dashcam branch (#31081) * remove dashcam branch * fix * more cleanup * remove param * one more --- Jenkinsfile | 4 ++-- common/params.cc | 1 - launch_env.sh | 4 ---- launch_openpilot.sh | 2 -- release/build_release.sh | 7 ------- release/verify.sh | 2 +- scripts/build_small.sh | 2 +- selfdrive/controls/controlsd.py | 3 +-- selfdrive/controls/tests/test_startup.py | 1 - selfdrive/manager/manager.py | 7 ------- selfdrive/manager/test/test_manager.py | 1 - selfdrive/test/helpers.py | 2 -- selfdrive/test/process_replay/process_replay.py | 1 - selfdrive/thermald/thermald.py | 3 +-- selfdrive/ui/SConscript | 14 ++++---------- selfdrive/ui/installer/continue_dashcam.sh | 4 ---- selfdrive/ui/installer/installer.cc | 4 ++-- selfdrive/ui/qt/offroad/onboarding.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 16 +++++++--------- selfdrive/ui/qt/setup/setup.cc | 6 +++--- selfdrive/ui/qt/util.cc | 2 +- selfdrive/ui/translations/main_ar.ts | 4 ---- selfdrive/ui/translations/main_de.ts | 4 ---- selfdrive/ui/translations/main_fr.ts | 4 ---- selfdrive/ui/translations/main_ja.ts | 4 ---- selfdrive/ui/translations/main_ko.ts | 4 ---- selfdrive/ui/translations/main_pt-BR.ts | 4 ---- selfdrive/ui/translations/main_th.ts | 4 ---- selfdrive/ui/translations/main_tr.ts | 4 ---- selfdrive/ui/translations/main_zh-CHS.ts | 4 ---- selfdrive/ui/translations/main_zh-CHT.ts | 4 ---- selfdrive/updated.py | 2 +- system/loggerd/logger.cc | 2 +- system/version.py | 2 +- tools/webcam/README.md | 2 +- 35 files changed, 28 insertions(+), 108 deletions(-) delete mode 100755 selfdrive/ui/installer/continue_dashcam.sh diff --git a/Jenkinsfile b/Jenkinsfile index 4b0fe6a845..1d724721d0 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -168,7 +168,7 @@ node { env.GIT_COMMIT = checkout(scm).GIT_COMMIT def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging', - 'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*'] + 'testing-closet*', 'hotfix-*'] def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') if (env.BRANCH_NAME != 'master') { @@ -180,7 +180,7 @@ node { try { if (env.BRANCH_NAME == 'devel-staging') { deviceStage("build release3-staging", "tici-needs-can", [], [ - ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], + ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"], ]) } diff --git a/common/params.cc b/common/params.cc index 639de5322b..386813efdd 100644 --- a/common/params.cc +++ b/common/params.cc @@ -182,7 +182,6 @@ std::unordered_map keys = { {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, - {"Passive", PERSISTENT}, {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet diff --git a/launch_env.sh b/launch_env.sh index dd8f431c63..c16f061912 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -10,8 +10,4 @@ if [ -z "$AGNOS_VERSION" ]; then export AGNOS_VERSION="9.1" fi -if [ -z "$PASSIVE" ]; then - export PASSIVE="1" -fi - export STAGING_ROOT="/data/safe_staging" diff --git a/launch_openpilot.sh b/launch_openpilot.sh index 1525e1715f..2888814c22 100755 --- a/launch_openpilot.sh +++ b/launch_openpilot.sh @@ -1,5 +1,3 @@ #!/usr/bin/bash -export PASSIVE="0" exec ./launch_chffrplus.sh - diff --git a/release/build_release.sh b/release/build_release.sh index b713876cd6..fc15cf6cdf 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -102,11 +102,4 @@ if [ ! -z "$RELEASE_BRANCH" ]; then git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH fi -if [ ! -z "$DASHCAM_BRANCH" ]; then - # Create dashcam - git rm selfdrive/car/*/carcontroller.py - git commit -m "create dashcam release from release" - git push -f origin $RELEASE_BRANCH:$DASHCAM_BRANCH -fi - echo "[-] done T=$SECONDS" diff --git a/release/verify.sh b/release/verify.sh index 56f21183f1..ec5266bd81 100755 --- a/release/verify.sh +++ b/release/verify.sh @@ -6,7 +6,7 @@ RED="\033[0;31m" GREEN="\033[0;32m" CLEAR="\033[0m" -BRANCHES="devel dashcam3 release3" +BRANCHES="devel release3" for b in $BRANCHES; do if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then printf "%-10s $GREEN ok $CLEAR\n" "$b" diff --git a/scripts/build_small.sh b/scripts/build_small.sh index d53c7a6c78..90f55373e2 100755 --- a/scripts/build_small.sh +++ b/scripts/build_small.sh @@ -26,7 +26,7 @@ cd $OUT git tag -l | xargs git tag -d # remove non-master branches -BRANCHES="release2 dashcam dashcam3 release3 devel master-ci nightly" +BRANCHES="release2 release3 devel master-ci nightly" for branch in $BRANCHES; do git branch -D $branch git branch -D ${branch}-staging || true diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 78bcf8a9b0..a25b23469f 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -105,14 +105,13 @@ class Controls: self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() car_recognized = self.CP.carName != 'mock' - controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly if self.CP.passive: safety_config = car.CarParams.SafetyConfig.new_message() diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index a93152e84e..02c0f486fe 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -69,7 +69,6 @@ class TestStartup(unittest.TestCase): pm = messaging.PubMaster(['can', 'pandaStates']) params = Params() - params.put_bool("Passive", False) params.put_bool("OpenpilotEnabledToggle", True) # Build capnn version of FW array diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 13b03c4dce..5c0d5518be 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -58,13 +58,6 @@ def manager_init() -> None: if params.get(k) is None: params.put(k, v) - # is this dashcam? - if os.getenv("PASSIVE") is not None: - params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) - - if params.get("Passive") is None: - raise Exception("Passive must be set to continue") - # Create folders needed for msgq try: os.mkdir("/dev/shm") diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index e97c4d14d7..9dc8bf1cda 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -21,7 +21,6 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] @pytest.mark.tici class TestManager(unittest.TestCase): def setUp(self): - os.environ['PASSIVE'] = '0' HARDWARE.set_power_save(False) # ensure clean CarParams diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 693604442d..af6390d749 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -12,7 +12,6 @@ from openpilot.tools.lib.logreader import LogIterable def set_params_enabled(): - os.environ['PASSIVE'] = "0" os.environ['REPLAY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['LOGPRINT'] = "debug" @@ -21,7 +20,6 @@ def set_params_enabled(): params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("Passive", False) # valid calib msg = messaging.new_message('liveCalibration') diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 19f1c127a6..b95c75ddf7 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -725,7 +725,6 @@ def _replay_multi_process( def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]: params_dict = { "OpenpilotEnabledToggle": True, - "Passive": False, "DisengageOnAccelerator": True, "DisableLogging": False, } diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 605cf51089..ab30b1579f 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -297,8 +297,7 @@ def thermald_thread(end_event, hw_queue) -> None: # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 - startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \ - params.get_bool("Passive") + startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 03006e3b49..a3cba124fe 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -101,23 +101,17 @@ if GetOption('extras') and arch != "Darwin": senv['LINKFLAGS'].append('-Wl,-strip-debug') release = "release3" - dashcam = "dashcam3" installers = [ ("openpilot", release), ("openpilot_test", f"{release}-staging"), ("openpilot_nightly", "nightly"), ("openpilot_internal", "master"), - ("dashcam", dashcam), - ("dashcam_test", f"{dashcam}-staging"), ] - cont = {} - for brand in ("openpilot", "dashcam"): - cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh", - "ld -r -b binary -o $TARGET $SOURCE") + cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh", + "ld -r -b binary -o $TARGET $SOURCE") for name, branch in installers: - brand = "dashcam" if "dashcam" in branch else "openpilot" - d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"} + d = {'BRANCH': f"'\"{branch}\"'"} if "internal" in name: d['INTERNAL'] = "1" @@ -126,7 +120,7 @@ if GetOption('extras') and arch != "Darwin": r.raise_for_status() d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"' obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) - f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs) + f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs) # keep installers small assert f[0].get_size() < 350*1e3 diff --git a/selfdrive/ui/installer/continue_dashcam.sh b/selfdrive/ui/installer/continue_dashcam.sh deleted file mode 100755 index 25233fff11..0000000000 --- a/selfdrive/ui/installer/continue_dashcam.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/bash - -cd /data/openpilot -exec ./launch_chffrplus.sh diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 179ce60c63..d43ed37ae8 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -33,8 +33,8 @@ const QString CACHE_PATH = "/data/openpilot.cache"; #define INSTALL_PATH "/data/openpilot" #define TMP_INSTALL_PATH "/data/tmppilot" -extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_start"); -extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_end"); +extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start"); +extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end"); bool time_valid() { time_t rawtime; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index c7c22f0ea3..d4fcee55ce 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -183,7 +183,7 @@ void DeclinePage::showEvent(QShowEvent *event) { void OnboardingWindow::updateActiveScreen() { if (!accepted_terms) { setCurrentIndex(0); - } else if (!training_done && !params.getBool("Passive")) { + } else if (!training_done) { setCurrentIndex(1); } else { emit onboardingDone(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index eec9fede08..6d79aeb23d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -215,15 +215,13 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(resetCalibBtn); - if (!params.getBool("Passive")) { - auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); - connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { - emit reviewTrainingGuide(); - } - }); - addItem(retrainingBtn); - } + auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); + connect(retrainingBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { + emit reviewTrainingGuide(); + } + }); + addItem(retrainingBtn); if (Hardware::TICI()) { auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 67f1c136d2..4f2e4f48cb 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -20,7 +20,7 @@ #include "selfdrive/ui/qt/widgets/input.h" const std::string USER_AGENT = "AGNOSSetup-"; -const QString DASHCAM_URL = "https://dashcam.comma.ai"; +const QString TEST_URL = "https://openpilot.comma.ai"; bool is_elf(char *fname) { FILE *fp = fopen(fname, "rb"); @@ -229,11 +229,11 @@ QWidget * Setup::network_setup() { } repaint(); }); - request->sendRequest(DASHCAM_URL); + request->sendRequest(TEST_URL); QTimer *timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, [=]() { if (!request->active() && cont->isVisible()) { - request->sendRequest(DASHCAM_URL); + request->sendRequest(TEST_URL); } }); timer->start(1000); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index c5222b865f..16d31ce304 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -25,7 +25,7 @@ QString getVersion() { } QString getBrand() { - return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); + return QObject::tr("openpilot"); } QString getUserAgent() { diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 2032807630..b7e35d7b6c 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -562,10 +562,6 @@ Exit إغلاق - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 782d65b06f..deab47e2cf 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -557,10 +557,6 @@ Exit Verlassen - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index f3aef3d43c..8cd5a4ea28 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -558,10 +558,6 @@ Exit Quitter - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index ba3ca8faf6..27cd7246d0 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -556,10 +556,6 @@ Exit 閉じる - - dashcam - ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b2b76f3903..725e3c2f7b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -557,10 +557,6 @@ Exit 종료 - - dashcam - 블랙박스 - openpilot openpilot diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index e89a3b1f5a..19e35b2c12 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -558,10 +558,6 @@ Exit Sair - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 0d0bda4abe..01d8a93ca1 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -557,10 +557,6 @@ Exit ปิด - - dashcam - กล้องติดรถยนต์ - openpilot openpilot diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index d14dd518a1..c4e661edfa 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -556,10 +556,6 @@ Exit Çık - - dashcam - araç yol kamerası - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index ef0d78402e..68211b4b32 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -557,10 +557,6 @@ Exit 退出 - - dashcam - 行车记录仪 - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 121bf58f1a..1bdd2d52ea 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -557,10 +557,6 @@ Exit 離開 - - dashcam - 行車記錄器 - openpilot openpilot diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 8a46a11a78..eb2759223b 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -342,7 +342,7 @@ class Updater: def check_for_update(self) -> None: cloudlog.info("checking for updates") - excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + excluded_branches = ('release2', 'release2-staging') try: run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 3af2c50aa1..bc842f4a9a 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -43,7 +43,7 @@ kj::Array logger_build_init_data() { init.setGitCommit(params_map["GitCommit"]); init.setGitBranch(params_map["GitBranch"]); init.setGitRemote(params_map["GitRemote"]); - init.setPassive(params.getBool("Passive")); + init.setPassive(false); init.setDongleId(params_map["DongleId"]); auto lparams = init.initParams().initEntries(params_map.size()); diff --git a/system/version.py b/system/version.py index f9fd2bc847..6bcae5f3fa 100755 --- a/system/version.py +++ b/system/version.py @@ -7,7 +7,7 @@ from functools import lru_cache from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog -RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] +RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] training_version: bytes = b"0.2.0" diff --git a/tools/webcam/README.md b/tools/webcam/README.md index bdf39b8145..709e8514c7 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -33,7 +33,7 @@ USE_WEBCAM=1 scons -j$(nproc) ## GO ``` cd ~/openpilot/selfdrive/manager -PASSIVE=0 NOSENSOR=1 USE_WEBCAM=1 ./manager.py +NOSENSOR=1 USE_WEBCAM=1 ./manager.py ``` - Start the car, then the UI should show the road webcam's view - Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera) From 5c2b7882bf5cddac38b0a323c0d18a91e9d3bc04 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 17:39:08 -0500 Subject: [PATCH 081/205] speedup replay test (#31086) * speedup replay test * better name * comment not required --- tools/replay/tests/test_replay.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index a01e0c2c5b..92510053ef 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -12,6 +12,8 @@ const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3"; +const int TEST_REPLAY_SEGMENTS = std::getenv("TEST_REPLAY_SEGMENTS") ? atoi(std::getenv("TEST_REPLAY_SEGMENTS")) : 1; + bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) { do { if (httpDownload(url, local_file, chunk_size)) { @@ -141,7 +143,7 @@ TEST_CASE("Local route") { Route route(DEMO_ROUTE, QString::fromStdString(data_dir)); REQUIRE(route.load()); REQUIRE(route.segments().size() == 2); - for (int i = 0; i < route.segments().size(); ++i) { + for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) { read_segment(i, route.at(i), flags); } } @@ -151,7 +153,7 @@ TEST_CASE("Remote route") { Route route(DEMO_ROUTE); REQUIRE(route.load()); REQUIRE(route.segments().size() == 13); - for (int i = 0; i < 2; ++i) { + for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) { read_segment(i, route.at(i), flags); } } From dc9ffd2f100891554eaaad10139f233229390d56 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 19 Jan 2024 17:53:52 -0500 Subject: [PATCH 082/205] car tests on namespace (#31080) cars --- .github/workflows/selfdrive_tests.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index f58a861235..080051bdaa 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -307,7 +307,9 @@ jobs: test_cars: name: cars - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} strategy: fail-fast: false matrix: From 332a21965da4060d411fb65286cddc61b555ae48 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 20 Jan 2024 15:24:34 -0800 Subject: [PATCH 083/205] jenkins: cleanup /dev/shm (#31095) --- Jenkinsfile | 1 + 1 file changed, 1 insertion(+) diff --git a/Jenkinsfile b/Jenkinsfile index 1d724721d0..e45bcd16b2 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -37,6 +37,7 @@ if [ -f /TICI ]; then rm -rf /tmp/tmp* rm -rf ~/.commacache + rm -rf /dev/shm/* if ! systemctl is-active --quiet systemd-resolved; then echo "restarting resolved" From e0d0896dcfbab482e10ef90794c746497b359321 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 20 Jan 2024 17:20:21 -0800 Subject: [PATCH 084/205] test_power_draw: check msgs expect first for cleaner error --- system/hardware/tici/tests/test_power_draw.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index c61d67e79d..337bbc9974 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -91,8 +91,8 @@ class TestPowerDraw(unittest.TestCase): msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs)) tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received]) with self.subTest(proc=proc.name): - np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol) np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2) + np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol) print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") From 2c86c023fe2d3072910ed33ff97cd6d3ddf2915d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 21 Jan 2024 12:22:32 -0500 Subject: [PATCH 085/205] sanitizer: sanitize vin number (#31090) --- selfdrive/car/tests/test_models.py | 3 ++- selfdrive/test/helpers.py | 9 --------- tools/lib/logreader.py | 5 +++-- tools/lib/sanitizer.py | 26 ++++++++++++++++++++++++++ 4 files changed, 31 insertions(+), 12 deletions(-) create mode 100644 tools/lib/sanitizer.py diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index cce5979899..a66bd180b4 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,9 +21,10 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls -from openpilot.selfdrive.test.helpers import read_segment_list, sanitize +from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.sanitizer import sanitize from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index af6390d749..a8b7ca0c4d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -8,7 +8,6 @@ from openpilot.common.params import Params from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version -from openpilot.tools.lib.logreader import LogIterable def set_params_enabled(): @@ -78,11 +77,3 @@ def read_segment_list(segment_list_path): seg_list = f.read().splitlines() return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] - - -# Utilities for sanitizing routes of only essential data for testing car ports and doing validation. - -PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"] - -def sanitize(lr: LogIterable) -> LogIterable: - return filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 36d099de50..c7f9f9fae0 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,7 +12,7 @@ import sys import urllib.parse import warnings -from typing import Iterable, Iterator, List +from typing import Iterable, Iterator, List, Type from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -21,7 +21,8 @@ from openpilot.tools.lib.filereader import FileReader, file_exists from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.route import Route, SegmentRange -LogIterable = Iterable[capnp._DynamicStructReader] +LogMessage = Type[capnp._DynamicStructReader] +LogIterable = Iterable[LogMessage] class _LogFileReader: diff --git a/tools/lib/sanitizer.py b/tools/lib/sanitizer.py new file mode 100644 index 0000000000..b4a97a3792 --- /dev/null +++ b/tools/lib/sanitizer.py @@ -0,0 +1,26 @@ +# Utilities for sanitizing routes of only essential data for testing car ports and doing validation. + +from openpilot.tools.lib.logreader import LogIterable, LogMessage + + +def sanitize_vin(vin: str): + # (last 6 digits of vin are serial number https://en.wikipedia.org/wiki/Vehicle_identification_number) + VIN_SENSITIVE = 6 + return vin[:-VIN_SENSITIVE] + "X" * VIN_SENSITIVE + + +def sanitize_msg(msg: LogMessage) -> LogMessage: + if msg.which() == "carParams": + msg = msg.as_builder() + msg.carParams.carVin = sanitize_vin(msg.carParams.carVin) + msg = msg.as_reader() + return msg + + +PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"] + + +def sanitize(lr: LogIterable) -> LogIterable: + filtered = filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr) + sanitized = map(sanitize_msg, filtered) + return sanitized From e6c97c384671b448f307a7ed91416886f2186d80 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 21 Jan 2024 12:09:48 -0800 Subject: [PATCH 086/205] Delete lat planner (#31089) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Initial commit * Fixup * typo * ignore lateral plan * Update cereal * Remove lateralPlan * Fix release build * Fix release build * give car params * Add carParams to include_all_types * Write car param in powerdraw test * add demo mode * Update model regf * proc replay ref commit * Try * Move enum definition * Update cereal * typo * Write car param for modeld test * Update ref * Update model ref again --------- Co-authored-by: Kacper Rączy --- cereal | 2 +- release/files_common | 1 - selfdrive/car/car_helpers.py | 12 +++ selfdrive/car/interfaces.py | 1 - selfdrive/controls/controlsd.py | 37 +++++----- selfdrive/controls/lib/desire_helper.py | 34 ++++----- selfdrive/controls/lib/drive_helpers.py | 20 +++-- selfdrive/controls/lib/events.py | 8 -- selfdrive/controls/lib/lateral_planner.py | 74 ------------------- selfdrive/controls/plannerd.py | 28 ++----- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/locationd/torqued.py | 8 +- selfdrive/modeld/fill_model_msg.py | 14 +++- selfdrive/modeld/modeld | 2 +- selfdrive/modeld/modeld.py | 40 ++++++++-- selfdrive/modeld/tests/test_modeld.py | 4 +- selfdrive/test/process_replay/model_replay.py | 8 +- .../process_replay/model_replay_ref_commit | 2 +- .../test/process_replay/process_replay.py | 9 ++- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/test_onroad.py | 3 +- system/hardware/tici/tests/test_power_draw.py | 2 + tools/latencylogger/README.md | 2 - tools/latencylogger/latency_logger.py | 2 - tools/replay/ui.py | 2 +- tools/tuning/measure_steering_accuracy.py | 16 ++-- 26 files changed, 143 insertions(+), 192 deletions(-) delete mode 100644 selfdrive/controls/lib/lateral_planner.py diff --git a/cereal b/cereal index 20b65eeb1f..c2adb4f7cf 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 20b65eeb1f6c580cdd7d63e53639f4fc48bc2f56 +Subproject commit c2adb4f7cf30e53735ee43cc3a8a3698c5410819 diff --git a/release/files_common b/release/files_common index 71c096716b..4784b369e7 100644 --- a/release/files_common +++ b/release/files_common @@ -142,7 +142,6 @@ selfdrive/controls/lib/latcontrol_angle.py selfdrive/controls/lib/latcontrol_torque.py selfdrive/controls/lib/latcontrol_pid.py selfdrive/controls/lib/latcontrol.py -selfdrive/controls/lib/lateral_planner.py selfdrive/controls/lib/longcontrol.py selfdrive/controls/lib/longitudinal_planner.py selfdrive/controls/lib/pid.py diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index fa68313e86..c1a30094c4 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -207,3 +207,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): CP.fuzzyFingerprint = not exact_match return CarInterface(CP, CarController, CarState), CP + +def write_car_param(fingerprint="mock"): + params = Params() + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + params.put("CarParams", CP.to_bytes()) + +def get_demo_car_params(): + fingerprint="mock" + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + return CP diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 44b198a421..59657c5437 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -125,7 +125,6 @@ class CarInterfaceBase(ABC): @staticmethod def get_steer_feedforward_default(desired_angle, v_ego): # Proportional to realigning tire momentum: lateral acceleration. - # TODO: something with lateralPlan.curvatureRates return desired_angle * (v_ego**2) def get_steer_feedforward_function(self): diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a25b23469f..2aae956090 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -17,8 +17,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_short_branch from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -32,6 +31,7 @@ from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS LANE_DEPARTURE_THRESHOLD = 0.1 +CAMERA_OFFSET = 0.04 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ @@ -41,9 +41,9 @@ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState PandaType = log.PandaState.PandaType -Desire = log.LateralPlan.Desire -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +Desire = log.Desire +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection EventName = car.CarEvent.EventName ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel @@ -77,7 +77,7 @@ class Controls: if SIMULATION: ignore += ['driverCameraState', 'managerState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets + self.sensor_packets, ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ]) @@ -288,8 +288,8 @@ class Controls: self.events.add(EventName.calibrationInvalid) # Handle lane change - if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange: - direction = self.sm['lateralPlan'].laneChangeDirection + if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: + direction = self.sm['modelV2'].meta.laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): self.events.add(EventName.laneChangeBlocked) @@ -298,7 +298,7 @@ class Controls: self.events.add(EventName.preLaneChangeLeft) else: self.events.add(EventName.preLaneChangeRight) - elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting, + elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) @@ -370,8 +370,6 @@ class Controls: self.logged_comm_issue = None if not (self.CP.notCar and self.joystick_mode): - if not self.sm['lateralPlan'].mpcSolutionValid: - self.events.add(EventName.plannerError) if not self.sm['liveLocationKalman'].posenetOK: self.events.add(EventName.posenetInvalid) if not self.sm['liveLocationKalman'].deviceStable: @@ -572,8 +570,8 @@ class Controls: self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) - lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] + model_v2 = self.sm['modelV2'] CC = car.CarControl.new_message() CC.enabled = self.enabled @@ -588,9 +586,9 @@ class Controls: actuators.longControlState = self.LoC.long_control_state # Enable blinkers while lane changing - if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off: - CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left - CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right + if model_v2.meta.laneChangeState != LaneChangeState.off: + CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame @@ -609,11 +607,11 @@ class Controls: actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) # Steering PID loop and lateral MPC - self.desired_curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures) + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) + actuators.curvature = self.desired_curvature actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited, self.desired_curvature, self.sm['liveLocationKalman']) - actuators.curvature = self.desired_curvature else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.rcv_frame['testJoystick'] > 0: @@ -651,7 +649,8 @@ class Controls: if undershooting and turning and good_speed and max_torque: lac_log.active and self.events.add(EventName.steerSaturated) elif lac_log.saturated: - dpath_points = lat_plan.dPathPoints + # TODO probably should not use dpath_points but curvature + dpath_points = model_v2.position.y if len(dpath_points): # Check if we deviated from the path # TODO use desired vs actual curvature @@ -777,7 +776,7 @@ class Controls: controlsState.alertSound = current_alert.audible_alert controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] - controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2'] controlsState.enabled = self.enabled controlsState.active = self.active controlsState.curvature = curvature diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index d538035070..90b6858649 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -2,30 +2,30 @@ from cereal import log from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_MDL -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { LaneChangeDirection.none: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.none, + LaneChangeState.laneChangeFinishing: log.Desire.none, }, LaneChangeDirection.left: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft, }, LaneChangeDirection.right: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight, }, } @@ -38,7 +38,7 @@ class DesireHelper: self.lane_change_ll_prob = 1.0 self.keep_pulse_timer = 0.0 self.prev_one_blinker = False - self.desire = log.LateralPlan.Desire.none + self.desire = log.Desire.none def update(self, carstate, lateral_active, lane_change_prob): v_ego = carstate.vEgo @@ -110,5 +110,5 @@ class DesireHelper: self.keep_pulse_timer += DT_MDL if self.keep_pulse_timer > 1.0: self.keep_pulse_timer = 0.0 - elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): - self.desire = log.LateralPlan.Desire.none + elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight): + self.desire = log.Desire.none diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 9a5d1779fc..961b8069d4 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -3,7 +3,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_MDL +from openpilot.common.realtime import DT_MDL, DT_CTRL from openpilot.selfdrive.modeld.constants import ModelConstants # WARNING: this value was determined based on the model's training distribution, @@ -163,21 +163,27 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures): +def clip_curvature(v_ego, prev_curvature, new_curvature): + v_ego = max(MIN_SPEED, v_ego) + max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 + safe_desired_curvature = clip(new_curvature, + prev_curvature - max_curvature_rate * DT_CTRL, + prev_curvature + max_curvature_rate * DT_CTRL) + return safe_desired_curvature + + +def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures): if len(psis) != CONTROL_N: psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N v_ego = max(MIN_SPEED, v_ego) - # TODO this needs more thought, use .2s extra for now to estimate other delays - delay = CP.steerActuatorDelay + .2 - # MPC can plan to turn the wheel and turn back before t_delay. This means # in high delay cases some corrections never even get commanded. So just use # psi to calculate a simple linearization of desired curvature current_curvature_desired = curvatures[0] - psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis) - average_curvature_desired = psi / (v_ego * delay) + psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis) + average_curvature_desired = psi / (v_ego * steer_delay) desired_curvature = 2 * average_curvature_desired - current_curvature_desired # This is the "desired rate of the setpoint" not an actual desired rate diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 79bead3ac8..7df41927cf 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -912,14 +912,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"), }, - # For planning the trajectory Model Predictive Control (MPC) is used. This is - # an optimization algorithm that is not guaranteed to find a feasible solution. - # If no solution is found or the solution has a very high cost this alert is thrown. - EventName.plannerError: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"), - ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"), - }, - # When the relay in the harness box opens the CAN bus between the LKAS camera # and the rest of the car is separated. When messages from the LKAS camera # are received on the car side this usually means the relay hasn't opened correctly diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py deleted file mode 100644 index 2417eb3c68..0000000000 --- a/selfdrive/controls/lib/lateral_planner.py +++ /dev/null @@ -1,74 +0,0 @@ -import numpy as np -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error -from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -import cereal.messaging as messaging -from cereal import log - -TRAJECTORY_SIZE = 33 -CAMERA_OFFSET = 0.04 - -class LateralPlanner: - def __init__(self, CP, debug=False): - self.DH = DesireHelper() - - # Vehicle model parameters used to calculate lateral movement of car - self.factor1 = CP.wheelbase - CP.centerToFront - self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear) - self.last_cloudlog_t = 0 - self.solution_invalid_cnt = 0 - - self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) - self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3)) - self.v_plan = np.zeros((TRAJECTORY_SIZE,)) - self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32) - self.v_ego = MIN_SPEED - self.l_lane_change_prob = 0.0 - self.r_lane_change_prob = 0.0 - - self.debug_mode = debug - - def update(self, sm): - v_ego_car = sm['carState'].vEgo - - # Parse model predictions - md = sm['modelV2'] - if len(md.position.x) == TRAJECTORY_SIZE and len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE: - self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) - self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z]) - car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) - self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) - self.v_ego = self.v_plan[0] - self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate]) - - # Lane change logic - desire_state = md.meta.desireState - if len(desire_state): - self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] - self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] - lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob - self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) - - def publish(self, sm, pm): - plan_send = messaging.new_message('lateralPlan') - plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - - lateralPlan = plan_send.lateralPlan - lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] - lateralPlan.dPathPoints = self.path_xyz[:,1].tolist() - lateralPlan.psis = self.x_sol[0:CONTROL_N, 2].tolist() - - lateralPlan.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() - lateralPlan.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] # TODO: unused - - lateralPlan.mpcSolutionValid = bool(1) - lateralPlan.solverExecutionTime = 0.0 - if self.debug_mode: - lateralPlan.solverState = log.LateralPlan.SolverState.new_message() - lateralPlan.solverState.x = self.x_sol.tolist() - - lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = False - lateralPlan.laneChangeState = self.DH.lane_change_state - lateralPlan.laneChangeDirection = self.DH.lane_change_direction - - pm.send('lateralPlan', plan_send) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 46d10ef2f5..5ab4894424 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,29 +1,19 @@ #!/usr/bin/env python3 -import os -import numpy as np from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import Priority, config_realtime_process from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging -def cumtrapz(x, t): - return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))]) - -def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): - plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS) - model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS) - +def publish_ui_plan(sm, pm, longitudinal_planner): ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) uiPlan = ui_send.uiPlan uiPlan.frameId = sm['modelV2'].frameId - uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist() - uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist() - uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + uiPlan.position.x = list(sm['modelV2'].position.x) + uiPlan.position.y = list(sm['modelV2'].position.y) + uiPlan.position.z = list(sm['modelV2'].position.z) uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() pm.send('uiPlan', ui_send) @@ -36,12 +26,8 @@ def plannerd_thread(): CP = msg cloudlog.info("plannerd got CarParams: %s", CP.carName) - debug_mode = bool(int(os.getenv("DEBUG", "0"))) - longitudinal_planner = LongitudinalPlanner(CP) - lateral_planner = LateralPlanner(CP, debug=debug_mode) - - pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan']) + pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) @@ -49,11 +35,9 @@ def plannerd_thread(): sm.update() if sm.updated['modelV2']: - lateral_planner.update(sm) - lateral_planner.publish(sm, pm) longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) + publish_ui_plan(sm, pm, longitudinal_planner) def main(): plannerd_thread() diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index fcecb3d9d3..42561f70f0 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -54,7 +54,7 @@ def cycle_alerts(duration=200, is_metric=False): CS = car.CarState.new_message() CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016") sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState'] + cameras) pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState']) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 21a5ebca5f..f2c0248afa 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -214,7 +214,7 @@ class TorqueEstimator(ParameterEstimator): return msg -def main(): +def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) @@ -242,4 +242,8 @@ def main(): params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) if __name__ == "__main__": - main() + import argparse + parser = argparse.ArgumentParser(description='Process the --demo argument.') + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 7434e94287..4a47571be7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -3,6 +3,7 @@ import capnp import numpy as np from typing import Dict from cereal import log +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -45,7 +46,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, - nav_enabled: bool, valid: bool) -> None: + nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 msg.valid = valid @@ -72,9 +73,14 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # lateral planning - solution = modelV2.lateralPlannerSolution - solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] - solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)] + x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] + x_sol = np.column_stack([x, y, yaw, yawRate]) + v_ego = max(MIN_SPEED, v_ego) + psis = x_sol[0:CONTROL_N, 2].tolist() + curvatures = (x_sol[0:CONTROL_N, 3]/v_ego).tolist() + + action = modelV2.action + action.desiredCurvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index 14048ec9fd..e1cef4dcc3 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -7,4 +7,4 @@ if [ -f "$DIR/libthneed.so" ]; then export LD_PRELOAD="$DIR/libthneed.so" fi -exec "$DIR/modeld.py" +exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 9cc238530a..0b57228a7a 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -4,6 +4,7 @@ import time import pickle import numpy as np import cereal.messaging as messaging +from cereal import car, log from pathlib import Path from typing import Dict, Optional from setproctitle import setproctitle @@ -17,6 +18,8 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState @@ -93,7 +96,6 @@ class ModelState: self.inputs['traffic_convention'][:] = inputs['traffic_convention'] self.inputs['nav_features'][:] = inputs['nav_features'] self.inputs['nav_instructions'][:] = inputs['nav_instructions'] - # self.inputs['driving_style'][:] = inputs['driving_style'] # if getCLBuffer is not None, frame will be None self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) @@ -113,7 +115,7 @@ class ModelState: return outputs -def main(): +def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) @@ -148,7 +150,7 @@ def main(): # messaging pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"]) + sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"]) publish_state = PublishState() params = Params() @@ -162,13 +164,23 @@ def main(): model_transform_main = np.zeros((3, 3), dtype=np.float32) model_transform_extra = np.zeros((3, 3), dtype=np.float32) live_calib_seen = False - driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() + + if demo: + CP = get_demo_car_params() + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("plannerd got CarParams: %s", CP.carName) + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + DH = DesireHelper() + + while True: # Keep receiving frames until we are at least 1 frame ahead of previous extra frame while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: @@ -205,7 +217,8 @@ def main(): # TODO: path planner timeout? sm.update(0) - desire = sm["lateralPlan"].desire.raw + desire = DH.desire + v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId if sm.updated["liveCalibration"]: @@ -261,7 +274,6 @@ def main(): inputs:Dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'driving_style': driving_style, 'nav_features': nav_features, 'nav_instructions': nav_instructions} @@ -274,7 +286,15 @@ def main(): modelv2_send = messaging.new_message('modelV2') posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen) + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen) + + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) @@ -285,7 +305,11 @@ def main(): if __name__ == "__main__": try: - main() + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) except KeyboardInterrupt: cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") except Exception: diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index e010f6cfd6..257a9bc878 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,6 +7,7 @@ import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import tici_f_frame_size from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state @@ -22,9 +23,10 @@ class TestModeld(unittest.TestCase): self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) self.vipc_server.start_listener() + write_car_param() self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) - self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan']) + self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) managed_processes['modeld'].start() self.pm.wait_for_readers_to_update("roadCameraState", 10) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index a96dd18503..97b7c7c46c 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -105,11 +105,11 @@ def nav_model_replay(lr): def model_replay(lr, frs): # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"}) - dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"}) + modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}) + dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) if not SEND_EXTRA_INPUTS: - modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] - dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] + modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]] + dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]] # initial calibration cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder() cal_msg.logMonoTime = lr[0].logMonoTime diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 1be0aaf8c3..3f65f36e18 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ad64b6f38c1362e9d184f3fc95299284eacb56d4 +0513d29764980f512710cc2ebd7c14f91ae0351d diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b95c75ddf7..a6b2771668 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -461,7 +461,7 @@ CONFIGS = [ proc_name="controlsd", pubs=[ "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState", + "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope" ], @@ -486,8 +486,8 @@ CONFIGS = [ ProcessConfig( proc_name="plannerd", pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], - subs=["lateralPlan", "longitudinalPlan", "uiPlan"], - ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"], + subs=["longitudinalPlan", "uiPlan"], + ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("modelV2"), tolerance=NUMPY_TOLERANCE, @@ -545,7 +545,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], + pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], subs=["modelV2", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), @@ -555,6 +555,7 @@ CONFIGS = [ main_pub_drained=False, vision_pubs=["roadCameraState", "wideRoadCameraState"], ignore_alive_pubs=["wideRoadCameraState"], + init_callback=get_car_params_callback, ), ProcessConfig( proc_name="dmonitoringmodeld", diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 9163bcae75..a8d0976b57 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1b981ce7f817974d4a7a28b06f01f727a5a7ea7b \ No newline at end of file +0dffa4e5634108f41d140c74052c38059038abd0 diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index bc12234c9c..0161259356 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -82,7 +82,6 @@ TIMINGS = { "carState": [2.5, 0.35], "carControl": [2.5, 0.35], "controlsState": [2.5, 0.35], - "lateralPlan": [2.5, 0.5], "longitudinalPlan": [2.5, 0.5], "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], @@ -344,7 +343,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- MPC Timing ------------------\n" result += "------------------------------------------------\n" - cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] + cfgs = [("longitudinalPlan", 0.05, 0.05),] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 337bbc9974..eed2ce231b 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,6 +10,7 @@ from typing import List import cereal.messaging as messaging from cereal.services import SERVICE_LIST +from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.selfdrive.manager.process_config import managed_processes @@ -51,6 +52,7 @@ class TestPowerDraw(unittest.TestCase): def setUp(self): HARDWARE.initialize_hardware() HARDWARE.set_power_save(False) + write_car_param() # wait a bit for power save to disable time.sleep(5) diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md index c40ec1b9ed..a961f83619 100644 --- a/tools/latencylogger/README.md +++ b/tools/latencylogger/README.md @@ -53,9 +53,7 @@ Frame ID: 1202 modelV2.modelExecutionTime 23.62649142742157 modelV2.gpuExecutionTime 0.0 plannerd - lateralPlan published 66.915049 longitudinalPlan published 69.715999 - lateralPlan.solverExecutionTime 0.8170719956979156 longitudinalPlan.solverExecutionTime 0.5619999719783664 controlsd Data sampled 70.217763 diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index b561b65105..19c0a86bf4 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -13,13 +13,11 @@ from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd'] -# Retrieve controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime'] MSGQ_TO_SERVICE = { 'roadCameraState': 'camerad', 'wideRoadCameraState': 'camerad', 'modelV2': 'modeld', - 'lateralPlan': 'plannerd', 'longitudinalPlan': 'plannerd', 'sendcan': 'controlsd', 'controlsState': 'controlsd' diff --git a/tools/replay/ui.py b/tools/replay/ui.py index e47aa0416e..7c95a75f8b 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -55,7 +55,7 @@ def ui_thread(addr): top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', - 'liveTracks', 'modelV2', 'liveParameters', 'lateralPlan'], addr=addr) + 'liveTracks', 'modelV2', 'liveParameters'], addr=addr) img = np.zeros((480, 640, 3), dtype='uint8') imgff = None diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 06523497a5..f804b328de 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -51,8 +51,8 @@ class SteeringAccuracyTool: standstill = sm['carState'].standstill steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2 overriding = sm['carState'].steeringPressed - changing_lanes = sm['lateralPlan'].laneChangeState != 0 - d_path_points = sm['lateralPlan'].dPathPoints + changing_lanes = sm['modelV2'].meta.laneChangeState != 0 + model_points = sm['modelV2'].position.y # must be engaged, not at standstill, not overriding steering, and not changing lanes if active and not standstill and not overriding and not changing_lanes: self.cnt += 1 @@ -75,8 +75,8 @@ class SteeringAccuracyTool: self.speed_group_stats[group][angle_abs]["cnt"] += 1 self.speed_group_stats[group][angle_abs]["err"] += angle_error self.speed_group_stats[group][angle_abs]["steer"] += abs(steer) - if len(d_path_points): - self.speed_group_stats[group][angle_abs]["dpp"] += abs(d_path_points[0]) + if len(model_points): + self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0]) if steer_limited: self.speed_group_stats[group][angle_abs]["limited"] += 1 if control_state.saturated: @@ -138,10 +138,10 @@ if __name__ == "__main__": sm['carControl'] = msg.carControl elif msg.which() == 'controlsState': sm['controlsState'] = msg.controlsState - elif msg.which() == 'lateralPlan': - sm['lateralPlan'] = msg.lateralPlan + elif msg.which() == 'modelV2': + sm['modelV2'] = msg.modelV2 - if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'lateralPlan' in sm: + if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'modelV2' in sm: tool.update(sm) else: @@ -150,7 +150,7 @@ if __name__ == "__main__": messaging.context = messaging.Context() carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) - sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'lateralPlan'], addr=args.addr) + sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'modelV2'], addr=args.addr) time.sleep(1) # Make sure all submaster data is available before going further print("waiting for messages...") From ec72cdca00840ecc653fb9c3f5813c66d73de2e4 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Sun, 21 Jan 2024 12:10:55 -0800 Subject: [PATCH 087/205] Bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index c2adb4f7cf..fd1843960f 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c2adb4f7cf30e53735ee43cc3a8a3698c5410819 +Subproject commit fd1843960f4ba55bb2857593857d05ca463ac377 From 78e20cff3906ee76c356e8bdef920397e60389b4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Jan 2024 14:49:57 -0800 Subject: [PATCH 088/205] cleanup tests that are now useless (#31098) * disable that onoe * e2e tests catch this * rm more useless checks --- common/SConscript | 2 +- common/tests/test_ratekeeper.cc | 23 ----------------------- selfdrive/navd/tests/test_map_renderer.py | 1 + system/proclogd/tests/test_proclog.cc | 14 +------------- 4 files changed, 3 insertions(+), 37 deletions(-) delete mode 100644 common/tests/test_ratekeeper.cc diff --git a/common/SConscript b/common/SConscript index 52b3adf1d3..829db6eeec 100644 --- a/common/SConscript +++ b/common/SConscript @@ -23,7 +23,7 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', - ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython bindings diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc deleted file mode 100644 index 32c7dfe58c..0000000000 --- a/common/tests/test_ratekeeper.cc +++ /dev/null @@ -1,23 +0,0 @@ -#include "catch2/catch.hpp" -#include "common/ratekeeper.h" -#include "common/timing.h" -#include "common/util.h" - -TEST_CASE("RateKeeper") { - float freq = GENERATE(10, 50, 100); - RateKeeper rk("Test RateKeeper", freq); - - int lags = 0; - int bad_keep_times = 0; - for (int i = 0; i < freq; ++i) { - double begin = seconds_since_boot(); - util::sleep_for(util::random_int(0, 1000.0 / freq - 1)); - bool lagged = rk.keepTime(); - lags += lagged; - bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3; - } - - // need a tolerance here due to scheduling - REQUIRE(lags < 5); - REQUIRE(bad_keep_times < 5); -} diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index d336ffb651..d056198bec 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -181,6 +181,7 @@ class TestMapRenderer(unittest.TestCase): self._run_test(False) @with_processes(["mapsd"]) + @pytest.mark.skip(reason="slow, flaky, and unlikely to break") def test_recover_from_no_internet(self): self._setup_test() self._run_test(True) diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc index 613c326166..b86229a499 100644 --- a/system/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -109,7 +109,7 @@ TEST_CASE("Parser::cmdline") { test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"}); } -TEST_CASE("buildProcLogerMessage") { +TEST_CASE("buildProcLoggerMessage") { MessageBuilder msg; buildProcLogMessage(msg); @@ -137,18 +137,6 @@ TEST_CASE("buildProcLogerMessage") { REQUIRE(p.getState() == 'R'); REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); - } else { - std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline"; - if (util::file_exists(cmd_path)) { - std::ifstream stream(cmd_path); - auto cmdline = Parser::cmdline(stream); - REQUIRE(cmdline.size() == p.getCmdline().size()); - for (int i = 0; i < p.getCmdline().size(); ++i) { - // do not check the cmdline of pytest as it will change. - if (cmdline[i].find("[pytest") || std::string(p.getCmdline()[i]).find("[pytest")) continue; - REQUIRE(cmdline[i] == p.getCmdline()[i].cStr()); - } - } } } } From b1f457bdc819a868591749ced9dad3e836876e91 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Jan 2024 16:39:52 -0800 Subject: [PATCH 089/205] pytest: cleanup manager procs on teardown (#31101) --- conftest.