From ceb557058c5a7e7fd4de8c2dc5608e32c8773eac Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 17 Aug 2025 10:18:30 -0700 Subject: [PATCH 01/36] Steam Powered model (#36000) * f3e67f3e-6079-48cf-92a4-dee5eebd1d73/360 * f3e67f3e-6079-48cf-92a4-dee5eebd1d73/400 * No more action head: a8f96b93-bde2-4e28-a732-4df21ebba968/400 --- selfdrive/modeld/modeld.py | 11 ----------- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- 3 files changed, 4 insertions(+), 15 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 707b221bb9..8bc8bf01ab 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -102,15 +102,12 @@ class ModelState: self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32) - self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32) self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP) # policy inputs self.numpy_inputs = { 'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), - 'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32), - 'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32), 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), } @@ -143,7 +140,6 @@ class ModelState: self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params'] imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} if TICI and not USBGPU: @@ -169,11 +165,6 @@ class ModelState: self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - # TODO model only uses last value now - self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] - self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] - combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) @@ -292,7 +283,6 @@ def main(demo=False): frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS - lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -325,7 +315,6 @@ def main(demo=False): inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'lateral_control_params': lateral_control_params, } mt1 = time.perf_counter() diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 267fc92a3f..867a0d3b9b 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57 -size 15583374 +oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251 +size 12343523 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 18f63358db..ce0dc927e7 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b -size 46265993 +oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef +size 46271991 From 63fa250f291c26ce933969fb821b26e9915d6524 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 17 Aug 2025 11:53:20 -0700 Subject: [PATCH 02/36] Add note around excessive actuation check (#36010) * Add note around excessive actuation check * Update selfdrived.py --- selfdrive/selfdrived/selfdrived.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 89fa36c906..cf22040e84 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -238,7 +238,10 @@ class SelfdriveD: if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture: self.events.add(EventName.ldw) - # Check for excessive actuation + # ****************************************************************************************** + # NOTE: To fork maintainers. + # Disabling or nerfing safety features will get you and your users banned from our servers. + # We recommend that you do not change these numbers from the defaults. if self.sm.updated['liveCalibration']: self.pose_calibrator.feed_live_calib(self.sm['liveCalibration']) if self.sm.updated['livePose']: @@ -253,6 +256,7 @@ class SelfdriveD: if self.excessive_actuation: self.events.add(EventName.excessiveActuation) + # ****************************************************************************************** # Handle lane change if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: From ef9e430992220cc981249c93ba838deb7637b1e4 Mon Sep 17 00:00:00 2001 From: Muhammed Jaseem Pallikkal <64106637+jasseeeem@users.noreply.github.com> Date: Mon, 18 Aug 2025 02:21:12 +0530 Subject: [PATCH 03/36] Fixed development environment link in CONTRIBUTING.md (#36011) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Fixed development environment link in CONTRIBUTING.md This is my first PR to openpilot 🎉 excited to contribute! * Using absolute path for tools --- docs/CONTRIBUTING.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 1950db8a05..f8c27b8815 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ### Getting Started -* Setup your [development environment](../tools/) +* Setup your [development environment](/tools/) * Join our [Discord](https://discord.comma.ai) * Docs are at https://docs.comma.ai and https://blog.comma.ai From 3d879dd1ae9e22fd2d1d3a02a7c8a9da7b5e37de Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sun, 17 Aug 2025 17:53:50 -0700 Subject: [PATCH 04/36] [bot] Update Python packages (#36012) * Update Python packages * add psa --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- opendbc_repo | 2 +- .../test/process_replay/test_processes.py | 2 +- tinygrad_repo | 2 +- uv.lock | 242 +++++++++--------- 4 files changed, 124 insertions(+), 124 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 74bfaa2c75..b2f34136c0 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 74bfaa2c750f2eca584dd6b58c1b862ba59d29d8 +Subproject commit b2f34136c0e58a76d4b4197003a852e72e48767e diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 54e7039a4e..5868ca4c1c 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -61,7 +61,7 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "body"] +excluded_interfaces = ["mock", "body", "psa"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") diff --git a/tinygrad_repo b/tinygrad_repo index d2bb1bcb97..c30a113b2a 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject 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Mon, 18 Aug 2025 15:37:44 -0700 Subject: [PATCH 05/36] AGNOS 12.8 (#36008) * staging * prod --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++++------ system/hardware/tici/all-partitions.json | 12 ++++++------ 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index e1a0da9b67..4c011c6ac0 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.7" + export AGNOS_VERSION="12.8" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 0900c51d10..941a4956bf 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,17 +67,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz", - "hash": 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"https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img", "size": 5368709120 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 5d1bcc65a7..e49f93a066 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -350,17 +350,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img.xz", - "hash": "e6fbc73b6ef9551f57f123791f94f2f72db8ce59e9fba8ccd44c30685582368b", - "hash_raw": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", + "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz", + "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126", + "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "af2a42284ecfddc9d8aa50fde0e2093ba18cf1dd2242a7a3fbe05f78f6ec0228", + "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7", "alt": { - "hash": "6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63", - "url": "https://commadist.azureedge.net/agnosupdate/system-6bbefd9b5b7719eb4f52c051966cd6ca5c883241e795b4757f795225e459eb63.img", + "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087", + "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img", "size": 5368709120 } }, From dfc66d780745bd2c393130d26162ed00452e6006 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 18 Aug 2025 18:52:05 -0700 Subject: [PATCH 06/36] [bot] Update Python packages (#36014) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index b2f34136c0..4b203ff5d1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b2f34136c0e58a76d4b4197003a852e72e48767e +Subproject commit 4b203ff5d1ad867de127de6b27382ba73e6e31a7 From 4d55671b17d44c66954ee1f471189fb748b4b8ff Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Aug 2025 18:57:16 -0700 Subject: [PATCH 07/36] feedbackd: temp disable LKAS button as feedback (#36017) * feedbackd: temp disable LKAS button as feedback * disable that * mark --- RELEASES.md | 2 +- selfdrive/ui/feedback/feedbackd.py | 3 ++- selfdrive/ui/tests/test_feedbackd.py | 1 + 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index e1c64efad4..cb7274e827 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.10.1 (2025-09-08) ======================== +* Record driving feedback using LKAS button Version 0.10.0 (2025-08-05) ======================== @@ -10,7 +11,6 @@ Version 0.10.0 (2025-08-05) * Action from lateral MPC as training objective replaced by E2E planning from World Model * Low-speed lead car ground-truth fixes * Enable live-learned steering actuation delay -* Record driving feedback using LKAS button * Opt-in audio recording for dashcam video * Acura MDX 2025 support thanks to vanillagorillaa and MVL! * Honda Accord 2023-25 support thanks to vanillagorillaa and MVL! diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py index b02e5d97a7..2d131a0d5e 100755 --- a/selfdrive/ui/feedback/feedbackd.py +++ b/selfdrive/ui/feedback/feedbackd.py @@ -22,7 +22,8 @@ def main(): sm.update() should_send_bookmark = False - if sm.updated['carState'] and sm['carState'].canValid: + # TODO: https://github.com/commaai/openpilot/issues/36015 + if False and sm.updated['carState'] and sm['carState'].canValid: for be in sm['carState'].buttonEvents: if be.type == ButtonType.lkas: if be.pressed: diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py index c2d81aef83..6b7ec44863 100644 --- a/selfdrive/ui/tests/test_feedbackd.py +++ b/selfdrive/ui/tests/test_feedbackd.py @@ -5,6 +5,7 @@ from openpilot.common.params import Params from openpilot.system.manager.process_config import managed_processes +@pytest.mark.skip("tmp disabled") class TestFeedbackd: def setup_method(self): self.pm = messaging.PubMaster(['carState', 'rawAudioData']) From f55f3bb7cdda25e2bc7949917a37212d2725d890 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Aug 2025 19:33:34 -0700 Subject: [PATCH 08/36] setup is a noun! --- docs/CONTRIBUTING.md | 2 +- docs/how-to/turn-the-speed-blue.md | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index f8c27b8815..154734b7fc 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu ### Getting Started -* Setup your [development environment](/tools/) +* Set up your [development environment](/tools/) * Join our [Discord](https://discord.comma.ai) * Docs are at https://docs.comma.ai and https://blog.comma.ai diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index 64f4475dfa..13b3b03e80 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -1,11 +1,11 @@ # Turn the speed blue *A getting started guide for openpilot development* -In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. +In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI. And if you have a comma 3/3X, we'll deploy the change to your device for testing. -## 1. Setup your development environment +## 1. Set up your development environment Run this to clone openpilot and install all the dependencies: ```bash From 2148e2dff2c915f79c93fe4a975bd631e4aa2f1f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Aug 2025 19:48:08 -0700 Subject: [PATCH 09/36] build_devel: clean submodules --- release/build_devel.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/release/build_devel.sh b/release/build_devel.sh index 05dcaafcaa..c4ef280258 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -30,6 +30,7 @@ git reset --hard __nightly git checkout __nightly git reset --hard origin/devel git clean -xdff +git submodule foreach --recursive git clean -xdff git lfs uninstall # remove everything except .git From 2cec2587be926bd4ef42dc8f92177324c05e997a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Aug 2025 09:18:14 -0700 Subject: [PATCH 10/36] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 5b0f1a2eca..3dc2138623 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec +Subproject commit 3dc21386239e3073a623156b75901aa302340d6c From c085b8af19438956c15592828bd082803f43dfaf Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 19 Aug 2025 09:18:32 -0700 Subject: [PATCH 11/36] feedbackd: remove lkas toggle for this release (#36018) remove lkas toggle for this release --- selfdrive/ui/layouts/settings/toggles.py | 10 ---------- selfdrive/ui/qt/offroad/settings.cc | 7 ------- 2 files changed, 17 deletions(-) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index ff0564a61a..58afcec5ef 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -23,10 +23,6 @@ DESCRIPTIONS = { 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "IsMetric": "Display speed in km/h instead of mph.", "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.", - "RecordAudioFeedback": ( - "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " + - "The event will be highlighted in comma connect and the segment will be preserved on your device's storage." - ), } @@ -85,12 +81,6 @@ class TogglesLayout(Widget): self._params.get_bool("RecordAudio"), icon="microphone.png", ), - toggle_item( - "Record Audio Feedback with LKAS button", - DESCRIPTIONS["RecordAudioFeedback"], - self._params.get_bool("RecordAudioFeedback"), - icon="microphone.png", - ), toggle_item( "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png" ), diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 01761295dc..96734d69d9 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -68,13 +68,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/microphone.png", true, }, - { - "RecordAudioFeedback", - tr("Record Audio Feedback with LKAS