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/conftest.py b/conftest.py index 6792bd0c3d..d8cbe25b0a 100644 --- a/conftest.py +++ b/conftest.py @@ -3,6 +3,7 @@ import pytest import random from openpilot.common.prefix import OpenpilotPrefix +from openpilot.selfdrive.manager import manager from openpilot.system.hardware import TICI @@ -41,6 +42,8 @@ def openpilot_function_fixture(): os.environ.clear() os.environ.update(starting_env) + # cleanup any started processes + manager.manager_cleanup() # If you use setUpClass, the environment variables won't be cleared properly, # so we need to hook both the function and class pytest fixtures From 74a2e3178fb16fe498a84147c14732e6fa3f7417 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Jan 2024 16:40:12 -0800 Subject: [PATCH 090/205] pre-commit: only check translations on update (#31102) --- .pre-commit-config.yaml | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 4bae3294ab..a3c13c77c5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -81,6 +81,7 @@ repos: entry: selfdrive/ui/tests/test_translations.py language: script pass_filenames: false + files: 'selfdrive/ui/translations/*' - repo: https://github.com/python-poetry/poetry rev: '1.7.0' hooks: @@ -92,10 +93,3 @@ repos: rev: 0.27.3 hooks: - id: check-github-workflows -# - repo: local -# hooks: -# - id: format-fingerprints -# name: format-fingerprints -# entry: selfdrive/debug/format_fingerprints.py -# language: system -# types: [python] From 139b0ae3b696c16056c065dec626c65ec8282622 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Jan 2024 16:55:47 -0800 Subject: [PATCH 091/205] fix test_startup (#31103) * fix test_startup * real fix --- selfdrive/controls/tests/test_startup.py | 177 +++++++++++------------ 1 file changed, 84 insertions(+), 93 deletions(-) mode change 100755 => 100644 selfdrive/controls/tests/test_startup.py diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py old mode 100755 new mode 100644 index 02c0f486fe..34d14fbb39 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 import os -import unittest from parameterized import parameterized from cereal import log, car @@ -36,94 +34,87 @@ CX5_FW_VERSIONS = [ (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), ] -class TestStartup(unittest.TestCase): - - def tearDown(self): - managed_processes['controlsd'].stop() - - @parameterized.expand([ - # TODO: test EventName.startup for release branches - - # officially supported car - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), - - # dashcamOnly car - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), - - # unrecognized car with no fw - (EventName.startupNoFw, None, None, ""), - (EventName.startupNoFw, None, None, ""), - - # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - - # fuzzy match - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - ]) - def test_startup_alert(self, expected_event, car_model, fw_versions, brand): - controls_sock = messaging.sub_sock("controlsState") - pm = messaging.PubMaster(['can', 'pandaStates']) - - params = Params() - params.put_bool("OpenpilotEnabledToggle", True) - - # Build capnn version of FW array - if fw_versions is not None: - car_fw = [] - cp = car.CarParams.new_message() - for ecu, addr, subaddress, version in fw_versions: - f = car.CarParams.CarFw.new_message() - f.ecu = ecu - f.address = addr - f.fwVersion = version - f.brand = brand - - if subaddress is not None: - f.subAddress = subaddress - - car_fw.append(f) - cp.carVin = "1" * 17 - cp.carFw = car_fw - params.put("CarParamsCache", cp.to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = '1' - - managed_processes['controlsd'].start() - - assert pm.wait_for_readers_to_update('can', 5) - pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - - msg = messaging.new_message('pandaStates', 1) - msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno - pm.send('pandaStates', msg) - - # fingerprint - if (car_model is None) or (fw_versions is not None): - finger = {addr: 1 for addr in range(1, 100)} - else: - finger = _FINGERPRINTS[car_model][0] - - msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] - for _ in range(1000): - # controlsd waits for boardd to echo back that it has changed the multiplexing mode - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - - pm.send('can', can_list_to_can_capnp(msgs)) - assert pm.wait_for_readers_to_update('can', 2, dt=0.001) - - ctrls = messaging.drain_sock(controls_sock) - if len(ctrls): - event_name = ctrls[0].controlsState.alertType.split("/")[0] - self.assertEqual(EVENT_NAME[expected_event], event_name, - f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}") - break - else: - self.fail(f"failed to fingerprint {car_model}") - -if __name__ == "__main__": - unittest.main() + +@parameterized.expand([ + # TODO: test EventName.startup for release branches + + # officially supported car + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + + # dashcamOnly car + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + + # unrecognized car with no fw + (EventName.startupNoFw, None, None, ""), + (EventName.startupNoFw, None, None, ""), + + # unrecognized car + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + + # fuzzy match + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), +]) +def test_startup_alert(expected_event, car_model, fw_versions, brand): + controls_sock = messaging.sub_sock("controlsState") + pm = messaging.PubMaster(['can', 'pandaStates']) + + params = Params() + params.put_bool("OpenpilotEnabledToggle", True) + + # Build capnn version of FW array + if fw_versions is not None: + car_fw = [] + cp = car.CarParams.new_message() + for ecu, addr, subaddress, version in fw_versions: + f = car.CarParams.CarFw.new_message() + f.ecu = ecu + f.address = addr + f.fwVersion = version + f.brand = brand + + if subaddress is not None: + f.subAddress = subaddress + + car_fw.append(f) + cp.carVin = "1" * 17 + cp.carFw = car_fw + params.put("CarParamsCache", cp.to_bytes()) + else: + os.environ['SKIP_FW_QUERY'] = '1' + + managed_processes['controlsd'].start() + + assert pm.wait_for_readers_to_update('can', 5) + pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) + + assert pm.wait_for_readers_to_update('pandaStates', 5) + msg = messaging.new_message('pandaStates', 1) + msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno + pm.send('pandaStates', msg) + + # fingerprint + if (car_model is None) or (fw_versions is not None): + finger = {addr: 1 for addr in range(1, 100)} + else: + finger = _FINGERPRINTS[car_model][0] + + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] + for _ in range(1000): + # controlsd waits for boardd to echo back that it has changed the multiplexing mode + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + + pm.send('can', can_list_to_can_capnp(msgs)) + assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}" + + ctrls = messaging.drain_sock(controls_sock) + if len(ctrls): + event_name = ctrls[0].controlsState.alertType.split("/")[0] + assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}" + break + else: + raise Exception(f"failed to fingerprint {car_model}") From 599325718ebdecba993c3a93e4c416e47b72c343 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 21 Jan 2024 17:10:40 -0800 Subject: [PATCH 092/205] Refactor modeld (#31099) * First commit * Allow * Just camerastream helper --- selfdrive/modeld/modeld.py | 134 ++++++++++++++++++++----------------- 1 file changed, 74 insertions(+), 60 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 0b57228a7a..beef14b816 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -115,38 +115,84 @@ class ModelState: return outputs + + +class CameraStreams: + def __init__(self, cl_context: CLContext): + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + self.use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + self.main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if self.main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + self.vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + self.vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {self.main_wide_camera}, use_extra_client: {self.use_extra_client}") + + while not self.vipc_client_main.connect(False): + time.sleep(0.1) + while self.use_extra_client and not self.vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {self.vipc_client_main.buffer_len} \ + ({self.vipc_client_main.width} x {self.vipc_client_main.height})") + if self.use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {self.vipc_client_extra.buffer_len} \ + ({self.vipc_client_extra.width} x {self.vipc_client_extra.height})") + + def receive_frames(self): + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = self.vipc_client_main.recv() + meta_main = FrameMeta(self.vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.error("vipc_client_main no frame") + return None + + if self.use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = self.vipc_client_extra.recv() + meta_extra = FrameMeta(self.vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.error("vipc_client_extra no frame") + return None + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( + meta_main.frame_id, meta_main.timestamp_sof / 1e9, + meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + return meta_main, meta_extra, buf_main, buf_extra + + def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) config_realtime_process(7, 54) + cl_context = CLContext() model = ModelState(cl_context) cloudlog.warning("models loaded, modeld starting") - - # visionipc clients - while True: - available_streams = VisionIpcClient.available_streams("camerad", block=False) - if available_streams: - use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams - main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams - break - time.sleep(.1) - - vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) - cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") - - while not vipc_client_main.connect(False): - time.sleep(0.1) - while use_extra_client and not vipc_client_extra.connect(False): - time.sleep(0.1) - - cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") - if use_extra_client: - cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") + camera_streams = CameraStreams(cl_context) # messaging pm = PubMaster(["modelV2", "cameraOdometry"]) @@ -166,9 +212,6 @@ def main(demo=False): live_calib_seen = False nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) - buf_main, buf_extra = None, None - meta_main = FrameMeta() - meta_extra = FrameMeta() if demo: @@ -182,40 +225,11 @@ def main(demo=False): while True: - # Keep receiving frames until we are at least 1 frame ahead of previous extra frame - while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: - buf_main = vipc_client_main.recv() - meta_main = FrameMeta(vipc_client_main) - if buf_main is None: - break - - if buf_main is None: - cloudlog.error("vipc_client_main no frame") - continue - - if use_extra_client: - # Keep receiving extra frames until frame id matches main camera - while True: - buf_extra = vipc_client_extra.recv() - meta_extra = FrameMeta(vipc_client_extra) - if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: - break - - if buf_extra is None: - cloudlog.error("vipc_client_extra no frame") - continue - - if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: - cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( - meta_main.frame_id, meta_main.timestamp_sof / 1e9, - meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) - - else: - # Use single camera - buf_extra = buf_main - meta_extra = meta_main + frames = None + while frames is None: + frames = camera_streams.receive_frames() + meta_main, meta_extra, buf_main, buf_extra = frames - # TODO: path planner timeout? sm.update(0) desire = DH.desire v_ego = sm["carState"].vEgo @@ -223,7 +237,7 @@ def main(demo=False): frame_id = sm["roadCameraState"].frameId if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) - model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) + model_transform_main = get_warp_matrix(device_from_calib_euler, camera_streams.main_wide_camera, False).astype(np.float32) model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32) live_calib_seen = True From 7ebd841a0b227da03c7a68d2914e06e4e4364247 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 21 Jan 2024 17:10:49 -0800 Subject: [PATCH 093/205] Deprecate lat planner (#31097) * Deprecate lat planner * Bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index fd1843960f..775e7f84da 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit fd1843960f4ba55bb2857593857d05ca463ac377 +Subproject commit 775e7f84da5eb283d604e94f9bf4582ffa741c22 From 3b01733900a531c7080f3b2b8d16d633cb18edb7 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Sun, 21 Jan 2024 17:29:32 -0800 Subject: [PATCH 094/205] Revert "Refactor modeld (#31099)" This reverts commit 599325718ebdecba993c3a93e4c416e47b72c343. --- selfdrive/modeld/modeld.py | 134 +++++++++++++++++-------------------- 1 file changed, 60 insertions(+), 74 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index beef14b816..0b57228a7a 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -115,84 +115,38 @@ class ModelState: return outputs - - -class CameraStreams: - def __init__(self, cl_context: CLContext): - while True: - available_streams = VisionIpcClient.available_streams("camerad", block=False) - if available_streams: - self.use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams - self.main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams - break - time.sleep(.1) - - vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if self.main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - self.vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) - self.vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) - cloudlog.warning(f"vision stream set up, main_wide_camera: {self.main_wide_camera}, use_extra_client: {self.use_extra_client}") - - while not self.vipc_client_main.connect(False): - time.sleep(0.1) - while self.use_extra_client and not self.vipc_client_extra.connect(False): - time.sleep(0.1) - - cloudlog.warning(f"connected main cam with buffer size: {self.vipc_client_main.buffer_len} \ - ({self.vipc_client_main.width} x {self.vipc_client_main.height})") - if self.use_extra_client: - cloudlog.warning(f"connected extra cam with buffer size: {self.vipc_client_extra.buffer_len} \ - ({self.vipc_client_extra.width} x {self.vipc_client_extra.height})") - - def receive_frames(self): - buf_main, buf_extra = None, None - meta_main = FrameMeta() - meta_extra = FrameMeta() - # Keep receiving frames until we are at least 1 frame ahead of previous extra frame - while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: - buf_main = self.vipc_client_main.recv() - meta_main = FrameMeta(self.vipc_client_main) - if buf_main is None: - break - - if buf_main is None: - cloudlog.error("vipc_client_main no frame") - return None - - if self.use_extra_client: - # Keep receiving extra frames until frame id matches main camera - while True: - buf_extra = self.vipc_client_extra.recv() - meta_extra = FrameMeta(self.vipc_client_extra) - if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: - break - - if buf_extra is None: - cloudlog.error("vipc_client_extra no frame") - return None - - if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: - cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( - meta_main.frame_id, meta_main.timestamp_sof / 1e9, - meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) - - else: - # Use single camera - buf_extra = buf_main - meta_extra = meta_main - return meta_main, meta_extra, buf_main, buf_extra - - def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) config_realtime_process(7, 54) - cl_context = CLContext() model = ModelState(cl_context) cloudlog.warning("models loaded, modeld starting") - camera_streams = CameraStreams(cl_context) + + # visionipc clients + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") + + while not vipc_client_main.connect(False): + time.sleep(0.1) + while use_extra_client and not vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") + if use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") # messaging pm = PubMaster(["modelV2", "cameraOdometry"]) @@ -212,6 +166,9 @@ def main(demo=False): live_calib_seen = False nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() if demo: @@ -225,11 +182,40 @@ def main(demo=False): while True: - frames = None - while frames is None: - frames = camera_streams.receive_frames() - meta_main, meta_extra, buf_main, buf_extra = frames + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = vipc_client_main.recv() + meta_main = FrameMeta(vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.error("vipc_client_main no frame") + continue + + if use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = vipc_client_extra.recv() + meta_extra = FrameMeta(vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.error("vipc_client_extra no frame") + continue + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( + meta_main.frame_id, meta_main.timestamp_sof / 1e9, + meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + # TODO: path planner timeout? sm.update(0) desire = DH.desire v_ego = sm["carState"].vEgo @@ -237,7 +223,7 @@ def main(demo=False): frame_id = sm["roadCameraState"].frameId if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) - model_transform_main = get_warp_matrix(device_from_calib_euler, camera_streams.main_wide_camera, False).astype(np.float32) + model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32) live_calib_seen = True From 81516216b154bbf8c713aa6b4b538d3a2e0ae0b5 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 21 Jan 2024 17:34:26 -0800 Subject: [PATCH 095/205] Simulator: fix metadrive (#31104) fix metadrive --- tools/sim/bridge/metadrive/metadrive_process.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 8040d0d050..aa6ae57976 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -34,12 +34,13 @@ def apply_metadrive_patches(): EngineCore.add_image_sensor = add_image_sensor_patched # we aren't going to use the built-in observation stack, so disable it to save time - def observe_patched(self, vehicle): + def observe_patched(self, *args, **kwargs): return self.state ImageObservation.observe = observe_patched - def arrive_destination_patch(self, vehicle): + # disable destination, we want to loop forever + def arrive_destination_patch(self, *args, **kwargs): return False MetaDriveEnv._is_arrive_destination = arrive_destination_patch From 0067cf3eb1fce18a4d9c548a0c136027c87d43aa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 22 Jan 2024 00:58:06 -0800 Subject: [PATCH 096/205] Los Angeles Model (#31037) * 1c888f5b-c213-4c1c-9eba-c587afd047fc/700 * Move to action * Updates * Add steer delay * Update curvature grep * clip speed * No car params for now * Add delay back * Update * fix lint * fix lint * update model regf --- selfdrive/controls/lib/drive_helpers.py | 26 +------------------ selfdrive/modeld/constants.py | 5 ++-- selfdrive/modeld/fill_model_msg.py | 9 +------ selfdrive/modeld/modeld.py | 17 ++++++++---- selfdrive/modeld/models/navmodel.onnx | 4 +-- selfdrive/modeld/models/navmodel_q.dlc | 2 +- selfdrive/modeld/models/supercombo.onnx | 4 +-- selfdrive/modeld/parse_model_outputs.py | 2 +- .../process_replay/model_replay_ref_commit | 2 +- 9 files changed, 24 insertions(+), 47 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 961b8069d4..6a5b22f686 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -3,8 +3,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_MDL, DT_CTRL -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.common.realtime import DT_CTRL # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable @@ -22,7 +21,6 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 - MAX_VEL_ERR = 5.0 ButtonEvent = car.CarState.ButtonEvent @@ -169,28 +167,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature): safe_desired_curvature = clip(new_curvature, prev_curvature - max_curvature_rate * DT_CTRL, prev_curvature + max_curvature_rate * DT_CTRL) - return safe_desired_curvature - - -def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures): - if len(psis) != CONTROL_N: - psis = [0.0]*CONTROL_N - curvatures = [0.0]*CONTROL_N - v_ego = max(MIN_SPEED, v_ego) - - # MPC can plan to turn the wheel and turn back before t_delay. This means - # in high delay cases some corrections never even get commanded. So just use - # psi to calculate a simple linearization of desired curvature - current_curvature_desired = curvatures[0] - psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis) - average_curvature_desired = psi / (v_ego * steer_delay) - desired_curvature = 2 * average_curvature_desired - current_curvature_desired - - # This is the "desired rate of the setpoint" not an actual desired rate - max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 - safe_desired_curvature = clip(desired_curvature, - current_curvature_desired - max_curvature_rate * DT_MDL, - current_curvature_desired + max_curvature_rate * DT_MDL) return safe_desired_curvature diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 4d3af51635..e513922c72 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -21,7 +21,8 @@ class ModelConstants: NAV_FEATURE_LEN = 256 NAV_INSTRUCTION_LEN = 150 DRIVING_STYLE_LEN = 12 - LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURVS_LEN = 20 # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) @@ -38,7 +39,7 @@ class ModelConstants: ROAD_EDGES_WIDTH = 2 PLAN_WIDTH = 15 DESIRE_PRED_WIDTH = 8 - LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 NUM_LANE_LINES = 4 NUM_ROAD_EDGES = 2 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 4a47571be7..93d1c7e77b 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -3,7 +3,6 @@ import capnp import numpy as np from typing import Dict from cereal import log -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -73,14 +72,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # lateral planning - x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] - x_sol = np.column_stack([x, y, yaw, yawRate]) - v_ego = max(MIN_SPEED, v_ego) - psis = x_sol[0:CONTROL_N, 2].tolist() - curvatures = (x_sol[0:CONTROL_N, 3]/v_ego).tolist() - action = modelV2.action - action.desiredCurvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures) + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 0b57228a7a..00c46c3bce 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -12,8 +12,6 @@ from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params -from openpilot.common.realtime import DT_MDL -from openpilot.common.numpy_fast import interp from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix @@ -59,7 +57,8 @@ class ModelState: self.inputs = { 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), - 'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32), 'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32), 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), @@ -94,6 +93,7 @@ class ModelState: self.prev_desire[:] = inputs['desire'] self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] self.inputs['nav_features'][:] = inputs['nav_features'] self.inputs['nav_instructions'][:] = inputs['nav_instructions'] @@ -110,8 +110,8 @@ class ModelState: self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2]) - self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3]) + self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:] + self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0] return outputs @@ -152,8 +152,12 @@ def main(demo=False): pm = PubMaster(["modelV2", "cameraOdometry"]) sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"]) + publish_state = PublishState() params = Params() + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + steer_delay = msg.steerActuatorDelay + .2 + #steer_delay = 0.4 # setup filter to track dropped frames frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) @@ -221,6 +225,8 @@ def main(demo=False): v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId + # TODO add lag + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) @@ -274,6 +280,7 @@ def main(demo=False): inputs:Dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, + 'lateral_control_params': lateral_control_params, 'nav_features': nav_features, 'nav_instructions': nav_instructions} diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx index 93edb593cc..3b687b960a 100644 --- a/selfdrive/modeld/models/navmodel.onnx +++ b/selfdrive/modeld/models/navmodel.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4971931accb5ba2e534bb3e0c591826ee507e2988df2eccf1fe862c303ddf9c5 -size 14221074 +oid sha256:8254b569878b7472e3f63ed9f3527a87bde785c9037aee3ed66f972e072b5899 +size 14166696 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index cb6e55b75f..d5e43abcfb 100644 --- a/selfdrive/modeld/models/navmodel_q.dlc +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fa346ada6f8c6326a5ee5fcd27e45e3e710049358079413c6a4624b20c6e1e47 +oid sha256:89fda8380efa3e421fbcdb6bb204c36a4991f137ee01d47f3d0380895aa7c036 size 3630942 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index ca8642093d..e91940c728 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ae44fe832fe48b89998f09cebb1bcd129864a8f51497b636cd38e66e46d69a89 -size 48457850 +oid sha256:4b085c1ba231bc381f78462bda136172787371d5d83b6e1bcd340aad17290ebc +size 48197170 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9d37a5fad4..07d5e0a921 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -93,7 +93,7 @@ class Parser: self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) for k in ['lead_prob', 'lane_lines_prob', 'meta']: self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 3f65f36e18..85bcf123e7 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -0513d29764980f512710cc2ebd7c14f91ae0351d +cfdad3a695e3562ca32accce043b358291f0eef2 From eb04935b95e424b0cad526c0067542401e64c892 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 22 Jan 2024 09:15:22 -0800 Subject: [PATCH 097/205] Update Python packages and pre-commit hooks (#31108) Co-authored-by: jnewb1 --- .pre-commit-config.yaml | 2 +- poetry.lock | 430 +++++++++++++++++++--------------------- 2 files changed, 207 insertions(+), 225 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a3c13c77c5..fa05b5b8a2 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -44,7 +44,7 @@ repos: - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.13 + rev: v0.1.14 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' diff --git a/poetry.lock b/poetry.lock index 41b677e5e0..b7e7f6deaf 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. 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"threadpoolctl"] [[package]] name = "scons" @@ -4302,17 +4295,6 @@ docs = ["sphinx (>=1.5.3)"] qa = ["flake8"] test = ["mock", "nose"] -[[package]] -name = "sniffio" -version = "1.3.0" -description = "Sniff out which async library your code is running under" -optional = false -python-versions = ">=3.7" -files = [ - {file = "sniffio-1.3.0-py3-none-any.whl", hash = "sha256:eecefdce1e5bbfb7ad2eeaabf7c1eeb404d7757c379bd1f7e5cce9d8bf425384"}, - {file = "sniffio-1.3.0.tar.gz", hash = "sha256:e60305c5e5d314f5389259b7f22aaa33d8f7dee49763119234af3755c55b9101"}, -] - [[package]] name = "snowballstemmer" version = "2.2.0" From 77d051f5ec0fa95b35b44a26793ef7e6df260234 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 22 Jan 2024 09:15:58 -0800 Subject: [PATCH 098/205] Bump submodules (#31107) bump submodules Co-authored-by: jnewb1 --- opendbc | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 40d9c723d4..f4b1061ae0 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 40d9c723d48496229fecc436046538a53af19c11 +Subproject commit f4b1061ae03994013809dc4a03ac571bfeda5714 diff --git a/panda b/panda index 06feb083cf..c5e79403a8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 06feb083cf9107a7c38147134bde10fe7df9e9e9 +Subproject commit c5e79403a8c49f5a36e3ede44fcda65fabe263bf From 95d33164fd98246c2d80afa78732352f97b83bf9 Mon Sep 17 00:00:00 2001 From: Brad Slavin Date: Mon, 22 Jan 2024 12:09:17 -0800 Subject: [PATCH 099/205] Hyundai: add missing Ioniq 5 2024 RWD Limited FW (#30864) Update fingerprints.py Added 2024 RWD Limited --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index fa6b56507c..3c5d4b9a51 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1548,6 +1548,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', ], }, CAR.IONIQ_6: { From 7c9530f7431f66df186aa4855fbd481592d94198 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 22 Jan 2024 14:44:48 -0800 Subject: [PATCH 100/205] Code for running legacy models (#31111) * Code for running legacy models * Optional outputs --- selfdrive/modeld/constants.py | 2 ++ selfdrive/modeld/parse_model_outputs.py | 5 ++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index e513922c72..e1741cbdcf 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -21,6 +21,7 @@ class ModelConstants: NAV_FEATURE_LEN = 256 NAV_INSTRUCTION_LEN = 150 DRIVING_STYLE_LEN = 12 + LAT_PLANNER_STATE_LEN = 4 LATERAL_CONTROL_PARAMS_LEN = 2 PREV_DESIRED_CURVS_LEN = 20 @@ -39,6 +40,7 @@ class ModelConstants: ROAD_EDGES_WIDTH = 2 PLAN_WIDTH = 15 DESIRE_PRED_WIDTH = 8 + LAT_PLANNER_SOLUTION_WIDTH = 4 DESIRED_CURV_WIDTH = 1 NUM_LANE_LINES = 4 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 07d5e0a921..01cba29d1c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -93,7 +93,10 @@ class Parser: self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) for k in ['lead_prob', 'lane_lines_prob', 'meta']: self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) From 3846130d8e15ea71e9576ae62b69918757edc7b8 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 22 Jan 2024 16:30:59 -0800 Subject: [PATCH 101/205] pytest: add marker for sharing the download cache (#31082) * fix cache * with a marker --- common/prefix.py | 10 ++++++++-- conftest.py | 7 +++++-- selfdrive/car/tests/test_models.py | 4 ++++ selfdrive/locationd/test/test_locationd_scenarios.py | 1 + system/hardware/hw.py | 6 ++++-- 5 files changed, 22 insertions(+), 6 deletions(-) diff --git a/common/prefix.py b/common/prefix.py index c1744e8ff7..d027e3e5a1 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -6,12 +6,14 @@ from typing import Optional from openpilot.common.params import Params from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): + def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit + self.shared_download_cache = shared_download_cache def __enter__(self): self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) @@ -22,6 +24,9 @@ class OpenpilotPrefix: pass os.makedirs(Paths.log_root(), exist_ok=True) + if self.shared_download_cache: + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + return self def __exit__(self, exc_type, exc_obj, exc_tb): @@ -42,5 +47,6 @@ class OpenpilotPrefix: os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) shutil.rmtree(Paths.log_root(), ignore_errors=True) - shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) + if not os.environ.get("COMMA_CACHE", False): + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) shutil.rmtree(Paths.comma_home(), ignore_errors=True) diff --git a/conftest.py b/conftest.py index d8cbe25b0a..c4eb259a35 100644 --- a/conftest.py +++ b/conftest.py @@ -25,13 +25,13 @@ def pytest_runtest_call(item): @pytest.fixture(scope="function", autouse=True) -def openpilot_function_fixture(): +def openpilot_function_fixture(request): starting_env = dict(os.environ) random.seed(0) # setup a clean environment for each test - with OpenpilotPrefix(): + with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: prefix = os.environ["OPENPILOT_PREFIX"] yield @@ -77,3 +77,6 @@ def pytest_configure(config): config_line = "nocapture: don't capture test output" config.addinivalue_line("markers", config_line) + + config_line = "shared_download_cache: share download cache between tests" + config.addinivalue_line("markers", config_line) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index a66bd180b4..973101d4ca 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -22,6 +22,7 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.helpers import read_segment_list +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.sanitizer import sanitize @@ -64,6 +65,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: @pytest.mark.slow +@pytest.mark.shared_download_cache class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None test_route: Optional[CarTestRoute] = None @@ -183,6 +185,8 @@ class TestCarModelBase(unittest.TestCase): assert cls.CP assert cls.CP.carFingerprint == cls.car_model + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + @classmethod def tearDownClass(cls): del cls.can_msgs diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index 4cfbd6f8a9..f48c83ce46 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -97,6 +97,7 @@ def run_scenarios(scenario, logs): @pytest.mark.xdist_group("test_locationd_scenarios") +@pytest.mark.shared_download_cache class TestLocationdScenarios(unittest.TestCase): """ Test locationd with different scenarios. In all these scenarios, we expect the following: diff --git a/system/hardware/hw.py b/system/hardware/hw.py index a8967520e3..694299d72e 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -3,6 +3,8 @@ from pathlib import Path from openpilot.system.hardware import PC +DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache" + class Paths: @staticmethod def comma_home() -> str: @@ -31,8 +33,8 @@ class Paths: @staticmethod def download_cache_root() -> str: if os.environ.get('COMMA_CACHE', False): - return os.environ['COMMA_CACHE'] - return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/" + return os.environ['COMMA_CACHE'] + "/" + return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/" @staticmethod def persist_root() -> str: From 694fc378dd1b4dc4b26847efb25af538133d0685 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 22 Jan 2024 17:24:42 -0800 Subject: [PATCH 102/205] loggerd: speedup unit tests (#31115) * first speed it up * pytestify * no sleep --- system/loggerd/tests/test_loggerd.py | 53 ++++++++++++---------------- 1 file changed, 23 insertions(+), 30 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 49d97505e8..dde12b646d 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -5,7 +5,6 @@ import random import string import subprocess import time -import unittest from collections import defaultdict from pathlib import Path from typing import Dict, List @@ -31,10 +30,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST and SERVICE_LIST[f].should_log and "encode" not in f.lower()] -class TestLoggerd(unittest.TestCase): - def setUp(self): - os.environ.pop("LOG_ROOT", None) - +class TestLoggerd: def _get_latest_log_dir(self): log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime) return log_dirs[-1] @@ -68,21 +64,21 @@ class TestLoggerd(unittest.TestCase): def _check_init_data(self, msgs): msg = msgs[0] - self.assertEqual(msg.which(), 'initData') + assert msg.which() == 'initData' def _check_sentinel(self, msgs, route): start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment - self.assertTrue(msgs[1].sentinel.type == start_type) + assert msgs[1].sentinel.type == start_type end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment - self.assertTrue(msgs[-1].sentinel.type == end_type) + assert msgs[-1].sentinel.type == end_type def _publish_random_messages(self, services: List[str]) -> Dict[str, list]: pm = messaging.PubMaster(services) managed_processes["loggerd"].start() for s in services: - self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + assert pm.wait_for_readers_to_update(s, timeout=5) sent_msgs = defaultdict(list) for _ in range(random.randint(2, 10) * 100): @@ -93,10 +89,9 @@ class TestLoggerd(unittest.TestCase): m = messaging.new_message(s, random.randint(2, 10)) pm.send(s, m) sent_msgs[s].append(m) - time.sleep(0.01) for s in services: - self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + assert pm.wait_for_readers_to_update(s, timeout=5) managed_processes["loggerd"].stop() return sent_msgs @@ -121,15 +116,15 @@ class TestLoggerd(unittest.TestCase): lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData - self.assertTrue(initData.dirty != bool(os.environ["CLEAN"])) - self.assertEqual(initData.version, get_version()) + assert initData.dirty != bool(os.environ["CLEAN"]) + assert initData.version == get_version() if os.path.isfile("/proc/cmdline"): with open("/proc/cmdline") as f: - self.assertEqual(list(initData.kernelArgs), f.read().strip().split(" ")) + assert list(initData.kernelArgs) == f.read().strip().split(" ") with open("/proc/version") as f: - self.assertEqual(initData.kernelVersion, f.read()) + assert initData.kernelVersion == f.read() # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} @@ -137,8 +132,8 @@ class TestLoggerd(unittest.TestCase): assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}" for param_key, initData_key, v in fake_params: - self.assertEqual(getattr(initData, initData_key), v) - self.assertEqual(logged_params[param_key].decode(), v) + assert getattr(initData, initData_key) == v + assert logged_params[param_key].decode() == v params.put("AccessToken", "") @@ -162,11 +157,10 @@ class TestLoggerd(unittest.TestCase): os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() - time.sleep(1) + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) fps = 20.0 for n in range(1, int(num_segs*length*fps)+1): - time_start = time.monotonic() for stream_type, frame_spec, state in streams: dat = np.empty(frame_spec[2], dtype=np.uint8) vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) @@ -175,7 +169,9 @@ class TestLoggerd(unittest.TestCase): frame = getattr(camera_state, state) frame.frameId = n pm.send(state, camera_state) - time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0)) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) managed_processes["loggerd"].stop() managed_processes["encoderd"].stop() @@ -185,7 +181,7 @@ class TestLoggerd(unittest.TestCase): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") + assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -216,7 +212,7 @@ class TestLoggerd(unittest.TestCase): with open(path, "rb") as f: expected_val = f.read() bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0] - self.assertEqual(expected_val, bootlog_val) + assert expected_val == bootlog_val def test_qlog(self): qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None] @@ -242,11 +238,11 @@ class TestLoggerd(unittest.TestCase): if s in no_qlog_services: # check services with no specific decimation aren't in qlog - self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog") + assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog" else: # check logged message count matches decimation expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1 - self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}") + assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}" def test_rlog(self): services = random.sample(CEREAL_SERVICES, random.randint(5, 10)) @@ -263,22 +259,19 @@ class TestLoggerd(unittest.TestCase): for m in lr: sent = sent_msgs[m.which()].pop(0) sent.clear_write_flag() - self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes()) + assert sent.to_bytes() == m.as_builder().to_bytes() def test_preserving_flagged_segments(self): services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() - self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE) + assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE def test_not_preserving_unflagged_segments(self): services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() - self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME)) - + assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None -if __name__ == "__main__": - unittest.main() From caa9153974c21fd827d0e991f1789cf3e81b5c3b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 22 Jan 2024 17:33:03 -0800 Subject: [PATCH 103/205] CommaCarSegments: public database of segments for each platform (#31114) * comma car segments * comma car segments for test_models * oneliner Co-authored-by: Shane Smiskol * better name * not used here * sort * remove print * better comment --------- Co-authored-by: Shane Smiskol --- selfdrive/car/tests/test_models.py | 4 +- tools/lib/comma_car_segments.py | 82 ++++++++++++++++++++++ tools/lib/logreader.py | 4 ++ tools/lib/tests/test_comma_car_segments.py | 41 +++++++++++ 4 files changed, 128 insertions(+), 3 deletions(-) create mode 100644 tools/lib/comma_car_segments.py create mode 100644 tools/lib/tests/test_comma_car_segments.py diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 973101d4ca..537214d14c 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -23,9 +23,8 @@ from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTes from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT -from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.comma_car_segments import get_url from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.sanitizer import sanitize from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py @@ -86,7 +85,6 @@ class TestCarModelBase(unittest.TestCase): @classmethod def get_testing_data_from_logreader(cls, lr): - lr = sanitize(lr) car_fw = [] can_msgs = [] cls.elm_frame = None diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py new file mode 100644 index 0000000000..995b26d8e6 --- /dev/null +++ b/tools/lib/comma_car_segments.py @@ -0,0 +1,82 @@ +import os +import requests + +# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves +COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments") +COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main") + +COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", "https://huggingface.co/datasets/commaai/commaCarSegments") + +def get_comma_car_segments_database(): + return requests.get(get_repo_raw_url("database.json")).json() + + +# Helpers related to interfacing with the openpilot-data repository, which contains a collection of public segments for users to perform validation on. + +def parse_lfs_pointer(text): + header, lfs_version = text.splitlines()[0].split(" ") + assert header == "version" + assert lfs_version == "https://git-lfs.github.com/spec/v1" + + header, oid_raw = text.splitlines()[1].split(" ") + assert header == "oid" + header, oid = oid_raw.split(":") + assert header == "sha256" + + header, size = text.splitlines()[2].split(" ") + assert header == "size" + + return oid, size + +def get_lfs_file_url(oid, size): + data = { + "operation": "download", + "transfers": [ "basic" ], + "objects": [ + { + "oid": oid, + "size": int(size) + } + ], + "hash_algo": "sha256" + } + + headers = { + "Accept": "application/vnd.git-lfs+json", + "Content-Type": "application/vnd.git-lfs+json" + } + + response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers) + + assert response.ok + + obj = response.json()["objects"][0] + + assert "error" not in obj, obj + + return obj["actions"]["download"]["href"] + +def get_repo_raw_url(path): + if "huggingface" in COMMA_CAR_SEGMENTS_REPO: + return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}" + +def get_repo_url(path): + # Automatically switch to LFS if we are requesting a file that is stored in LFS + + response = requests.head(get_repo_raw_url(path)) + + if "text/plain" in response.headers.get("content-type"): + # This is an LFS pointer, so download the raw data from lfs + response = requests.get(get_repo_raw_url(path)) + assert response.status_code == 200 + oid, size = parse_lfs_pointer(response.text) + + return get_lfs_file_url(oid, size) + else: + # File has not been uploaded to LFS yet + # (either we are on a fork where the data hasn't been pushed to LFS yet, or the CI job to push hasn't finished) + return get_repo_raw_url(path) + + +def get_url(route, segment, file="rlog.bz2"): + return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}") diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index c7f9f9fae0..9334f542f6 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -209,6 +209,10 @@ class LogReader: return _LogFileReader("", dat=dat) +def get_first_message(lr: LogIterable, msg_type): + return next(filter(lambda m: m.which() == msg_type, lr), None) + + if __name__ == "__main__": import codecs # capnproto <= 0.8.0 throws errors converting byte data to string diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py new file mode 100644 index 0000000000..1d6088d821 --- /dev/null +++ b/tools/lib/tests/test_comma_car_segments.py @@ -0,0 +1,41 @@ + + +import unittest + +import requests +from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url +from openpilot.tools.lib.logreader import LogReader, get_first_message +from openpilot.tools.lib.route import SegmentRange + + +class TestCommaCarSegments(unittest.TestCase): + def test_database(self): + database = get_comma_car_segments_database() + + platforms = database.keys() + + assert len(platforms) > 100 + + def test_download_segment(self): + database = get_comma_car_segments_database() + + fp = "SUBARU FORESTER 2019" + + segment = database[fp][0] + + sr = SegmentRange(segment) + + url = get_url(sr.route_name, sr._slice) + + resp = requests.get(url) + self.assertEqual(resp.status_code, 200) + + lr = LogReader(url) + + CP = get_first_message(lr, "carParams").carParams + + self.assertEqual(CP.carFingerprint, fp) + + +if __name__ == "__main__": + unittest.main() From 389b8ca30d62f81ae40a7d026a299ce3930183da Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 22 Jan 2024 18:23:07 -0800 Subject: [PATCH 104/205] add example of using the comma car segments database (#31117) * add vin fingerprinting example * perhaps! * remove segment * easier --- tools/car_porting/README.md | 24 ++- .../examples/ford_vin_fingerprint.ipynb | 140 ++++++++++++++++++ tools/lib/logreader.py | 6 + 3 files changed, 169 insertions(+), 1 deletion(-) create mode 100644 tools/car_porting/examples/ford_vin_fingerprint.ipynb diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md index 4197e3ab76..8db17b0976 100644 --- a/tools/car_porting/README.md +++ b/tools/car_porting/README.md @@ -71,4 +71,26 @@ An example of plotting the response of an actuator when it is active. ![brake pressure example](https://github.com/commaai/openpilot/assets/9648890/8f32cf1d-8fc0-4407-b540-70625ebbf082) -*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.* \ No newline at end of file +*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.* + +### [tools/car_porting/examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb) + +In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford. + +``` +vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False +vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False +vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True +vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False +vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False +vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False +vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True +vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False +vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False +``` \ No newline at end of file diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb new file mode 100644 index 0000000000..bc689a5aad --- /dev/null +++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb @@ -0,0 +1,140 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n", + "\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", + "from openpilot.selfdrive.car.ford.values import CAR\n", + "\n", + "database = get_comma_car_segments_database()\n", + "\n", + "platforms = [c.value for c in CAR]" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "# Adapted from https://github.com/commaai/openpilot/issues/31052#issuecomment-1902690083\n", + "\n", + "MODEL_YEAR_CODES = {'M': 2021, 'N': 2022, 'P': 2023, 'R': 2024, 'S': 2025}\n", + "\n", + "\n", + "F150_CODES = ['F1C', 'F1E', 'W1C', 'W1E', 'X1C', 'X1E', 'W1R', 'W1P', 'W1S', 'W1T']\n", + "LIGHTNING_CODES = ['L', 'V']\n", + "MACHE_CODES = ['K1R', 'K1S', 'K2S', 'K3R', 'K3S', 'K4S']\n", + "\n", + "FORD_VIN_START = ['1FT', '3FM', '5LM']\n", + "\n", + "def ford_vin_fingerprint(vin): # Check if it's a Ford vehicle and determine the model\n", + " vin_positions_567 = vin[4:7]\n", + "\n", + " if vin.startswith('1FT'):\n", + " if vin_positions_567 in F150_CODES:\n", + " if vin[7] in LIGHTNING_CODES:\n", + " return f\"FORD F-150 LIGHTNING 1ST GEN\"\n", + " else:\n", + " return f\"FORD F-150 14TH GEN\"\n", + " elif vin.startswith('3FM'):\n", + " if vin_positions_567 in MACHE_CODES:\n", + " return f\"FORD MUSTANG MACH-E 1ST GEN\"\n", + " elif vin.startswith('5LM'):\n", + " pass\n", + "\n", + " return \"mock\"" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Skipping platform: FORD F-150 14TH GEN, no data available\n" + ] + } + ], + "source": [ + "from openpilot.tools.lib.logreader import comma_car_segments_source, get_first_message\n", + "\n", + "\n", + "VINS_TO_CHECK = set()\n", + "\n", + "for platform in platforms:\n", + " if platform not in database:\n", + " print(f\"Skipping platform: {platform}, no data available\")\n", + " continue\n", + "\n", + " for segment in database[platform]:\n", + " lr = LogReader(segment, default_source=comma_car_segments_source)\n", + " CP = get_first_message(lr, \"carParams\").carParams\n", + " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n", + "vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n", + "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", + "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n", + "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n" + ] + } + ], + "source": [ + "for vin, real_fingerprint in VINS_TO_CHECK:\n", + " determined_fingerprint = ford_vin_fingerprint(vin)\n", + " print(f\"vin: {vin} real platform: {real_fingerprint: <30} determined platform: {determined_fingerprint: <30} correct: {real_fingerprint == determined_fingerprint}\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 9334f542f6..c1f4f0f4a9 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -16,6 +16,7 @@ from typing import Iterable, Iterator, List, Type from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import FileReader, file_exists from openpilot.tools.lib.helpers import RE @@ -111,6 +112,11 @@ def openpilotci_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): return [get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog') for seg in segs] +def comma_car_segments_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): + segs = parse_slice(sr, route) + + return [get_comma_segments_url(sr.route_name, seg) for seg in segs] + def direct_source(file_or_url): return [file_or_url] From 827aa2e4fad3334e594f8a259444f9461579fa2d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 22 Jan 2024 18:35:11 -0800 Subject: [PATCH 105/205] timed: always pull time and timezone from GPS (#31112) * timed * rm timezoned * just gps * ok * little more * fix * datetime * sleep a little --------- Co-authored-by: Comma Device --- release/files_common | 1 + release/files_tici | 2 - selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_onroad.py | 2 +- system/timed.py | 94 +++++++++++++++++++++++++++++ system/timezoned.py | 70 --------------------- 6 files changed, 97 insertions(+), 74 deletions(-) create mode 100755 system/timed.py delete mode 100755 system/timezoned.py diff --git a/release/files_common b/release/files_common index 4784b369e7..cf985f682d 100644 --- a/release/files_common +++ b/release/files_common @@ -153,6 +153,7 @@ selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* system/__init__.py +system/*.py system/hardware/__init__.py system/hardware/base.h diff --git a/release/files_tici b/release/files_tici index 1e5adab498..5d65ef458a 100644 --- a/release/files_tici +++ b/release/files_tici @@ -4,8 +4,6 @@ third_party/snpe/aarch64-ubuntu-gcc7.5/* third_party/mapbox-gl-native-qt/include/* third_party/acados/larch64/** -system/timezoned.py - system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h system/camerad/cameras/camera_util.cc diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 36d69b03bb..cb6dd8883f 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -49,7 +49,7 @@ procs = [ NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), PythonProcess("logmessaged", "system.logmessaged", always_run), PythonProcess("micd", "system.micd", iscar), - PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), + PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0161259356..335da73232 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -53,7 +53,7 @@ PROCS = { "selfdrive.tombstoned": 0, "./logcatd": 0, "system.micd": 6.0, - "system.timezoned": 0, + "system.timed": 0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, "selfdrive.navd.navd": 0.4, diff --git a/system/timed.py b/system/timed.py new file mode 100755 index 0000000000..21fb47b680 --- /dev/null +++ b/system/timed.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +import datetime +import os +import subprocess +import time +from typing import NoReturn + +from timezonefinder import TimezoneFinder + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import AGNOS + + +def set_timezone(timezone): + valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') + if timezone not in valid_timezones: + cloudlog.error(f"Timezone not supported {timezone}") + return + + cloudlog.debug(f"Setting timezone to {timezone}") + try: + 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) + subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) + else: + subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) + except subprocess.CalledProcessError: + cloudlog.exception(f"Error setting timezone to {timezone}") + + +def set_time(new_time): + diff = datetime.datetime.now() - new_time + if diff < datetime.timedelta(seconds=10): + cloudlog.debug(f"Time diff too small: {diff}") + return + + cloudlog.debug(f"Setting time to {new_time}") + try: + subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True) + except subprocess.CalledProcessError: + cloudlog.exception("timed.failed_setting_time") + + +def main() -> NoReturn: + """ + timed has two responsibilities: + - getting the current time + - getting the current timezone + + GPS directly gives time, and timezone is looked up from GPS position. + AGNOS will also use NTP to update the time. + """ + + params = Params() + tf = TimezoneFinder() + + # Restore timezone from param + tz = params.get("Timezone", encoding='utf8') + tf = TimezoneFinder() + if tz is not None: + cloudlog.debug("Restoring timezone from param") + set_timezone(tz) + + sm = messaging.SubMaster(['liveLocationKalman']) + while True: + sm.update(1000) + + llk = sm['liveLocationKalman'] + if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2: + continue + + # set time + # TODO: account for unixTimesatmpMillis being a (usually short) time in the past + gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.) + set_time(gps_time) + + # set timezone + pos = llk.positionGeodetic.value + if len(pos) == 3: + gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1]) + if gps_timezone is None: + cloudlog.critical(f"No timezone found based on {pos=}") + else: + set_timezone(gps_timezone) + params.put_nonblocking("Timezone", gps_timezone) + + time.sleep(10) + +if __name__ == "__main__": + main() diff --git a/system/timezoned.py b/system/timezoned.py deleted file mode 100755 index 2cfc0076e9..0000000000 --- a/system/timezoned.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 -import json -import os -import time -import subprocess -from typing import NoReturn - -from timezonefinder import TimezoneFinder - -from openpilot.common.params import Params -from openpilot.system.hardware import AGNOS -from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_version - -REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} - - -def set_timezone(valid_timezones, timezone): - if timezone not in valid_timezones: - cloudlog.error(f"Timezone not supported {timezone}") - return - - cloudlog.info(f"Setting timezone to {timezone}") - try: - 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) - subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) - else: - subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) - except subprocess.CalledProcessError: - cloudlog.exception(f"Error setting timezone to {timezone}") - - -def main() -> NoReturn: - params = Params() - tf = TimezoneFinder() - - # Get allowed timezones - valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') - - timezone = params.get("Timezone", encoding='utf8') - if timezone is not None: - cloudlog.debug("Setting timezone based on param") - set_timezone(valid_timezones, timezone) - - while True: - time.sleep(60) - - location = params.get("LastGPSPosition", encoding='utf8') - - # Find timezone by reverse geocoding the last known gps location - if location is not None: - cloudlog.debug("Setting timezone based on GPS location") - try: - location = json.loads(location) - except Exception: - cloudlog.exception("Error parsing location") - continue - - timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude']) - if timezone is None: - cloudlog.error(f"No timezone found based on location, {location}") - continue - set_timezone(valid_timezones, timezone) - - -if __name__ == "__main__": - main() From ee036482b8152f0e7650895c6f4bac5d4f00e00f Mon Sep 17 00:00:00 2001 From: mtribiere Date: Tue, 23 Jan 2024 07:35:47 +0100 Subject: [PATCH 106/205] Switch from json11 to nlohmann/json (#31093) * Initial commit * fix release/file_common * Update common/swaglog.cc * Swtiched serialize cc * move to lfs --------- Co-authored-by: Adeeb Shihadeh --- .gitattributes | 1 + SConstruct | 4 +- common/SConscript | 6 +- common/swaglog.cc | 16 +- common/tests/test_swaglog.cc | 25 +- release/files_common | 3 +- selfdrive/modeld/thneed/serialize.cc | 79 ++- selfdrive/modeld/thneed/thneed.h | 4 - selfdrive/navd/SConscript | 2 +- selfdrive/ui/SConscript | 4 +- system/logcatd/SConscript | 2 +- system/logcatd/logcatd_systemd.cc | 4 +- system/proclogd/SConscript | 2 +- third_party/SConscript | 3 - third_party/json11/json11.cpp | 784 --------------------------- third_party/json11/json11.hpp | 232 -------- third_party/nlohmann/json.hpp | 3 + 17 files changed, 76 insertions(+), 1098 deletions(-) delete mode 100644 third_party/json11/json11.cpp delete mode 100644 third_party/json11/json11.hpp create mode 100644 third_party/nlohmann/json.hpp diff --git a/.gitattributes b/.gitattributes index 8781a7371f..51f4625fb6 100644 --- a/.gitattributes +++ b/.gitattributes @@ -22,3 +22,4 @@ third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text +third_party/nlohmann/json.hpp filter=lfs diff=lfs merge=lfs -text diff --git a/SConstruct b/SConstruct index 3faa978087..5fa3c6f4fc 100644 --- a/SConstruct +++ b/SConstruct @@ -205,7 +205,7 @@ env = Environment( "#third_party/acados/include/hpipm/include", "#third_party/catch2/include", "#third_party/libyuv/include", - "#third_party/json11", + "#third_party/nlohmann", "#third_party/linux/include", "#third_party/snpe/include", "#third_party/mapbox-gl-native-qt/include", @@ -351,7 +351,7 @@ Export('env', 'qt_env', 'arch', 'real_arch') SConscript(['common/SConscript']) Import('_common', '_gpucommon') -common = [_common, 'json11'] +common = [_common] gpucommon = [_gpucommon] Export('common', 'gpucommon') diff --git a/common/SConscript b/common/SConscript index 829db6eeec..a8300a90e7 100644 --- a/common/SConscript +++ b/common/SConscript @@ -12,7 +12,7 @@ common_libs = [ if arch != "Darwin": common_libs.append('gpio.cc') -_common = env.Library('common', common_libs, LIBS="json11") +_common = env.Library('common', common_libs) files = [ 'clutil.cc', @@ -24,10 +24,10 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'], - LIBS=[_common, 'json11', 'zmq', 'pthread']) + LIBS=[_common, 'zmq', 'pthread']) # Cython bindings -params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) +params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq']) SConscript([ 'transformations/SConscript', diff --git a/common/swaglog.cc b/common/swaglog.cc index 873836b725..270e866565 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -11,7 +11,7 @@ #include #include -#include "third_party/json11/json11.hpp" +#include "nlohmann/json.hpp" #include "common/version.h" #include "system/hardware/hw.h" @@ -37,7 +37,7 @@ public: } } - ctx_j = json11::Json::object{}; + ctx_j = nlohmann::json(); if (char* dongle_id = getenv("DONGLE_ID")) { ctx_j["dongle_id"] = dongle_id; } @@ -66,17 +66,17 @@ public: void* zctx = nullptr; void* sock = nullptr; int print_level; - json11::Json::object ctx_j; + nlohmann::json ctx_j; }; bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS"); uint32_t NO_FRAME_ID = std::numeric_limits::max(); static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, - char* msg_buf, const json11::Json::object &msg_j={}) { + char* msg_buf, const nlohmann::json &msg_j={}) { static SwaglogState s; - json11::Json::object log_j = json11::Json::object { + nlohmann::json log_j = nlohmann::json { {"ctx", s.ctx_j}, {"levelnum", levelnum}, {"filename", filename}, @@ -92,7 +92,7 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons std::string log_s; log_s += (char)levelnum; - ((json11::Json)log_j).dump(log_s); + log_s += log_j.dump(); s.log(levelnum, filename, lineno, func, msg_buf, log_s); free(msg_buf); @@ -115,14 +115,14 @@ void cloudlog_t_common(int levelnum, const char* filename, int lineno, const cha char* msg_buf = nullptr; int ret = vasprintf(&msg_buf, fmt, args); if (ret <= 0 || !msg_buf) return; - json11::Json::object tspt_j = json11::Json::object{ + nlohmann::json tspt_j = nlohmann::json{ {"event", msg_buf}, {"time", std::to_string(nanos_since_boot())} }; if (frame_id < NO_FRAME_ID) { tspt_j["frame_id"] = std::to_string(frame_id); } - tspt_j = json11::Json::object{{"timestamp", tspt_j}}; + tspt_j = nlohmann::json{{"timestamp", tspt_j}}; cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j); } diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index 09bc4c3795..be5ce51c2d 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -7,7 +7,7 @@ #include "common/util.h" #include "common/version.h" #include "system/hardware/hw.h" -#include "third_party/json11/json11.hpp" +#include "nlohmann/json.hpp" std::string daemon_name = "testy"; std::string dongle_id = "test_dongle_id"; @@ -39,26 +39,25 @@ void recv_log(int thread_cnt, int thread_msg_cnt) { REQUIRE(buf[0] == CLOUDLOG_DEBUG); std::string err; - auto msg = json11::Json::parse(buf + 1, err); - REQUIRE(!msg.is_null()); + nlohmann::json msg = nlohmann::json::parse(buf + 1); - REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG); - REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc")); - REQUIRE(msg["funcname"].string_value() == "log_thread"); - REQUIRE(msg["lineno"].int_value() == LINE_NO); + REQUIRE(msg["levelnum"].template get() == CLOUDLOG_DEBUG); + REQUIRE_THAT(msg["filename"].template get(), Catch::Contains("test_swaglog.cc")); + REQUIRE(msg["funcname"].template get() == "log_thread"); + REQUIRE(msg["lineno"].template get() == LINE_NO); auto ctx = msg["ctx"]; - REQUIRE(ctx["daemon"].string_value() == daemon_name); - REQUIRE(ctx["dongle_id"].string_value() == dongle_id); - REQUIRE(ctx["dirty"].bool_value() == true); + REQUIRE(ctx["daemon"].template get() == daemon_name); + REQUIRE(ctx["dongle_id"].template get() == dongle_id); + REQUIRE(ctx["dirty"].template get() == true); - REQUIRE(ctx["version"].string_value() == COMMA_VERSION); + REQUIRE(ctx["version"].template get() == COMMA_VERSION); std::string device = Hardware::get_name(); - REQUIRE(ctx["device"].string_value() == device); + REQUIRE(ctx["device"].template get() == device); - int thread_id = atoi(msg["msg"].string_value().c_str()); + int thread_id = atoi(msg["msg"].template get().c_str()); REQUIRE((thread_id >= 0 && thread_id < thread_cnt)); thread_msgs[thread_id]++; total_count++; diff --git a/release/files_common b/release/files_common index cf985f682d..342d5ff489 100644 --- a/release/files_common +++ b/release/files_common @@ -374,8 +374,7 @@ third_party/SConscript third_party/linux/** third_party/opencl/** -third_party/json11/json11.cpp -third_party/json11/json11.hpp +third_party/nlohmann/json.hpp third_party/qrcode/*.cc third_party/qrcode/*.hpp diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index 6ed5c08e81..56e0907ecc 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -1,11 +1,11 @@ #include #include -#include "third_party/json11/json11.hpp" +#include "nlohmann/json.hpp" #include "common/util.h" #include "common/clutil.h" #include "selfdrive/modeld/thneed/thneed.h" -using namespace json11; +using namespace nlohmann; extern map g_program_source; @@ -14,25 +14,24 @@ void Thneed::load(const char *filename) { string buf = util::read_file(filename); int jsz = *(int *)buf.data(); - string jsonerr; string jj(buf.data() + sizeof(int), jsz); - Json jdat = Json::parse(jj, jsonerr); + json jdat = json::parse(jj); map real_mem; real_mem[NULL] = NULL; int ptr = sizeof(int)+jsz; - for (auto &obj : jdat["objects"].array_items()) { - auto mobj = obj.object_items(); - int sz = mobj["size"].int_value(); + for (auto &obj : jdat["objects"]) { + auto mobj = obj; + int sz = mobj["size"].template get(); cl_mem clbuf = NULL; - if (mobj["buffer_id"].string_value().size() > 0) { + if (mobj["buffer_id"].template get().size() > 0) { // image buffer must already be allocated - clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; - assert(mobj["needs_load"].bool_value() == false); + clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].template get().data())]; + assert(mobj["needs_load"].template get() == false); } else { - if (mobj["needs_load"].bool_value()) { + if (mobj["needs_load"].template get()) { clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL); if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr); ptr += sz; @@ -48,9 +47,9 @@ void Thneed::load(const char *filename) { if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { cl_image_desc desc = {0}; desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER; - desc.image_width = mobj["width"].int_value(); - desc.image_height = mobj["height"].int_value(); - desc.image_row_pitch = mobj["row_pitch"].int_value(); + desc.image_width = mobj["width"].template get(); + desc.image_height = mobj["height"].template get(); + desc.image_row_pitch = mobj["row_pitch"].template get(); assert(sz == desc.image_height*desc.image_row_pitch); #ifdef QCOM2 desc.buffer = clbuf; @@ -60,12 +59,12 @@ void Thneed::load(const char *filename) { #endif cl_image_format format = {0}; format.image_channel_order = CL_RGBA; - format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT; + format.image_channel_data_type = mobj["float32"].template get() ? CL_FLOAT : CL_HALF_FLOAT; cl_int errcode; #ifndef QCOM2 - if (mobj["needs_load"].bool_value()) { + if (mobj["needs_load"].template get()) { clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode); } else { clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); @@ -80,22 +79,22 @@ void Thneed::load(const char *filename) { assert(clbuf != NULL); } - real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf; + real_mem[*(cl_mem*)(mobj["id"].template get().data())] = clbuf; } map g_programs; - for (const auto &[name, source] : jdat["programs"].object_items()) { - if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size()); - g_programs[name] = cl_program_from_source(context, device_id, source.string_value()); + for (const auto &[name, source] : jdat["programs"].items()) { + if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.template get().size()); + g_programs[name] = cl_program_from_source(context, device_id, source.template get()); } - for (auto &obj : jdat["inputs"].array_items()) { - auto mobj = obj.object_items(); - int sz = mobj["size"].int_value(); - cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; + for (auto &obj : jdat["inputs"]) { + auto mobj = obj; + int sz = mobj["size"].template get(); + cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].template get().data())]; input_clmem.push_back(aa); input_sizes.push_back(sz); - printf("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); + printf("Thneed::load: adding input %s with size %d\n", mobj["name"].template get().data(), sz); cl_int cl_err; void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err); @@ -104,39 +103,39 @@ void Thneed::load(const char *filename) { inputs.push_back(ret); } - for (auto &obj : jdat["outputs"].array_items()) { - auto mobj = obj.object_items(); - int sz = mobj["size"].int_value(); + for (auto &obj : jdat["outputs"]) { + auto mobj = obj; + int sz = mobj["size"].template get(); printf("Thneed::save: adding output with size %d\n", sz); // TODO: support multiple outputs - output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; + output = real_mem[*(cl_mem*)(mobj["buffer_id"].template get().data())]; assert(output != NULL); } - for (auto &obj : jdat["binaries"].array_items()) { - string name = obj["name"].string_value(); - size_t length = obj["length"].int_value(); + for (auto &obj : jdat["binaries"]) { + string name = obj["name"].template get(); + size_t length = obj["length"].template get(); if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length); g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length); ptr += length; } - for (auto &obj : jdat["kernels"].array_items()) { + for (auto &obj : jdat["kernels"]) { auto gws = obj["global_work_size"]; auto lws = obj["local_work_size"]; auto kk = shared_ptr(new CLQueuedKernel(this)); - kk->name = obj["name"].string_value(); + kk->name = obj["name"].template get(); kk->program = g_programs[kk->name]; - kk->work_dim = obj["work_dim"].int_value(); + kk->work_dim = obj["work_dim"].template get(); for (int i = 0; i < kk->work_dim; i++) { - kk->global_work_size[i] = gws[i].int_value(); - kk->local_work_size[i] = lws[i].int_value(); + kk->global_work_size[i] = gws[i].template get(); + kk->local_work_size[i] = lws[i].template get(); } - kk->num_args = obj["num_args"].int_value(); + kk->num_args = obj["num_args"].template get(); for (int i = 0; i < kk->num_args; i++) { - string arg = obj["args"].array_items()[i].string_value(); - int arg_size = obj["args_size"].array_items()[i].int_value(); + string arg = obj["args"][i].template get(); + int arg_size = obj["args_size"][i].template get(); kk->args_size.push_back(arg_size); if (arg_size == 8) { cl_mem val = *(cl_mem*)(arg.data()); diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h index 47e18e0be3..c5436a3847 100644 --- a/selfdrive/modeld/thneed/thneed.h +++ b/selfdrive/modeld/thneed/thneed.h @@ -18,9 +18,6 @@ using namespace std; cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value); -namespace json11 { - class Json; -} class Thneed; class GPUMalloc { @@ -52,7 +49,6 @@ class CLQueuedKernel { vector args; vector args_size; cl_kernel kernel = NULL; - json11::Json to_json() const; cl_uint work_dim; size_t global_work_size[3] = {0}; diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index c116ef1535..dfa6941c7f 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -2,7 +2,7 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transfor map_env = qt_env.Clone() libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations, - 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] + 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + map_env["LIBS"] if arch == 'larch64': libs.append(':libEGL_mesa.so.0') diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index a3cba124fe..53d9cdcc42 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -91,7 +91,7 @@ if GetOption('extras') and arch != "Darwin": # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], - LIBS=qt_libs + ['curl', 'common', 'json11']) + LIBS=qt_libs + ['curl', 'common']) # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) @@ -126,4 +126,4 @@ if GetOption('extras') and arch != "Darwin": # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) + qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'zmq', 'visionipc', 'messaging']) diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript index 6bd7c6ff3e..aaba60270a 100644 --- a/system/logcatd/SConscript +++ b/system/logcatd/SConscript @@ -1,3 +1,3 @@ Import('env', 'cereal', 'messaging', 'common') -env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11']) +env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd']) diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc index 54b3782132..4f98ac0d67 100644 --- a/system/logcatd/logcatd_systemd.cc +++ b/system/logcatd/logcatd_systemd.cc @@ -5,7 +5,7 @@ #include #include -#include "third_party/json11/json11.hpp" +#include "nlohmann/json.hpp" #include "cereal/messaging/messaging.h" #include "common/timing.h" @@ -62,7 +62,7 @@ int main(int argc, char *argv[]) { // Build message auto androidEntry = msg.initEvent().initAndroidLog(); androidEntry.setTs(timestamp); - androidEntry.setMessage(json11::Json(kv).dump()); + androidEntry.setMessage(nlohmann::json(kv).dump()); if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str())); if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str())); if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]); diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index 1f4b767011..e662991a48 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -1,5 +1,5 @@ Import('env', 'cereal', 'messaging', 'common') -libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] +libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) if GetOption('extras'): diff --git a/third_party/SConscript b/third_party/SConscript index e5bbfaa07a..14def0611c 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -1,6 +1,3 @@ Import('env') -env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call']) -env.Append(CPPPATH=[Dir('json11')]) - env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp deleted file mode 100644 index bc4045f07d..0000000000 --- a/third_party/json11/json11.cpp +++ /dev/null @@ -1,784 +0,0 @@ -/* Copyright (c) 2013 Dropbox, Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#include "json11.hpp" -#include -#include -#include -#include -#include - -namespace json11 { - -static const int max_depth = 200; - -using std::string; -using std::vector; -using std::map; -using std::make_shared; -using std::initializer_list; -using std::move; - -/* Helper for representing null - just a do-nothing struct, plus comparison - * operators so the helpers in JsonValue work. We can't use nullptr_t because - * it may not be orderable. - */ -struct NullStruct { - bool operator==(NullStruct) const { return true; } - bool operator<(NullStruct) const { return false; } -}; - -/* * * * * * * * * * * * * * * * * * * * - * Serialization - */ - -static void dump(NullStruct, string &out) { - out += "null"; -} - -static void dump(double value, string &out) { - if (std::isfinite(value)) { - char buf[32]; - snprintf(buf, sizeof buf, "%.17g", value); - out += buf; - } else { - out += "null"; - } -} - -static void dump(int value, string &out) { - char buf[32]; - snprintf(buf, sizeof buf, "%d", value); - out += buf; -} - -static void dump(bool value, string &out) { - out += value ? "true" : "false"; -} - -static void dump(const string &value, string &out) { - out += '"'; - for (size_t i = 0; i < value.length(); i++) { - const char ch = value[i]; - if (ch == '\\') { - out += "\\\\"; - } else if (ch == '"') { - out += "\\\""; - } else if (ch == '\b') { - out += "\\b"; - } else if (ch == '\f') { - out += "\\f"; - } else if (ch == '\n') { - out += "\\n"; - } else if (ch == '\r') { - out += "\\r"; - } else if (ch == '\t') { - out += "\\t"; - } else if (static_cast(ch) <= 0x1f) { - char buf[8]; - snprintf(buf, sizeof buf, "\\u%04x", ch); - out += buf; - } else if (static_cast(ch) == 0xe2 && static_cast(value[i+1]) == 0x80 - && static_cast(value[i+2]) == 0xa8) { - out += "\\u2028"; - i += 2; - } else if (static_cast(ch) == 0xe2 && static_cast(value[i+1]) == 0x80 - && static_cast(value[i+2]) == 0xa9) { - out += "\\u2029"; - i += 2; - } else { - out += ch; - } - } - out += '"'; -} - -static void dump(const Json::array &values, string &out) { - bool first = true; - out += "["; - for (const auto &value : values) { - if (!first) - out += ", "; - value.dump(out); - first = false; - } - out += "]"; -} - -static void dump(const Json::object &values, string &out) { - bool first = true; - out += "{"; - for (const auto &kv : values) { - if (!first) - out += ", "; - dump(kv.first, out); - out += ": "; - kv.second.dump(out); - first = false; - } - out += "}"; -} - -void Json::dump(string &out) const { - m_ptr->dump(out); -} - -/* * * * * * * * * * * * * * * * * * * * - * Value wrappers - */ - -template -class Value : public JsonValue { -protected: - - // Constructors - explicit Value(const T &value) : m_value(value) {} - explicit Value(T &&value) : m_value(move(value)) {} - - // Get type tag - Json::Type type() const override { - return tag; - } - - // Comparisons - bool equals(const JsonValue * other) const override { - return m_value == static_cast *>(other)->m_value; - } - bool less(const JsonValue * other) const override { - return m_value < static_cast *>(other)->m_value; - } - - const T m_value; - void dump(string &out) const override { json11::dump(m_value, out); } -}; - -class JsonDouble final : public Value { - double number_value() const override { return m_value; } - int int_value() const override { return static_cast(m_value); } - bool equals(const JsonValue * other) const override { return m_value == other->number_value(); } - bool less(const JsonValue * other) const override { return m_value < other->number_value(); } -public: - explicit JsonDouble(double value) : Value(value) {} -}; - -class JsonInt final : public Value { - double number_value() const override { return m_value; } - int int_value() const override { return m_value; } - bool equals(const JsonValue * other) const override { return m_value == other->number_value(); } - bool less(const JsonValue * other) const override { return m_value < other->number_value(); } -public: - explicit JsonInt(int value) : Value(value) {} -}; - -class JsonBoolean final : public Value { - bool bool_value() const override { return m_value; } -public: - explicit JsonBoolean(bool value) : Value(value) {} -}; - -class JsonString final : public Value { - const string &string_value() const override { return m_value; } -public: - explicit JsonString(const string &value) : Value(value) {} - explicit JsonString(string &&value) : Value(move(value)) {} -}; - -class JsonArray final : public Value { - const Json::array &array_items() const override { return m_value; } - const Json & operator[](size_t i) const override; -public: - explicit JsonArray(const Json::array &value) : Value(value) {} - explicit JsonArray(Json::array &&value) : Value(move(value)) {} -}; - -class JsonObject final : public Value { - const Json::object &object_items() const override { return m_value; } - const Json & operator[](const string &key) const override; -public: - explicit JsonObject(const Json::object &value) : Value(value) {} - explicit JsonObject(Json::object &&value) : Value(move(value)) {} -}; - -class JsonNull final : public Value { -public: - JsonNull() : Value({}) {} -}; - -/* * * * * * * * * * * * * * * * * * * * - * Static globals - static-init-safe - */ -struct Statics { - const std::shared_ptr null = make_shared(); - const std::shared_ptr t = make_shared(true); - const std::shared_ptr f = make_shared(false); - const string empty_string; - const vector empty_vector; - const map empty_map; - Statics() {} -}; - -static const Statics & statics() { - static const Statics s {}; - return s; -} - -static const Json & static_null() { - // This has to be separate, not in Statics, because Json() accesses statics().null. - static const Json json_null; - return json_null; -} - -/* * * * * * * * * * * * * * * * * * * * - * Constructors - */ - -Json::Json() noexcept : m_ptr(statics().null) {} -Json::Json(std::nullptr_t) noexcept : m_ptr(statics().null) {} -Json::Json(double value) : m_ptr(make_shared(value)) {} -Json::Json(int value) : m_ptr(make_shared(value)) {} -Json::Json(bool value) : m_ptr(value ? statics().t : statics().f) {} -Json::Json(const string &value) : m_ptr(make_shared(value)) {} -Json::Json(string &&value) : m_ptr(make_shared(move(value))) {} -Json::Json(const char * value) : m_ptr(make_shared(value)) {} -Json::Json(const Json::array &values) : m_ptr(make_shared(values)) {} -Json::Json(Json::array &&values) : m_ptr(make_shared(move(values))) {} -Json::Json(const Json::object &values) : m_ptr(make_shared(values)) {} -Json::Json(Json::object &&values) : m_ptr(make_shared(move(values))) {} - -/* * * * * * * * * * * * * * * * * * * * - * Accessors - */ - -Json::Type Json::type() const { return m_ptr->type(); } -double Json::number_value() const { return m_ptr->number_value(); } -int Json::int_value() const { return m_ptr->int_value(); } -bool Json::bool_value() const { return m_ptr->bool_value(); } -const string & Json::string_value() const { return m_ptr->string_value(); } -const vector & Json::array_items() const { return m_ptr->array_items(); } -const map & Json::object_items() const { return m_ptr->object_items(); } -const Json & Json::operator[] (size_t i) const { return (*m_ptr)[i]; } -const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key]; } - -double JsonValue::number_value() const { return 0; } -int JsonValue::int_value() const { return 0; } -bool JsonValue::bool_value() const { return false; } -const string & JsonValue::string_value() const { return statics().empty_string; } -const vector & JsonValue::array_items() const { return statics().empty_vector; } -const map & JsonValue::object_items() const { return statics().empty_map; } -const Json & JsonValue::operator[] (size_t) const { return static_null(); } -const Json & JsonValue::operator[] (const string &) const { return static_null(); } - -const Json & JsonObject::operator[] (const string &key) const { - auto iter = m_value.find(key); - return (iter == m_value.end()) ? static_null() : iter->second; -} -const Json & JsonArray::operator[] (size_t i) const { - if (i >= m_value.size()) return static_null(); - else return m_value[i]; -} - -/* * * * * * * * * * * * * * * * * * * * - * Comparison - */ - -bool Json::operator== (const Json &other) const { - if (m_ptr->type() != other.m_ptr->type()) - return false; - - return m_ptr->equals(other.m_ptr.get()); -} - -bool Json::operator< (const Json &other) const { - if (m_ptr->type() != other.m_ptr->type()) - return m_ptr->type() < other.m_ptr->type(); - - return m_ptr->less(other.m_ptr.get()); -} - -/* * * * * * * * * * * * * * * * * * * * - * Parsing - */ - -/* esc(c) - * - * Format char c suitable for printing in an error message. - */ -static inline string esc(char c) { - char buf[12]; - if (static_cast(c) >= 0x20 && static_cast(c) <= 0x7f) { - snprintf(buf, sizeof buf, "'%c' (%d)", c, c); - } else { - snprintf(buf, sizeof buf, "(%d)", c); - } - return string(buf); -} - -static inline bool in_range(long x, long lower, long upper) { - return (x >= lower && x <= upper); -} - -namespace { -/* JsonParser - * - * Object that tracks all state of an in-progress parse. - */ -struct JsonParser final { - - /* State - */ - const string &str; - size_t i; - string &err; - bool failed; - const JsonParse strategy; - - /* fail(msg, err_ret = Json()) - * - * Mark this parse as failed. - */ - Json fail(string &&msg) { - return fail(move(msg), Json()); - } - - template - T fail(string &&msg, const T err_ret) { - if (!failed) - err = std::move(msg); - failed = true; - return err_ret; - } - - /* consume_whitespace() - * - * Advance until the current character is non-whitespace. - */ - void consume_whitespace() { - while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t') - i++; - } - - /* consume_comment() - * - * Advance comments (c-style inline and multiline). - */ - bool consume_comment() { - bool comment_found = false; - if (str[i] == '/') { - i++; - if (i == str.size()) - return fail("unexpected end of input after start of comment", false); - if (str[i] == '/') { // inline comment - i++; - // advance until next line, or end of input - while (i < str.size() && str[i] != '\n') { - i++; - } - comment_found = true; - } - else if (str[i] == '*') { // multiline comment - i++; - if (i > str.size()-2) - return fail("unexpected end of input inside multi-line comment", false); - // advance until closing tokens - while (!(str[i] == '*' && str[i+1] == '/')) { - i++; - if (i > str.size()-2) - return fail( - "unexpected end of input inside multi-line comment", false); - } - i += 2; - comment_found = true; - } - else - return fail("malformed comment", false); - } - return comment_found; - } - - /* consume_garbage() - * - * Advance until the current character is non-whitespace and non-comment. - */ - void consume_garbage() { - consume_whitespace(); - if(strategy == JsonParse::COMMENTS) { - bool comment_found = false; - do { - comment_found = consume_comment(); - if (failed) return; - consume_whitespace(); - } - while(comment_found); - } - } - - /* get_next_token() - * - * Return the next non-whitespace character. If the end of the input is reached, - * flag an error and return 0. - */ - char get_next_token() { - consume_garbage(); - if (failed) return (char)0; - if (i == str.size()) - return fail("unexpected end of input", (char)0); - - return str[i++]; - } - - /* encode_utf8(pt, out) - * - * Encode pt as UTF-8 and add it to out. - */ - void encode_utf8(long pt, string & out) { - if (pt < 0) - return; - - if (pt < 0x80) { - out += static_cast(pt); - } else if (pt < 0x800) { - out += static_cast((pt >> 6) | 0xC0); - out += static_cast((pt & 0x3F) | 0x80); - } else if (pt < 0x10000) { - out += static_cast((pt >> 12) | 0xE0); - out += static_cast(((pt >> 6) & 0x3F) | 0x80); - out += static_cast((pt & 0x3F) | 0x80); - } else { - out += static_cast((pt >> 18) | 0xF0); - out += static_cast(((pt >> 12) & 0x3F) | 0x80); - out += static_cast(((pt >> 6) & 0x3F) | 0x80); - out += static_cast((pt & 0x3F) | 0x80); - } - } - - /* parse_string() - * - * Parse a string, starting at the current position. - */ - string parse_string() { - string out; - long last_escaped_codepoint = -1; - while (true) { - if (i == str.size()) - return fail("unexpected end of input in string", ""); - - char ch = str[i++]; - - if (ch == '"') { - encode_utf8(last_escaped_codepoint, out); - return out; - } - - if (in_range(ch, 0, 0x1f)) - return fail("unescaped " + esc(ch) + " in string", ""); - - // The usual case: non-escaped characters - if (ch != '\\') { - encode_utf8(last_escaped_codepoint, out); - last_escaped_codepoint = -1; - out += ch; - continue; - } - - // Handle escapes - if (i == str.size()) - return fail("unexpected end of input in string", ""); - - ch = str[i++]; - - if (ch == 'u') { - // Extract 4-byte escape sequence - string esc = str.substr(i, 4); - // Explicitly check length of the substring. The following loop - // relies on std::string returning the terminating NUL when - // accessing str[length]. Checking here reduces brittleness. - if (esc.length() < 4) { - return fail("bad \\u escape: " + esc, ""); - } - for (size_t j = 0; j < 4; j++) { - if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F') - && !in_range(esc[j], '0', '9')) - return fail("bad \\u escape: " + esc, ""); - } - - long codepoint = strtol(esc.data(), nullptr, 16); - - // JSON specifies that characters outside the BMP shall be encoded as a pair - // of 4-hex-digit \u escapes encoding their surrogate pair components. Check - // whether we're in the middle of such a beast: the previous codepoint was an - // escaped lead (high) surrogate, and this is a trail (low) surrogate. - if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF) - && in_range(codepoint, 0xDC00, 0xDFFF)) { - // Reassemble the two surrogate pairs into one astral-plane character, per - // the UTF-16 algorithm. - encode_utf8((((last_escaped_codepoint - 0xD800) << 10) - | (codepoint - 0xDC00)) + 0x10000, out); - last_escaped_codepoint = -1; - } else { - encode_utf8(last_escaped_codepoint, out); - last_escaped_codepoint = codepoint; - } - - i += 4; - continue; - } - - encode_utf8(last_escaped_codepoint, out); - last_escaped_codepoint = -1; - - if (ch == 'b') { - out += '\b'; - } else if (ch == 'f') { - out += '\f'; - } else if (ch == 'n') { - out += '\n'; - } else if (ch == 'r') { - out += '\r'; - } else if (ch == 't') { - out += '\t'; - } else if (ch == '"' || ch == '\\' || ch == '/') { - out += ch; - } else { - return fail("invalid escape character " + esc(ch), ""); - } - } - } - - /* parse_number() - * - * Parse a double. - */ - Json parse_number() { - size_t start_pos = i; - - if (str[i] == '-') - i++; - - // Integer part - if (str[i] == '0') { - i++; - if (in_range(str[i], '0', '9')) - return fail("leading 0s not permitted in numbers"); - } else if (in_range(str[i], '1', '9')) { - i++; - while (in_range(str[i], '0', '9')) - i++; - } else { - return fail("invalid " + esc(str[i]) + " in number"); - } - - if (str[i] != '.' && str[i] != 'e' && str[i] != 'E' - && (i - start_pos) <= static_cast(std::numeric_limits::digits10)) { - return std::atoi(str.c_str() + start_pos); - } - - // Decimal part - if (str[i] == '.') { - i++; - if (!in_range(str[i], '0', '9')) - return fail("at least one digit required in fractional part"); - - while (in_range(str[i], '0', '9')) - i++; - } - - // Exponent part - if (str[i] == 'e' || str[i] == 'E') { - i++; - - if (str[i] == '+' || str[i] == '-') - i++; - - if (!in_range(str[i], '0', '9')) - return fail("at least one digit required in exponent"); - - while (in_range(str[i], '0', '9')) - i++; - } - - return std::strtod(str.c_str() + start_pos, nullptr); - } - - /* expect(str, res) - * - * Expect that 'str' starts at the character that was just read. If it does, advance - * the input and return res. If not, flag an error. - */ - Json expect(const string &expected, Json res) { - assert(i != 0); - i--; - if (str.compare(i, expected.length(), expected) == 0) { - i += expected.length(); - return res; - } else { - return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length())); - } - } - - /* parse_json() - * - * Parse a JSON object. - */ - Json parse_json(int depth) { - if (depth > max_depth) { - return fail("exceeded maximum nesting depth"); - } - - char ch = get_next_token(); - if (failed) - return Json(); - - if (ch == '-' || (ch >= '0' && ch <= '9')) { - i--; - return parse_number(); - } - - if (ch == 't') - return expect("true", true); - - if (ch == 'f') - return expect("false", false); - - if (ch == 'n') - return expect("null", Json()); - - if (ch == '"') - return parse_string(); - - if (ch == '{') { - map data; - ch = get_next_token(); - if (ch == '}') - return data; - - while (1) { - if (ch != '"') - return fail("expected '\"' in object, got " + esc(ch)); - - string key = parse_string(); - if (failed) - return Json(); - - ch = get_next_token(); - if (ch != ':') - return fail("expected ':' in object, got " + esc(ch)); - - data[std::move(key)] = parse_json(depth + 1); - if (failed) - return Json(); - - ch = get_next_token(); - if (ch == '}') - break; - if (ch != ',') - return fail("expected ',' in object, got " + esc(ch)); - - ch = get_next_token(); - } - return data; - } - - if (ch == '[') { - vector data; - ch = get_next_token(); - if (ch == ']') - return data; - - while (1) { - i--; - data.push_back(parse_json(depth + 1)); - if (failed) - return Json(); - - ch = get_next_token(); - if (ch == ']') - break; - if (ch != ',') - return fail("expected ',' in list, got " + esc(ch)); - - ch = get_next_token(); - (void)ch; - } - return data; - } - - return fail("expected value, got " + esc(ch)); - } -}; -}//namespace { - -Json Json::parse(const string &in, string &err, JsonParse strategy) { - JsonParser parser { in, 0, err, false, strategy }; - Json result = parser.parse_json(0); - - // Check for any trailing garbage - parser.consume_garbage(); - if (parser.failed) - return Json(); - if (parser.i != in.size()) - return parser.fail("unexpected trailing " + esc(in[parser.i])); - - return result; -} - -// Documented in json11.hpp -vector Json::parse_multi(const string &in, - std::string::size_type &parser_stop_pos, - string &err, - JsonParse strategy) { - JsonParser parser { in, 0, err, false, strategy }; - parser_stop_pos = 0; - vector json_vec; - while (parser.i != in.size() && !parser.failed) { - json_vec.push_back(parser.parse_json(0)); - if (parser.failed) - break; - - // Check for another object - parser.consume_garbage(); - if (parser.failed) - break; - parser_stop_pos = parser.i; - } - return json_vec; -} - -/* * * * * * * * * * * * * * * * * * * * - * Shape-checking - */ - -bool Json::has_shape(const shape & types, string & err) const { - if (!is_object()) { - err = "expected JSON object, got " + dump(); - return false; - } - - for (auto & item : types) { - if ((*this)[item.first].type() != item.second) { - err = "bad type for " + item.first + " in " + dump(); - return false; - } - } - - return true; -} - -} // namespace json11 diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp deleted file mode 100644 index 5202ef9323..0000000000 --- a/third_party/json11/json11.hpp +++ /dev/null @@ -1,232 +0,0 @@ -/* json11 - * - * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization. - * - * The core object provided by the library is json11::Json. A Json object represents any JSON - * value: null, bool, number (int or double), string (std::string), array (std::vector), or - * object (std::map). - * - * Json objects act like values: they can be assigned, copied, moved, compared for equality or - * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and - * Json::parse (static) to parse a std::string as a Json object. - * - * Internally, the various types of Json object are represented by the JsonValue class - * hierarchy. - * - * A note on numbers - JSON specifies the syntax of number formatting but not its semantics, - * so some JSON implementations distinguish between integers and floating-point numbers, while - * some don't. In json11, we choose the latter. Because some JSON implementations (namely - * Javascript itself) treat all numbers as the same type, distinguishing the two leads - * to JSON that will be *silently* changed by a round-trip through those implementations. - * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also - * provides integer helpers. - * - * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the - * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64 - * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch - * will be exact for +/- 275 years.) - */ - -/* Copyright (c) 2013 Dropbox, Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -#pragma once - -#include -#include -#include -#include -#include - -#ifdef _MSC_VER - #if _MSC_VER <= 1800 // VS 2013 - #ifndef noexcept - #define noexcept throw() - #endif - - #ifndef snprintf - #define snprintf _snprintf_s - #endif - #endif -#endif - -namespace json11 { - -enum JsonParse { - STANDARD, COMMENTS -}; - -class JsonValue; - -class Json final { -public: - // Types - enum Type { - NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT - }; - - // Array and object typedefs - typedef std::vector array; - typedef std::map object; - - // Constructors for the various types of JSON value. - Json() noexcept; // NUL - Json(std::nullptr_t) noexcept; // NUL - Json(double value); // NUMBER - Json(int value); // NUMBER - Json(bool value); // BOOL - Json(const std::string &value); // STRING - Json(std::string &&value); // STRING - Json(const char * value); // STRING - Json(const array &values); // ARRAY - Json(array &&values); // ARRAY - Json(const object &values); // OBJECT - Json(object &&values); // OBJECT - - // Implicit constructor: anything with a to_json() function. - template - Json(const T & t) : Json(t.to_json()) {} - - // Implicit constructor: map-like objects (std::map, std::unordered_map, etc) - template ::value - && std::is_constructible::value, - int>::type = 0> - Json(const M & m) : Json(object(m.begin(), m.end())) {} - - // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc) - template ::value, - int>::type = 0> - Json(const V & v) : Json(array(v.begin(), v.end())) {} - - // This prevents Json(some_pointer) from accidentally producing a bool. Use - // Json(bool(some_pointer)) if that behavior is desired. - Json(void *) = delete; - - // Accessors - Type type() const; - - bool is_null() const { return type() == NUL; } - bool is_number() const { return type() == NUMBER; } - bool is_bool() const { return type() == BOOL; } - bool is_string() const { return type() == STRING; } - bool is_array() const { return type() == ARRAY; } - bool is_object() const { return type() == OBJECT; } - - // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not - // distinguish between integer and non-integer numbers - number_value() and int_value() - // can both be applied to a NUMBER-typed object. - double number_value() const; - int int_value() const; - - // Return the enclosed value if this is a boolean, false otherwise. - bool bool_value() const; - // Return the enclosed string if this is a string, "" otherwise. - const std::string &string_value() const; - // Return the enclosed std::vector if this is an array, or an empty vector otherwise. - const array &array_items() const; - // Return the enclosed std::map if this is an object, or an empty map otherwise. - const object &object_items() const; - - // Return a reference to arr[i] if this is an array, Json() otherwise. - const Json & operator[](size_t i) const; - // Return a reference to obj[key] if this is an object, Json() otherwise. - const Json & operator[](const std::string &key) const; - - // Serialize. - void dump(std::string &out) const; - std::string dump() const { - std::string out; - dump(out); - return out; - } - - // Parse. If parse fails, return Json() and assign an error message to err. - static Json parse(const std::string & in, - std::string & err, - JsonParse strategy = JsonParse::STANDARD); - static Json parse(const char * in, - std::string & err, - JsonParse strategy = JsonParse::STANDARD) { - if (in) { - return parse(std::string(in), err, strategy); - } else { - err = "null input"; - return nullptr; - } - } - // Parse multiple objects, concatenated or separated by whitespace - static std::vector parse_multi( - const std::string & in, - std::string::size_type & parser_stop_pos, - std::string & err, - JsonParse strategy = JsonParse::STANDARD); - - static inline std::vector parse_multi( - const std::string & in, - std::string & err, - JsonParse strategy = JsonParse::STANDARD) { - std::string::size_type parser_stop_pos; - return parse_multi(in, parser_stop_pos, err, strategy); - } - - bool operator== (const Json &rhs) const; - bool operator< (const Json &rhs) const; - bool operator!= (const Json &rhs) const { return !(*this == rhs); } - bool operator<= (const Json &rhs) const { return !(rhs < *this); } - bool operator> (const Json &rhs) const { return (rhs < *this); } - bool operator>= (const Json &rhs) const { return !(*this < rhs); } - - /* has_shape(types, err) - * - * Return true if this is a JSON object and, for each item in types, has a field of - * the given type. If not, return false and set err to a descriptive message. - */ - typedef std::initializer_list> shape; - bool has_shape(const shape & types, std::string & err) const; - -private: - std::shared_ptr m_ptr; -}; - -// Internal class hierarchy - JsonValue objects are not exposed to users of this API. -class JsonValue { -protected: - friend class Json; - friend class JsonInt; - friend class JsonDouble; - virtual Json::Type type() const = 0; - virtual bool equals(const JsonValue * other) const = 0; - virtual bool less(const JsonValue * other) const = 0; - virtual void dump(std::string &out) const = 0; - virtual double number_value() const; - virtual int int_value() const; - virtual bool bool_value() const; - virtual const std::string &string_value() const; - virtual const Json::array &array_items() const; - virtual const Json &operator[](size_t i) const; - virtual const Json::object &object_items() const; - virtual const Json &operator[](const std::string &key) const; - virtual ~JsonValue() {} -}; - -} // namespace json11 diff --git a/third_party/nlohmann/json.hpp b/third_party/nlohmann/json.hpp new file mode 100644 index 0000000000..74986f9249 --- /dev/null +++ b/third_party/nlohmann/json.hpp @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bea4c8066ef4a1c206b2be5a36302f8926f7fdc6087af5d20b417d0cf103ea6 +size 919975 From 88757c12b3371a1ba5b3ebabc9e85faad0a19d56 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 22 Jan 2024 22:41:59 -0800 Subject: [PATCH 107/205] Revert "Switch from json11 to nlohmann/json (#31093)" This reverts commit ee036482b8152f0e7650895c6f4bac5d4f00e00f. --- .gitattributes | 1 - SConstruct | 4 +- common/SConscript | 6 +- common/swaglog.cc | 16 +- common/tests/test_swaglog.cc | 25 +- release/files_common | 3 +- selfdrive/modeld/thneed/serialize.cc | 79 +-- selfdrive/modeld/thneed/thneed.h | 4 + selfdrive/navd/SConscript | 2 +- selfdrive/ui/SConscript | 4 +- system/logcatd/SConscript | 2 +- system/logcatd/logcatd_systemd.cc | 4 +- system/proclogd/SConscript | 2 +- third_party/SConscript | 3 + third_party/json11/json11.cpp | 784 +++++++++++++++++++++++++++ third_party/json11/json11.hpp | 232 ++++++++ third_party/nlohmann/json.hpp | 3 - 17 files changed, 1098 insertions(+), 76 deletions(-) create mode 100644 third_party/json11/json11.cpp create mode 100644 third_party/json11/json11.hpp delete mode 100644 third_party/nlohmann/json.hpp diff --git a/.gitattributes b/.gitattributes index 51f4625fb6..8781a7371f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -22,4 +22,3 @@ third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text -third_party/nlohmann/json.hpp filter=lfs diff=lfs merge=lfs -text diff --git a/SConstruct b/SConstruct index 5fa3c6f4fc..3faa978087 100644 --- a/SConstruct +++ b/SConstruct @@ -205,7 +205,7 @@ env = Environment( "#third_party/acados/include/hpipm/include", "#third_party/catch2/include", "#third_party/libyuv/include", - "#third_party/nlohmann", + "#third_party/json11", "#third_party/linux/include", "#third_party/snpe/include", "#third_party/mapbox-gl-native-qt/include", @@ -351,7 +351,7 @@ Export('env', 'qt_env', 'arch', 'real_arch') SConscript(['common/SConscript']) Import('_common', '_gpucommon') -common = [_common] +common = [_common, 'json11'] gpucommon = [_gpucommon] Export('common', 'gpucommon') diff --git a/common/SConscript b/common/SConscript index a8300a90e7..829db6eeec 100644 --- a/common/SConscript +++ b/common/SConscript @@ -12,7 +12,7 @@ common_libs = [ if arch != "Darwin": common_libs.append('gpio.cc') -_common = env.Library('common', common_libs) +_common = env.Library('common', common_libs, LIBS="json11") files = [ 'clutil.cc', @@ -24,10 +24,10 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'], - LIBS=[_common, 'zmq', 'pthread']) + LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython bindings -params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq']) +params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) SConscript([ 'transformations/SConscript', diff --git a/common/swaglog.cc b/common/swaglog.cc index 270e866565..873836b725 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -11,7 +11,7 @@ #include #include -#include "nlohmann/json.hpp" +#include "third_party/json11/json11.hpp" #include "common/version.h" #include "system/hardware/hw.h" @@ -37,7 +37,7 @@ public: } } - ctx_j = nlohmann::json(); + ctx_j = json11::Json::object{}; if (char* dongle_id = getenv("DONGLE_ID")) { ctx_j["dongle_id"] = dongle_id; } @@ -66,17 +66,17 @@ public: void* zctx = nullptr; void* sock = nullptr; int print_level; - nlohmann::json ctx_j; + json11::Json::object ctx_j; }; bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS"); uint32_t NO_FRAME_ID = std::numeric_limits::max(); static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, - char* msg_buf, const nlohmann::json &msg_j={}) { + char* msg_buf, const json11::Json::object &msg_j={}) { static SwaglogState s; - nlohmann::json log_j = nlohmann::json { + json11::Json::object log_j = json11::Json::object { {"ctx", s.ctx_j}, {"levelnum", levelnum}, {"filename", filename}, @@ -92,7 +92,7 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons std::string log_s; log_s += (char)levelnum; - log_s += log_j.dump(); + ((json11::Json)log_j).dump(log_s); s.log(levelnum, filename, lineno, func, msg_buf, log_s); free(msg_buf); @@ -115,14 +115,14 @@ void cloudlog_t_common(int levelnum, const char* filename, int lineno, const cha char* msg_buf = nullptr; int ret = vasprintf(&msg_buf, fmt, args); if (ret <= 0 || !msg_buf) return; - nlohmann::json tspt_j = nlohmann::json{ + json11::Json::object tspt_j = json11::Json::object{ {"event", msg_buf}, {"time", std::to_string(nanos_since_boot())} }; if (frame_id < NO_FRAME_ID) { tspt_j["frame_id"] = std::to_string(frame_id); } - tspt_j = nlohmann::json{{"timestamp", tspt_j}}; + tspt_j = json11::Json::object{{"timestamp", tspt_j}}; cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j); } diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index be5ce51c2d..09bc4c3795 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -7,7 +7,7 @@ #include "common/util.h" #include "common/version.h" #include "system/hardware/hw.h" -#include "nlohmann/json.hpp" +#include "third_party/json11/json11.hpp" std::string daemon_name = "testy"; std::string dongle_id = "test_dongle_id"; @@ -39,25 +39,26 @@ void recv_log(int thread_cnt, int thread_msg_cnt) { REQUIRE(buf[0] == CLOUDLOG_DEBUG); std::string err; - nlohmann::json msg = nlohmann::json::parse(buf + 1); + auto msg = json11::Json::parse(buf + 1, err); + REQUIRE(!msg.is_null()); - REQUIRE(msg["levelnum"].template get() == CLOUDLOG_DEBUG); - REQUIRE_THAT(msg["filename"].template get(), Catch::Contains("test_swaglog.cc")); - REQUIRE(msg["funcname"].template get() == "log_thread"); - REQUIRE(msg["lineno"].template get() == LINE_NO); + REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG); + REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc")); + REQUIRE(msg["funcname"].string_value() == "log_thread"); + REQUIRE(msg["lineno"].int_value() == LINE_NO); auto ctx = msg["ctx"]; - REQUIRE(ctx["daemon"].template get() == daemon_name); - REQUIRE(ctx["dongle_id"].template get() == dongle_id); - REQUIRE(ctx["dirty"].template get() == true); + REQUIRE(ctx["daemon"].string_value() == daemon_name); + REQUIRE(ctx["dongle_id"].string_value() == dongle_id); + REQUIRE(ctx["dirty"].bool_value() == true); - REQUIRE(ctx["version"].template get() == COMMA_VERSION); + REQUIRE(ctx["version"].string_value() == COMMA_VERSION); std::string device = Hardware::get_name(); - REQUIRE(ctx["device"].template get() == device); + REQUIRE(ctx["device"].string_value() == device); - int thread_id = atoi(msg["msg"].template get().c_str()); + int thread_id = atoi(msg["msg"].string_value().c_str()); REQUIRE((thread_id >= 0 && thread_id < thread_cnt)); thread_msgs[thread_id]++; total_count++; diff --git a/release/files_common b/release/files_common index 342d5ff489..cf985f682d 100644 --- a/release/files_common +++ b/release/files_common @@ -374,7 +374,8 @@ third_party/SConscript third_party/linux/** third_party/opencl/** -third_party/nlohmann/json.hpp +third_party/json11/json11.cpp +third_party/json11/json11.hpp third_party/qrcode/*.cc third_party/qrcode/*.hpp diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index 56e0907ecc..6ed5c08e81 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -1,11 +1,11 @@ #include #include -#include "nlohmann/json.hpp" +#include "third_party/json11/json11.hpp" #include "common/util.h" #include "common/clutil.h" #include "selfdrive/modeld/thneed/thneed.h" -using namespace nlohmann; +using namespace json11; extern map g_program_source; @@ -14,24 +14,25 @@ void Thneed::load(const char *filename) { string buf = util::read_file(filename); int jsz = *(int *)buf.data(); + string jsonerr; string jj(buf.data() + sizeof(int), jsz); - json jdat = json::parse(jj); + Json jdat = Json::parse(jj, jsonerr); map real_mem; real_mem[NULL] = NULL; int ptr = sizeof(int)+jsz; - for (auto &obj : jdat["objects"]) { - auto mobj = obj; - int sz = mobj["size"].template get(); + for (auto &obj : jdat["objects"].array_items()) { + auto mobj = obj.object_items(); + int sz = mobj["size"].int_value(); cl_mem clbuf = NULL; - if (mobj["buffer_id"].template get().size() > 0) { + if (mobj["buffer_id"].string_value().size() > 0) { // image buffer must already be allocated - clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].template get().data())]; - assert(mobj["needs_load"].template get() == false); + clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; + assert(mobj["needs_load"].bool_value() == false); } else { - if (mobj["needs_load"].template get()) { + if (mobj["needs_load"].bool_value()) { clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL); if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr); ptr += sz; @@ -47,9 +48,9 @@ void Thneed::load(const char *filename) { if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { cl_image_desc desc = {0}; desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER; - desc.image_width = mobj["width"].template get(); - desc.image_height = mobj["height"].template get(); - desc.image_row_pitch = mobj["row_pitch"].template get(); + desc.image_width = mobj["width"].int_value(); + desc.image_height = mobj["height"].int_value(); + desc.image_row_pitch = mobj["row_pitch"].int_value(); assert(sz == desc.image_height*desc.image_row_pitch); #ifdef QCOM2 desc.buffer = clbuf; @@ -59,12 +60,12 @@ void Thneed::load(const char *filename) { #endif cl_image_format format = {0}; format.image_channel_order = CL_RGBA; - format.image_channel_data_type = mobj["float32"].template get() ? CL_FLOAT : CL_HALF_FLOAT; + format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT; cl_int errcode; #ifndef QCOM2 - if (mobj["needs_load"].template get()) { + if (mobj["needs_load"].bool_value()) { clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode); } else { clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); @@ -79,22 +80,22 @@ void Thneed::load(const char *filename) { assert(clbuf != NULL); } - real_mem[*(cl_mem*)(mobj["id"].template get().data())] = clbuf; + real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf; } map g_programs; - for (const auto &[name, source] : jdat["programs"].items()) { - if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.template get().size()); - g_programs[name] = cl_program_from_source(context, device_id, source.template get()); + for (const auto &[name, source] : jdat["programs"].object_items()) { + if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size()); + g_programs[name] = cl_program_from_source(context, device_id, source.string_value()); } - for (auto &obj : jdat["inputs"]) { - auto mobj = obj; - int sz = mobj["size"].template get(); - cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].template get().data())]; + for (auto &obj : jdat["inputs"].array_items()) { + auto mobj = obj.object_items(); + int sz = mobj["size"].int_value(); + cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; input_clmem.push_back(aa); input_sizes.push_back(sz); - printf("Thneed::load: adding input %s with size %d\n", mobj["name"].template get().data(), sz); + printf("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); cl_int cl_err; void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err); @@ -103,39 +104,39 @@ void Thneed::load(const char *filename) { inputs.push_back(ret); } - for (auto &obj : jdat["outputs"]) { - auto mobj = obj; - int sz = mobj["size"].template get(); + for (auto &obj : jdat["outputs"].array_items()) { + auto mobj = obj.object_items(); + int sz = mobj["size"].int_value(); printf("Thneed::save: adding output with size %d\n", sz); // TODO: support multiple outputs - output = real_mem[*(cl_mem*)(mobj["buffer_id"].template get().data())]; + output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; assert(output != NULL); } - for (auto &obj : jdat["binaries"]) { - string name = obj["name"].template get(); - size_t length = obj["length"].template get(); + for (auto &obj : jdat["binaries"].array_items()) { + string name = obj["name"].string_value(); + size_t length = obj["length"].int_value(); if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length); g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length); ptr += length; } - for (auto &obj : jdat["kernels"]) { + for (auto &obj : jdat["kernels"].array_items()) { auto gws = obj["global_work_size"]; auto lws = obj["local_work_size"]; auto kk = shared_ptr(new CLQueuedKernel(this)); - kk->name = obj["name"].template get(); + kk->name = obj["name"].string_value(); kk->program = g_programs[kk->name]; - kk->work_dim = obj["work_dim"].template get(); + kk->work_dim = obj["work_dim"].int_value(); for (int i = 0; i < kk->work_dim; i++) { - kk->global_work_size[i] = gws[i].template get(); - kk->local_work_size[i] = lws[i].template get(); + kk->global_work_size[i] = gws[i].int_value(); + kk->local_work_size[i] = lws[i].int_value(); } - kk->num_args = obj["num_args"].template get(); + kk->num_args = obj["num_args"].int_value(); for (int i = 0; i < kk->num_args; i++) { - string arg = obj["args"][i].template get(); - int arg_size = obj["args_size"][i].template get(); + string arg = obj["args"].array_items()[i].string_value(); + int arg_size = obj["args_size"].array_items()[i].int_value(); kk->args_size.push_back(arg_size); if (arg_size == 8) { cl_mem val = *(cl_mem*)(arg.data()); diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h index c5436a3847..47e18e0be3 100644 --- a/selfdrive/modeld/thneed/thneed.h +++ b/selfdrive/modeld/thneed/thneed.h @@ -18,6 +18,9 @@ using namespace std; cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value); +namespace json11 { + class Json; +} class Thneed; class GPUMalloc { @@ -49,6 +52,7 @@ class CLQueuedKernel { vector args; vector args_size; cl_kernel kernel = NULL; + json11::Json to_json() const; cl_uint work_dim; size_t global_work_size[3] = {0}; diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index dfa6941c7f..c116ef1535 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -2,7 +2,7 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transfor map_env = qt_env.Clone() libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations, - 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + map_env["LIBS"] + 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': libs.append(':libEGL_mesa.so.0') diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 53d9cdcc42..a3cba124fe 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -91,7 +91,7 @@ if GetOption('extras') and arch != "Darwin": # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], - LIBS=qt_libs + ['curl', 'common']) + LIBS=qt_libs + ['curl', 'common', 'json11']) # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) @@ -126,4 +126,4 @@ if GetOption('extras') and arch != "Darwin": # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'zmq', 'visionipc', 'messaging']) + qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript index aaba60270a..6bd7c6ff3e 100644 --- a/system/logcatd/SConscript +++ b/system/logcatd/SConscript @@ -1,3 +1,3 @@ Import('env', 'cereal', 'messaging', 'common') -env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd']) +env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11']) diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc index 4f98ac0d67..54b3782132 100644 --- a/system/logcatd/logcatd_systemd.cc +++ b/system/logcatd/logcatd_systemd.cc @@ -5,7 +5,7 @@ #include #include -#include "nlohmann/json.hpp" +#include "third_party/json11/json11.hpp" #include "cereal/messaging/messaging.h" #include "common/timing.h" @@ -62,7 +62,7 @@ int main(int argc, char *argv[]) { // Build message auto androidEntry = msg.initEvent().initAndroidLog(); androidEntry.setTs(timestamp); - androidEntry.setMessage(nlohmann::json(kv).dump()); + androidEntry.setMessage(json11::Json(kv).dump()); if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str())); if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str())); if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]); diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index e662991a48..1f4b767011 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -1,5 +1,5 @@ Import('env', 'cereal', 'messaging', 'common') -libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq'] +libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) if GetOption('extras'): diff --git a/third_party/SConscript b/third_party/SConscript index 14def0611c..e5bbfaa07a 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -1,3 +1,6 @@ Import('env') +env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call']) +env.Append(CPPPATH=[Dir('json11')]) + env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp new file mode 100644 index 0000000000..bc4045f07d --- /dev/null +++ b/third_party/json11/json11.cpp @@ -0,0 +1,784 @@ +/* Copyright (c) 2013 Dropbox, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "json11.hpp" +#include +#include +#include +#include +#include + +namespace json11 { + +static const int max_depth = 200; + +using std::string; +using std::vector; +using std::map; +using std::make_shared; +using std::initializer_list; +using std::move; + +/* Helper for representing null - just a do-nothing struct, plus comparison + * operators so the helpers in JsonValue work. We can't use nullptr_t because + * it may not be orderable. + */ +struct NullStruct { + bool operator==(NullStruct) const { return true; } + bool operator<(NullStruct) const { return false; } +}; + +/* * * * * * * * * * * * * * * * * * * * + * Serialization + */ + +static void dump(NullStruct, string &out) { + out += "null"; +} + +static void dump(double value, string &out) { + if (std::isfinite(value)) { + char buf[32]; + snprintf(buf, sizeof buf, "%.17g", value); + out += buf; + } else { + out += "null"; + } +} + +static void dump(int value, string &out) { + char buf[32]; + snprintf(buf, sizeof buf, "%d", value); + out += buf; +} + +static void dump(bool value, string &out) { + out += value ? "true" : "false"; +} + +static void dump(const string &value, string &out) { + out += '"'; + for (size_t i = 0; i < value.length(); i++) { + const char ch = value[i]; + if (ch == '\\') { + out += "\\\\"; + } else if (ch == '"') { + out += "\\\""; + } else if (ch == '\b') { + out += "\\b"; + } else if (ch == '\f') { + out += "\\f"; + } else if (ch == '\n') { + out += "\\n"; + } else if (ch == '\r') { + out += "\\r"; + } else if (ch == '\t') { + out += "\\t"; + } else if (static_cast(ch) <= 0x1f) { + char buf[8]; + snprintf(buf, sizeof buf, "\\u%04x", ch); + out += buf; + } else if (static_cast(ch) == 0xe2 && static_cast(value[i+1]) == 0x80 + && static_cast(value[i+2]) == 0xa8) { + out += "\\u2028"; + i += 2; + } else if (static_cast(ch) == 0xe2 && static_cast(value[i+1]) == 0x80 + && static_cast(value[i+2]) == 0xa9) { + out += "\\u2029"; + i += 2; + } else { + out += ch; + } + } + out += '"'; +} + +static void dump(const Json::array &values, string &out) { + bool first = true; + out += "["; + for (const auto &value : values) { + if (!first) + out += ", "; + value.dump(out); + first = false; + } + out += "]"; +} + +static void dump(const Json::object &values, string &out) { + bool first = true; + out += "{"; + for (const auto &kv : values) { + if (!first) + out += ", "; + dump(kv.first, out); + out += ": "; + kv.second.dump(out); + first = false; + } + out += "}"; +} + +void Json::dump(string &out) const { + m_ptr->dump(out); +} + +/* * * * * * * * * * * * * * * * * * * * + * Value wrappers + */ + +template +class Value : public JsonValue { +protected: + + // Constructors + explicit Value(const T &value) : m_value(value) {} + explicit Value(T &&value) : m_value(move(value)) {} + + // Get type tag + Json::Type type() const override { + return tag; + } + + // Comparisons + bool equals(const JsonValue * other) const override { + return m_value == static_cast *>(other)->m_value; + } + bool less(const JsonValue * other) const override { + return m_value < static_cast *>(other)->m_value; + } + + const T m_value; + void dump(string &out) const override { json11::dump(m_value, out); } +}; + +class JsonDouble final : public Value { + double number_value() const override { return m_value; } + int int_value() const override { return static_cast(m_value); } + bool equals(const JsonValue * other) const override { return m_value == other->number_value(); } + bool less(const JsonValue * other) const override { return m_value < other->number_value(); } +public: + explicit JsonDouble(double value) : Value(value) {} +}; + +class JsonInt final : public Value { + double number_value() const override { return m_value; } + int int_value() const override { return m_value; } + bool equals(const JsonValue * other) const override { return m_value == other->number_value(); } + bool less(const JsonValue * other) const override { return m_value < other->number_value(); } +public: + explicit JsonInt(int value) : Value(value) {} +}; + +class JsonBoolean final : public Value { + bool bool_value() const override { return m_value; } +public: + explicit JsonBoolean(bool value) : Value(value) {} +}; + +class JsonString final : public Value { + const string &string_value() const override { return m_value; } +public: + explicit JsonString(const string &value) : Value(value) {} + explicit JsonString(string &&value) : Value(move(value)) {} +}; + +class JsonArray final : public Value { + const Json::array &array_items() const override { return m_value; } + const Json & operator[](size_t i) const override; +public: + explicit JsonArray(const Json::array &value) : Value(value) {} + explicit JsonArray(Json::array &&value) : Value(move(value)) {} +}; + +class JsonObject final : public Value { + const Json::object &object_items() const override { return m_value; } + const Json & operator[](const string &key) const override; +public: + explicit JsonObject(const Json::object &value) : Value(value) {} + explicit JsonObject(Json::object &&value) : Value(move(value)) {} +}; + +class JsonNull final : public Value { +public: + JsonNull() : Value({}) {} +}; + +/* * * * * * * * * * * * * * * * * * * * + * Static globals - static-init-safe + */ +struct Statics { + const std::shared_ptr null = make_shared(); + const std::shared_ptr t = make_shared(true); + const std::shared_ptr f = make_shared(false); + const string empty_string; + const vector empty_vector; + const map empty_map; + Statics() {} +}; + +static const Statics & statics() { + static const Statics s {}; + return s; +} + +static const Json & static_null() { + // This has to be separate, not in Statics, because Json() accesses statics().null. + static const Json json_null; + return json_null; +} + +/* * * * * * * * * * * * * * * * * * * * + * Constructors + */ + +Json::Json() noexcept : m_ptr(statics().null) {} +Json::Json(std::nullptr_t) noexcept : m_ptr(statics().null) {} +Json::Json(double value) : m_ptr(make_shared(value)) {} +Json::Json(int value) : m_ptr(make_shared(value)) {} +Json::Json(bool value) : m_ptr(value ? statics().t : statics().f) {} +Json::Json(const string &value) : m_ptr(make_shared(value)) {} +Json::Json(string &&value) : m_ptr(make_shared(move(value))) {} +Json::Json(const char * value) : m_ptr(make_shared(value)) {} +Json::Json(const Json::array &values) : m_ptr(make_shared(values)) {} +Json::Json(Json::array &&values) : m_ptr(make_shared(move(values))) {} +Json::Json(const Json::object &values) : m_ptr(make_shared(values)) {} +Json::Json(Json::object &&values) : m_ptr(make_shared(move(values))) {} + +/* * * * * * * * * * * * * * * * * * * * + * Accessors + */ + +Json::Type Json::type() const { return m_ptr->type(); } +double Json::number_value() const { return m_ptr->number_value(); } +int Json::int_value() const { return m_ptr->int_value(); } +bool Json::bool_value() const { return m_ptr->bool_value(); } +const string & Json::string_value() const { return m_ptr->string_value(); } +const vector & Json::array_items() const { return m_ptr->array_items(); } +const map & Json::object_items() const { return m_ptr->object_items(); } +const Json & Json::operator[] (size_t i) const { return (*m_ptr)[i]; } +const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key]; } + +double JsonValue::number_value() const { return 0; } +int JsonValue::int_value() const { return 0; } +bool JsonValue::bool_value() const { return false; } +const string & JsonValue::string_value() const { return statics().empty_string; } +const vector & JsonValue::array_items() const { return statics().empty_vector; } +const map & JsonValue::object_items() const { return statics().empty_map; } +const Json & JsonValue::operator[] (size_t) const { return static_null(); } +const Json & JsonValue::operator[] (const string &) const { return static_null(); } + +const Json & JsonObject::operator[] (const string &key) const { + auto iter = m_value.find(key); + return (iter == m_value.end()) ? static_null() : iter->second; +} +const Json & JsonArray::operator[] (size_t i) const { + if (i >= m_value.size()) return static_null(); + else return m_value[i]; +} + +/* * * * * * * * * * * * * * * * * * * * + * Comparison + */ + +bool Json::operator== (const Json &other) const { + if (m_ptr->type() != other.m_ptr->type()) + return false; + + return m_ptr->equals(other.m_ptr.get()); +} + +bool Json::operator< (const Json &other) const { + if (m_ptr->type() != other.m_ptr->type()) + return m_ptr->type() < other.m_ptr->type(); + + return m_ptr->less(other.m_ptr.get()); +} + +/* * * * * * * * * * * * * * * * * * * * + * Parsing + */ + +/* esc(c) + * + * Format char c suitable for printing in an error message. + */ +static inline string esc(char c) { + char buf[12]; + if (static_cast(c) >= 0x20 && static_cast(c) <= 0x7f) { + snprintf(buf, sizeof buf, "'%c' (%d)", c, c); + } else { + snprintf(buf, sizeof buf, "(%d)", c); + } + return string(buf); +} + +static inline bool in_range(long x, long lower, long upper) { + return (x >= lower && x <= upper); +} + +namespace { +/* JsonParser + * + * Object that tracks all state of an in-progress parse. + */ +struct JsonParser final { + + /* State + */ + const string &str; + size_t i; + string &err; + bool failed; + const JsonParse strategy; + + /* fail(msg, err_ret = Json()) + * + * Mark this parse as failed. + */ + Json fail(string &&msg) { + return fail(move(msg), Json()); + } + + template + T fail(string &&msg, const T err_ret) { + if (!failed) + err = std::move(msg); + failed = true; + return err_ret; + } + + /* consume_whitespace() + * + * Advance until the current character is non-whitespace. + */ + void consume_whitespace() { + while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t') + i++; + } + + /* consume_comment() + * + * Advance comments (c-style inline and multiline). + */ + bool consume_comment() { + bool comment_found = false; + if (str[i] == '/') { + i++; + if (i == str.size()) + return fail("unexpected end of input after start of comment", false); + if (str[i] == '/') { // inline comment + i++; + // advance until next line, or end of input + while (i < str.size() && str[i] != '\n') { + i++; + } + comment_found = true; + } + else if (str[i] == '*') { // multiline comment + i++; + if (i > str.size()-2) + return fail("unexpected end of input inside multi-line comment", false); + // advance until closing tokens + while (!(str[i] == '*' && str[i+1] == '/')) { + i++; + if (i > str.size()-2) + return fail( + "unexpected end of input inside multi-line comment", false); + } + i += 2; + comment_found = true; + } + else + return fail("malformed comment", false); + } + return comment_found; + } + + /* consume_garbage() + * + * Advance until the current character is non-whitespace and non-comment. + */ + void consume_garbage() { + consume_whitespace(); + if(strategy == JsonParse::COMMENTS) { + bool comment_found = false; + do { + comment_found = consume_comment(); + if (failed) return; + consume_whitespace(); + } + while(comment_found); + } + } + + /* get_next_token() + * + * Return the next non-whitespace character. If the end of the input is reached, + * flag an error and return 0. + */ + char get_next_token() { + consume_garbage(); + if (failed) return (char)0; + if (i == str.size()) + return fail("unexpected end of input", (char)0); + + return str[i++]; + } + + /* encode_utf8(pt, out) + * + * Encode pt as UTF-8 and add it to out. + */ + void encode_utf8(long pt, string & out) { + if (pt < 0) + return; + + if (pt < 0x80) { + out += static_cast(pt); + } else if (pt < 0x800) { + out += static_cast((pt >> 6) | 0xC0); + out += static_cast((pt & 0x3F) | 0x80); + } else if (pt < 0x10000) { + out += static_cast((pt >> 12) | 0xE0); + out += static_cast(((pt >> 6) & 0x3F) | 0x80); + out += static_cast((pt & 0x3F) | 0x80); + } else { + out += static_cast((pt >> 18) | 0xF0); + out += static_cast(((pt >> 12) & 0x3F) | 0x80); + out += static_cast(((pt >> 6) & 0x3F) | 0x80); + out += static_cast((pt & 0x3F) | 0x80); + } + } + + /* parse_string() + * + * Parse a string, starting at the current position. + */ + string parse_string() { + string out; + long last_escaped_codepoint = -1; + while (true) { + if (i == str.size()) + return fail("unexpected end of input in string", ""); + + char ch = str[i++]; + + if (ch == '"') { + encode_utf8(last_escaped_codepoint, out); + return out; + } + + if (in_range(ch, 0, 0x1f)) + return fail("unescaped " + esc(ch) + " in string", ""); + + // The usual case: non-escaped characters + if (ch != '\\') { + encode_utf8(last_escaped_codepoint, out); + last_escaped_codepoint = -1; + out += ch; + continue; + } + + // Handle escapes + if (i == str.size()) + return fail("unexpected end of input in string", ""); + + ch = str[i++]; + + if (ch == 'u') { + // Extract 4-byte escape sequence + string esc = str.substr(i, 4); + // Explicitly check length of the substring. The following loop + // relies on std::string returning the terminating NUL when + // accessing str[length]. Checking here reduces brittleness. + if (esc.length() < 4) { + return fail("bad \\u escape: " + esc, ""); + } + for (size_t j = 0; j < 4; j++) { + if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F') + && !in_range(esc[j], '0', '9')) + return fail("bad \\u escape: " + esc, ""); + } + + long codepoint = strtol(esc.data(), nullptr, 16); + + // JSON specifies that characters outside the BMP shall be encoded as a pair + // of 4-hex-digit \u escapes encoding their surrogate pair components. Check + // whether we're in the middle of such a beast: the previous codepoint was an + // escaped lead (high) surrogate, and this is a trail (low) surrogate. + if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF) + && in_range(codepoint, 0xDC00, 0xDFFF)) { + // Reassemble the two surrogate pairs into one astral-plane character, per + // the UTF-16 algorithm. + encode_utf8((((last_escaped_codepoint - 0xD800) << 10) + | (codepoint - 0xDC00)) + 0x10000, out); + last_escaped_codepoint = -1; + } else { + encode_utf8(last_escaped_codepoint, out); + last_escaped_codepoint = codepoint; + } + + i += 4; + continue; + } + + encode_utf8(last_escaped_codepoint, out); + last_escaped_codepoint = -1; + + if (ch == 'b') { + out += '\b'; + } else if (ch == 'f') { + out += '\f'; + } else if (ch == 'n') { + out += '\n'; + } else if (ch == 'r') { + out += '\r'; + } else if (ch == 't') { + out += '\t'; + } else if (ch == '"' || ch == '\\' || ch == '/') { + out += ch; + } else { + return fail("invalid escape character " + esc(ch), ""); + } + } + } + + /* parse_number() + * + * Parse a double. + */ + Json parse_number() { + size_t start_pos = i; + + if (str[i] == '-') + i++; + + // Integer part + if (str[i] == '0') { + i++; + if (in_range(str[i], '0', '9')) + return fail("leading 0s not permitted in numbers"); + } else if (in_range(str[i], '1', '9')) { + i++; + while (in_range(str[i], '0', '9')) + i++; + } else { + return fail("invalid " + esc(str[i]) + " in number"); + } + + if (str[i] != '.' && str[i] != 'e' && str[i] != 'E' + && (i - start_pos) <= static_cast(std::numeric_limits::digits10)) { + return std::atoi(str.c_str() + start_pos); + } + + // Decimal part + if (str[i] == '.') { + i++; + if (!in_range(str[i], '0', '9')) + return fail("at least one digit required in fractional part"); + + while (in_range(str[i], '0', '9')) + i++; + } + + // Exponent part + if (str[i] == 'e' || str[i] == 'E') { + i++; + + if (str[i] == '+' || str[i] == '-') + i++; + + if (!in_range(str[i], '0', '9')) + return fail("at least one digit required in exponent"); + + while (in_range(str[i], '0', '9')) + i++; + } + + return std::strtod(str.c_str() + start_pos, nullptr); + } + + /* expect(str, res) + * + * Expect that 'str' starts at the character that was just read. If it does, advance + * the input and return res. If not, flag an error. + */ + Json expect(const string &expected, Json res) { + assert(i != 0); + i--; + if (str.compare(i, expected.length(), expected) == 0) { + i += expected.length(); + return res; + } else { + return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length())); + } + } + + /* parse_json() + * + * Parse a JSON object. + */ + Json parse_json(int depth) { + if (depth > max_depth) { + return fail("exceeded maximum nesting depth"); + } + + char ch = get_next_token(); + if (failed) + return Json(); + + if (ch == '-' || (ch >= '0' && ch <= '9')) { + i--; + return parse_number(); + } + + if (ch == 't') + return expect("true", true); + + if (ch == 'f') + return expect("false", false); + + if (ch == 'n') + return expect("null", Json()); + + if (ch == '"') + return parse_string(); + + if (ch == '{') { + map data; + ch = get_next_token(); + if (ch == '}') + return data; + + while (1) { + if (ch != '"') + return fail("expected '\"' in object, got " + esc(ch)); + + string key = parse_string(); + if (failed) + return Json(); + + ch = get_next_token(); + if (ch != ':') + return fail("expected ':' in object, got " + esc(ch)); + + data[std::move(key)] = parse_json(depth + 1); + if (failed) + return Json(); + + ch = get_next_token(); + if (ch == '}') + break; + if (ch != ',') + return fail("expected ',' in object, got " + esc(ch)); + + ch = get_next_token(); + } + return data; + } + + if (ch == '[') { + vector data; + ch = get_next_token(); + if (ch == ']') + return data; + + while (1) { + i--; + data.push_back(parse_json(depth + 1)); + if (failed) + return Json(); + + ch = get_next_token(); + if (ch == ']') + break; + if (ch != ',') + return fail("expected ',' in list, got " + esc(ch)); + + ch = get_next_token(); + (void)ch; + } + return data; + } + + return fail("expected value, got " + esc(ch)); + } +}; +}//namespace { + +Json Json::parse(const string &in, string &err, JsonParse strategy) { + JsonParser parser { in, 0, err, false, strategy }; + Json result = parser.parse_json(0); + + // Check for any trailing garbage + parser.consume_garbage(); + if (parser.failed) + return Json(); + if (parser.i != in.size()) + return parser.fail("unexpected trailing " + esc(in[parser.i])); + + return result; +} + +// Documented in json11.hpp +vector Json::parse_multi(const string &in, + std::string::size_type &parser_stop_pos, + string &err, + JsonParse strategy) { + JsonParser parser { in, 0, err, false, strategy }; + parser_stop_pos = 0; + vector json_vec; + while (parser.i != in.size() && !parser.failed) { + json_vec.push_back(parser.parse_json(0)); + if (parser.failed) + break; + + // Check for another object + parser.consume_garbage(); + if (parser.failed) + break; + parser_stop_pos = parser.i; + } + return json_vec; +} + +/* * * * * * * * * * * * * * * * * * * * + * Shape-checking + */ + +bool Json::has_shape(const shape & types, string & err) const { + if (!is_object()) { + err = "expected JSON object, got " + dump(); + return false; + } + + for (auto & item : types) { + if ((*this)[item.first].type() != item.second) { + err = "bad type for " + item.first + " in " + dump(); + return false; + } + } + + return true; +} + +} // namespace json11 diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp new file mode 100644 index 0000000000..5202ef9323 --- /dev/null +++ b/third_party/json11/json11.hpp @@ -0,0 +1,232 @@ +/* json11 + * + * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization. + * + * The core object provided by the library is json11::Json. A Json object represents any JSON + * value: null, bool, number (int or double), string (std::string), array (std::vector), or + * object (std::map). + * + * Json objects act like values: they can be assigned, copied, moved, compared for equality or + * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and + * Json::parse (static) to parse a std::string as a Json object. + * + * Internally, the various types of Json object are represented by the JsonValue class + * hierarchy. + * + * A note on numbers - JSON specifies the syntax of number formatting but not its semantics, + * so some JSON implementations distinguish between integers and floating-point numbers, while + * some don't. In json11, we choose the latter. Because some JSON implementations (namely + * Javascript itself) treat all numbers as the same type, distinguishing the two leads + * to JSON that will be *silently* changed by a round-trip through those implementations. + * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also + * provides integer helpers. + * + * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the + * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64 + * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch + * will be exact for +/- 275 years.) + */ + +/* Copyright (c) 2013 Dropbox, Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include +#include +#include +#include +#include + +#ifdef _MSC_VER + #if _MSC_VER <= 1800 // VS 2013 + #ifndef noexcept + #define noexcept throw() + #endif + + #ifndef snprintf + #define snprintf _snprintf_s + #endif + #endif +#endif + +namespace json11 { + +enum JsonParse { + STANDARD, COMMENTS +}; + +class JsonValue; + +class Json final { +public: + // Types + enum Type { + NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT + }; + + // Array and object typedefs + typedef std::vector array; + typedef std::map object; + + // Constructors for the various types of JSON value. + Json() noexcept; // NUL + Json(std::nullptr_t) noexcept; // NUL + Json(double value); // NUMBER + Json(int value); // NUMBER + Json(bool value); // BOOL + Json(const std::string &value); // STRING + Json(std::string &&value); // STRING + Json(const char * value); // STRING + Json(const array &values); // ARRAY + Json(array &&values); // ARRAY + Json(const object &values); // OBJECT + Json(object &&values); // OBJECT + + // Implicit constructor: anything with a to_json() function. + template + Json(const T & t) : Json(t.to_json()) {} + + // Implicit constructor: map-like objects (std::map, std::unordered_map, etc) + template ::value + && std::is_constructible::value, + int>::type = 0> + Json(const M & m) : Json(object(m.begin(), m.end())) {} + + // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc) + template ::value, + int>::type = 0> + Json(const V & v) : Json(array(v.begin(), v.end())) {} + + // This prevents Json(some_pointer) from accidentally producing a bool. Use + // Json(bool(some_pointer)) if that behavior is desired. + Json(void *) = delete; + + // Accessors + Type type() const; + + bool is_null() const { return type() == NUL; } + bool is_number() const { return type() == NUMBER; } + bool is_bool() const { return type() == BOOL; } + bool is_string() const { return type() == STRING; } + bool is_array() const { return type() == ARRAY; } + bool is_object() const { return type() == OBJECT; } + + // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not + // distinguish between integer and non-integer numbers - number_value() and int_value() + // can both be applied to a NUMBER-typed object. + double number_value() const; + int int_value() const; + + // Return the enclosed value if this is a boolean, false otherwise. + bool bool_value() const; + // Return the enclosed string if this is a string, "" otherwise. + const std::string &string_value() const; + // Return the enclosed std::vector if this is an array, or an empty vector otherwise. + const array &array_items() const; + // Return the enclosed std::map if this is an object, or an empty map otherwise. + const object &object_items() const; + + // Return a reference to arr[i] if this is an array, Json() otherwise. + const Json & operator[](size_t i) const; + // Return a reference to obj[key] if this is an object, Json() otherwise. + const Json & operator[](const std::string &key) const; + + // Serialize. + void dump(std::string &out) const; + std::string dump() const { + std::string out; + dump(out); + return out; + } + + // Parse. If parse fails, return Json() and assign an error message to err. + static Json parse(const std::string & in, + std::string & err, + JsonParse strategy = JsonParse::STANDARD); + static Json parse(const char * in, + std::string & err, + JsonParse strategy = JsonParse::STANDARD) { + if (in) { + return parse(std::string(in), err, strategy); + } else { + err = "null input"; + return nullptr; + } + } + // Parse multiple objects, concatenated or separated by whitespace + static std::vector parse_multi( + const std::string & in, + std::string::size_type & parser_stop_pos, + std::string & err, + JsonParse strategy = JsonParse::STANDARD); + + static inline std::vector parse_multi( + const std::string & in, + std::string & err, + JsonParse strategy = JsonParse::STANDARD) { + std::string::size_type parser_stop_pos; + return parse_multi(in, parser_stop_pos, err, strategy); + } + + bool operator== (const Json &rhs) const; + bool operator< (const Json &rhs) const; + bool operator!= (const Json &rhs) const { return !(*this == rhs); } + bool operator<= (const Json &rhs) const { return !(rhs < *this); } + bool operator> (const Json &rhs) const { return (rhs < *this); } + bool operator>= (const Json &rhs) const { return !(*this < rhs); } + + /* has_shape(types, err) + * + * Return true if this is a JSON object and, for each item in types, has a field of + * the given type. If not, return false and set err to a descriptive message. + */ + typedef std::initializer_list> shape; + bool has_shape(const shape & types, std::string & err) const; + +private: + std::shared_ptr m_ptr; +}; + +// Internal class hierarchy - JsonValue objects are not exposed to users of this API. +class JsonValue { +protected: + friend class Json; + friend class JsonInt; + friend class JsonDouble; + virtual Json::Type type() const = 0; + virtual bool equals(const JsonValue * other) const = 0; + virtual bool less(const JsonValue * other) const = 0; + virtual void dump(std::string &out) const = 0; + virtual double number_value() const; + virtual int int_value() const; + virtual bool bool_value() const; + virtual const std::string &string_value() const; + virtual const Json::array &array_items() const; + virtual const Json &operator[](size_t i) const; + virtual const Json::object &object_items() const; + virtual const Json &operator[](const std::string &key) const; + virtual ~JsonValue() {} +}; + +} // namespace json11 diff --git a/third_party/nlohmann/json.hpp b/third_party/nlohmann/json.hpp deleted file mode 100644 index 74986f9249..0000000000 --- a/third_party/nlohmann/json.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9bea4c8066ef4a1c206b2be5a36302f8926f7fdc6087af5d20b417d0cf103ea6 -size 919975 From 403610eed968823aff507d44e4945be774c6fb37 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Tue, 23 Jan 2024 02:10:17 -0500 Subject: [PATCH 108/205] CI: enable virtual audio sink for soundd (#31120) * enable virtual sound * mv install to dockerfile * cleaner --------- Co-authored-by: Justin Newberry --- Dockerfile.openpilot_base | 2 +- selfdrive/test/setup_vsound.sh | 10 ++++++++++ 2 files changed, 11 insertions(+), 1 deletion(-) create mode 100755 selfdrive/test/setup_vsound.sh diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 028d877a93..5d3d26c981 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1 ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh && \ + apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio && \ rm -rf /var/lib/apt/lists/* RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh new file mode 100755 index 0000000000..a6601d0a61 --- /dev/null +++ b/selfdrive/test/setup_vsound.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +{ + #start pulseaudio daemon + sudo pulseaudio -D + + # create a virtual null audio and set it to default device + sudo pactl load-module module-null-sink sink_name=virtual_audio + sudo pactl set-default-sink virtual_audio +} > /dev/null 2>&1 From ea57336005f4cf9c587dfbe221662b4de73bd508 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 23 Jan 2024 02:19:32 -0800 Subject: [PATCH 109/205] Fingerprints: automatically add missing FW versions from users [bot] (#31116) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 5 +++++ selfdrive/car/honda/fingerprints.py | 3 +++ selfdrive/car/hyundai/fingerprints.py | 2 +- 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index aeacc4cfcd..1a04e79c7d 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -109,6 +109,7 @@ FW_VERSIONS = { b'68453505AC', b'68453505AD', b'68453511AC', + b'68453513AC', b'68453513AD', b'68453514AD', b'68510280AG', @@ -185,6 +186,7 @@ FW_VERSIONS = { b'68585112AB', ], (Ecu.engine, 0x7e0, None): [ + b'05035699AG ', b'05036065AE ', b'05036066AE ', b'05149591AD ', @@ -198,6 +200,7 @@ FW_VERSIONS = { b'68378748AL ', b'68378758AM ', b'68448163AJ', + b'68448163AL', b'68448165AK', b'68455119AC ', b'68455145AC ', @@ -209,6 +212,7 @@ FW_VERSIONS = { b'68502722AC ', b'68502734AF ', b'68502740AF ', + b'68502741AF ', b'68502742AC ', b'68539650AD', b'68539650AF', @@ -216,6 +220,7 @@ FW_VERSIONS = { b'68586105AB ', ], (Ecu.transmission, 0x7e1, None): [ + b'05035706AD', b'05036069AA', b'05149536AC', b'68360078AL', diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index e3e95483a0..0d174f91fb 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -38,6 +38,7 @@ FW_VERSIONS = { b'37805-6B2-A820\x00\x00', b'37805-6B2-A920\x00\x00', b'37805-6B2-C520\x00\x00', + b'37805-6B2-C540\x00\x00', b'37805-6B2-M520\x00\x00', b'37805-6B2-Y810\x00\x00', b'37805-6M4-B730\x00\x00', @@ -946,6 +947,7 @@ FW_VERSIONS = { b'37805-RLV-B220\x00\x00', b'37805-RLV-B420\x00\x00', b'37805-RLV-B430\x00\x00', + b'37805-RLV-B710\x00\x00', b'37805-RLV-B720\x00\x00', b'37805-RLV-C430\x00\x00', b'37805-RLV-C510\x00\x00', @@ -957,6 +959,7 @@ FW_VERSIONS = { b'37805-RLV-L160\x00\x00', b'37805-RLV-L180\x00\x00', b'37805-RLV-L410\x00\x00', + b'37805-RLV-L430\x00\x00', b'37805-RLV-L850\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 3c5d4b9a51..0c5925c744 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1543,12 +1543,12 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', ], }, CAR.IONIQ_6: { From 35e1e8ecd2e2a8a458467ecb3ec18730610da18a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 11:40:22 -0800 Subject: [PATCH 110/205] SegmentRange: __str__ get preferred format (#31126) get canonical --- tools/lib/route.py | 3 +++ tools/lib/tests/test_logreader.py | 12 ++++++++++++ 2 files changed, 15 insertions(+) diff --git a/tools/lib/route.py b/tools/lib/route.py index d3df93ccda..09eb7f5426 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -255,3 +255,6 @@ class SegmentRange: @property def selector(self): return self.m.group("selector") + + def __str__(self): + return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "") diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 74ee82d152..6ec3edc9ac 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -46,6 +46,18 @@ class TestLogReader(unittest.TestCase): segs = parse_slice(sr, route) self.assertListEqual(list(segs), expected) + @parameterized.expand([ + (f"{TEST_ROUTE}", f"{TEST_ROUTE}"), + (f"{TEST_ROUTE.replace('/', '|')}", f"{TEST_ROUTE}"), + (f"{TEST_ROUTE}--5", f"{TEST_ROUTE}/5"), + (f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"), + (f"{TEST_ROUTE}/5:6/r", f"{TEST_ROUTE}/5:6/r"), + (f"{TEST_ROUTE}/5", f"{TEST_ROUTE}/5"), + ]) + def test_canonical_name(self, identifier, expected): + sr = SegmentRange(identifier) + self.assertEqual(str(sr), expected) + def test_direct_parsing(self): qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From 65490bb3c55fa81d5144eba2c09f054b73179cc4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 12:53:19 -0800 Subject: [PATCH 111/205] plotjuggler: auto fallback to qlogs with prompt (#31110) * qlog fallback * show a warning for that * qlog fallback * fix * wording --- tools/lib/helpers.py | 2 +- tools/lib/logreader.py | 62 +++++++++++++++++++++++++++++-------- tools/plotjuggler/juggle.py | 4 +-- 3 files changed, 52 insertions(+), 16 deletions(-) diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index c184efe6a2..e2c8d07dd8 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -11,7 +11,7 @@ class RE: SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) INDEX = r'-?[0-9]+' SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) - SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qr]))?'.format(ROUTE_NAME, SLICE) + SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qra]))?'.format(ROUTE_NAME, SLICE) BOOTLOG_NAME = ROUTE_NAME EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index c1f4f0f4a9..e28f41341c 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -16,6 +16,7 @@ from typing import Iterable, Iterator, List, Type from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log +from openpilot.common.swaglog import cloudlog from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import FileReader, file_exists @@ -71,8 +72,8 @@ class _LogFileReader: class ReadMode(enum.StrEnum): RLOG = "r" # only read rlogs QLOG = "q" # only read qlogs - #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet - + AUTO = "a" # default to rlogs, fallback to qlogs + AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user def create_slice_from_string(s: str): m = re.fullmatch(RE.SLICE, s) @@ -86,31 +87,60 @@ def create_slice_from_string(s: str): return start return slice(start, end, step) +def auto_strategy(rlog_paths, qlog_paths, interactive): + # auto select logs based on availability + if any(rlog is None or not file_exists(rlog) for rlog in rlog_paths): + if interactive: + if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y": + return rlog_paths + else: + cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...") + + return [rlog if (rlog is not None and file_exists(rlog)) else (qlog if (qlog is not None and file_exists(qlog)) else None) + for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)] + return rlog_paths + +def apply_strategy(mode: ReadMode, rlog_paths, qlog_paths): + if mode == ReadMode.RLOG: + return rlog_paths + elif mode == ReadMode.QLOG: + return qlog_paths + elif mode == ReadMode.AUTO: + return auto_strategy(rlog_paths, qlog_paths, False) + elif mode == ReadMode.AUTO_INTERACIVE: + return auto_strategy(rlog_paths, qlog_paths, True) + def parse_slice(sr: SegmentRange, route: Route): segs = np.arange(route.max_seg_number+1) s = create_slice_from_string(sr._slice) return segs[s] if isinstance(s, slice) else [segs[s]] -def comma_api_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): +def comma_api_source(sr: SegmentRange, route: Route, mode: ReadMode): segs = parse_slice(sr, route) - log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() + rlog_paths = [route.log_paths()[seg] for seg in segs] + qlog_paths = [route.log_paths()[seg] for seg in segs] - invalid_segs = [seg for seg in segs if log_paths[seg] is None] + return apply_strategy(mode, rlog_paths, qlog_paths) - assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" +def internal_source(sr: SegmentRange, route: Route, mode: ReadMode): + segs = parse_slice(sr, route) - return [(log_paths[seg]) for seg in segs] + def get_internal_url(sr: SegmentRange, seg, file): + return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2" -def internal_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): - segs = parse_slice(sr, route) + rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in segs] + qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in segs] - return [f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2" for seg in segs] + return apply_strategy(mode, rlog_paths, qlog_paths) -def openpilotci_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): +def openpilotci_source(sr: SegmentRange, route: Route, mode: ReadMode): segs = parse_slice(sr, route) - return [get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog') for seg in segs] + rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in segs] + qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in segs] + + return apply_strategy(mode, rlog_paths, qlog_paths) def comma_car_segments_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): segs = parse_slice(sr, route) @@ -120,10 +150,13 @@ def comma_car_segments_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG def direct_source(file_or_url): return [file_or_url] +def get_invalid_files(files): + return [f for f in files if f is None or not file_exists(f)] + def check_source(source, *args): try: files = source(*args) - assert all(file_exists(f) for f in files) + assert len(get_invalid_files(files)) == 0 return True, files except Exception: return False, None @@ -209,6 +242,9 @@ class LogReader: def reset(self): self.logreader_identifiers = self._parse_identifiers(self.identifier) + invalid_count = len(get_invalid_files(self.logreader_identifiers)) + assert invalid_count == 0, f"{invalid_count}/{len(self.logreader_identifiers)} invalid log(s) found, please ensure all logs \ +are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name." @staticmethod def from_bytes(dat): diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 292db5a50a..cc21095414 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -13,7 +13,7 @@ from functools import partial from openpilot.common.basedir import BASEDIR from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, ReadMode juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -73,7 +73,7 @@ def process(can, lr): return [d for d in lr if can or d.which() not in ['can', 'sendcan']] def juggle_route(route_or_segment_name, can, layout, dbc=None): - sr = LogReader(route_or_segment_name) + sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE) all_data = sr.run_across_segments(24, partial(process, can)) From 0234cadec3aefdca2e71c251ff6f8885a247c34a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 12:55:50 -0800 Subject: [PATCH 112/205] LogReader: remove redirect message for internal data (#31088) fix logging --- tools/lib/url_file.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 97c0a639a7..5c6f187eee 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,3 +1,4 @@ +import logging import os import time import threading @@ -12,6 +13,7 @@ from openpilot.system.hardware.hw import Paths K = 1000 CHUNK_SIZE = 1000 * K +logging.getLogger("urllib3").setLevel(logging.WARNING) def hash_256(link): hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest()) From ebc916e25c2136d9cadbb98672442cfbc5e84ea5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 23 Jan 2024 14:23:11 -0800 Subject: [PATCH 113/205] Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 14 ++++++++++++++ selfdrive/car/honda/fingerprints.py | 6 ++++++ 2 files changed, 20 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 1a04e79c7d..9ef991e8ed 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -66,6 +66,7 @@ FW_VERSIONS = { (Ecu.combinationMeter, 0x742, None): [ b'68402971AD', b'68454144AD', + b'68454152AB', ], (Ecu.srs, 0x744, None): [ b'68355363AB', @@ -87,6 +88,7 @@ FW_VERSIONS = { (Ecu.transmission, 0x7e1, None): [ b'05035707AA', b'68495807AA', + b'68495807AB', ], }, CAR.RAM_1500: { @@ -98,6 +100,7 @@ FW_VERSIONS = { b'68294063AH', b'68294063AI', b'68434846AC', + b'68434849AC', b'68434858AC', b'68434859AC', b'68434860AC', @@ -112,7 +115,10 @@ FW_VERSIONS = { b'68453513AC', b'68453513AD', b'68453514AD', + b'68505633AB', + b'68510277AG', b'68510280AG', + b'68510282AG', b'68510282AH', b'68510283AG', b'68527346AE', @@ -120,6 +126,7 @@ FW_VERSIONS = { b'68527375AD', b'68527382AE', b'68527387AE', + b'68631942AA', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -192,15 +199,19 @@ FW_VERSIONS = { b'05149591AD ', b'05149591AE ', b'05149592AE ', + b'05149600AD ', b'05149846AA ', b'05149848AA ', + b'05190341AD', b'68378695AJ ', b'68378696AJ ', b'68378701AI ', b'68378748AL ', b'68378758AM ', b'68448163AJ', + b'68448163AK', b'68448163AL', + b'68448165AG', b'68448165AK', b'68455119AC ', b'68455145AC ', @@ -218,11 +229,13 @@ FW_VERSIONS = { b'68539650AF', b'68586101AA ', b'68586105AB ', + b'68629926AC ', ], (Ecu.transmission, 0x7e1, None): [ b'05035706AD', b'05036069AA', b'05149536AC', + b'05149537AC', b'68360078AL', b'68360080AM', b'68360081AM', @@ -240,6 +253,7 @@ FW_VERSIONS = { b'68520867AE', b'68520867AF', b'68540431AB', + b'68629936AC', ], }, CAR.RAM_HD: { diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 0d174f91fb..25fb88aa39 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -928,6 +928,8 @@ FW_VERSIONS = { (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5EY-A050\x00\x00', b'28101-5EY-A100\x00\x00', + b'28101-5EY-A430\x00\x00', + b'28101-5EY-A500\x00\x00', b'28101-5EZ-A050\x00\x00', b'28101-5EZ-A060\x00\x00', b'28101-5EZ-A100\x00\x00', @@ -947,6 +949,7 @@ FW_VERSIONS = { b'37805-RLV-B220\x00\x00', b'37805-RLV-B420\x00\x00', b'37805-RLV-B430\x00\x00', + b'37805-RLV-B620\x00\x00', b'37805-RLV-B710\x00\x00', b'37805-RLV-B720\x00\x00', b'37805-RLV-C430\x00\x00', @@ -958,6 +961,7 @@ FW_VERSIONS = { b'37805-RLV-L090\x00\x00', b'37805-RLV-L160\x00\x00', b'37805-RLV-L180\x00\x00', + b'37805-RLV-L350\x00\x00', b'37805-RLV-L410\x00\x00', b'37805-RLV-L430\x00\x00', b'37805-RLV-L850\x00\x00', @@ -987,6 +991,7 @@ FW_VERSIONS = { b'36161-TG7-D520\x00\x00', b'36161-TG7-D630\x00\x00', b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A410\x00\x00', b'36161-TG8-A520\x00\x00', b'36161-TG8-A630\x00\x00', b'36161-TG8-A720\x00\x00', @@ -1031,6 +1036,7 @@ FW_VERSIONS = { b'78109-TG8-AJ10\x00\x00', b'78109-TG8-AJ20\x00\x00', b'78109-TG8-AK20\x00\x00', + b'78109-TG8-AS20\x00\x00', b'78109-TGS-AB10\x00\x00', b'78109-TGS-AC10\x00\x00', b'78109-TGS-AD10\x00\x00', From a2028cbfd55712ef23cefa31d909892592ab2e8d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 23 Jan 2024 14:29:31 -0800 Subject: [PATCH 114/205] New MY! --- docs/CARS.md | 2 +- selfdrive/car/chrysler/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b27fb1b943..55098a39a3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -181,7 +181,7 @@ A supported vehicle is one that just works when you install a comma device. All |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 055efba829..2a3bceec96 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -74,7 +74,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), From d574013d7bda94a43b29095887e176b9723d13cb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 14:51:45 -0800 Subject: [PATCH 115/205] LogReader: don't use route for max_segment (#31129) * dont use route * fix and cleanup --- tools/lib/logreader.py | 35 +++++++++++++++++++------------ tools/lib/route.py | 13 ++++++++++++ tools/lib/tests/test_logreader.py | 5 ++--- 3 files changed, 37 insertions(+), 16 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index e28f41341c..c29662dfbc 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -110,21 +110,31 @@ def apply_strategy(mode: ReadMode, rlog_paths, qlog_paths): elif mode == ReadMode.AUTO_INTERACIVE: return auto_strategy(rlog_paths, qlog_paths, True) -def parse_slice(sr: SegmentRange, route: Route): - segs = np.arange(route.max_seg_number+1) +def parse_slice(sr: SegmentRange): s = create_slice_from_string(sr._slice) - return segs[s] if isinstance(s, slice) else [segs[s]] + if isinstance(s, slice): + if s.stop is None or s.stop < 0 or (s.start is not None and s.start < 0): # we need the number of segments in order to parse this slice + segs = np.arange(sr.get_max_seg_number()+1) + else: + segs = np.arange(s.stop + 1) + return segs[s] + else: + if s < 0: + s = sr.get_max_seg_number() + s + 1 + return [s] + +def comma_api_source(sr: SegmentRange, mode: ReadMode): + segs = parse_slice(sr) -def comma_api_source(sr: SegmentRange, route: Route, mode: ReadMode): - segs = parse_slice(sr, route) + route = Route(sr.route_name) rlog_paths = [route.log_paths()[seg] for seg in segs] qlog_paths = [route.log_paths()[seg] for seg in segs] return apply_strategy(mode, rlog_paths, qlog_paths) -def internal_source(sr: SegmentRange, route: Route, mode: ReadMode): - segs = parse_slice(sr, route) +def internal_source(sr: SegmentRange, mode: ReadMode): + segs = parse_slice(sr) def get_internal_url(sr: SegmentRange, seg, file): return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2" @@ -134,16 +144,16 @@ def internal_source(sr: SegmentRange, route: Route, mode: ReadMode): return apply_strategy(mode, rlog_paths, qlog_paths) -def openpilotci_source(sr: SegmentRange, route: Route, mode: ReadMode): - segs = parse_slice(sr, route) +def openpilotci_source(sr: SegmentRange, mode: ReadMode): + segs = parse_slice(sr) rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in segs] qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in segs] return apply_strategy(mode, rlog_paths, qlog_paths) -def comma_car_segments_source(sr: SegmentRange, route: Route, mode=ReadMode.RLOG): - segs = parse_slice(sr, route) +def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG): + segs = parse_slice(sr) return [get_comma_segments_url(sr.route_name, seg) for seg in segs] @@ -209,11 +219,10 @@ class LogReader: return direct_source(identifier) sr = SegmentRange(parsed) - route = Route(sr.route_name) mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) source = self.default_source if source is None else source - return source(sr, route, mode) + return source(sr, mode) def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): self.default_mode = default_mode diff --git a/tools/lib/route.py b/tools/lib/route.py index 09eb7f5426..f7c3c432c8 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,5 +1,6 @@ import os import re +from functools import cache from urllib.parse import urlparse from collections import defaultdict from itertools import chain @@ -231,11 +232,23 @@ class SegmentName: def __str__(self) -> str: return self._canonical_name +@cache +def get_max_seg_number_cached(sr: 'SegmentRange'): + try: + api = CommaApi(get_token()) + return api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1] + except Exception as e: + raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e + + class SegmentRange: def __init__(self, segment_range: str): self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range) assert self.m, f"Segment range is not valid {segment_range}" + def get_max_seg_number(self): + return get_max_seg_number_cached(self) + @property def route_name(self): return self.m.group("route_name") diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 6ec3edc9ac..f7874a3fb3 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -6,7 +6,7 @@ import pytest from parameterized import parameterized import requests from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode -from openpilot.tools.lib.route import Route, SegmentRange +from openpilot.tools.lib.route import SegmentRange NUM_SEGS = 17 # number of segments in the test route ALL_SEGS = list(np.arange(NUM_SEGS)) @@ -42,8 +42,7 @@ class TestLogReader(unittest.TestCase): def test_indirect_parsing(self, identifier, expected): parsed, _, _ = parse_indirect(identifier) sr = SegmentRange(parsed) - route = Route(sr.route_name) - segs = parse_slice(sr, route) + segs = parse_slice(sr) self.assertListEqual(list(segs), expected) @parameterized.expand([ From f22b6681d67a0ef11d0446edfb40f50a5c1f8417 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 14:57:31 -0800 Subject: [PATCH 116/205] CI: test the car_porting example notebooks (#31131) * dont use route * fix and cleanup * test the example notebooks --- .github/workflows/tools_tests.yaml | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 5cecfb7e4e..e141071d09 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -88,4 +88,22 @@ jobs: devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/ devcontainer exec --workspace-folder . pip install pip-install-test devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json - devcontainer exec --workspace-folder . sudo touch /root/test.txt \ No newline at end of file + devcontainer exec --workspace-folder . sudo touch /root/test.txt + + notebooks: + name: notebooks + runs-on: ubuntu-20.04 + if: github.repository == 'commaai/openpilot' + timeout-minutes: 45 + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + timeout-minutes: 5 + run: ${{ env.RUN }} "scons -j$(nproc)" + - name: Test notebooks + timeout-minutes: 2 + run: | + ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" \ No newline at end of file From 780f1222adeef28cd8d3057fa94c6dc65cbee876 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 23 Jan 2024 17:21:48 -0800 Subject: [PATCH 117/205] fw_versions: add extra_fw_versions param (#31132) * add param * fix * fix --- selfdrive/car/fw_versions.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 072c2ae4e4..547904ee47 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -105,11 +105,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= return set() -def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" + if extra_fw_versions is None: + extra_fw_versions = {} + invalid = set() candidates = {c: f for c, f in FW_VERSIONS.items() if is_brand(MODEL_TO_BRAND[c], match_brand)} @@ -117,6 +120,7 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s for candidate, fws in candidates.items(): config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): + expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, []) ecu_type = ecu[0] addr = ecu[1:] From 998eb8cde2c81964c883595ee84eeab4172c99ae Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 17:41:43 -0800 Subject: [PATCH 118/205] test_fw_query_on_routes: use new LogReader (#31134) a --- selfdrive/debug/test_fw_query_on_routes.py | 19 ++++--------------- 1 file changed, 4 insertions(+), 15 deletions(-) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 78f7a5d3e5..dd6243a44c 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -6,8 +6,8 @@ import argparse import os import traceback from tqdm import tqdm -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader, ReadMode +from openpilot.tools.lib.route import SegmentRange from openpilot.selfdrive.car.car_helpers import interface_names from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car @@ -44,23 +44,14 @@ if __name__ == "__main__": dongles = [] for route in tqdm(routes): - route = route.rstrip() - dongle_id, time = route.split('|') + dongle_id = SegmentRange(route).dongle_id if dongle_id in dongles: continue - if NO_API: - qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2" - else: - route = Route(route) - qlog_path = next((p for p in route.qlog_paths() if p is not None), None) - - if qlog_path is None: - continue + lr = LogReader(route, default_mode=ReadMode.QLOG) try: - lr = LogReader(qlog_path) dongles.append(dongle_id) CP = None @@ -98,13 +89,11 @@ if __name__ == "__main__": if len(fuzzy_matches) == 1: if list(fuzzy_matches)[0] != live_fingerprint: wrong_fuzzy += 1 - print(f"{dongle_id}|{time}") print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) else: good_fuzzy += 1 break - print(f"{dongle_id}|{time}") print("Old style:", live_fingerprint, "Vin", CP.carVin) print("New style (exact):", exact_matches) print("New style (fuzzy):", fuzzy_matches) From 3d9b483e107e119fd5322e00494a769ef0e081bc Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 20:51:15 -0800 Subject: [PATCH 119/205] comma_api_source: fix qlogs (#31136) fix qlogs --- tools/lib/logreader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index c29662dfbc..4d557a4d91 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -129,7 +129,7 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode): route = Route(sr.route_name) rlog_paths = [route.log_paths()[seg] for seg in segs] - qlog_paths = [route.log_paths()[seg] for seg in segs] + qlog_paths = [route.qlog_paths()[seg] for seg in segs] return apply_strategy(mode, rlog_paths, qlog_paths) From abf2801122a8e92e486a8ca88c946949d3149bae Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 20:59:32 -0800 Subject: [PATCH 120/205] use get_first_message for auto_fingerprint --- tools/car_porting/auto_fingerprint.py | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index fce7e33182..e14a018917 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versio from openpilot.selfdrive.car.fw_versions import match_fw_to_car from openpilot.selfdrive.car.interfaces import get_interface_attr -from openpilot.tools.lib.logreader import LogReader, ReadMode +from openpilot.tools.lib.logreader import LogReader, ReadMode, get_first_message ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS") @@ -32,16 +32,15 @@ if __name__ == "__main__": platform: Optional[str] = None - for msg in lr: - if msg.which() == "carParams": - carFw = msg.carParams.carFw - carVin = msg.carParams.carVin - carPlatform = msg.carParams.carFingerprint - break + CP = get_first_message(lr, "carParams") - if carFw is None: + if CP is None: raise Exception("No fw versions in the provided route...") + carFw = CP.carParams.carFw + carVin = CP.carParams.carVin + carPlatform = CP.carParams.carFingerprint + if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints _, possible_platforms = match_fw_to_car(carFw, log=False) From ac71c30ad5d8a5f303ac7a08cc73b8a4b0174498 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 21:40:04 -0800 Subject: [PATCH 121/205] auto_source: add commaCarSegments source (#31137) add source --- .../examples/ford_vin_fingerprint.ipynb | 42 +++++++++++-------- tools/lib/logreader.py | 2 +- 2 files changed, 26 insertions(+), 18 deletions(-) diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb index bc689a5aad..c4f2088b38 100644 --- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb +++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb @@ -2,9 +2,17 @@ "cells": [ { "cell_type": "code", - "execution_count": 2, + "execution_count": 1, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /mnt/c/Users/jnewb/AppData/Local/Programs/Microsoft VS Code\n" + ] + } + ], "source": [ "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n", "\n", @@ -19,7 +27,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -54,7 +62,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 3, "metadata": {}, "outputs": [ { @@ -66,7 +74,7 @@ } ], "source": [ - "from openpilot.tools.lib.logreader import comma_car_segments_source, get_first_message\n", + "from openpilot.tools.lib.logreader import get_first_message\n", "\n", "\n", "VINS_TO_CHECK = set()\n", @@ -77,35 +85,35 @@ " continue\n", "\n", " for segment in database[platform]:\n", - " lr = LogReader(segment, default_source=comma_car_segments_source)\n", + " lr = LogReader(segment)\n", " CP = get_first_message(lr, \"carParams\").carParams\n", " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))" ] }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 4, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ + "vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", - "vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n", + "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", "vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n", "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n", - "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", + "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n", + "vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", - "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n", - "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", "vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n" + "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", + "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n" ] } ], diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 4d557a4d91..29e3acc076 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -173,7 +173,7 @@ def check_source(source, *args): def auto_source(*args): # Automatically determine viable source - for source in [internal_source, openpilotci_source]: + for source in [comma_car_segments_source, internal_source, openpilotci_source]: valid, ret = check_source(source, *args) if valid: return ret From b9ad854451ce642a05c487d96a1a9bc2181bb3ba Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 23 Jan 2024 23:12:48 -0800 Subject: [PATCH 122/205] Nissan: log FW responses on bus 0 (#31138) * nissan: log FW responses on bus 0 * update refs --- selfdrive/car/nissan/values.py | 12 ++++++++++-- selfdrive/car/tests/test_fw_fingerprint.py | 4 ++-- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 4ee23c32c3..c013b2056f 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -59,27 +59,35 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' NISSAN_RX_OFFSET = 0x20 FW_QUERY_CONFIG = FwQueryConfig( - requests=[ + requests=[request for bus, logging in ((0, True), (1, False)) for request in [ Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), # Rogue's engine solely responds to this Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), - ], + ]], ) DBC = { diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 36619f4cde..893c79c797 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -238,7 +238,7 @@ class TestFwFingerprintTiming(unittest.TestCase): @pytest.mark.timeout(60) def test_fw_query_timing(self): - total_ref_time = 6.1 + total_ref_time = 6.5 brand_ref_times = { 1: { 'body': 0.1, @@ -247,7 +247,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'honda': 0.45, 'hyundai': 0.65, 'mazda': 0.2, - 'nissan': 0.4, + 'nissan': 0.8, 'subaru': 0.45, 'tesla': 0.2, 'toyota': 1.6, From 88dcaa51c4d1fcc338d44f55134593760334ae23 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 23 Jan 2024 23:54:11 -0800 Subject: [PATCH 123/205] LogReader: no redownloading on multiple iterations (#31141) * no redownload * sort --- tools/lib/logreader.py | 19 ++++++++++++------- tools/lib/tests/test_logreader.py | 11 +++++++++-- 2 files changed, 21 insertions(+), 9 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 29e3acc076..58883c6865 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,7 +12,7 @@ import sys import urllib.parse import warnings -from typing import Iterable, Iterator, List, Type +from typing import Dict, Iterable, Iterator, List, Type from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -232,20 +232,25 @@ class LogReader: self.sort_by_time = sort_by_time self.only_union_types = only_union_types + self.__lrs: Dict[int, _LogFileReader] = {} self.reset() + def _get_lr(self, i): + if i not in self.__lrs: + self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i]) + return self.__lrs[i] + def __iter__(self): - for identifier in self.logreader_identifiers: - yield from _LogFileReader(identifier) + for i in range(len(self.logreader_identifiers)): + yield from self._get_lr(i) - def _run_on_segment(self, func, identifier): - lr = _LogFileReader(identifier) - return func(lr) + def _run_on_segment(self, func, i): + return func(self._get_lr(i)) def run_across_segments(self, num_processes, func): with multiprocessing.Pool(num_processes) as pool: ret = [] - for p in pool.map(partial(self._run_on_segment, func), self.logreader_identifiers): + for p in pool.map(partial(self._run_on_segment, func), range(len(self.logreader_identifiers))): ret.extend(p) return ret diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index f7874a3fb3..d8a9c14088 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -3,8 +3,11 @@ import tempfile import numpy as np import unittest import pytest -from parameterized import parameterized import requests + +from parameterized import parameterized +from unittest import mock + from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode from openpilot.tools.lib.route import SegmentRange @@ -104,11 +107,15 @@ class TestLogReader(unittest.TestCase): self.assertEqual(qlog_len*2, qlog_len_2) @pytest.mark.slow - def test_multiple_iterations(self): + @mock.patch("openpilot.tools.lib.logreader._LogFileReader") + def test_multiple_iterations(self, init_mock): lr = LogReader(f"{TEST_ROUTE}/0/q") qlog_len1 = len(list(lr)) qlog_len2 = len(list(lr)) + # ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice + self.assertEqual(init_mock.call_count, 1) + self.assertEqual(qlog_len1, qlog_len2) From 1b82e77ed9ae2016a23034e7fc01deef199fba7a Mon Sep 17 00:00:00 2001 From: Kenny K Date: Wed, 24 Jan 2024 03:01:15 -0600 Subject: [PATCH 124/205] Chrysler: add Pacifica 2023 FW versions (#30934) * Add Pacifica 2023 fingerprint * add FW * remove can --------- Co-authored-by: Shane Smiskol --- selfdrive/car/chrysler/fingerprints.py | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 9ef991e8ed..46a5549d7c 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -62,6 +62,29 @@ FINGERPRINTS = { } FW_VERSIONS = { + CAR.PACIFICA_2019_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68594993AB', + ], + (Ecu.srs, 0x744, None): [ + b'68526663AB', + ], + (Ecu.abs, 0x747, None): [ + b'68593395AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68598670AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68594340AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68700306AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68586231AD', + ], + }, CAR.JEEP_GRAND_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ b'68402971AD', From ee716a6d9d79a2276cc63c5fd6751e2cfbbc7b9b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 24 Jan 2024 01:29:05 -0800 Subject: [PATCH 125/205] Revert "Chrysler: add Pacifica 2023 FW versions (#30934)" (#31143) Revert "Add Pacifica 2023 fingerprint" --- selfdrive/car/chrysler/fingerprints.py | 23 ----------------------- 1 file changed, 23 deletions(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 46a5549d7c..9ef991e8ed 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -62,29 +62,6 @@ FINGERPRINTS = { } FW_VERSIONS = { - CAR.PACIFICA_2019_HYBRID: { - (Ecu.combinationMeter, 0x742, None): [ - b'68594993AB', - ], - (Ecu.srs, 0x744, None): [ - b'68526663AB', - ], - (Ecu.abs, 0x747, None): [ - b'68593395AA', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'68598670AB', - ], - (Ecu.eps, 0x75a, None): [ - b'68594340AB', - ], - (Ecu.engine, 0x7e0, None): [ - b'68700306AB ', - ], - (Ecu.transmission, 0x7e1, None): [ - b'68586231AD', - ], - }, CAR.JEEP_GRAND_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ b'68402971AD', From e5fe1d2885761028dfa61d95972a8d346809c446 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 24 Jan 2024 01:56:33 -0800 Subject: [PATCH 126/205] Chrysler: add Pacifica 2023 FW versions (#30934) (#31144) * Revert "Revert "Chrysler: add Pacifica 2023 FW versions (#30934)"" * ICE --- docs/CARS.md | 2 +- selfdrive/car/chrysler/fingerprints.py | 23 +++++++++++++++++++++++ selfdrive/car/chrysler/values.py | 2 +- 3 files changed, 25 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 55098a39a3..bb55f9e0b7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
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Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
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- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Parts- 1 FCA connector
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Parts- 1 FCA connector
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Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
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- 1 harness box
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|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
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- 1 harness box
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- 1 right angle OBD-C cable (1.5 ft)
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|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 9ef991e8ed..28f590b23a 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -62,6 +62,29 @@ FINGERPRINTS = { } FW_VERSIONS = { + CAR.PACIFICA_2020: { + (Ecu.combinationMeter, 0x742, None): [ + b'68594993AB', + ], + (Ecu.srs, 0x744, None): [ + b'68526663AB', + ], + (Ecu.abs, 0x747, None): [ + b'68593395AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68598670AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68594340AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68700306AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68586231AD', + ], + }, CAR.JEEP_GRAND_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ b'68402971AD', diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 2a3bceec96..8d873705fa 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -70,7 +70,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), - ChryslerCarInfo("Chrysler Pacifica 2021", package="All"), + ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), ], CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), From dd0c474e6cc09d17cd07b51098d826dc40bc5403 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 24 Jan 2024 10:21:57 -0800 Subject: [PATCH 127/205] LogReader: replace get_first_message with LogReader.first (#31146) * first * str --- tools/car_porting/auto_fingerprint.py | 10 +++++----- tools/car_porting/examples/ford_vin_fingerprint.ipynb | 9 +++------ tools/lib/logreader.py | 6 +++--- tools/lib/tests/test_comma_car_segments.py | 4 ++-- 4 files changed, 13 insertions(+), 16 deletions(-) diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index e14a018917..7dae9ce048 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versio from openpilot.selfdrive.car.fw_versions import match_fw_to_car from openpilot.selfdrive.car.interfaces import get_interface_attr -from openpilot.tools.lib.logreader import LogReader, ReadMode, get_first_message +from openpilot.tools.lib.logreader import LogReader, ReadMode ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS") @@ -32,14 +32,14 @@ if __name__ == "__main__": platform: Optional[str] = None - CP = get_first_message(lr, "carParams") + CP = lr.first("carParams") if CP is None: raise Exception("No fw versions in the provided route...") - carFw = CP.carParams.carFw - carVin = CP.carParams.carVin - carPlatform = CP.carParams.carFingerprint + carFw = CP.carFw + carVin = CP.carVin + carPlatform = CP.carFingerprint if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints _, possible_platforms = match_fw_to_car(carFw, log=False) diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb index c4f2088b38..b020b1100b 100644 --- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb +++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb @@ -9,7 +9,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /mnt/c/Users/jnewb/AppData/Local/Programs/Microsoft VS Code\n" + "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n" ] } ], @@ -74,9 +74,6 @@ } ], "source": [ - "from openpilot.tools.lib.logreader import get_first_message\n", - "\n", - "\n", "VINS_TO_CHECK = set()\n", "\n", "for platform in platforms:\n", @@ -86,13 +83,13 @@ "\n", " for segment in database[platform]:\n", " lr = LogReader(segment)\n", - " CP = get_first_message(lr, \"carParams\").carParams\n", + " CP = lr.first(\"carParams\")\n", " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))" ] }, { "cell_type": "code", - "execution_count": 4, + "execution_count": null, "metadata": {}, "outputs": [ { diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 58883c6865..6c1174611b 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -264,9 +264,9 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout def from_bytes(dat): return _LogFileReader("", dat=dat) - -def get_first_message(lr: LogIterable, msg_type): - return next(filter(lambda m: m.which() == msg_type, lr), None) + def first(self, msg_type: str): + m = next(filter(lambda m: m.which() == msg_type, self), None) + return None if m is None else getattr(m, msg_type) if __name__ == "__main__": diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py index 1d6088d821..484a4aae08 100644 --- a/tools/lib/tests/test_comma_car_segments.py +++ b/tools/lib/tests/test_comma_car_segments.py @@ -4,7 +4,7 @@ import unittest import requests from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url -from openpilot.tools.lib.logreader import LogReader, get_first_message +from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import SegmentRange @@ -32,7 +32,7 @@ class TestCommaCarSegments(unittest.TestCase): lr = LogReader(url) - CP = get_first_message(lr, "carParams").carParams + CP = lr.first("carParams") self.assertEqual(CP.carFingerprint, fp) From 1bade14fdaf433a4e115874f9cc74e4fd6190481 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 24 Jan 2024 10:23:59 -0800 Subject: [PATCH 128/205] car porting examples: subaru fuzzy fingerprinting (#31139) initial commit --- .../examples/subaru_fuzzy_fingerprint.ipynb | 259 ++++++++++++++++++ 1 file changed, 259 insertions(+) create mode 100644 tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb new file mode 100644 index 0000000000..fbd88a769e --- /dev/null +++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb @@ -0,0 +1,259 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 148, + "metadata": {}, + "outputs": [], + "source": [ + "from cereal import car\n", + "from openpilot.selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS\n", + "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n", + "\n", + "TEST_PLATFORMS = set(c.value for c in CAR) - PREGLOBAL_CARS # preglobal cars seem to have a different format for fingerprints, ignore for now\n", + "\n", + "Ecu = car.CarParams.Ecu\n", + "\n", + "FW_BY_ECU = {platform: {ecu: versions for (ecu, addr, sub_addr), versions in fw_versions.items()} for platform, fw_versions in FW_VERSIONS.items()}" + ] + }, + { + "cell_type": "code", + "execution_count": 149, + "metadata": {}, + "outputs": [], + "source": [ + "from openpilot.selfdrive.car.subaru.values import CAR_INFO\n", + "\n", + "def get_carinfo(model: CAR):\n", + " c = CAR_INFO[model]\n", + " if isinstance(c, list):\n", + " c = c[0]\n", + " return c" + ] + }, + { + "cell_type": "code", + "execution_count": 150, + "metadata": {}, + "outputs": [], + "source": [ + "PLATFORM_CODES = {\n", + " Ecu.abs: {\n", + " 0: {\n", + " b'\\xa5': [CAR.ASCENT, CAR.ASCENT_2023],\n", + " b'\\xa2': [CAR.IMPREZA, CAR.IMPREZA_2020, CAR.CROSSTREK_HYBRID],\n", + " b'\\xa1': [CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023],\n", + " b'\\xa3': [CAR.FORESTER, CAR.FORESTER_HYBRID, CAR.FORESTER_2022],\n", + " b'z': [CAR.IMPREZA],\n", + " }\n", + " }\n", + "}\n", + "\n", + "YEAR_CODES = {\n", + " Ecu.abs: {\n", + " 2: {\n", + " b'\\x18': 2018,\n", + " b'\\x19': 2019,\n", + " b'\\x20': 2020,\n", + " b'\\x21': 2021,\n", + " b'\\x22': 2022,\n", + " b'\\x23': 2023,\n", + " }\n", + " }\n", + "}" + ] + }, + { + "cell_type": "code", + "execution_count": 151, + "metadata": {}, + "outputs": [], + "source": [ + "def get_codes(platforms, codes):\n", + " results = []\n", + " for platform in platforms:\n", + " for ecu in codes:\n", + " for i in codes[ecu]:\n", + " if isinstance(i, tuple):\n", + " j = slice(i[0], i[1])\n", + " else:\n", + " j = slice(i, i+1)\n", + " for version in FW_BY_ECU[platform][ecu]:\n", + " code = version[j]\n", + " if code not in codes[ecu][i]:\n", + " print(f\"{platform} {code.hex()} not in {codes[ecu][i].keys()}\")\n", + " else:\n", + " results.append((platform, codes[ecu][i][code]))\n", + " return results" + ] + }, + { + "cell_type": "code", + "execution_count": 152, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2021 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2018 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", + "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023]\n", + "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023]\n", + "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023]\n", + "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023]\n", + "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2019 years=[2020]\n", + "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2021 years=[2020]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU ASCENT 2023 year=2023 years=[2023]\n", + "correct_year=False platform=SUBARU FORESTER HYBRID 2020 year=2019 years=[2020]\n" + ] + } + ], + "source": [ + "def test_year_code(platform, year):\n", + " years = [int(y) for y in get_carinfo(platform).year_list]\n", + " correct_year = year in years\n", + " print(f\"{correct_year=!s: <6} {platform=: <32} {year=: <5} {years=}\")\n", + "\n", + "codes = get_codes(TEST_PLATFORMS, YEAR_CODES)\n", + "for platform, year in codes:\n", + " test_year_code(platform, year)" + ] + }, + { + "cell_type": "code", + "execution_count": 153, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU ASCENT 2023 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU FORESTER HYBRID 2020 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n" + ] + } + ], + "source": [ + "def test_platform_code(platform, platforms):\n", + " platforms = [str(p) for p in platforms]\n", + " in_possible_platforms = platform in platforms\n", + " print(f\"{in_possible_platforms=!s: <6} {platform=: <32} {platforms=}\")\n", + "\n", + "codes = get_codes(TEST_PLATFORMS, PLATFORM_CODES)\n", + "for platform, possible_platforms in codes:\n", + " test_platform_code(platform, possible_platforms)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} From 7f35d0a909d65d647008e74df56c51e603971012 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 24 Jan 2024 11:53:03 -0800 Subject: [PATCH 129/205] disable TestManager.test_clean_exit for now --- selfdrive/manager/test/test_manager.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 9dc8bf1cda..fbeb932a86 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -46,6 +46,7 @@ class TestManager(unittest.TestCase): t = time.monotonic() - start assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" + @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad") def test_clean_exit(self): """ Ensure all processes exit cleanly when stopped. From e2ec5be6eec73f6455727313ba2b9c5bb01cce8c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 24 Jan 2024 13:54:31 -0800 Subject: [PATCH 130/205] test_ui: create test ui screenshots and html report (#31147) * test ui * report + common * in ci * fix * dont enable in ci yet --- .github/workflows/selfdrive_tests.yaml | 22 + poetry.lock | 3394 ++++++++++++++++++++-- pyproject.toml | 2 + selfdrive/test/setup_xvfb.sh | 2 +- selfdrive/ui/tests/.gitignore | 1 + selfdrive/ui/tests/test_ui/run.py | 121 + selfdrive/ui/tests/test_ui/template.html | 34 + 7 files changed, 3347 insertions(+), 229 deletions(-) create mode 100644 selfdrive/ui/tests/test_ui/run.py create mode 100644 selfdrive/ui/tests/test_ui/template.html diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 080051bdaa..2daa895de9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -395,3 +395,25 @@ jobs: repo: context.repo.repo, comment_id: ${{ steps.fc.outputs.comment-id }} }) + +# need to figure out some stuff with tkinter before enabling this + + # create_ui_report: + # name: Create UI Report + # runs-on: ubuntu-20.04 + # steps: + # - uses: actions/checkout@v4 + # with: + # submodules: true + # - uses: ./.github/workflows/setup-with-retry + # - name: Build openpilot + # run: ${{ env.RUN }} "scons -j$(nproc)" + # - name: Create Test Report + # run: ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ + # export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ + # python selfdrive/ui/tests/test_ui/run.py" + # - name: Upload Test Report + # uses: actions/upload-artifact@v2 + # with: + # name: report + # path: selfdrive/ui/tests/test_ui \ No newline at end of file diff --git a/poetry.lock b/poetry.lock index b7e7f6deaf..ecfdac4497 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -2216,6 +2216,21 @@ url = "https://github.com/metadriverse/metadrive.git" reference = "main" resolved_reference = "bc162e1b423bd194a58ef2269103f1bcea5f53c7" +[[package]] +name = "mouseinfo" +version = "0.1.3" +description = "An application to display XY position and RGB color information for the pixel currently under the mouse. Works on Python 2 and 3." +optional = false +python-versions = "*" +files = [ + {file = "MouseInfo-0.1.3.tar.gz", hash = "sha256:2c62fb8885062b8e520a3cce0a297c657adcc08c60952eb05bc8256ef6f7f6e7"}, +] + +[package.dependencies] +pyperclip = "*" +python3-Xlib = {version = "*", markers = "platform_system == \"Linux\" and python_version >= \"3.0\""} +rubicon-objc = {version = "*", markers = "platform_system == \"Darwin\""} + [[package]] name = "mpld3" version = "0.5.10" @@ -2642,7 +2657,14 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.21.2", markers = "python_version >= \"3.10\""}, + {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, + {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""}, + {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, + {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, +] [[package]] name = "opencv-python-headless" @@ -2661,7 +2683,14 @@ files = [ ] [package.dependencies] -numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""} +numpy = [ + {version = ">=1.21.2", markers = "python_version >= \"3.10\""}, + {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, + {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""}, + {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, + {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, +] [[package]] name = "packaging" @@ -3132,6 +3161,26 @@ files = [ [package.extras] test = ["numpy"] +[[package]] +name = "pyautogui" +version = "0.9.54" +description = "PyAutoGUI lets Python control the mouse and keyboard, and other GUI automation tasks. For Windows, macOS, and Linux, on Python 3 and 2." +optional = false +python-versions = "*" +files = [ + {file = "PyAutoGUI-0.9.54.tar.gz", hash = "sha256:dd1d29e8fd118941cb193f74df57e5c6ff8e9253b99c7b04f39cfc69f3ae04b2"}, +] + +[package.dependencies] +mouseinfo = "*" +pygetwindow = ">=0.0.5" +pymsgbox = "*" +pyobjc-core = {version = "*", markers = "platform_system == \"Darwin\""} +pyobjc-framework-quartz = {version = "*", markers = "platform_system == \"Darwin\""} +pyscreeze = ">=0.1.21" +python3-Xlib = {version = "*", markers = "platform_system == \"Linux\" and python_version >= \"3.0\""} +pytweening = ">=1.0.4" + [[package]] name = "pycapnp" version = "1.3.0" @@ -3262,8 +3311,6 @@ files = [ {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"}, {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"}, 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"setuptools-scm[toml] (==8.0.4)", "tox (==4.11.3)"] +docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx (==7.2.6)", "sphinx-autobuild (==2021.3.14)", "sphinx-copybutton (==0.5.2)", "sphinx-tabs (==3.4.1)", "sphinxcontrib-spelling (==8.0.0)"] + [[package]] name = "ruff" version = "0.1.14" @@ -4853,4 +7791,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "1976ee7795d5ac5b257cac8dd83e408ae6e75c48d8c349e3e8e56519727cf52f" +content-hash = "80980e271850e99a5b9005dda4b25a822a4d2b15ba152697c5fb692be4b3bb13" diff --git a/pyproject.toml b/pyproject.toml index 5641a55101..6930193242 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -136,8 +136,10 @@ parameterized = "^0.8" pprofile = "*" polyline = "*" pre-commit = "*" +pyautogui = "*" pyopencl = "*" pygame = "*" +pywinctl = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh index 79110fc4fb..806515b0f9 100755 --- a/selfdrive/test/setup_xvfb.sh +++ b/selfdrive/test/setup_xvfb.sh @@ -1,4 +1,4 @@ -#!/bin/bash +#!/usr/bin/env bash # Sets up a virtual display for running map renderer and simulator without an X11 display diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 94ba9a3a97..6c624b66d3 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -3,3 +3,4 @@ playsound test_sound test_translations ui_snapshot +test_ui/report \ No newline at end of file diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py new file mode 100644 index 0000000000..f943786350 --- /dev/null +++ b/selfdrive/ui/tests/test_ui/run.py @@ -0,0 +1,121 @@ +import pathlib +import shutil +import jinja2 +import matplotlib.pyplot as plt +import numpy as np +import os +import pyautogui +import pywinctl +import time +import unittest + +from parameterized import parameterized +from cereal import messaging, log + +from cereal.messaging import SubMaster, PubMaster +from openpilot.common.params import Params +from openpilot.selfdrive.test.helpers import with_processes + +UI_DELAY = 0.5 # may be slower on CI? + +NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength + +def setup_common(click, pm: PubMaster): + Params().put("DongleId", "123456789012345") + dat = messaging.new_message('deviceState') + dat.deviceState.networkType = NetworkType.cell4G + dat.deviceState.networkStrength = NetworkStrength.moderate + + pm.send("deviceState", dat) + + time.sleep(UI_DELAY) + +def setup_homescreen(click, pm: PubMaster): + setup_common(click, pm) + +def setup_settings_device(click, pm: PubMaster): + setup_common(click, pm) + + click(100, 100) + time.sleep(UI_DELAY) + +def setup_settings_network(click, pm: PubMaster): + setup_common(click, pm) + + setup_settings_device(click, pm) + click(300, 600) + time.sleep(UI_DELAY) + +CASES = { + "homescreen": setup_homescreen, + "settings_device": setup_settings_device, + "settings_network": setup_settings_network, +} + + +TEST_DIR = pathlib.Path(__file__).parent + +TEST_OUTPUT_DIR = TEST_DIR / "report" +SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" + + +class TestUI(unittest.TestCase): + @classmethod + def setUpClass(cls): + os.environ["SCALE"] = "1" + + def setup(self): + self.sm = SubMaster(["uiDebug"]) + self.pm = PubMaster(["deviceState"]) + while not self.sm.valid["uiDebug"]: + self.sm.update(1) + time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering + self.ui = pywinctl.getWindowsWithTitle("ui")[0] + + def screenshot(self): + im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) + self.assertEqual(im.width, 2160) + self.assertEqual(im.height, 1080) + img = np.array(im) + im.close() + return img + + def click(self, x, y, *args, **kwargs): + pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) + + @parameterized.expand(CASES.items()) + @with_processes(["ui"]) + def test_ui(self, name, setup_case): + self.setup() + + setup_case(self.click, self.pm) + + im = self.screenshot() + plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) + + +def create_html_report(): + OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html" + + with open(TEST_DIR / "template.html") as f: + template = jinja2.Template(f.read()) + + cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")} + + with open(OUTPUT_FILE, "w") as f: + f.write(template.render(cases=cases)) + +def create_screenshots(): + if TEST_OUTPUT_DIR.exists(): + shutil.rmtree(TEST_OUTPUT_DIR) + + SCREENSHOTS_DIR.mkdir(parents=True) + unittest.main(exit=False) + +if __name__ == "__main__": + print("creating test screenshots") + create_screenshots() + + print("creating html report") + create_html_report() diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html new file mode 100644 index 0000000000..68df5879e6 --- /dev/null +++ b/selfdrive/ui/tests/test_ui/template.html @@ -0,0 +1,34 @@ + + + + +{% for name, (image, ref_image) in cases.items() %} + +

{{name}}

+
+
+ +
+
+ +
+ +{% endfor %} + \ No newline at end of file From f55e6a3b81bf08bce9cb9d2357db5bbf529d1d39 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 24 Jan 2024 15:26:22 -0800 Subject: [PATCH 131/205] Los Angeles Model 2 (#31135) * 7045fb53-6739-4338-8426-20cbd4ad7832/600 * Update constants * Update parse * Typos * Update ref * 26057144-130f-48e1-8a98-00fae53ae7db/700 * Update ref --- selfdrive/modeld/constants.py | 2 +- selfdrive/modeld/modeld.py | 6 +++--- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index e1741cbdcf..dda1ff5e33 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -23,7 +23,7 @@ class ModelConstants: DRIVING_STYLE_LEN = 12 LAT_PLANNER_STATE_LEN = 4 LATERAL_CONTROL_PARAMS_LEN = 2 - PREV_DESIRED_CURVS_LEN = 20 + PREV_DESIRED_CURV_LEN = 1 # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 00c46c3bce..5b227d08e9 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -58,7 +58,7 @@ class ModelState: 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), - 'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32), 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), @@ -110,8 +110,8 @@ class ModelState: self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:] - self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0] + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] return outputs diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index e91940c728..dc93d84135 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4b085c1ba231bc381f78462bda136172787371d5d83b6e1bcd340aad17290ebc -size 48197170 +oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be +size 48219112 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 85bcf123e7..2e78b1e608 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -cfdad3a695e3562ca32accce043b358291f0eef2 +4b983afeba5ec953f0d37e7b3499bde5209728eb From 1a202a55c1db9e8db3d69a30fcfb9f978cf20a53 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 24 Jan 2024 23:37:32 +0000 Subject: [PATCH 132/205] Ford: add missing Mach-E fw (#31145) From the route 83a4e056c7072678/2023-11-13--16-51-33 (which is already in selfdrive/car/tests/routes.py, added in #30691). --- selfdrive/car/ford/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py index 8594ab95df..0cd812bc6b 100644 --- a/selfdrive/car/ford/fingerprints.py +++ b/selfdrive/car/ford/fingerprints.py @@ -145,6 +145,7 @@ FW_VERSIONS = { b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ + b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], From ae25a135947a1e2b06245cb63cc0f9cf4c44dd41 Mon Sep 17 00:00:00 2001 From: kovat74 <93383675+kovat74@users.noreply.github.com> Date: Thu, 25 Jan 2024 01:15:20 +0100 Subject: [PATCH 133/205] Added firmware fingerprint IONIQ 2020 EV (#31049) --- selfdrive/car/hyundai/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 0c5925c744..56b4217403 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -199,6 +199,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', @@ -209,6 +210,7 @@ FW_VERSIONS = { b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', ], }, CAR.IONIQ_EV_LTD: { From 3676ae4da3dc4fbc2ea6aa84369a5f460662f6e4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 24 Jan 2024 16:51:06 -0800 Subject: [PATCH 134/205] test_ui: add onroad state (#31148) add onroad --- selfdrive/ui/tests/test_ui/run.py | 70 +++++++++++++++++++++++++++++-- 1 file changed, 67 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index f943786350..48223d3fe8 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -10,22 +10,37 @@ import time import unittest from parameterized import parameterized -from cereal import messaging, log +from cereal import messaging, car, log +from cereal.visionipc import VisionIpcServer, VisionStreamType from cereal.messaging import SubMaster, PubMaster from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.common.transformations.camera import tici_f_frame_size from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state +from openpilot.tools.webcam.camera import Camera UI_DELAY = 0.5 # may be slower on CI? NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength +EventName = car.CarEvent.EventName +EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()} + + def setup_common(click, pm: PubMaster): Params().put("DongleId", "123456789012345") dat = messaging.new_message('deviceState') + dat.deviceState.started = True dat.deviceState.networkType = NetworkType.cell4G dat.deviceState.networkStrength = NetworkStrength.moderate + dat.deviceState.freeSpacePercent = 80 + dat.deviceState.memoryUsagePercent = 2 + dat.deviceState.cpuTempC = [2,]*3 + dat.deviceState.gpuTempC = [2,]*3 + dat.deviceState.cpuUsagePercent = [2,]*8 pm.send("deviceState", dat) @@ -47,13 +62,61 @@ def setup_settings_network(click, pm: PubMaster): click(300, 600) time.sleep(UI_DELAY) +def setup_onroad(click, pm: PubMaster): + setup_common(click, pm) + + dat = messaging.new_message('pandaStates', 1) + dat.pandaStates[0].ignitionLine = True + dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno + + pm.send("pandaStates", dat) + + server = VisionIpcServer("camerad") + server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size) + server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) + server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) + server.start_listener() + + time.sleep(UI_DELAY) + + IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8)) + IMG_BYTES = IMG.flatten().tobytes() + + cams = ('roadCameraState', 'wideRoadCameraState') + + frame_id = 0 + for cam in cams: + msg = messaging.new_message(cam) + cs = getattr(msg, cam) + cs.frameId = frame_id + cs.timestampSof = int((frame_id * DT_MDL) * 1e9) + cs.timestampEof = int((frame_id * DT_MDL) * 1e9) + cam_meta = meta_from_camera_state(cam) + + pm.send(msg.which(), msg) + server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof) + + time.sleep(UI_DELAY) + +def setup_onroad_map(click, pm: PubMaster): + setup_onroad(click, pm) + click(500, 500) + time.sleep(UI_DELAY) + +def setup_onroad_sidebar(click, pm: PubMaster): + setup_onroad_map(click, pm) + click(500, 500) + time.sleep(UI_DELAY) + CASES = { "homescreen": setup_homescreen, "settings_device": setup_settings_device, "settings_network": setup_settings_network, + "onroad": setup_onroad, + "onroad_map": setup_onroad_map, + "onroad_map_sidebar": setup_onroad_sidebar } - TEST_DIR = pathlib.Path(__file__).parent TEST_OUTPUT_DIR = TEST_DIR / "report" @@ -67,7 +130,7 @@ class TestUI(unittest.TestCase): def setup(self): self.sm = SubMaster(["uiDebug"]) - self.pm = PubMaster(["deviceState"]) + self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState']) while not self.sm.valid["uiDebug"]: self.sm.update(1) time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering @@ -102,6 +165,7 @@ def create_html_report(): template = jinja2.Template(f.read()) cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")} + cases = dict(sorted(cases.items())) with open(OUTPUT_FILE, "w") as f: f.write(template.render(cases=cases)) From 951d7e9cd0f7a12af81e3224771e2dec079ca22e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 24 Jan 2024 21:29:18 -0800 Subject: [PATCH 135/205] Chrysler: add FW from CAN fingerprinting cars last 90 days on 0.9.5-release (#31142) * print * name * add missing * ----- * add list so can fingerprint * transmission doesn't exist on these * fix abs addr! * apparantly abs isn't on these cars * 2018 too * clean up * rm abs * add missing versions! * Revert "add missing versions!" This reverts commit 45d36a49363a9c540841e6618c1a73cd3948c754. * need this to fingerprint! * Add FW from CAN fingerprinting cars last 90 days on 0.9.5-release * need this temporarily * Add rest of dongles * update docs * remove FINGERPRINTS * Apply suggestions from code review * Update selfdrive/car/fw_versions.py --- docs/CARS.md | 5 +- selfdrive/car/chrysler/fingerprints.py | 354 +++++++++++++++++++++---- selfdrive/car/chrysler/values.py | 7 +- 3 files changed, 303 insertions(+), 63 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index bb55f9e0b7..92b8dd952d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 274 Supported Cars +# 275 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -29,7 +29,8 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 28f590b23a..47be008735 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -1,117 +1,357 @@ -# ruff: noqa: E501 from cereal import car from openpilot.selfdrive.car.chrysler.values import CAR Ecu = car.CarParams.Ecu -# Unique CAN messages: -# Only the hybrids have 270: 8 -# Only the gas have 55: 8, 416: 7 -# For 564, All 2017 have length 4, whereas 2018-19 have length 8. -# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8. -# For 560, All 2019 have length 8, whereas all 2017-18 have length 4. -# -# Jeep Grand Cherokee unique messages: -# 2017 Trailhawk: 618: 8 -# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8. - - -FINGERPRINTS = { - CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8 - }], - CAR.PACIFICA_2018: [{ - 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 - }, - { - 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 - 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{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 - }], - CAR.JEEP_GRAND_CHEROKEE: [{ - 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + CAR.PACIFICA_2018: { + (Ecu.combinationMeter, 0x742, None): [ + b'68227902AF', + b'68227902AG', + b'68227902AH', + b'68360252AC', + ], + (Ecu.srs, 0x744, None): [ + b'68211617AF', + b'68211617AG', + b'68358974AC', + b'68405937AA', + ], + (Ecu.abs, 0x747, None): [ + b'68222747AG', + b'68330876AA', + b'68330876AB', + b'68352227AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'68226356AF', + b'68226356AH', + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288891AE', + b'68378884AA', + b'68525338AA', + b'68525338AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68267018AO ', + b'68267020AJ ', + b'68340762AD ', + b'68340764AD ', + b'68352652AE ', + b'68366851AH ', + b'68366853AE ', + b'68372861AF ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68277370AJ', + b'68277370AM', + b'68277372AD', + b'68277372AN', + b'68277374AA', + b'68277374AB', + b'68277374AD', + b'68277374AN', + b'68367471AC', + b'68380571AB', + ], }, - { - 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], - CAR.JEEP_GRAND_CHEROKEE_2019: [{ - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], -} - -FW_VERSIONS = { CAR.PACIFICA_2020: { (Ecu.combinationMeter, 0x742, None): [ + b'68405327AC', + b'68436233AB', + b'68436233AC', + b'68436250AE', + b'68529067AA', b'68594993AB', ], (Ecu.srs, 0x744, None): [ + b'68405565AB', + b'68405565AC', + b'68444299AC', + b'68480708AC', b'68526663AB', ], (Ecu.abs, 0x747, None): [ + b'68397394AA', + b'68433480AB', + b'68453575AF', + b'68577676AA', b'68593395AA', ], (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AC', + b'68540436AD', b'68598670AB', ], (Ecu.eps, 0x75a, None): [ + b'68416742AA', + b'68460393AA', + b'68460393AB', + b'68494461AB', + b'68524936AA', + b'68524936AB', + b'68525338AB', b'68594340AB', ], (Ecu.engine, 0x7e0, None): [ + b'68413871AD ', + b'68413871AE ', + b'68413871AH ', + b'68413871AI ', + b'68413873AI ', + b'68443120AE ', + b'68443123AC ', + b'68443125AC ', + b'68526752AD ', + b'68526752AE ', + b'68526754AE ', + b'68536264AE ', b'68700306AB ', ], (Ecu.transmission, 0x7e1, None): [ + b'68414271AC', + b'68414271AD', + b'68414275AC', + b'68443154AB', + b'68443155AC', + b'68443158AB', + b'68501050AD', + b'68527221AB', + b'68527223AB', b'68586231AD', ], }, + CAR.PACIFICA_2018_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68358439AE', + b'68358439AG', + ], + (Ecu.srs, 0x744, None): [ + b'68358990AC', + b'68405939AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AD', + b'68525339AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'68366580AI ', + b'68366580AK ', + b'68366580AM ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190226AI', + b'05190226AK', + b'05190226AM', + ], + }, + CAR.PACIFICA_2019_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405292AC', + b'68434956AC', + b'68434956AD', + b'68434960AE', + b'68434960AF', + b'68529064AB', + b'68594990AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405567AB', + b'68405567AC', + b'68453076AD', + b'68480710AC', + b'68526665AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AB', + b'68540436AC', + b'68540436AD', + b'68598670AB', + b'68598670AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68416741AA', + b'68460392AA', + b'68525339AA', + b'68525339AB', + b'68594341AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68416680AE ', + b'68416680AF ', + b'68416680AG ', + b'68444228AD ', + b'68444228AE ', + b'68444228AF ', + b'68499122AD ', + b'68499122AE ', + b'68499122AF ', + b'68526772AD ', + b'68526772AH ', + b'68599493AC ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05185116AF', + b'05185116AJ', + b'05185116AK', + b'05190240AP', + b'05190240AQ', + b'05190240AR', + b'05190265AG', + b'05190265AH', + b'05190289AE', + b'68540977AH', + b'68540977AK', + b'68597647AE', + ], + }, + CAR.JEEP_GRAND_CHEROKEE: { + (Ecu.combinationMeter, 0x742, None): [ + b'68302211AC', + b'68302212AD', + b'68302246AC', + b'68331511AC', + b'68331574AC', + b'68331687AC', + b'68340272AD', + ], + (Ecu.srs, 0x744, None): [ + b'68316742AB', + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68306178AD', + b'68336276AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672627AB', + b'68332015AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68321644AB', + b'68321644AC', + b'68321646AC', + b'68321648AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035920AE ', + b'68284455AI ', + b'68284456AI ', + b'68284477AF ', + b'68325564AH ', + b'68325565AH ', + b'68325565AI ', + b'68325618AD ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035517AH', + b'68311218AC', + b'68311223AF', + b'68311223AG', + b'68361911AE', + b'68361911AF', + b'68361911AH', + b'68361916AD', + ], + }, CAR.JEEP_GRAND_CHEROKEE_2019: { (Ecu.combinationMeter, 0x742, None): [ + b'68402703AB', + b'68402708AB', b'68402971AD', b'68454144AD', b'68454152AB', + b'68454156AB', + b'68516650AB', + b'68516651AB', + b'68516669AB', + b'68516671AB', + b'68516683AB', ], (Ecu.srs, 0x744, None): [ b'68355363AB', + b'68355364AB', ], (Ecu.abs, 0x747, None): [ + b'68408639AC', b'68408639AD', + b'68499978AB', ], (Ecu.fwdRadar, 0x753, None): [ + b'04672788AA', b'68456722AC', ], (Ecu.eps, 0x75a, None): [ + b'68417279AA', + b'68417280AA', b'68453431AA', b'68453433AA', + b'68453435AA', + b'68499171AA', + b'68499171AB', + b'68501183AA', ], (Ecu.engine, 0x7e0, None): [ b'05035674AB ', + b'68412635AG ', + b'68422860AB', + b'68449435AE ', b'68496223AA ', + b'68504959AD ', + b'68504960AD ', + b'68504993AC ', ], (Ecu.transmission, 0x7e1, None): [ b'05035707AA', + b'68419672AC', + b'68423905AB', + b'68449258AC', b'68495807AA', b'68495807AB', + b'68503641AC', + b'68503664AC', ], }, CAR.RAM_1500: { diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8d873705fa..34e602562a 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -64,8 +64,8 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { - CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), - CAR.PACIFICA_2018_HYBRID: None, # same platforms + CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), + CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ @@ -117,8 +117,7 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], extra_ecus=[ - (Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids - (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms ], ) From 8472ae5317d98a41dae28b2cd1e72ac05b5cae04 Mon Sep 17 00:00:00 2001 From: Ruben Medina Date: Wed, 24 Jan 2024 23:35:39 -0800 Subject: [PATCH 136/205] add size to system alt image manifest entry (#31154) --- system/hardware/tici/agnos.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 080fa2cf8e..3fe3942305 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -70,7 +70,8 @@ "has_ab": true, "alt": { "hash": "2fb81e58f4bc6c4e5e71c8e7ac7553f85082c430627d7a5cc54a6bbc82862500", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz" + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz", + "size": 4543090376 } } ] \ No newline at end of file From be15b31696af43accbffc8d59b3a5acbb4725682 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 02:02:00 -0800 Subject: [PATCH 137/205] Toyota: use radar in place of abs for platform code ECUs (#31043) * use radar instead of abs * str the strenum * Lexus ES: non-TSS2 probably don't have stop and go without DSU-pull and/or pedal * remove from NO_STOP_TIMER_CAR. this set is so confusing * Combine ES & ESH (preferring ESH's DSU msgs) * ES: forgot substitute * comment * Highlander: combine, preferring the hybrid for DSU msg mismatches (0x365 and 0x366) * remove duplicates and sort * update docs * toyota non_essential ECU test * Lexus RX: combine, preferring hybrid's msgs (they all exist on ICE) * sort and remove dups * parameterize so we can test with notebook * this too * clean up * clean up * tuple makes more sense * update comments * update * update * update --- selfdrive/car/toyota/values.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a16864cce8..4f6e55b5d3 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -348,13 +348,16 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]') # highest seen is 3 chunks, 16 bytes FW_CHUNK_LEN = 16 # List of ECUs that are most unique across openpilot platforms -# TODO: use hybrid ECU, splits similar ICE and hybrid variants # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes # when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2. # On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping. -# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception) +# Note that the platform codes & major versions do not describe features in plain text, only with +# matching against other seen FW versions in the database they can describe features. +# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code. +# For example the RAV4 2022's new radar architecture is shown for both with platform code. +# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination) # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages -PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps] +PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) # These platforms have at least one platform code for all ECUs shared with another platform. FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set() From edd2428b6067381ffaa25420d6fd9f0f142038a8 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 11:09:09 -0800 Subject: [PATCH 138/205] LogReader: fail-fast on invalid segments (#31152) * don't check all * is --- tools/lib/logreader.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 6c1174611b..d6c1cc90c2 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -161,12 +161,14 @@ def direct_source(file_or_url): return [file_or_url] def get_invalid_files(files): - return [f for f in files if f is None or not file_exists(f)] + for f in files: + if f is None or not file_exists(f): + yield f def check_source(source, *args): try: files = source(*args) - assert len(get_invalid_files(files)) == 0 + assert next(get_invalid_files(files), None) is None return True, files except Exception: return False, None @@ -177,7 +179,6 @@ def auto_source(*args): valid, ret = check_source(source, *args) if valid: return ret - return comma_api_source(*args) def parse_useradmin(identifier): @@ -256,7 +257,7 @@ class LogReader: def reset(self): self.logreader_identifiers = self._parse_identifiers(self.identifier) - invalid_count = len(get_invalid_files(self.logreader_identifiers)) + invalid_count = len(list(get_invalid_files(self.logreader_identifiers))) assert invalid_count == 0, f"{invalid_count}/{len(self.logreader_identifiers)} invalid log(s) found, please ensure all logs \ are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name." From 6f2f966a2f03335da693f278825becb7f7c841bb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 11:28:09 -0800 Subject: [PATCH 139/205] CI: add bot labels to repo_maintenance (#31159) * add bot lables * prefix --- .github/workflows/repo-maintenance.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 1f14895e21..26b1192efa 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -29,7 +29,8 @@ jobs: branch: auto-bump-submodules base: master delete-branch: true - body: 'Automatic PR from repo-maintenance -> bump_submodules' + body: '[bot] Automatic PR from repo-maintenance -> bump_submodules' + labels: bot package_updates: name: package_updates runs-on: ubuntu-20.04 @@ -54,4 +55,5 @@ jobs: branch: auto-package-updates base: master delete-branch: true - body: 'Automatic PR from repo-maintenance -> package_updates' + body: '[bot] Automatic PR from repo-maintenance -> package_updates' + labels: bot From 35374f4d577d0bf835ae146954010ef61a3c2fa4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 12:13:43 -0800 Subject: [PATCH 140/205] test_loggerd: make rotation test more robust (#31160) * no randomness * lots * Revert "lots" This reverts commit 2052fd6f7b8dc4c53fbb7c726026070918d5de00. --- system/loggerd/tests/test_loggerd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index dde12b646d..0f2fc918b7 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -152,8 +152,8 @@ class TestLoggerd: vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) vipc_server.start_listener() - num_segs = random.randint(2, 5) - length = random.randint(1, 3) + num_segs = 3 + length = 2 os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() From 3b618c4dfd81238c8e76524cbedb073d70d69794 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 12:44:01 -0800 Subject: [PATCH 141/205] Simulator: pin metadrive + use pip version (#31161) * pin metadrive * pin * not on git --- poetry.lock | 14 +++++--------- pyproject.toml | 2 +- 2 files changed, 6 insertions(+), 10 deletions(-) diff --git a/poetry.lock b/poetry.lock index ecfdac4497..694486a75e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2178,8 +2178,10 @@ version = "0.4.2.2" description = "An open-ended driving simulator with infinite scenes" optional = false python-versions = ">=3.6, <3.12" -files = [] -develop = false +files = [ + {file = "metadrive-simulator-0.4.2.2.tar.gz", hash = "sha256:dcce9f9c73b6055e70480af8543058b95e8c4f68d2595107f3ef36c9be03f6bb"}, + {file = "metadrive_simulator-0.4.2.2-py3-none-any.whl", hash = "sha256:165ba0b5275313a71090ba0e73d51b7b5e05391b071d3a2114d999ac9287d150"}, +] [package.dependencies] filelock = "*" @@ -2210,12 +2212,6 @@ cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==1 gym = ["gym (>=0.19.0,<=0.26.0)"] ros = ["zmq"] -[package.source] -type = "git" -url = "https://github.com/metadriverse/metadrive.git" -reference = "main" -resolved_reference = "bc162e1b423bd194a58ef2269103f1bcea5f53c7" - [[package]] name = "mouseinfo" version = "0.1.3" @@ -7791,4 +7787,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "80980e271850e99a5b9005dda4b25a822a4d2b15ba152697c5fb692be4b3bb13" +content-hash = "4f771435666b64f677d7dd2b4c9b4ec4bbe6fcbb004d13f19e0e79ae138c92b9" diff --git a/pyproject.toml b/pyproject.toml index 6930193242..0d9772f695 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -126,7 +126,7 @@ inputs = "*" Jinja2 = "*" lru-dict = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { version = "0.4.2.2", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" From 410db2cd9fafdf17700179fe14999775551edc78 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 12:45:43 -0800 Subject: [PATCH 142/205] Simulator: add comment about mapbox tokens (#31162) * add to readme --- tools/sim/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/README.md b/tools/sim/README.md index f6ddde2580..ff95d16de6 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -4,7 +4,7 @@ openpilot in simulator openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive). ## Launching openpilot -First, start openpilot. +First, start openpilot. Note that you will either need a [mapbox token](https://docs.mapbox.com/help/getting-started/access-tokens/#how-access-tokens-work) (set with ```export MAPBOX_TOKEN="1234"```), or to disable mapsd with ```export BLOCK=mapsd``` ``` bash # Run locally ./tools/sim/launch_openpilot.sh From 6901aada14df6aa68b5e3970da0487b8d2b4df8c Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Thu, 25 Jan 2024 13:26:12 -0800 Subject: [PATCH 143/205] filereader should use connection pool for file_exists (#31158) * filereader should use connection pool for file_exists * remove debug var --- tools/lib/filereader.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 15e618f649..1db3207e4b 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,5 +1,4 @@ import os -import requests from openpilot.tools.lib.url_file import URLFile @@ -13,7 +12,7 @@ def resolve_name(fn): def file_exists(fn): fn = resolve_name(fn) if fn.startswith(("http://", "https://")): - return requests.head(fn, allow_redirects=True).status_code == 200 + return URLFile(fn).get_length_online() != -1 return os.path.exists(fn) def FileReader(fn, debug=False): From 80ea4db7bb19c7758aae6dda1997b5bf5b27dc9b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jan 2024 13:33:47 -0800 Subject: [PATCH 144/205] update factory reset --- selfdrive/ui/qt/setup/reset.cc | 9 +-------- selfdrive/ui/qt/setup/reset.h | 1 - 2 files changed, 1 insertion(+), 9 deletions(-) diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 7999dd640b..c9e0525784 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -57,7 +57,7 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { main_layout->addSpacing(60); - body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot.")); + body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -97,11 +97,6 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); } - // automatically start if we're just finishing up an ABL reset - if (mode == ResetMode::FORMAT) { - startReset(); - } - setStyleSheet(R"( * { font-family: Inter; @@ -129,8 +124,6 @@ int main(int argc, char *argv[]) { if (argc > 1) { if (strcmp(argv[1], "--recover") == 0) { mode = ResetMode::RECOVER; - } else if (strcmp(argv[1], "--format") == 0) { - mode = ResetMode::FORMAT; } } diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h index 04a191d829..8bf368e3e8 100644 --- a/selfdrive/ui/qt/setup/reset.h +++ b/selfdrive/ui/qt/setup/reset.h @@ -5,7 +5,6 @@ enum ResetMode { USER_RESET, // user initiated a factory reset from openpilot RECOVER, // userdata is corrupt for some reason, give a chance to recover - FORMAT, // finish up an ABL factory reset }; class Reset : public QWidget { From 4ecaa6da4595b2c82d4d17358717536e6f28e0da Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jan 2024 13:44:26 -0800 Subject: [PATCH 145/205] update translations --- selfdrive/ui/translations/main_ar.ts | 8 ++++---- selfdrive/ui/translations/main_de.ts | 6 +++--- selfdrive/ui/translations/main_fr.ts | 8 ++++---- selfdrive/ui/translations/main_ja.ts | 6 +++--- selfdrive/ui/translations/main_ko.ts | 8 ++++---- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- selfdrive/ui/translations/main_th.ts | 8 ++++---- selfdrive/ui/translations/main_tr.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++---- 10 files changed, 36 insertions(+), 36 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index b7e35d7b6c..eb6a580c01 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -648,14 +648,14 @@ This may take up to a minute. يتم إعادة ضبط الجهاز... قد يستغرق الأمر حوالي الدقيقة. - - Press confirm to erase all content and settings. Press cancel to resume boot. - اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لمتابعة التشغيل. - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index deab47e2cf..6d814b9625 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -630,12 +630,12 @@ - Press confirm to erase all content and settings. Press cancel to resume boot. + Resetting device... +This may take up to a minute. - Resetting device... -This may take up to a minute. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 8cd5a4ea28..cd96c466e9 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -620,10 +620,6 @@ Cela peut prendre jusqu'à une minute. System Reset Réinitialisation du système - - Press confirm to erase all content and settings. Press cancel to resume boot. - Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage. - Cancel Annuler @@ -640,6 +636,10 @@ Cela peut prendre jusqu'à une minute. Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 27cd7246d0..d07c7d525a 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -626,12 +626,12 @@ - Press confirm to erase all content and settings. Press cancel to resume boot. + Resetting device... +This may take up to a minute. - Resetting device... -This may take up to a minute. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 725e3c2f7b..a903978329 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -626,16 +626,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요. - - Press confirm to erase all content and settings. Press cancel to resume boot. - 모든 콘텐츠와 설정을 삭제하려면 확인을 누르세요. 계속 부팅하려면 취소를 누르세요. - Resetting device... This may take up to a minute. 장치를 초기화하는 중... 최대 1분이 소요될 수 있습니다. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 19e35b2c12..d683891e44 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -630,16 +630,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. - - Press confirm to erase all content and settings. Press cancel to resume boot. - Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. - Resetting device... This may take up to a minute. Redefinindo o dispositivo Isso pode levar até um minuto. + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 01d8a93ca1..f4d097b2a2 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -628,14 +628,14 @@ This may take up to a minute. กำลังรีเซ็ตอุปกรณ์... อาจใช้เวลาถึงหนึ่งนาที - - Press confirm to erase all content and settings. Press cancel to resume boot. - กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index c4e661edfa..ec6f71f5b0 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -627,11 +627,11 @@ This may take up to a minute. - Press confirm to erase all content and settings. Press cancel to resume boot. + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 68211b4b32..91f55c6e94 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -626,16 +626,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。 - - Press confirm to erase all content and settings. Press cancel to resume boot. - 按下确认以删除所有内容及设置。按下取消来继续开机。 - Resetting device... This may take up to a minute. 设备重置中… 这可能需要一分钟的时间。 + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1bdd2d52ea..e8c8854d0e 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -626,16 +626,16 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。 - - Press confirm to erase all content and settings. Press cancel to resume boot. - 按下確認以刪除所有內容及設定。按下取消來繼續開機。 - Resetting device... This may take up to a minute. 設備重設中… 這可能需要一分鐘的時間。 + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + + SettingsWindow From 9ae8830a435816e1a5758c6c61aa1c567c651dfd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 15:28:02 -0800 Subject: [PATCH 146/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31156) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 15 +++++++++++++++ selfdrive/car/honda/fingerprints.py | 7 +++++++ selfdrive/car/hyundai/fingerprints.py | 4 ++-- 3 files changed, 24 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 47be008735..394f9c5132 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -363,7 +363,9 @@ FW_VERSIONS = { b'68294063AH', b'68294063AI', b'68434846AC', + b'68434847AC', b'68434849AC', + b'68434856AC', b'68434858AC', b'68434859AC', b'68434860AC', @@ -380,6 +382,7 @@ FW_VERSIONS = { b'68453514AD', b'68505633AB', b'68510277AG', + b'68510277AH', b'68510280AG', b'68510282AG', b'68510282AH', @@ -388,6 +391,7 @@ FW_VERSIONS = { b'68527361AD', b'68527375AD', b'68527382AE', + b'68527383AD', b'68527387AE', b'68631942AA', ], @@ -452,6 +456,7 @@ FW_VERSIONS = { b'68552790AA', b'68552791AB', b'68585106AB', + b'68585108AB', b'68585109AB', b'68585112AB', ], @@ -463,12 +468,14 @@ FW_VERSIONS = { b'05149591AE ', b'05149592AE ', b'05149600AD ', + b'05149605AE ', b'05149846AA ', b'05149848AA ', b'05190341AD', b'68378695AJ ', b'68378696AJ ', b'68378701AI ', + b'68378710AL ', b'68378748AL ', b'68378758AM ', b'68448163AJ', @@ -476,10 +483,12 @@ FW_VERSIONS = { b'68448163AL', b'68448165AG', b'68448165AK', + b'68455111AC ', b'68455119AC ', b'68455145AC ', b'68455145AE ', b'68455146AC ', + b'68467915AC ', b'68500630AD', b'68500630AE', b'68502719AC ', @@ -490,6 +499,7 @@ FW_VERSIONS = { b'68502742AC ', b'68539650AD', b'68539650AF', + b'68539651AD', b'68586101AA ', b'68586105AB ', b'68629926AC ', @@ -499,7 +509,9 @@ FW_VERSIONS = { b'05036069AA', b'05149536AC', b'05149537AC', + b'05149543AC', b'68360078AL', + b'68360080AL', b'68360080AM', b'68360081AM', b'68360085AJ', @@ -508,7 +520,9 @@ FW_VERSIONS = { b'68384332AD', b'68445531AC', b'68445533AB', + b'68445536AB', b'68445537AB', + b'68466087AB', b'68484466AC', b'68484467AC', b'68484471AC', @@ -516,6 +530,7 @@ FW_VERSIONS = { b'68520867AE', b'68520867AF', b'68540431AB', + b'68540433AB', b'68629936AC', ], }, diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 25fb88aa39..df9a7658f7 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -255,6 +255,7 @@ FW_VERSIONS = { b'37805-5BA-A760\x00\x00', b'37805-5BA-A930\x00\x00', b'37805-5BA-A960\x00\x00', + b'37805-5BA-C640\x00\x00', b'37805-5BA-C860\x00\x00', b'37805-5BA-L410\x00\x00', b'37805-5BA-L760\x00\x00', @@ -298,6 +299,7 @@ FW_VERSIONS = { b'78109-TBA-A510\x00\x00', b'78109-TBA-A520\x00\x00', b'78109-TBA-A530\x00\x00', + b'78109-TBA-C310\x00\x00', b'78109-TBA-C520\x00\x00', b'78109-TBC-A310\x00\x00', b'78109-TBC-A320\x00\x00', @@ -593,6 +595,7 @@ FW_VERSIONS = { b'37805-5PA-AD10\x00\x00', b'37805-5PA-AF20\x00\x00', b'37805-5PA-AH20\x00\x00', + b'37805-5PA-BF10\x00\x00', b'37805-5PA-C680\x00\x00', b'37805-5PD-Q630\x00\x00', b'37805-5PF-F730\x00\x00', @@ -817,6 +820,7 @@ FW_VERSIONS = { ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-5MR-4080\x00\x00', + b'37805-5MR-4180\x00\x00', b'37805-5MR-A240\x00\x00', b'37805-5MR-A250\x00\x00', b'37805-5MR-A310\x00\x00', @@ -855,6 +859,7 @@ FW_VERSIONS = { b'28102-5MX-A001\x00\x00', b'28102-5MX-A600\x00\x00', b'28102-5MX-A610\x00\x00', + b'28102-5MX-A700\x00\x00', b'28102-5MX-A710\x00\x00', b'28102-5MX-A900\x00\x00', b'28102-5MX-A910\x00\x00', @@ -875,6 +880,7 @@ FW_VERSIONS = { b'78109-THR-A420\x00\x00', b'78109-THR-A430\x00\x00', b'78109-THR-A720\x00\x00', + b'78109-THR-A730\x00\x00', b'78109-THR-A820\x00\x00', b'78109-THR-A830\x00\x00', b'78109-THR-AB20\x00\x00', @@ -892,6 +898,7 @@ FW_VERSIONS = { b'78109-THR-AL10\x00\x00', b'78109-THR-AN10\x00\x00', b'78109-THR-C220\x00\x00', + b'78109-THR-C320\x00\x00', b'78109-THR-C330\x00\x00', b'78109-THR-CE20\x00\x00', b'78109-THR-DA20\x00\x00', diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 56b4217403..585a2ec732 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -198,8 +198,8 @@ FW_VERSIONS = { CAR.IONIQ_EV_2020: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', @@ -207,10 +207,10 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', ], }, CAR.IONIQ_EV_LTD: { From f21ccfbf790b9591043494d1612c5c6e0207f935 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 25 Jan 2024 20:55:58 -0300 Subject: [PATCH 147/205] Multilang: Update pt-BR translations (#31167) * add instructions to my fork * add paypall.png to gitignore * Revert "add instructions to my fork" This reverts commit a6a6f93533add212e321e8472a78a8a69bf932f4. * translate * revert this * why? --------- Co-authored-by: Comma Device --- selfdrive/ui/translations/main_pt-BR.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index d683891e44..fce5a8a8ff 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -638,7 +638,7 @@ Isso pode levar até um minuto. System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - + Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização. From f5732f9c5b266e4e992aa75fb7dc1770759731e9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 16:44:25 -0800 Subject: [PATCH 148/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31166) --- selfdrive/car/honda/fingerprints.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index df9a7658f7..ff2320188e 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -27,7 +27,9 @@ FW_VERSIONS = { b'37805-6A0-A930\x00\x00', b'37805-6A0-AF30\x00\x00', b'37805-6A0-AG30\x00\x00', + b'37805-6A0-AJ10\x00\x00', b'37805-6A0-C540\x00\x00', + b'37805-6A0-CG20\x00\x00', b'37805-6A1-H650\x00\x00', b'37805-6B2-A550\x00\x00', b'37805-6B2-A560\x00\x00', @@ -37,6 +39,7 @@ FW_VERSIONS = { b'37805-6B2-A810\x00\x00', b'37805-6B2-A820\x00\x00', b'37805-6B2-A920\x00\x00', + b'37805-6B2-AA10\x00\x00', b'37805-6B2-C520\x00\x00', b'37805-6B2-C540\x00\x00', b'37805-6B2-M520\x00\x00', @@ -123,6 +126,7 @@ FW_VERSIONS = { b'78109-TVA-A230\x00\x00', b'78109-TVA-A310\x00\x00', b'78109-TVA-C010\x00\x00', + b'78109-TVA-C130\x00\x00', b'78109-TVA-L010\x00\x00', b'78109-TVA-L210\x00\x00', b'78109-TVA-R310\x00\x00', @@ -183,6 +187,7 @@ FW_VERSIONS = { b'57114-TWA-A050\x00\x00', b'57114-TWA-A530\x00\x00', b'57114-TWA-B520\x00\x00', + b'57114-TWA-C510\x00\x00', b'57114-TWB-H030\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ @@ -200,6 +205,7 @@ FW_VERSIONS = { b'78109-TWA-A210\x00\x00', b'78109-TWA-A220\x00\x00', b'78109-TWA-A230\x00\x00', + b'78109-TWA-A610\x00\x00', b'78109-TWA-H210\x00\x00', b'78109-TWA-L010\x00\x00', b'78109-TWA-L210\x00\x00', @@ -353,6 +359,7 @@ FW_VERSIONS = { b'37805-5AN-AK20\x00\x00', b'37805-5AN-AR10\x00\x00', b'37805-5AN-AR20\x00\x00', + b'37805-5AN-C650\x00\x00', b'37805-5AN-CH20\x00\x00', b'37805-5AN-E630\x00\x00', b'37805-5AN-E720\x00\x00', @@ -373,6 +380,7 @@ FW_VERSIONS = { b'37805-5AZ-G840\x00\x00', b'37805-5BB-A530\x00\x00', b'37805-5BB-A540\x00\x00', + b'37805-5BB-A620\x00\x00', b'37805-5BB-A630\x00\x00', b'37805-5BB-A640\x00\x00', b'37805-5BB-C540\x00\x00', @@ -422,6 +430,7 @@ FW_VERSIONS = { b'39990-TBA-C120\x00\x00', b'39990-TEA-T820\x00\x00', b'39990-TEZ-T020\x00\x00', + b'39990-TGG,A020\x00\x00', b'39990-TGG-A020\x00\x00', b'39990-TGG-A120\x00\x00', b'39990-TGG-J510\x00\x00', @@ -461,6 +470,7 @@ FW_VERSIONS = { b'78109-TGG-A620\x00\x00', b'78109-TGG-A810\x00\x00', b'78109-TGG-A820\x00\x00', + b'78109-TGG-C010\x00\x00', b'78109-TGG-C220\x00\x00', b'78109-TGG-E110\x00\x00', b'78109-TGG-G030\x00\x00', @@ -479,6 +489,7 @@ FW_VERSIONS = { b'36802-TFJ-G060\x00\x00', b'36802-TGG-A050\x00\x00', b'36802-TGG-A060\x00\x00', + b'36802-TGG-A070\x00\x00', b'36802-TGG-A130\x00\x00', b'36802-TGG-G040\x00\x00', b'36802-TGG-G130\x00\x00', @@ -946,10 +957,13 @@ FW_VERSIONS = { b'28101-5EZ-A500\x00\x00', b'28101-5EZ-A600\x00\x00', b'28101-5EZ-A700\x00\x00', + b'28103-5EY-A110\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-RLV-4060\x00\x00', b'37805-RLV-4070\x00\x00', + b'37805-RLV-5140\x00\x00', + b'37805-RLV-5230\x00\x00', b'37805-RLV-A830\x00\x00', b'37805-RLV-A840\x00\x00', b'37805-RLV-B210\x00\x00', From faf99ba711cb12e33e0e1b6034ec146b65f7a854 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 16:49:38 -0800 Subject: [PATCH 149/205] CI: generate test_ui report (#31151) * add test * simpler * simpler * false * move these here * faster * map takes logner to render --- .github/workflows/selfdrive_tests.yaml | 42 +++++++++++------------ Dockerfile.openpilot_base | 2 +- selfdrive/navd/tests/test_map_renderer.py | 3 ++ selfdrive/test/setup_xvfb.sh | 6 +++- selfdrive/ui/tests/test_ui/run.py | 42 +++++++++++++++-------- tools/install_ubuntu_dependencies.sh | 1 - 6 files changed, 58 insertions(+), 38 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2daa895de9..3aeebd702b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -396,24 +396,24 @@ jobs: comment_id: ${{ steps.fc.outputs.comment-id }} }) -# need to figure out some stuff with tkinter before enabling this - - # create_ui_report: - # name: Create UI Report - # runs-on: ubuntu-20.04 - # steps: - # - uses: actions/checkout@v4 - # with: - # submodules: true - # - uses: ./.github/workflows/setup-with-retry - # - name: Build openpilot - # run: ${{ env.RUN }} "scons -j$(nproc)" - # - name: Create Test Report - # run: ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - # export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - # python selfdrive/ui/tests/test_ui/run.py" - # - name: Upload Test Report - # uses: actions/upload-artifact@v2 - # with: - # name: report - # path: selfdrive/ui/tests/test_ui \ No newline at end of file + create_ui_report: + name: Create UI Report + runs-on: ubuntu-20.04 + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" + - name: Create Test Report + run: > + ${{ env.RUN }} "PYTHONWARNINGS=ignore && + source selfdrive/test/setup_xvfb.sh && + export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && + python selfdrive/ui/tests/test_ui/run.py" + - name: Upload Test Report + uses: actions/upload-artifact@v2 + with: + name: report + path: selfdrive/ui/tests/test_ui/report \ No newline at end of file diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 5d3d26c981..d280d2c9ec 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1 ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio && \ + apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \ rm -rf /var/lib/apt/lists/* RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index d056198bec..a7289d02d9 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -28,8 +28,11 @@ LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS def gen_llk(location=LOCATION1): msg = messaging.new_message('liveLocationKalman') msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} msg.liveLocationKalman.status = 'valid' + msg.liveLocationKalman.gpsOK = True return msg diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh index 806515b0f9..692b84d65f 100755 --- a/selfdrive/test/setup_xvfb.sh +++ b/selfdrive/test/setup_xvfb.sh @@ -12,4 +12,8 @@ while [ ! -S /tmp/.X11-unix/X$DISP_ID ] do echo "Waiting for Xvfb..." sleep 1 -done \ No newline at end of file +done + +touch ~/.Xauthority +export XDG_SESSION_TYPE="x11" +xset -q \ No newline at end of file diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 48223d3fe8..1fea759efb 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -1,10 +1,11 @@ +from collections import namedtuple import pathlib import shutil +import sys import jinja2 import matplotlib.pyplot as plt import numpy as np import os -import pyautogui import pywinctl import time import unittest @@ -17,6 +18,7 @@ from cereal.messaging import SubMaster, PubMaster from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.common.transformations.camera import tici_f_frame_size +from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state from openpilot.tools.webcam.camera import Camera @@ -44,8 +46,6 @@ def setup_common(click, pm: PubMaster): pm.send("deviceState", dat) - time.sleep(UI_DELAY) - def setup_homescreen(click, pm: PubMaster): setup_common(click, pm) @@ -53,14 +53,12 @@ def setup_settings_device(click, pm: PubMaster): setup_common(click, pm) click(100, 100) - time.sleep(UI_DELAY) def setup_settings_network(click, pm: PubMaster): setup_common(click, pm) setup_settings_device(click, pm) click(300, 600) - time.sleep(UI_DELAY) def setup_onroad(click, pm: PubMaster): setup_common(click, pm) @@ -77,7 +75,7 @@ def setup_onroad(click, pm: PubMaster): server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) server.start_listener() - time.sleep(UI_DELAY) + time.sleep(0.5) # give time for vipc server to start IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8)) IMG_BYTES = IMG.flatten().tobytes() @@ -96,17 +94,19 @@ def setup_onroad(click, pm: PubMaster): pm.send(msg.which(), msg) server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof) - time.sleep(UI_DELAY) - def setup_onroad_map(click, pm: PubMaster): setup_onroad(click, pm) + + dat = gen_llk() + pm.send("liveLocationKalman", dat) + click(500, 500) - time.sleep(UI_DELAY) + + time.sleep(UI_DELAY) # give time for the map to render def setup_onroad_sidebar(click, pm: PubMaster): setup_onroad_map(click, pm) click(500, 500) - time.sleep(UI_DELAY) CASES = { "homescreen": setup_homescreen, @@ -114,7 +114,7 @@ CASES = { "settings_network": setup_settings_network, "onroad": setup_onroad, "onroad_map": setup_onroad_map, - "onroad_map_sidebar": setup_onroad_sidebar + "onroad_sidebar": setup_onroad_sidebar } TEST_DIR = pathlib.Path(__file__).parent @@ -127,16 +127,26 @@ class TestUI(unittest.TestCase): @classmethod def setUpClass(cls): os.environ["SCALE"] = "1" + sys.modules["mouseinfo"] = False + + @classmethod + def tearDownClass(cls): + del sys.modules["mouseinfo"] def setup(self): self.sm = SubMaster(["uiDebug"]) - self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState']) + self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman']) while not self.sm.valid["uiDebug"]: self.sm.update(1) - time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering - self.ui = pywinctl.getWindowsWithTitle("ui")[0] + time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering + try: + self.ui = pywinctl.getWindowsWithTitle("ui")[0] + except Exception as e: + print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}") + self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080) def screenshot(self): + import pyautogui im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) self.assertEqual(im.width, 2160) self.assertEqual(im.height, 1080) @@ -145,7 +155,9 @@ class TestUI(unittest.TestCase): return img def click(self, x, y, *args, **kwargs): + import pyautogui pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) + time.sleep(UI_DELAY) # give enough time for the UI to react @parameterized.expand(CASES.items()) @with_processes(["ui"]) @@ -154,6 +166,8 @@ class TestUI(unittest.TestCase): setup_case(self.click, self.pm) + time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering + im = self.screenshot() plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index e1bd30aa39..78a01f2b75 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -77,7 +77,6 @@ function install_ubuntu_common_requirements() { libqt5x11extras5-dev \ libreadline-dev \ libdw1 \ - xvfb \ valgrind } From 979dba33cda2c54686e0e07f439ce06aa2598b1f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 17:11:03 -0800 Subject: [PATCH 150/205] Revert "test_loggerd: make rotation test more robust" (#31168) --- system/loggerd/tests/test_loggerd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 0f2fc918b7..dde12b646d 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -152,8 +152,8 @@ class TestLoggerd: vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) vipc_server.start_listener() - num_segs = 3 - length = 2 + num_segs = random.randint(2, 5) + length = random.randint(1, 3) os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() From 076810d5bd62f357e594212be665d0e2c06a739f Mon Sep 17 00:00:00 2001 From: Comma Device Date: Thu, 25 Jan 2024 17:13:35 -0800 Subject: [PATCH 151/205] allow a couple retries --- system/camerad/test/test_camerad.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index ad3a9fdc91..c6dc3be99c 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import pytest import time -import unittest import numpy as np +from flaky import flaky from collections import defaultdict import cereal.messaging as messaging @@ -18,11 +18,12 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') - +# TODO: this shouldn't be needed +@flaky(max_runs=3) @pytest.mark.tici -class TestCamerad(unittest.TestCase): +class TestCamerad: @classmethod - def setUpClass(cls): + def setup_class(cls): # run camerad and record logs managed_processes['camerad'].start() time.sleep(3) @@ -85,6 +86,3 @@ class TestCamerad(unittest.TestCase): print("TODO: handle camera out of sync") else: assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" - -if __name__ == "__main__": - unittest.main() From fe4abaa6f693b000056d2ce8c2492fb64c3e313d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jan 2024 17:31:51 -0800 Subject: [PATCH 152/205] add flaky package --- poetry.lock | 45 +++++++++++++++++------------ pyproject.toml | 2 +- system/camerad/test/test_camerad.py | 31 +++++++++----------- 3 files changed, 41 insertions(+), 37 deletions(-) diff --git a/poetry.lock b/poetry.lock index 694486a75e..00e8784118 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. 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@@ -7787,4 +7796,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "4f771435666b64f677d7dd2b4c9b4ec4bbe6fcbb004d13f19e0e79ae138c92b9" +content-hash = "31a962516d63b49e14cc615807e067ec833f76d5aa1157a4dcc9408f23c28ad1" diff --git a/pyproject.toml b/pyproject.toml index 0d9772f695..647f3df6b9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -111,7 +111,6 @@ markdown-it-py = "*" timezonefinder = "*" setproctitle = "*" - [tool.poetry.group.dev.dependencies] av = "*" azure-identity = "*" @@ -121,6 +120,7 @@ control = "*" coverage = "*" dictdiffer = "*" ft4222 = "*" +flaky = "*" hypothesis = "~6.47" inputs = "*" Jinja2 = "*" diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index c6dc3be99c..408115607e 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -22,44 +22,39 @@ CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') @flaky(max_runs=3) @pytest.mark.tici class TestCamerad: - @classmethod - def setup_class(cls): + def setup_method(self): # run camerad and record logs managed_processes['camerad'].start() time.sleep(3) socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS} - cls.logs = defaultdict(list) + self.logs = defaultdict(list) start_time = time.monotonic() while time.monotonic()- start_time < TEST_TIMESPAN: for cam, s in socks.items(): - cls.logs[cam] += messaging.drain_sock(s) + self.logs[cam] += messaging.drain_sock(s) time.sleep(0.2) managed_processes['camerad'].stop() - cls.log_by_frame_id = defaultdict(list) - cls.sensor_type = None - for cam, msgs in cls.logs.items(): - if cls.sensor_type is None: - cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw + self.log_by_frame_id = defaultdict(list) + self.sensor_type = None + for cam, msgs in self.logs.items(): + if self.sensor_type is None: + self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency) - assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" + assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" for m in msgs: - cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m) + self.log_by_frame_id[getattr(m, m.which()).frameId].append(m) # strip beginning and end for _ in range(3): - mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys()) - del cls.log_by_frame_id[mn] - del cls.log_by_frame_id[mx] - - @classmethod - def tearDownClass(cls): - managed_processes['camerad'].stop() + mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys()) + del self.log_by_frame_id[mn] + del self.log_by_frame_id[mx] def test_frame_skips(self): skips = {} From 289868297eb2646acb8c62cec27ce77027d09ac7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 18:01:49 -0800 Subject: [PATCH 153/205] VIN: query on bus 0 to log data (#31165) * query on bus 0 * fix * log vin_rx_bus * fix! --- selfdrive/car/car_helpers.py | 14 +++---- selfdrive/car/fw_versions.py | 4 +- selfdrive/car/tests/test_fw_fingerprint.py | 4 +- selfdrive/car/vin.py | 43 +++++++++++----------- 4 files changed, 32 insertions(+), 33 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index c1a30094c4..8c3552a403 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -127,9 +127,6 @@ def fingerprint(logcan, sendcan, num_pandas): start_time = time.monotonic() if not skip_fw_query: - # Vin query only reliably works through OBDII - bus = 1 - cached_params = params.get("CarParamsCache") if cached_params is not None: with car.CarParams.from_bytes(cached_params) as cached_params: @@ -139,20 +136,21 @@ def fingerprint(logcan, sendcan, num_pandas): if cached_params is not None and len(cached_params.carFw) > 0 and \ cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache: cloudlog.warning("Using cached CarParams") - vin, vin_rx_addr = cached_params.carVin, 0 + vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin car_fw = list(cached_params.carFw) cached = True else: cloudlog.warning("Getting VIN & FW versions") set_obd_multiplexing(params, True) - vin_rx_addr, vin = get_vin(logcan, sendcan, bus) + # Vin query only reliably works through OBDII + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (1, 0)) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) cached = False exact_fw_match, fw_candidates = match_fw_to_car(car_fw) else: - vin, vin_rx_addr = VIN_UNKNOWN, 0 + vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN exact_fw_match, fw_candidates, car_fw = True, set(), [] cached = False @@ -187,8 +185,8 @@ def fingerprint(logcan, sendcan, num_pandas): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, - fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger, - fw_query_time=fw_query_time, error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus, + fingerprints=finger, fw_query_time=fw_query_time, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 547904ee47..085131118a 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -370,8 +370,8 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") - vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) - print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (1, 0), retry=10, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 893c79c797..98546b4a22 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -212,7 +212,7 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time - vin_ref_time = 1.0 + vin_ref_time = 2.0 present_ecu_ref_time = 0.75 def fake_get_ecu_addrs(*_, timeout): @@ -232,7 +232,7 @@ class TestFwFingerprintTiming(unittest.TestCase): self.total_time = 0.0 with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): for _ in range(self.N): - get_vin(fake_socket, fake_socket, 1) + get_vin(fake_socket, fake_socket, (0, 1)) self._assert_timing(self.total_time / self.N, vin_ref_time) print(f'get_vin, query time={self.total_time / self.N} seconds') diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index e2709cc842..18bfcb5174 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -15,33 +15,34 @@ def is_valid_vin(vin: str): return re.fullmatch(VIN_RE, vin) is not None -def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): +def get_vin(logcan, sendcan, buses, timeout=0.1, retry=5, debug=False): addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): - for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): - try: - query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) - results = query.get_data(timeout) + for bus in buses: + for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): + try: + query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) + results = query.get_data(timeout) - for addr in valid_vin_addrs: - vin = results.get((addr, None)) - if vin is not None: - # Ford pads with null bytes - if len(vin) == 24: - vin = re.sub(b'\x00*$', b'', vin) + for addr in valid_vin_addrs: + vin = results.get((addr, None)) + if vin is not None: + # Ford pads with null bytes + if len(vin) == 24: + vin = re.sub(b'\x00*$', b'', vin) - # Honda Bosch response starts with a length, trim to correct length - if vin.startswith(b'\x11'): - vin = vin[1:18] + # Honda Bosch response starts with a length, trim to correct length + if vin.startswith(b'\x11'): + vin = vin[1:18] - return get_rx_addr_for_tx_addr(addr), vin.decode() + return get_rx_addr_for_tx_addr(addr), bus, vin.decode() - cloudlog.error(f"vin query retry ({i+1}) ...") - except Exception: - cloudlog.exception("VIN query exception") + cloudlog.error(f"vin query retry ({i+1}) ...") + except Exception: + cloudlog.exception("VIN query exception") - return 0, VIN_UNKNOWN + return -1, -1, VIN_UNKNOWN if __name__ == "__main__": @@ -59,5 +60,5 @@ if __name__ == "__main__": logcan = messaging.sub_sock('can') time.sleep(1) - vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug) - print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') From 1612ec6d93deecf888b5739569a95be7e7c68bb1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 19:09:53 -0800 Subject: [PATCH 154/205] vin: try bus 0 first --- selfdrive/car/car_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 8c3552a403..167366cf6a 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -143,7 +143,7 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.warning("Getting VIN & FW versions") set_obd_multiplexing(params, True) # Vin query only reliably works through OBDII - vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (1, 0)) + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1)) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) cached = False From 6262de44190ffd02bf6dc7db418599885db800f3 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 25 Jan 2024 20:37:25 -0800 Subject: [PATCH 155/205] CI: use auto-cache for test_models (#31171) use auto cache --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3aeebd702b..964c36776e 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -321,7 +321,7 @@ jobs: - uses: ./.github/workflows/setup-with-retry - name: Cache test routes id: dependency-cache - uses: actions/cache@v3 + uses: ./.github/workflows/auto-cache with: path: .ci_cache/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} From ca2ed59a643c5fe0e0530e60c06b064fadbccbad Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 22:27:18 -0800 Subject: [PATCH 156/205] add comment about sendcan --- selfdrive/car/car_helpers.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 167366cf6a..47290c89ee 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -141,6 +141,7 @@ def fingerprint(logcan, sendcan, num_pandas): cached = True else: cloudlog.warning("Getting VIN & FW versions") + # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect set_obd_multiplexing(params, True) # Vin query only reliably works through OBDII vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1)) From c99cd3251b6a283be43fd301273baf78553c9c43 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 22:40:39 -0800 Subject: [PATCH 157/205] vin: reduce retries (#31175) reduce retries --- selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/car/vin.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 98546b4a22..e1967e9ec8 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -212,7 +212,7 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time - vin_ref_time = 2.0 + vin_ref_time = 1.2 present_ecu_ref_time = 0.75 def fake_get_ecu_addrs(*_, timeout): diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 18bfcb5174..ba081764b5 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -15,7 +15,7 @@ def is_valid_vin(vin: str): return re.fullmatch(VIN_RE, vin) is not None -def get_vin(logcan, sendcan, buses, timeout=0.1, retry=5, debug=False): +def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False): addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): From d1a8ec0cadfe298e614809c0c791758cccea68dc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 23:13:17 -0800 Subject: [PATCH 158/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31173) Export fingerprints --- selfdrive/car/honda/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index ff2320188e..0f217afb3c 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -431,6 +431,7 @@ FW_VERSIONS = { b'39990-TEA-T820\x00\x00', b'39990-TEZ-T020\x00\x00', b'39990-TGG,A020\x00\x00', + b'39990-TGG,A120\x00\x00', b'39990-TGG-A020\x00\x00', b'39990-TGG-A120\x00\x00', b'39990-TGG-J510\x00\x00', From 52d7cfa68952ab30ac7577b4cdeb20c75e2c8745 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jan 2024 23:58:27 -0800 Subject: [PATCH 159/205] Honda: add logging request for radarless Civic 2022+ camera (#31176) * try tester present * radar * rm whitelist * refs --- selfdrive/car/honda/values.py | 7 +++++++ selfdrive/car/tests/test_fw_fingerprint.py | 2 +- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index a10080ec0e..fefce7ff9c 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -169,6 +169,13 @@ FW_QUERY_CONFIG = FwQueryConfig( ), # Data collection requests: + # Attempt to get the radarless Civic 2022+ camera FW + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + bus=0, + logging=True + ), # Log extra identifiers for current ECUs Request( [HONDA_VERSION_REQUEST], diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index e1967e9ec8..d640b32ac6 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -244,7 +244,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'body': 0.1, 'chrysler': 0.3, 'ford': 0.2, - 'honda': 0.45, + 'honda': 0.55, 'hyundai': 0.65, 'mazda': 0.2, 'nissan': 0.8, From 14e83ac9cc0f08126bca4553e403dcfa6fc3bb1e Mon Sep 17 00:00:00 2001 From: ugtthis <142481257+ugtthis@users.noreply.github.com> Date: Fri, 26 Jan 2024 13:16:54 -0800 Subject: [PATCH 160/205] UI/sidebar_layout: Removed redundant piece of margin code (#31106) --- selfdrive/ui/qt/offroad/settings.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 6d79aeb23d..85393cabc0 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -345,7 +345,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { // setup two main layouts sidebar_widget = new QWidget; QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); - sidebar_layout->setMargin(0); panel_widget = new QStackedWidget(); // close button From 9518b66c9e49f744591f8da858b201342a8c096d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 26 Jan 2024 13:20:25 -0800 Subject: [PATCH 161/205] commaCarSegments cleanup (#31182) * cleanup * no space --- tools/lib/comma_car_segments.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py index 995b26d8e6..9027fec637 100644 --- a/tools/lib/comma_car_segments.py +++ b/tools/lib/comma_car_segments.py @@ -4,14 +4,13 @@ import requests # Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments") COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main") - -COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", "https://huggingface.co/datasets/commaai/commaCarSegments") +COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO) def get_comma_car_segments_database(): return requests.get(get_repo_raw_url("database.json")).json() -# Helpers related to interfacing with the openpilot-data repository, which contains a collection of public segments for users to perform validation on. +# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on. def parse_lfs_pointer(text): header, lfs_version = text.splitlines()[0].split(" ") From 97488c190ed2dc406e3ba9995516309f83535ecc Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 26 Jan 2024 18:20:35 -0300 Subject: [PATCH 162/205] Fingerprint vw taos eduardo (#31113) * add instructions to my fork * add braziliam TAOS fingerprint * Revert "add instructions to my fork" This reverts commit 46fbee3ebe7ecbb211d855e63b2d4c8919c31b63. --- selfdrive/car/volkswagen/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index f98a822f1e..dcdb2e62bf 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -484,6 +484,7 @@ FW_VERSIONS = { }, CAR.TAOS_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906025CK\xf1\x892228', b'\xf1\x8704E906027NJ\xf1\x891445', b'\xf1\x8704E906027NP\xf1\x891286', b'\xf1\x8705E906013BD\xf1\x892496', @@ -492,6 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-0800 Subject: [PATCH 166/205] tools: add LOG_ID regex pattern (#31186) --- tools/lib/helpers.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index e2c8d07dd8..029ecb7966 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -7,11 +7,14 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S" class RE: DONGLE_ID = r'(?P[a-z0-9]{16})' TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' - ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, TIMESTAMP) + LOG_ID = r"(?P{})".format(TIMESTAMP) + ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, LOG_ID) SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) + INDEX = r'-?[0-9]+' SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qra]))?'.format(ROUTE_NAME, SLICE) + BOOTLOG_NAME = ROUTE_NAME EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) From 25043410705f2a7a275e69ec513c8889465d4ba3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jan 2024 19:17:38 -0800 Subject: [PATCH 167/205] bootlog: remove timestamp from filename (#31187) * bootlog: remove timestamp from filename * revert route * test * revert that * fix loggerd test --- common/params.cc | 1 + system/loggerd/bootlog.cc | 6 +++--- system/loggerd/logger.cc | 27 +++++++++++++++++++++++++++ system/loggerd/logger.h | 1 + system/loggerd/tests/test_loggerd.py | 13 +++++++++---- tools/lib/bootlog.py | 19 +++++++------------ tools/lib/helpers.py | 3 ++- 7 files changed, 50 insertions(+), 20 deletions(-) diff --git a/common/params.cc b/common/params.cc index 386813efdd..3ce2505243 100644 --- a/common/params.cc +++ b/common/params.cc @@ -95,6 +95,7 @@ std::unordered_map keys = { {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, {"AthenadRecentlyViewedRoutes", PERSISTENT}, + {"BootCount", PERSISTENT}, {"CalibrationParams", PERSISTENT}, {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc index 771594d20c..b8257b6d69 100644 --- a/system/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -49,8 +49,8 @@ static kj::Array build_boot_log() { } int main(int argc, char** argv) { - const std::string timestr = logger_get_route_name(); - const std::string path = Path::log_root() + "/boot/" + timestr; + const std::string id = logger_get_identifier("BootCount"); + const std::string path = Path::log_root() + "/boot/" + id; LOGW("bootlog to %s", path.c_str()); // Open bootlog @@ -64,7 +64,7 @@ int main(int argc, char** argv) { file.write(build_boot_log().asBytes()); // Write out bootlog param to match routes with bootlog - Params().put("CurrentBootlog", timestr.c_str()); + Params().put("CurrentBootlog", id.c_str()); return 0; } diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index bc842f4a9a..bb829df6ed 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -3,6 +3,9 @@ #include #include #include +#include +#include +#include #include "common/params.h" #include "common/swaglog.h" @@ -94,6 +97,30 @@ std::string logger_get_route_name() { return route_name; } +std::string logger_get_identifier(std::string key) { + // a log identifier is a 32 bit counter, plus a 10 character unique ID. + // e.g. 000001a3--c20ba54385 + + Params params; + uint32_t cnt; + try { + cnt = std::stol(params.get(key)); + } catch (std::exception &e) { + cnt = 0; + } + params.put(key, std::to_string(cnt + 1)); + + std::stringstream ss; + std::random_device rd; + std::mt19937 mt(rd()); + std::uniform_int_distribution dist(0, 15); + for (int i = 0; i < 10; ++i) { + ss << std::hex << dist(mt); + } + + return util::string_format("%08x--%s", cnt, ss.str().c_str()); +} + static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) { MessageBuilder msg; auto sen = msg.initEvent().initSentinel(); diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 76a12b9e87..dd3bee150c 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -53,3 +53,4 @@ protected: kj::Array logger_build_init_data(); std::string logger_get_route_name(); +std::string logger_get_identifier(std::string key); diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 625fa22f6d..0cd8548809 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import numpy as np import os +import re import random import string import subprocess @@ -21,6 +22,7 @@ from openpilot.system.loggerd.xattr_cache import getxattr from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.version import get_version +from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size @@ -109,7 +111,6 @@ class TestLoggerd: ("GitRemote", "gitRemote", "remote"), ] params = Params() - params.clear_all() for k, _, v in fake_params: params.put(k, v) params.put("AccessToken", "abc") @@ -129,15 +130,13 @@ class TestLoggerd: # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = {k for k, _, __ in fake_params} | {'AccessToken'} + expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}" for param_key, initData_key, v in fake_params: assert getattr(initData, initData_key) == v assert logged_params[param_key].decode() == v - params.put("AccessToken", "") - @flaky(max_runs=3) def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" @@ -216,6 +215,12 @@ class TestLoggerd: bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0] assert expected_val == bootlog_val + # next one should increment by one + bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name) + bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name) + assert bl1.group('uid') != bl2.group('uid') + assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1 + def test_qlog(self): qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None] no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None] diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 01756bb5e9..827ef1eefc 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -1,11 +1,10 @@ -import datetime import functools import re from typing import List, Optional from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import CommaApi -from openpilot.tools.lib.helpers import RE, timestamp_to_datetime +from openpilot.tools.lib.helpers import RE @functools.total_ordering @@ -17,8 +16,8 @@ class Bootlog: if not r: raise Exception(f"Unable to parse: {url}") + self._id = r.group('log_id') self._dongle_id = r.group('dongle_id') - self._timestamp = r.group('timestamp') @property def url(self) -> str: @@ -29,25 +28,21 @@ class Bootlog: return self._dongle_id @property - def timestamp(self) -> str: - return self._timestamp - - @property - def datetime(self) -> datetime.datetime: - return timestamp_to_datetime(self._timestamp) + def id(self) -> str: + return self._id def __str__(self): - return f"{self._dongle_id}|{self._timestamp}" + return f"{self._dongle_id}/{self._id}" def __eq__(self, b) -> bool: if not isinstance(b, Bootlog): return False - return self.datetime == b.datetime + return self.id == b.id def __lt__(self, b) -> bool: if not isinstance(b, Bootlog): return False - return self.datetime < b.datetime + return self.id < b.id def get_bootlog_from_id(bootlog_id: str) -> Optional[Bootlog]: # TODO: implement an API endpoint for this diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 029ecb7966..37bbaf0c4a 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -7,7 +7,8 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S" class RE: DONGLE_ID = r'(?P[a-z0-9]{16})' TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' - LOG_ID = r"(?P{})".format(TIMESTAMP) + LOG_ID_V2 = r'(?P[a-z0-9]{8})--(?P[a-z0-9]{10})' + LOG_ID = r'(?P(?:{}|{}))'.format(TIMESTAMP, LOG_ID_V2) ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, LOG_ID) SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) From 824ddffec8c67758f3ea080c75e805d4b27f38ef Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sat, 27 Jan 2024 01:07:29 -0800 Subject: [PATCH 168/205] CommaCarSegments: BIG Database! (#31169) * sanetized selector * god damn * add to re * slog branch * slog * source * big * not slog * cleanup * no space * works! * trigger * main! --- .../examples/ford_vin_fingerprint.ipynb | 65 +++++++++++-------- tools/lib/helpers.py | 2 +- tools/lib/logreader.py | 24 ++++--- 3 files changed, 55 insertions(+), 36 deletions(-) diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb index b020b1100b..21d1cb62c0 100644 --- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb +++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb @@ -2,17 +2,9 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 5, "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n" - ] - } - ], + "outputs": [], "source": [ "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n", "\n", @@ -27,7 +19,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -62,55 +54,74 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Skipping platform: FORD F-150 14TH GEN, no data available\n" + "Got 287 segments for platform FORD BRONCO SPORT 1ST GEN, sampling 5 segments\n", + "Got 137 segments for platform FORD ESCAPE 4TH GEN, sampling 5 segments\n", + "Got 1041 segments for platform FORD EXPLORER 6TH GEN, sampling 5 segments\n", + "Got 5 segments for platform FORD F-150 14TH GEN, sampling 5 segments\n", + "Got 56 segments for platform FORD FOCUS 4TH GEN, sampling 5 segments\n", + "Got 637 segments for platform FORD MAVERICK 1ST GEN, sampling 5 segments\n", + "Got 3 segments for platform FORD F-150 LIGHTNING 1ST GEN, sampling 3 segments\n", + "Got 3 segments for platform FORD MUSTANG MACH-E 1ST GEN, sampling 3 segments\n" ] } ], "source": [ + "import random\n", + "\n", + "MAX_SEGS_PER_PLATFORM = 5\n", + "\n", "VINS_TO_CHECK = set()\n", "\n", "for platform in platforms:\n", " if platform not in database:\n", " print(f\"Skipping platform: {platform}, no data available\")\n", " continue\n", + " \n", + " all_segments = database[platform]\n", "\n", - " for segment in database[platform]:\n", + " NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n", + "\n", + " print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n", + "\n", + " segments = random.sample(all_segments, NUM_SEGMENTS)\n", + "\n", + " for segment in segments:\n", " lr = LogReader(segment)\n", " CP = lr.first(\"carParams\")\n", + " if \"FORD\" not in CP.carFingerprint:\n", + " print(segment, CP.carFingerprint)\n", " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 8, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E34PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 00000000000XXXXXX real platform: FORD F-150 14TH GEN determined platform: mock correct: False\n", "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n", - "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n", "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n", - "vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", - "vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n", + "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", - "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n" + "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC1LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8F97NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n" ] } ], diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 37bbaf0c4a..423f207b4d 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -14,7 +14,7 @@ class RE: INDEX = r'-?[0-9]+' SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) - SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qra]))?'.format(ROUTE_NAME, SLICE) + SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qras]))?'.format(ROUTE_NAME, SLICE) BOOTLOG_NAME = ROUTE_NAME diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index d6c1cc90c2..e86690f3c3 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -72,6 +72,7 @@ class _LogFileReader: class ReadMode(enum.StrEnum): RLOG = "r" # only read rlogs QLOG = "q" # only read qlogs + SANITIZED = "s" # read from the commaCarSegments database AUTO = "a" # default to rlogs, fallback to qlogs AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user @@ -169,17 +170,24 @@ def check_source(source, *args): try: files = source(*args) assert next(get_invalid_files(files), None) is None - return True, files - except Exception: - return False, None + return None, files + except Exception as e: + return e, None -def auto_source(*args): +def auto_source(sr: SegmentRange, mode=ReadMode.RLOG): + if mode == ReadMode.SANITIZED: + return comma_car_segments_source(sr, mode) + + exceptions = [] # Automatically determine viable source - for source in [comma_car_segments_source, internal_source, openpilotci_source]: - valid, ret = check_source(source, *args) - if valid: + for source in [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]: + exception, ret = check_source(source, sr, mode) + if exception is None: return ret - return comma_api_source(*args) + else: + exceptions.append(exception) + + raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}") def parse_useradmin(identifier): if "useradmin.comma.ai" in identifier: From aff3d5ae091eba2b2ef09f004c6a2b70ee33db06 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sat, 27 Jan 2024 09:07:14 -0800 Subject: [PATCH 169/205] Subaru: move non-obd requests out of logging (#31174) enable --- selfdrive/car/subaru/values.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 80251e7e7e..9fb4b45686 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -162,14 +162,12 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], bus=0, - logging=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], bus=1, - logging=True, obd_multiplexing=False, ), ], From be4107dc8a79ea017baf05d5055a0d59d3a965e8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 27 Jan 2024 20:31:50 -0600 Subject: [PATCH 170/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31193) Export fingerprints --- selfdrive/car/honda/fingerprints.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 0f217afb3c..437c9b0381 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -156,6 +156,7 @@ FW_VERSIONS = { b'36802-TVA-A150\x00\x00', b'36802-TVA-A160\x00\x00', b'36802-TVA-A170\x00\x00', + b'36802-TVA-A180\x00\x00', b'36802-TVA-A330\x00\x00', b'36802-TVC-A330\x00\x00', b'36802-TVE-H070\x00\x00', @@ -831,6 +832,7 @@ FW_VERSIONS = { b'38897-THR-A020\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5MR-3250\x00\x00', b'37805-5MR-4080\x00\x00', b'37805-5MR-4180\x00\x00', b'37805-5MR-A240\x00\x00', @@ -980,6 +982,7 @@ FW_VERSIONS = { b'37805-RLV-C530\x00\x00', b'37805-RLV-C910\x00\x00', b'37805-RLV-F120\x00\x00', + b'37805-RLV-L080\x00\x00', b'37805-RLV-L090\x00\x00', b'37805-RLV-L160\x00\x00', b'37805-RLV-L180\x00\x00', @@ -1102,6 +1105,7 @@ FW_VERSIONS = { (Ecu.combinationMeter, 0x18da60f1, None): [ b'78109-TX4-A210\x00\x00', b'78109-TX4-A310\x00\x00', + b'78109-TX5-A210\x00\x00', b'78109-TX5-A310\x00\x00', ], }, From 58ef40eb2264a9d62a1715486677c342d5d113ce Mon Sep 17 00:00:00 2001 From: garrettpall <76917194+garrettpall@users.noreply.github.com> Date: Sat, 27 Jan 2024 23:56:10 -0500 Subject: [PATCH 171/205] GM: Add BSM from Powertrain Bus (#30861) * Add GM BSM * Move BSM check to fwdCam only * Detect if BSM message if present * Remove hardcoding * Apply Commit Suggestion Co-authored-by: Shane Smiskol * Cleanup Suggestions * bump opendbc * test out bsm * BCMBlindSpotMonitors -> BCMBlindSpotMonitor * Revert "test out bsm" This reverts commit 0e166530e60165269c1be200f48ead9918d5fe96. * up here --------- Co-authored-by: Shane Smiskol --- opendbc | 2 +- selfdrive/car/gm/carstate.py | 7 +++++++ selfdrive/car/gm/interface.py | 1 + 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index f4b1061ae0..3cfd0bf4eb 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit f4b1061ae03994013809dc4a03ac571bfeda5714 +Subproject commit 3cfd0bf4eb73953f3d179dddc1ba2c92e317188c diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 89c1a3596a..f7309939b1 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -113,6 +113,10 @@ class CarState(CarStateBase): if self.CP.pcmCruise: ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3) + if self.CP.enableBsm: + ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1 + ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1 + return ret @staticmethod @@ -146,6 +150,9 @@ class CarState(CarStateBase): ("ECMAcceleratorPos", 80), ] + if CP.enableBsm: + messages.append(("BCMBlindSpotMonitor", 10)) + # Used to read back last counter sent to PT by camera if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index a0defb7cfb..af34100d74 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -72,6 +72,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False + ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct From a3eb61b7a3262bc48cf7d94cbd80ae64c99a654a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 27 Jan 2024 23:25:14 -0800 Subject: [PATCH 172/205] update refs --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a8d0976b57..803f4e96ee 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0dffa4e5634108f41d140c74052c38059038abd0 +58ef40eb2264a9d62a1715486677c342d5d113ce \ No newline at end of file From 2a006f59a52f462b0c49b174a16dd4d09cc8bd70 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 28 Jan 2024 17:53:55 -0600 Subject: [PATCH 173/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31196) Export fingerprints --- selfdrive/car/toyota/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 2ecd780843..90ad19ee4a 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1267,6 +1267,7 @@ FW_VERSIONS = { b'F152633171\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ + b'881513309400\x00\x00\x00\x00', b'881513309500\x00\x00\x00\x00', b'881513310400\x00\x00\x00\x00', ], @@ -1281,6 +1282,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'8646F3302001\x00\x00\x00\x00', + b'8646F3302100\x00\x00\x00\x00', b'8646F3302200\x00\x00\x00\x00', ], }, From 27c624550f424a9c33744ea415d2da60d361b399 Mon Sep 17 00:00:00 2001 From: taggahertz Date: Sun, 28 Jan 2024 17:52:29 -0800 Subject: [PATCH 174/205] Updated Lexus ES hybrid MY (#31181) * Updated Lexus ES hybrid MY Car 2024 Lexus ES 300h Segment c52c524e1b873247|2024-01-19--12-11-57--0 Route https://connect.comma.ai/c52c524e1b873247/1705695117754/1705695298920 * Update CARS.md fixed url link --- docs/CARS.md | 2 +- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 92b8dd952d..97de2df8fe 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -157,7 +157,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 4f6e55b5d3..02a9e142d2 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -193,7 +193,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.LEXUS_ES_TSS2: [ ToyotaCarInfo("Lexus ES 2019-24"), - ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), From 36d6bb3bda64286bd5db05e85a1cc300bb8bca6a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 28 Jan 2024 21:23:53 -0600 Subject: [PATCH 175/205] Car docs: update model years from users for Toyota, Honda, Chrysler [bot] (#31203) Update car docs --- docs/CARS.md | 2 +- selfdrive/car/honda/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 97de2df8fe..5620bc703c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -61,7 +61,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index fefce7ff9c..1d4a174b9b 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), From 80db6f0e28aa9ca55488c991d62bed65986624db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jan 2024 03:11:28 -0600 Subject: [PATCH 176/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31205) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 4 ++++ selfdrive/car/honda/fingerprints.py | 1 + selfdrive/car/toyota/fingerprints.py | 2 ++ 3 files changed, 7 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 394f9c5132..ae1449422e 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -393,6 +393,7 @@ FW_VERSIONS = { b'68527382AE', b'68527383AD', b'68527387AE', + b'68527403AC', b'68631942AA', ], (Ecu.srs, 0x744, None): [ @@ -455,6 +456,7 @@ FW_VERSIONS = { b'68552789AA', b'68552790AA', b'68552791AB', + b'68552794AA', b'68585106AB', b'68585108AB', b'68585109AB', @@ -462,6 +464,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'05035699AG ', + b'05036026AB ', b'05036065AE ', b'05036066AE ', b'05149591AD ', @@ -506,6 +509,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'05035706AD', + b'05035842AB', b'05036069AA', b'05149536AC', b'05149537AC', diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 437c9b0381..0a64a73d72 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -832,6 +832,7 @@ FW_VERSIONS = { b'38897-THR-A020\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5MR-3050\x00\x00', b'37805-5MR-3250\x00\x00', b'37805-5MR-4080\x00\x00', b'37805-5MR-4180\x00\x00', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 90ad19ee4a..fc24f0e72c 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -617,6 +617,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230E51000\x00\x00\x00\x00\x00\x00\x00\x0050E17000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -1441,6 +1442,7 @@ FW_VERSIONS = { b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T1000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', From fd0b9cd9301da9962d933e69939f34d0ffef343d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jan 2024 11:38:06 -0600 Subject: [PATCH 177/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler [bot] (#31210) --- selfdrive/car/chrysler/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index ae1449422e..6461ceec4d 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -390,6 +390,7 @@ FW_VERSIONS = { b'68527346AE', b'68527361AD', b'68527375AD', + b'68527381AE', b'68527382AE', b'68527383AD', b'68527387AE', @@ -467,6 +468,7 @@ FW_VERSIONS = { b'05036026AB ', b'05036065AE ', b'05036066AE ', + b'05149368AA ', b'05149591AD ', b'05149591AE 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a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 26b1192efa..bd882210fa 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -25,11 +25,11 @@ jobs: with: token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} commit-message: bump submodules - title: 'Bump submodules' + title: '[bot] Bump submodules' branch: auto-bump-submodules base: master delete-branch: true - body: '[bot] Automatic PR from repo-maintenance -> bump_submodules' + body: 'Automatic PR from repo-maintenance -> bump_submodules' labels: bot package_updates: name: package_updates @@ -51,9 +51,9 @@ jobs: with: token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} commit-message: Update Python packages and pre-commit hooks - title: 'Update Python packages and pre-commit hooks' + title: '[bot] Update Python packages and pre-commit hooks' branch: auto-package-updates base: master delete-branch: true - body: '[bot] Automatic PR from repo-maintenance -> package_updates' + body: 'Automatic PR from repo-maintenance -> package_updates' labels: bot From 75d3e5fb4e16c0407cbf7a9b4df08939fa0fe660 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 29 Jan 2024 13:10:55 -0500 Subject: [PATCH 180/205] Webcam: prepare to make camerad a PythonProcess (#31202) * webcam * support /dev/* syntax * support strings --- tools/webcam/camera.py | 4 ++++ tools/webcam/camerad.py | 9 +++++++-- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py index 22438f0c98..d1d61b64d7 100644 --- a/tools/webcam/camera.py +++ b/tools/webcam/camera.py @@ -3,6 +3,10 @@ import numpy as np class Camera: def __init__(self, cam_type_state, stream_type, camera_id): + try: + camera_id = int(camera_id) + except ValueError: # allow strings, ex: /dev/video0 + pass self.cam_type_state = cam_type_state self.stream_type = stream_type self.cur_frame_id = 0 diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index caf044e7b6..ce33473f9a 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -25,7 +25,7 @@ class Camerad: self.cameras = [] for c in CAMERAS: - cam = Camera(c.msg_name, c.stream_type, int(c.cam_id)) + cam = Camera(c.msg_name, c.stream_type, c.cam_id) assert cam.cap.isOpened(), f"Can't find camera {c}" self.cameras.append(cam) self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H) @@ -63,6 +63,11 @@ class Camerad: for t in threads: t.join() -if __name__ == "__main__": + +def main(): camerad = Camerad() camerad.run() + + +if __name__ == "__main__": + main() From e49eb4c54fcac8bd8a4a136d8e116b654efa73ba Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 29 Jan 2024 13:11:02 -0500 Subject: [PATCH 181/205] Simulator: prepare to make bridge a PythonProcess (#31201) * sim services * clean --- tools/sim/bridge/common.py | 6 +++--- .../sim/bridge/metadrive/metadrive_bridge.py | 4 ++-- tools/sim/run_bridge.py | 21 +++++++++++++------ 3 files changed, 20 insertions(+), 11 deletions(-) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 35656f39f3..bdd53852c0 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -27,14 +27,14 @@ def rk_loop(function, hz, exit_event: threading.Event): class SimulatorBridge(ABC): TICKS_PER_FRAME = 5 - def __init__(self, arguments): + def __init__(self, dual_camera, high_quality): set_params_enabled() self.params = Params() self.rk = Ratekeeper(100, None) - self.dual_camera = arguments.dual_camera - self.high_quality = arguments.high_quality + self.dual_camera = dual_camera + self.high_quality = high_quality self._exit_event = threading.Event() self._threads = [] diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 821af7c7f7..1b1e5ffea6 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -82,10 +82,10 @@ def create_map(track_size=60): class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 - def __init__(self, args): + def __init__(self, dual_camera, high_quality): self.should_render = False - super(MetaDriveBridge, self).__init__(args) + super(MetaDriveBridge, self).__init__(dual_camera, high_quality) def spawn_world(self): sensors = { diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py index 5f0f0d5e99..0992ef4bfe 100755 --- a/tools/sim/run_bridge.py +++ b/tools/sim/run_bridge.py @@ -6,6 +6,17 @@ from multiprocessing import Queue from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge +def create_bridge(dual_camera, high_quality): + queue: Any = Queue() + + simulator_bridge = MetaDriveBridge(dual_camera, high_quality) + simulator_process = simulator_bridge.run(queue) + + return queue, simulator_process, simulator_bridge + +def main(): + _, simulator_process, _ = create_bridge(True, False) + simulator_process.join() def parse_args(add_args=None): parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.') @@ -16,23 +27,21 @@ def parse_args(add_args=None): return parser.parse_args(add_args) if __name__ == "__main__": - q: Any = Queue() args = parse_args() - simulator_bridge = MetaDriveBridge(args) - p = simulator_bridge.run(q) + queue, simulator_process, simulator_bridge = create_bridge(args.dual_camera, args.high_quality) if args.joystick: # start input poll for joystick from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread - wheel_poll_thread(q) + wheel_poll_thread(queue) else: # start input poll for keyboard from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread - keyboard_poll_thread(q) + keyboard_poll_thread(queue) simulator_bridge.shutdown() - p.join() + simulator_process.join() From 0b2442314d25adc7aa4f885a6b46299264d1da2d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 29 Jan 2024 13:22:59 -0500 Subject: [PATCH 182/205] CI: increase notebook cache build timeout (#31212) allow more time --- .github/workflows/tools_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e141071d09..c185fd1d3c 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -101,7 +101,7 @@ jobs: submodules: true - uses: ./.github/workflows/setup-with-retry - name: Build openpilot - timeout-minutes: 5 + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test notebooks timeout-minutes: 2 From ed7cfc23430eb9e9c7cdfb6ec3a6dc86c3be0709 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 29 Jan 2024 12:37:35 -0800 Subject: [PATCH 183/205] [bot] Bump submodules (#31207) bump submodules Co-authored-by: jnewb1 Co-authored-by: Justin Newberry --- cereal | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 775e7f84da..a6ade85c9d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 775e7f84da5eb283d604e94f9bf4582ffa741c22 +Subproject commit a6ade85c9dd6652fde547b9e089a297f67606dcf diff --git a/panda b/panda index c5e79403a8..266d4573b7 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c5e79403a8c49f5a36e3ede44fcda65fabe263bf +Subproject commit 266d4573b79802e5ad67b5558ace089417c64106 From 7835f9cce05b2f8743bbd632dd6a3093741e6bd2 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 29 Jan 2024 16:18:49 -0500 Subject: [PATCH 184/205] LogReader: add tqdm back to run_across_segments (#31216) tqdm --- tools/lib/logreader.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index e86690f3c3..192ee8e6f2 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -9,6 +9,7 @@ import os import pathlib import re import sys +import tqdm import urllib.parse import warnings @@ -259,7 +260,8 @@ class LogReader: def run_across_segments(self, num_processes, func): with multiprocessing.Pool(num_processes) as pool: ret = [] - for p in pool.map(partial(self._run_on_segment, func), range(len(self.logreader_identifiers))): + num_segs = len(self.logreader_identifiers) + for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs): ret.extend(p) return ret From 50cb6f819d0042d412c08428194a9adeeb42b357 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jan 2024 17:05:09 -0600 Subject: [PATCH 185/205] selfdrive/debug: view iso-tp communication from logs (#31217) * add * some clean up * more clean up * add * ltl * add todo * rm * use default_mode --------- Co-authored-by: Justin Newberry --- .../debug/debug_fw_fingerprinting_offline.py | 46 +++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100755 selfdrive/debug/debug_fw_fingerprinting_offline.py diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py new file mode 100755 index 0000000000..d521ab2e18 --- /dev/null +++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python3 +import argparse + +from openpilot.tools.lib.logreader import LogReader, ReadMode +from panda.python import uds + + +def main(route: str, addrs: list[int]): + """ + TODO: + - highlight TX vs RX clearly + - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128) + - print as fixed width table, easier to read + """ + + lr = LogReader(route, default_mode=ReadMode.RLOG) + + start_mono_time = None + prev_mono_time = 0 + + # include rx addresses + addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs] + + for msg in lr: + if msg.which() == 'can': + if start_mono_time is None: + start_mono_time = msg.logMonoTime + + if msg.which() in ("can", 'sendcan'): + for can in getattr(msg, msg.which()): + if can.address in addrs: + if msg.logMonoTime != prev_mono_time: + print() + prev_mono_time = msg.logMonoTime + print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " + + f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') + parser.add_argument('route', help='Route name') + parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)') + args = parser.parse_args() + + addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] + main(args.route, addrs) From e86aafc723479bcdb87b27586f90b1d08b9fc334 Mon Sep 17 00:00:00 2001 From: Andrei Tanas Date: Mon, 29 Jan 2024 19:07:56 -0500 Subject: [PATCH 186/205] Add 2022 Subaru Outback IDs to subaru/fingerprints.py (#31016) --- selfdrive/car/subaru/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index aaee2e1c71..ad8ebe87cd 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -451,6 +451,7 @@ FW_VERSIONS = { b'\xa1 \x06\x02', b'\xa1 \x07\x00', b'\xa1 \x07\x02', + b'\xa1 \x07\x03', b'\xa1 \x08\x00', b'\xa1 \x08\x01', b'\xa1 \x08\x02', @@ -460,6 +461,7 @@ FW_VERSIONS = { (Ecu.eps, 0x746, None): [ b'\x1b\xc0\x10\x00', b'\x9b\xc0\x10\x00', + b'\x9b\xc0\x10\x02', b'\x9b\xc0 \x00', ], (Ecu.fwdCamera, 0x787, None): [ @@ -478,6 +480,7 @@ FW_VERSIONS = { b'\xde,\xa0@\x07', b'\xe2"`0\x07', b'\xe2"`p\x07', + b'\xe2"`q\x07', b'\xe3,\xa0@\x07', ], (Ecu.transmission, 0x7e1, None): [ From 54fe19206eb3b25432f8ddaf7f39b996c07dbdce Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 29 Jan 2024 19:48:03 -0500 Subject: [PATCH 187/205] Subaru: eps is non-essential for gen2 cars (#31220) * eps non essential * comment * suggestions --- selfdrive/car/subaru/values.py | 22 +++++++++++++--------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 9fb4b45686..d9d2f78cea 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -137,6 +137,15 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } +LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} +GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} +PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} +HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} + +# Cars that temporarily fault when steering angle rate is greater than some threshold. +# Appears to be all torque-based cars produced around 2019 - present +STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} + SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ @@ -171,6 +180,10 @@ FW_QUERY_CONFIG = FwQueryConfig( obd_multiplexing=False, ), ], + # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists + non_essential_ecus={ + Ecu.eps: list(GLOBAL_GEN2), + } ) DBC = { @@ -190,12 +203,3 @@ DBC = { CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } - -LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} -GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} -PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} -HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} - -# Cars that temporarily fault when steering angle rate is greater than some threshold. -# Appears to be all torque-based cars produced around 2019 - present -STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER} From ba7f840a06dbc8ae3c45b3b4976c88a21895aed0 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 29 Jan 2024 16:52:30 -0800 Subject: [PATCH 188/205] DM: Quarter Pounder Deluxe model (#31170) * 1 * pg This reverts commit 71409ec84a3e04e5e7ec960271d4e278a2472462. * ee new * 60ab * update replay --- selfdrive/modeld/models/dmonitoring_model.current | 4 ++-- selfdrive/modeld/models/dmonitoring_model.onnx | 4 ++-- selfdrive/modeld/models/dmonitoring_model_q.dlc | 4 ++-- selfdrive/monitoring/driver_monitor.py | 6 +++--- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index 065bc7d489..ed495df3a8 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -d1124586-761e-4e18-a771-6b5ef35124fe -6fec774f513a19e44d4316e46ad38277197d45ea \ No newline at end of file +60abed33-9f25-4e34-9937-aaf918d41dfc +50887963963a3022e85ac0c94b0801aef955a608 \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index f8bf94c061..3e94e7d36a 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b -size 16072278 +oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37 +size 16132779 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index e4e6fb3347..041949ad94 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20 -size 4443461 +oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b +size 4488413 diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index ab82da301f..2279002f35 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS(): self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 - self._BLINK_THRESHOLD = 0.895 + self._BLINK_THRESHOLD = 0.865 - self._EE_THRESH11 = 0.275 - self._EE_THRESH12 = 5.5 + self._EE_THRESH11 = 0.241 + self._EE_THRESH12 = 4.7 self._EE_MAX_OFFSET1 = 0.06 self._EE_MIN_OFFSET1 = 0.025 self._EE_THRESH21 = 0.01 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 2e78b1e608..9ec78e1401 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -4b983afeba5ec953f0d37e7b3499bde5209728eb +4a01784a6b83a49301a68adf52bb7dcfcb7173b5 From c782fbc34e05922765959ee3c3b6bba38c0150fb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 29 Jan 2024 20:33:47 -0500 Subject: [PATCH 189/205] LogReader: add ```.filter``` (#31222) add filter --- tools/lib/logreader.py | 6 ++++-- tools/lib/tests/test_logreader.py | 6 ++++++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 192ee8e6f2..c53b9c4c79 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -275,9 +275,11 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout def from_bytes(dat): return _LogFileReader("", dat=dat) + def filter(self, msg_type: str): + return (getattr(m, m.which()) for m in filter(lambda m: m.which() == msg_type, self)) + def first(self, msg_type: str): - m = next(filter(lambda m: m.which() == msg_type, self), None) - return None if m is None else getattr(m, msg_type) + return next(self.filter(msg_type), None) if __name__ == "__main__": diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index d8a9c14088..676d2bbadf 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -118,6 +118,12 @@ class TestLogReader(unittest.TestCase): self.assertEqual(qlog_len1, qlog_len2) + @pytest.mark.slow + def test_helpers(self): + lr = LogReader(f"{TEST_ROUTE}/0/q") + self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN") + self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr))) + if __name__ == "__main__": unittest.main() From 6caf89bca531b2e1e5f514dcebd82e33cb0dadd1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 29 Jan 2024 17:44:14 -0800 Subject: [PATCH 190/205] agnos 9.3 (#31163) * agnos 9.2 * agnos 9.3 --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 24 ++++++++++++------------ 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index c16f061912..d86ec63593 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="9.1" + export AGNOS_VERSION="9.3" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 3fe3942305..a87f3d278d 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275.img.xz", - "hash": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275", - "hash_raw": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275", + "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz", + "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f", + "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f", "size": 15636480, "sparse": false, "full_check": true, @@ -11,9 +11,9 @@ }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a.img.xz", - "hash": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a", - "hash_raw": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a", + "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", + "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", "size": 274432, "sparse": false, "full_check": true, @@ -61,17 +61,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz", - "hash": "3b6cdf9bd881a5e90b21dd02c6faa923b415e32ecae9bfdc96753d4208fb82fe", - "hash_raw": "e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98", + "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz", + "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89", + "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082", "size": 10737418240, "sparse": true, "full_check": false, "has_ab": true, "alt": { - "hash": "2fb81e58f4bc6c4e5e71c8e7ac7553f85082c430627d7a5cc54a6bbc82862500", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz", - "size": 4543090376 + "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz", + "size": 4077270244 } } ] \ No newline at end of file From 4243e9322a9da239acd7e2c33c7b491b53ad6d1b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 29 Jan 2024 17:49:37 -0800 Subject: [PATCH 191/205] update release notes --- RELEASES.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 36a4a89dd2..aa3a80d56d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,14 @@ -Version 0.9.6 (20XX-XX-XX) +Version 0.9.6 (2024-02-XX) ======================== * New driving model * Vision model trained on more data * Improved driving performance + * Directly outputs curvature for lateral control +* New driver monitoring model + * Trained on larger dataset * AGNOS 9 * comma body streaming and controls over WebRTC +* Improved fuzzy fingerprinting for many makes and models * Hyundai Staria 2023 support thanks to sunnyhaibin! * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Toyota RAV4 2023-24 support From 3a0033e81eec20f640c0d9be57b7f7da9a97d99d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jan 2024 23:28:29 -0600 Subject: [PATCH 192/205] vin: fix retry logging (#31225) * retry should really be outside inner query loop * just req * nls * bump * rmnl * useful to have * is it though --- selfdrive/car/fw_query_definitions.py | 3 +++ selfdrive/car/vin.py | 13 ++++++------- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 410040b10e..fd49fa8e1a 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -14,6 +14,9 @@ EcuAddrSubAddr = Tuple[int, int, Optional[int]] LiveFwVersions = Dict[AddrType, Set[bytes]] OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]] +STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI + + def p16(val): return struct.pack("!H", val) diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index ba081764b5..400470df50 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -4,7 +4,7 @@ import re import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.selfdrive.car.fw_query_definitions import StdQueries +from openpilot.selfdrive.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries from openpilot.common.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 @@ -16,16 +16,14 @@ def is_valid_vin(vin: str): def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False): - addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for - valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): for bus in buses: for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): try: - query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) + query = IsoTpParallelQuery(sendcan, logcan, bus, STANDARD_VIN_ADDRS, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) results = query.get_data(timeout) - for addr in valid_vin_addrs: + for addr in STANDARD_VIN_ADDRS: vin = results.get((addr, None)) if vin is not None: # Ford pads with null bytes @@ -36,12 +34,13 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False): if vin.startswith(b'\x11'): vin = vin[1:18] + cloudlog.warning(f"got vin with {request=}") return get_rx_addr_for_tx_addr(addr), bus, vin.decode() - - cloudlog.error(f"vin query retry ({i+1}) ...") except Exception: cloudlog.exception("VIN query exception") + cloudlog.error(f"vin query retry ({i+1}) ...") + return -1, -1, VIN_UNKNOWN From a4cf7745e845e9cbb7e4d11db9f2bf88a51a1682 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jan 2024 23:44:00 -0600 Subject: [PATCH 193/205] fix manually running fw_versions.py (#31226) --- selfdrive/car/fw_versions.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 085131118a..df9b206ac6 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -355,6 +355,13 @@ if __name__ == "__main__": pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') + # Set up params for boardd + params = Params() + params.delete("FirmwareQueryDone") + params.put_bool("IsOnroad", False) + time.sleep(0.2) # thread is 10 Hz + params.put_bool("IsOnroad", True) + extra: Any = None if args.scan: extra = {} @@ -365,7 +372,6 @@ if __name__ == "__main__": extra[(Ecu.unknown, 0x750, i)] = [] extra = {"any": {"debug": extra}} - time.sleep(1.) num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) t = time.time() From 5a8686b439d183e56a56e916abaa4cbeb43254a1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jan 2024 22:36:29 -0800 Subject: [PATCH 194/205] fw_versions: fix params.remove --- selfdrive/car/fw_versions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index df9b206ac6..9f4b40147b 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -357,7 +357,7 @@ if __name__ == "__main__": # Set up params for boardd params = Params() - params.delete("FirmwareQueryDone") + params.remove("FirmwareQueryDone") params.put_bool("IsOnroad", False) time.sleep(0.2) # thread is 10 Hz params.put_bool("IsOnroad", True) From c3fcf75737b28efe05bf78c4ec886482749844c6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 01:24:21 -0600 Subject: [PATCH 195/205] GM camera ACC: get VIN from camera (#31224) * bump * gm vin * that's not right * only check relevant buses * instead try queries for each bus first * clean up * use default retry in function * all --- panda | 2 +- selfdrive/car/fw_query_definitions.py | 3 +++ selfdrive/car/fw_versions.py | 2 +- selfdrive/car/tests/test_fw_fingerprint.py | 16 +++++++++------- selfdrive/car/vin.py | 14 +++++++++++--- 5 files changed, 25 insertions(+), 12 deletions(-) diff --git a/panda b/panda index 266d4573b7..ec17f75efc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 266d4573b79802e5ad67b5558ace089417c64106 +Subproject commit ec17f75efca05c04313049e1d6dd376ef54d42ec diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index fd49fa8e1a..fcd0845e14 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -59,6 +59,9 @@ class StdQueries: UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + GM_VIN_REQUEST = b'\x1a\x90' + GM_VIN_RESPONSE = b'\x5a\x90' + @dataclass class Request: diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9f4b40147b..ab4255a8d2 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -376,7 +376,7 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") - vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (1, 0), retry=10, debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index d640b32ac6..09b05d5166 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -212,7 +212,7 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time - vin_ref_time = 1.2 + vin_ref_times = {'worst': 1.5, 'best': 0.5} # best assumes we go through all queries to get a match present_ecu_ref_time = 0.75 def fake_get_ecu_addrs(*_, timeout): @@ -229,12 +229,14 @@ class TestFwFingerprintTiming(unittest.TestCase): self._assert_timing(self.total_time / self.N, present_ecu_ref_time) print(f'get_present_ecus, query time={self.total_time / self.N} seconds') - self.total_time = 0.0 - with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): - for _ in range(self.N): - get_vin(fake_socket, fake_socket, (0, 1)) - self._assert_timing(self.total_time / self.N, vin_ref_time) - print(f'get_vin, query time={self.total_time / self.N} seconds') + for name, args in (('worst', {}), ('best', {'retry': 1})): + with self.subTest(name=name): + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + get_vin(fake_socket, fake_socket, (0, 1), **args) + self._assert_timing(self.total_time / self.N, vin_ref_times[name]) + print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') @pytest.mark.timeout(60) def test_fw_query_timing(self): diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 400470df50..f69771546f 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -18,12 +18,20 @@ def is_valid_vin(vin: str): def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False): for i in range(retry): for bus in buses: - for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): + for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in ( + (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), + (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400), # Bolt fwdCamera + ): + if bus not in valid_buses: + continue + try: - query = IsoTpParallelQuery(sendcan, logcan, bus, STANDARD_VIN_ADDRS, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) + query = IsoTpParallelQuery(sendcan, logcan, bus, vin_addrs, [request, ], [response, ], response_offset=rx_offset, + functional_addrs=functional_addrs, debug=debug) results = query.get_data(timeout) - for addr in STANDARD_VIN_ADDRS: + for addr in vin_addrs: vin = results.get((addr, None)) if vin is not None: # Ford pads with null bytes From 2c0f7b872702e44bb8911702d027d39b01134e6f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 04:08:08 -0600 Subject: [PATCH 196/205] FPv2: support FwQueryConfig with no FW versions (#31227) * bump * from https://github.com/commaai/openpilot/pull/27929 * get VIN on bolt! * might as well try on other gms * remove vin * ugh gm is going to be slow * fix * should really fix this * revert * happy?1 * fix unit test * bump * functional addressing must be an OBD gateway feature, this does nothing * fix vin response * fix addr! * finally fix fw_versions bugs since boardd IsOnroad refactor * for * only bus 0 * clean up * Update selfdrive/car/gm/values.py * ChatGPT re-write * filter out did * todo * oof * preview: what multiple DIDs per ECU would look like in the future * Revert "preview: what multiple DIDs per ECU would look like in the future" This reverts commit 88f0d8611e638de644adc5feabade848c03d59e4. * function to get all ecus * we can remove this! * can also do this! * and this one too :o * consistency * yay * add tests * revert GM stuff * another PR * reads better * revert rest of gm * use that * interesting * these are exactly the same (with ordering differences) * Revert "these are exactly the same (with ordering differences)" This reverts commit a9e918dc351d24f1b7c8a05c7ec402e057a0e09a. * flip --- selfdrive/car/fw_query_definitions.py | 13 +++++ selfdrive/car/fw_versions.py | 68 +++++++++------------- selfdrive/car/tests/test_fw_fingerprint.py | 6 ++ 3 files changed, 47 insertions(+), 40 deletions(-) diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index fcd0845e14..e069fad13b 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -96,3 +96,16 @@ class FwQueryConfig: new_request = copy.deepcopy(self.requests[i]) new_request.bus += 4 self.requests.append(new_request) + + def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, include_ecu_type: bool = True, + include_extra_ecus: bool = True) -> set[EcuAddrSubAddr] | set[AddrType]: + # Add ecus in database + extra ecus + brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus} + + if include_extra_ecus: + brand_ecus |= set(self.extra_ecus) + + if not include_ecu_type: + return {(addr, subaddr) for _, addr, subaddr in brand_ecus} + + return brand_ecus diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index ab4255a8d2..c9ca249ceb 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -45,16 +45,6 @@ def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], return dict(fw_versions_dict) -def get_brand_addrs() -> Dict[str, Set[AddrType]]: - brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set) - for brand, cars in VERSIONS.items(): - # Add ecus in database + extra ecus to match against - brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} - for fw in cars.values(): - brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} - return dict(brand_addrs) - - def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars @@ -184,22 +174,21 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: if r.bus > num_pandas * 4 - 1: continue - for brand_versions in VERSIONS[brand].values(): - for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus: - # Only query ecus in whitelist if whitelist is not empty - if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: - a = (addr, sub_addr, r.bus) - # Build set of queries - if sub_addr is None: - if a not in parallel_queries[r.obd_multiplexing]: - parallel_queries[r.obd_multiplexing].append(a) - else: # subaddresses must be queried one by one - if [a] not in queries[r.obd_multiplexing]: - queries[r.obd_multiplexing].append([a]) - - # Build set of expected responses to filter - response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) - responses.add((response_addr, sub_addr, r.bus)) + for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]): + # Only query ecus in whitelist if whitelist is not empty + if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: + a = (addr, sub_addr, r.bus) + # Build set of queries + if sub_addr is None: + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) + else: # subaddresses must be queried one by one + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) + + # Build set of expected responses to filter + response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) + responses.add((response_addr, sub_addr, r.bus)) for obd_multiplexing in queries: queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) @@ -215,7 +204,8 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" - brand_addrs = get_brand_addrs() + brand_addrs = {brand: config.get_all_ecus(VERSIONS[brand], include_ecu_type=False) for + brand, config in FW_QUERY_CONFIGS.items()} brand_matches = {brand: set() for brand, _, _ in REQUESTS} brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS} @@ -280,19 +270,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for brand, brand_versions in versions.items(): config = FW_QUERY_CONFIGS[brand] - for ecu in brand_versions.values(): - # Each brand can define extra ECUs to query for data collection - for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus: - a = (brand, addr, sub_addr) - if a not in ecu_types: - ecu_types[a] = ecu_type - - if sub_addr is None: - if a not in parallel_addrs: - parallel_addrs.append(a) - else: - if [a] not in addrs: - addrs.append([a]) + for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions): + a = (brand, addr, sub_addr) + if a not in ecu_types: + ecu_types[a] = ecu_type + + if sub_addr is None: + if a not in parallel_addrs: + parallel_addrs.append(a) + else: + if [a] not in addrs: + addrs.append([a]) addrs.insert(0, parallel_addrs) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 09b05d5166..7cd670cf7c 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -147,6 +147,12 @@ class TestFwFingerprint(unittest.TestCase): with self.subTest(): self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") + # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval + for brand, config in FW_QUERY_CONFIGS.items(): + self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0) + self.assertEqual(config.get_all_ecus({}, include_ecu_type=True), set(config.extra_ecus)) + self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0) + def test_fw_request_ecu_whitelist(self): for brand, config in FW_QUERY_CONFIGS.items(): with self.subTest(brand=brand): From 06f0e5096424acd643046f4bd5a3c84a4f684e8e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 04:19:12 -0600 Subject: [PATCH 197/205] GM: FPv2 logging (#31221) * bump * from https://github.com/commaai/openpilot/pull/27929 * get VIN on bolt! * might as well try on other gms * remove vin * ugh gm is going to be slow * fix * should really fix this * revert * happy?1 * fix unit test * bump * functional addressing must be an OBD gateway feature, this does nothing * fix vin response * fix addr! * finally fix fw_versions bugs since boardd IsOnroad refactor * for * only bus 0 * clean up * Update selfdrive/car/gm/values.py * ChatGPT re-write * filter out did * todo * oof * preview: what multiple DIDs per ECU would look like in the future * Revert "preview: what multiple DIDs per ECU would look like in the future" This reverts commit 88f0d8611e638de644adc5feabade848c03d59e4. * function to get all ecus * we can remove this! * can also do this! * and this one too :o * consistency * yay * clean up --- selfdrive/car/gm/fingerprints.py | 4 ++- selfdrive/car/gm/values.py | 36 ++++++++++++++++++++++ selfdrive/car/tests/test_fw_fingerprint.py | 3 +- 3 files changed, 41 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py index 9159ddefbf..445d9571d4 100644 --- a/selfdrive/car/gm/fingerprints.py +++ b/selfdrive/car/gm/fingerprints.py @@ -1,7 +1,7 @@ # ruff: noqa: E501 from openpilot.selfdrive.car.gm.values import CAR -# Trailblazer also matches as a SILVERADO, TODO: split with fw verisions +# Trailblazer also matches as a SILVERADO, TODO: split with fw versions FINGERPRINTS = { @@ -54,3 +54,5 @@ FINGERPRINTS = { 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 }], } + +FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {} diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index dbbf15100f..8188ad4e6e 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -6,6 +6,8 @@ from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + Ecu = car.CarParams.Ecu @@ -143,8 +145,42 @@ class CanBus: DROPPED = 192 +# In a Data Module, an identifier is a string used to recognize an object, +# either by itself or together with the identifiers of parent objects. +# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951 +GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1' +GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2' +GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3' +# This DID is for identifying the part number that reflects the mix of hardware, +# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant. +# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB. +GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb' +GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc' +GM_FW_RESPONSE = b'\x5a' + +GM_FW_REQUESTS = [ + GM_SOFTWARE_MODULE_1_REQUEST, + GM_SOFTWARE_MODULE_2_REQUEST, + GM_SOFTWARE_MODULE_3_REQUEST, + GM_END_MODEL_PART_NUMBER_REQUEST, + GM_BASE_MODEL_PART_NUMBER_REQUEST, +] + GM_RX_OFFSET = 0x400 +FW_QUERY_CONFIG = FwQueryConfig( + requests=[request for req in GM_FW_REQUESTS for request in [ + Request( + [StdQueries.SHORT_TESTER_PRESENT_REQUEST, req], + [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])], + rx_offset=GM_RX_OFFSET, + bus=0, + logging=True, + ), + ]], + extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], +) + DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 7cd670cf7c..e7ba67d433 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -246,9 +246,10 @@ class TestFwFingerprintTiming(unittest.TestCase): @pytest.mark.timeout(60) def test_fw_query_timing(self): - total_ref_time = 6.5 + total_ref_time = 7.1 brand_ref_times = { 1: { + 'gm': 0.5, 'body': 0.1, 'chrysler': 0.3, 'ford': 0.2, From 1d1c9936cf5711c5414b2da2ee823f7233e7882e Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 30 Jan 2024 10:42:33 +0000 Subject: [PATCH 198/205] Ford: don't fingerprint on engine (#31195) * Ford: do not fingerprint engine * add notebook * Ford: add missing Explorer FW * revert * revert * Revert "revert" This reverts commit ad32feaa689f2b497c8bcc9fedc73cae6c87f697. * TestFwFingerprintTiming: try these * TestFwFingerprintTiming: update total ref time * remove notebook * fix ref --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/fingerprints.py | 54 +--------------------- selfdrive/car/ford/tests/test_ford.py | 2 +- selfdrive/car/ford/values.py | 8 +--- selfdrive/car/tests/test_fw_fingerprint.py | 6 +-- 4 files changed, 6 insertions(+), 64 deletions(-) diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py index 0cd812bc6b..0085b6b9c6 100644 --- a/selfdrive/car/ford/fingerprints.py +++ b/selfdrive/car/ford/fingerprints.py @@ -19,12 +19,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.ESCAPE_MK4: { (Ecu.eps, 0x730, None): [ @@ -47,17 +41,6 @@ FW_VERSIONS = { b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ @@ -83,21 +66,9 @@ FW_VERSIONS = { b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.F_150_MK14: { (Ecu.eps, 0x730, None): [ @@ -112,9 +83,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.F_150_LIGHTNING_MK1: { (Ecu.abs, 0x760, None): [ @@ -126,9 +94,6 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x764, None): [ b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.MUSTANG_MACH_E_MK1: { (Ecu.eps, 0x730, None): [ @@ -144,11 +109,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.FOCUS_MK4: { (Ecu.eps, 0x730, None): [ @@ -163,9 +123,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ @@ -182,14 +139,5 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None): [ - b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, } diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index a1f0b81a58..dff29629f6 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -52,7 +52,7 @@ class TestFordFW(unittest.TestCase): @parameterized.expand(FW_VERSIONS.items()) def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]): for (ecu, addr, subaddr), fws in fw_versions.items(): - self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") + self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU") self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") self.assertIsNone(subaddr, "Unexpected ECU subaddress") diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 2c4415be2b..a18e6f461e 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -111,21 +111,15 @@ FW_QUERY_CONFIG = FwQueryConfig( requests=[ # CAN and CAN FD queries are combined. # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus - # TODO: properly handle auxiliary requests to separate queries and add back whitelists Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.engine], - ), - Request( - [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], - [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], - # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], bus=0, auxiliary=True, ), ], extra_ecus=[ + (Ecu.engine, 0x7e0, None), (Ecu.shiftByWire, 0x732, None), ], ) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index e7ba67d433..620fa25691 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -246,13 +246,13 @@ class TestFwFingerprintTiming(unittest.TestCase): @pytest.mark.timeout(60) def test_fw_query_timing(self): - total_ref_time = 7.1 + total_ref_time = 6.9 brand_ref_times = { 1: { 'gm': 0.5, 'body': 0.1, 'chrysler': 0.3, - 'ford': 0.2, + 'ford': 0.1, 'honda': 0.55, 'hyundai': 0.65, 'mazda': 0.2, @@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'volkswagen': 0.2, }, 2: { - 'ford': 0.3, + 'ford': 0.2, 'hyundai': 1.05, } } From c2ee07290721ef0317ef49021f95e71016222bc1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 05:07:00 -0600 Subject: [PATCH 199/205] format fingerprints: fix empty FW versions (#31230) fix --- selfdrive/car/gm/fingerprints.py | 3 ++- selfdrive/debug/format_fingerprints.py | 5 ++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py index 445d9571d4..c349ee2856 100644 --- a/selfdrive/car/gm/fingerprints.py +++ b/selfdrive/car/gm/fingerprints.py @@ -55,4 +55,5 @@ FINGERPRINTS = { }], } -FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {} +FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { +} diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index 1752aa1f06..bd5822729a 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -44,9 +44,8 @@ FINGERPRINTS = { {% endfor %} } {% endif %} -{% if FW_VERSIONS[brand] %} -FW_VERSIONS = { +FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = { {% for car, _ in FW_VERSIONS[brand].items() %} CAR.{{car.name}}: { {% for key, fw_versions in FW_VERSIONS[brand][car].items() %} @@ -60,7 +59,7 @@ FW_VERSIONS = { }, {% endfor %} } -{% endif %} + """, trim_blocks=True) From feaf52dd4c1f1b406b068e195fa48f3daf0b67ed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 30 Jan 2024 11:40:52 -0800 Subject: [PATCH 200/205] Ford long control improvements (#31123) * Ford updates * back to normal * Small fixes * Try max * Does pred matter * ref commit * Update ref --- selfdrive/car/ford/carcontroller.py | 4 ++-- selfdrive/car/ford/fordcan.py | 3 +-- selfdrive/car/ford/interface.py | 4 ++++ selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 88ec6a5072..45516d6035 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,10 +1,10 @@ from cereal import car from openpilot.common.numpy_fast import clip -from openpilot.common.conversions import Conversions as CV from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_std_steer_angle_limits from openpilot.selfdrive.car.ford import fordcan from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -90,7 +90,7 @@ class CarController: if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=40 * CV.MPH_TO_KPH)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 78a249e387..c5ef0900f3 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -127,13 +127,12 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl Frequency is 50Hz. """ - decel = accel < 0 and long_active values = { "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccPrpl_A_Pred": gas, # Acceleration request: [-5|5.23] m/s^2 + "AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2 "AccResumEnbl_B_Rq": 1 if long_active else 0, "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h # TODO: we may be able to improve braking response by utilizing pre-charging better diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 8a8ce36bd0..cc013fb54b 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -21,6 +21,10 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.5] + ret.longitudinalTuning.kiV = [0.] + CAN = CanBus(fingerprint=fingerprint) cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] if CAN.main >= 4: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 803f4e96ee..0cfbbde0da 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -58ef40eb2264a9d62a1715486677c342d5d113ce \ No newline at end of file +6a61df84e67e3177f0ba73865a1bb239385c0ade From 0176c870eaf5c59e076811b607bf7f0f5f6d82cc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 15:57:52 -0600 Subject: [PATCH 201/205] Fingerprints: add missing FW versions from users for Toyota, Honda, Chrysler, Mazda, Ford [bot] (#31231) --- selfdrive/car/chrysler/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 6461ceec4d..f9a3fe5b10 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -494,6 +494,7 @@ FW_VERSIONS = { b'68455145AE ', b'68455146AC ', b'68467915AC ', + b'68467936AC ', b'68500630AD', b'68500630AE', b'68502719AC ', @@ -528,6 +529,7 @@ FW_VERSIONS = { b'68445533AB', b'68445536AB', b'68445537AB', + b'68466081AB', b'68466087AB', b'68484466AC', b'68484467AC', From bc5fdf24ae847b3a55c04d905ed5b1acd1d71fb9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 30 Jan 2024 15:00:41 -0800 Subject: [PATCH 202/205] update min valid time --- common/time.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/time.py b/common/time.py index c8ef9cd383..f2e49eb546 100644 --- a/common/time.py +++ b/common/time.py @@ -1,6 +1,6 @@ import datetime -MIN_DATE = datetime.datetime(year=2023, month=6, day=1) +MIN_DATE = datetime.datetime(year=2024, month=1, day=28) def system_time_valid(): return datetime.datetime.now() > MIN_DATE From bd1678e71f700126558dfa771544f90fa6d3e406 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 18:06:28 -0600 Subject: [PATCH 203/205] Toyota: fix rare panda standstill mismatch (#31232) * fix * clean up * just use 2x lower threshold so we're not on edge again --- selfdrive/car/toyota/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 3a89d655da..2461fa9a26 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -71,7 +71,7 @@ class CarState(CarStateBase): ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars - ret.standstill = ret.vEgoRaw == 0 + ret.standstill = abs(ret.vEgoRaw) < 1e-3 ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] From 97aa08d8dea2a6941a19d13edbeffb994725cbc3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 20:46:46 -0600 Subject: [PATCH 204/205] docs: fix car docs video icon (#31218) * fix yt icon on docs.comma.ai * bigger --- docs/CARS.md | 108 ++++++++++++++++----------------- docs/assets/icon-youtube.svg | 4 +- selfdrive/car/CARS_template.md | 2 +- 3 files changed, 57 insertions(+), 57 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 5620bc703c..4312e479c7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -21,11 +21,11 @@ A supported vehicle is one that just works when you install a comma device. All |Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Cadillac|Escalade ESV 2019[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/xvwzGMUA210)| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|[![video](assets/icon-youtube.svg)](https://youtu.be/QeMCN_4TFfQ)| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| @@ -50,15 +50,15 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|GV70 (2.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Genesis|GV70 (3.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Genesis|GV80 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=0ZN6DdsBUZo)| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/5HbNoBLzRwE)| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=mrUwlj3Mi58)| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/-IkImTe1NYE)| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=4Iz1Mz5LGF8)| +|Honda|Civic 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/ytiOT5lcp6Q)| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/ytiOT5lcp6Q)| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -79,9 +79,9 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/_EdYQtV52-c)| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/_EdYQtV52-c)| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -97,16 +97,16 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=U2fOCmcQ8hw)| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/TAnDqjF4fDY?t=456)| |Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/bjDR0YjM__s)| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/VnHzSTygTS4)| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=ix63r9kE3Fw)| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -115,8 +115,8 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=eLR9o2JkuRk)| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=jBe4lWnRSu4)| |Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -128,10 +128,10 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -143,21 +143,21 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=Fkh3s6WHJz8)| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=Fkh3s6WHJz8)| |Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=MJ94qoofYw0)| |Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/BZ29osRVJeg?t=12)| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -174,26 +174,26 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/dA3duO4a0O4)| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/vaMbtAh_0cY)| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|[![video](assets/icon-youtube.svg)](https://youtu.be/Agww7oE1k-s?t=26)| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Forester 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|[![video](assets/icon-youtube.svg)](https://youtu.be/Agww7oE1k-s?t=26)| |Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| @@ -215,49 +215,49 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=fkcjviZY9CM)| |Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=Q2DYY0AWKgk)| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=_66pXk0CBYA)| |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=_66pXk0CBYA)| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=0wS0wXSLzoo)| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=8zopPJI8XQ0)| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=8zopPJI8XQ0)| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=J58TvCpUd4U)| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=8zopPJI8XQ0)| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=J58TvCpUd4U)| |Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=wJxjDd42gGA)| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/LhT5VzJVfNI?t=26)| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/LhT5VzJVfNI?t=26)| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/U0nH9cnrFB0)| |Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=q1UPOo4Sh68)| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -266,7 +266,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg index f738dca10a..6316e085d7 100644 --- a/docs/assets/icon-youtube.svg +++ b/docs/assets/icon-youtube.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b -size 1278 +oid sha256:532442e171c7370fc613eff5a878eb3e96292764fb86d9761ccf78744e8f12b1 +size 1280 diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index ab4d231fa7..4ac21457eb 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -1,6 +1,6 @@ {% set footnote_tag = '[{}](#footnotes)' %} {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %} -{% set video_icon = '' %} +{% set video_icon = '[![video](assets/icon-youtube.svg)]({})' %} {# Force hardware column wider by using a blank image with max width. #} {% set width_tag = '%s
 ' %} {% set hardware_col_name = 'Hardware Needed' %} From 9c48e85c786d1c7551abada628635b78c5c60fb9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jan 2024 21:04:43 -0600 Subject: [PATCH 205/205] Revert "docs: fix car docs video icon" (#31234) --- docs/CARS.md | 108 ++++++++++++++++----------------- docs/assets/icon-youtube.svg | 4 +- selfdrive/car/CARS_template.md | 2 +- 3 files changed, 57 insertions(+), 57 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 4312e479c7..5620bc703c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -21,11 +21,11 @@ A supported vehicle is one that just works when you install a comma device. All |Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Cadillac|Escalade ESV 2019[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/xvwzGMUA210)| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/QeMCN_4TFfQ)| +|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -50,15 +50,15 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|GV70 (2.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|GV70 (3.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|GV80 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=0ZN6DdsBUZo)| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/5HbNoBLzRwE)| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=mrUwlj3Mi58)| +|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/-IkImTe1NYE)| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=4Iz1Mz5LGF8)| -|Honda|Civic 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/ytiOT5lcp6Q)| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/ytiOT5lcp6Q)| +|Honda|Civic Hatchback 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -79,9 +79,9 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/_EdYQtV52-c)| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/_EdYQtV52-c)| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -97,16 +97,16 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=U2fOCmcQ8hw)| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/TAnDqjF4fDY?t=456)| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/bjDR0YjM__s)| -|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/VnHzSTygTS4)| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=ix63r9kE3Fw)| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -115,8 +115,8 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=eLR9o2JkuRk)| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=jBe4lWnRSu4)| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -128,10 +128,10 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=lT7zcG6ZpGo)| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -143,21 +143,21 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=Fkh3s6WHJz8)| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=Fkh3s6WHJz8)| +|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Hybrid 2021-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=MJ94qoofYw0)| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/BZ29osRVJeg?t=12)| +|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -174,26 +174,26 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/dA3duO4a0O4)| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/vaMbtAh_0cY)| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|[![video](assets/icon-youtube.svg)](https://youtu.be/Agww7oE1k-s?t=26)| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Forester 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|[![video](assets/icon-youtube.svg)](https://youtu.be/Agww7oE1k-s?t=26)| +|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Škoda|Fabia 2022-23[12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| |Škoda|Kamiq 2021-23[10,12](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[14](#footnotes)|| @@ -215,49 +215,49 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=fkcjviZY9CM)| +|Toyota|Camry 2018-20|All|Stock|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry 2021-24|All|openpilot|0 mph[9](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=Q2DYY0AWKgk)| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=_66pXk0CBYA)| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=_66pXk0CBYA)| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=0wS0wXSLzoo)| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=8zopPJI8XQ0)| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=8zopPJI8XQ0)| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=J58TvCpUd4U)| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=8zopPJI8XQ0)| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=J58TvCpUd4U)| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=wJxjDd42gGA)| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/LhT5VzJVfNI?t=26)| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/LhT5VzJVfNI?t=26)| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/U0nH9cnrFB0)| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://www.youtube.com/watch?v=q1UPOo4Sh68)| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/FAomFKPFlDA)| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -266,7 +266,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|[![video](assets/icon-youtube.svg)](https://youtu.be/4100gLeabmo)| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg index 6316e085d7..f738dca10a 100644 --- a/docs/assets/icon-youtube.svg +++ b/docs/assets/icon-youtube.svg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:532442e171c7370fc613eff5a878eb3e96292764fb86d9761ccf78744e8f12b1 -size 1280 +oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b +size 1278 diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 4ac21457eb..ab4d231fa7 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -1,6 +1,6 @@ {% set footnote_tag = '[{}](#footnotes)' %} {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %} -{% set video_icon = '[![video](assets/icon-youtube.svg)]({})' %} +{% set video_icon = '' %} {# Force hardware column wider by using a blank image with max width. #} {% set width_tag = '%s
 ' %} {% set hardware_col_name = 'Hardware Needed' %}