button"), - tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."), - "../assets/icons/microphone.png", - false, - }, { "IsMetric", tr("Use Metric System"), From 803b54ebdb7ca851c1b246bb150b5b72ccb3ad39 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:09:09 -0700 Subject: [PATCH 12/36] model parser: use check missing for mhp checks (#36020) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/parse_model_outputs.py | 35 ++++++++++++++----------- 2 files changed, 20 insertions(+), 17 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8bc8bf01ab..33da8f02b3 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,7 +116,7 @@ class ModelState: self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.parser = Parser() + self.parser = Parser(ignore_missing=('desired_curvature',)) with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9e1c048735..5812e0b32e 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,9 +22,10 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - if name not in outs and not self.ignore_missing: + missing = name not in outs + if missing and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return name not in outs + return missing def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -84,6 +85,13 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) + def is_mhp(self, outs, name, shape): + if self.check_missing(outs, name): + return False + if outs[name].shape[1] == 2 * shape: + return False + return True + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -94,23 +102,18 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: - self.parse_mdn('lead', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - else: - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) + lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) + self.parse_mdn( + 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + ) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: - self.parse_mdn('plan', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - else: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'desired_curvature' in outs: - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 51314fa9fef0350ed389932c39a30d746e73137f Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:09:59 -0700 Subject: [PATCH 13/36] Revert "model parser: use check missing for mhp checks" (#36022) Revert "model parser: use check missing for mhp checks (#36020)" This reverts commit 803b54ebdb7ca851c1b246bb150b5b72ccb3ad39. --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/parse_model_outputs.py | 35 +++++++++++-------------- 2 files changed, 17 insertions(+), 20 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 33da8f02b3..8bc8bf01ab 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,7 +116,7 @@ class ModelState: self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.parser = Parser(ignore_missing=('desired_curvature',)) + self.parser = Parser() with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..9e1c048735 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,10 +22,9 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - missing = name not in outs - if missing and not self.ignore_missing: + if name not in outs and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return missing + return name not in outs def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -85,13 +84,6 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) - def is_mhp(self, outs, name, shape): - if self.check_missing(outs, name): - return False - if outs[name].shape[1] == 2 * shape: - return False - return True - def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -102,18 +94,23 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) - lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: + self.parse_mdn('lead', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + else: + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) - plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: + self.parse_mdn('plan', outs, in_N=0, out_N=0, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + else: + self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 3d24225cc151732ab8d1501f24e8da3f027b3a64 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 10:19:00 -0700 Subject: [PATCH 14/36] model parser: use check missing for mhp checks (#36023) * model parser: use check missing for mhp checks * lint + support re * lint... * no walrus * just remove * forgot this --- selfdrive/modeld/parse_model_outputs.py | 35 ++++++++++++++----------- 1 file changed, 19 insertions(+), 16 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9e1c048735..5812e0b32e 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -22,9 +22,10 @@ class Parser: self.ignore_missing = ignore_missing def check_missing(self, outs, name): - if name not in outs and not self.ignore_missing: + missing = name not in outs + if missing and not self.ignore_missing: raise ValueError(f"Missing output {name}") - return name not in outs + return missing def parse_categorical_crossentropy(self, name, outs, out_shape=None): if self.check_missing(outs, name): @@ -84,6 +85,13 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) + def is_mhp(self, outs, name, shape): + if self.check_missing(outs, name): + return False + if outs[name].shape[1] == 2 * shape: + return False + return True + def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) @@ -94,23 +102,18 @@ class Parser: self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) - if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH: - self.parse_mdn('lead', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - else: - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) + lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) + self.parse_mdn( + 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, + out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + ) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH: - self.parse_mdn('plan', outs, in_N=0, out_N=0, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - else: - self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - if 'desired_curvature' in outs: - self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 560c503871b100fa5b2d5c05369d10c40813518a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Aug 2025 11:19:58 -0700 Subject: [PATCH 15/36] new release flow (#36021) * new release flow * Update README.md --- release/README.md | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/release/README.md b/release/README.md index 0ceb765597..266d881d3c 100644 --- a/release/README.md +++ b/release/README.md @@ -3,33 +3,33 @@ ``` ## release checklist -**Go to `devel-staging`** -- [ ] make issue to track release +**Go to staging** +- [ ] make a GitHub issue to track release +- [ ] create release master branch - [ ] update RELEASES.md -- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml -- [ ] update `devel-staging`: `git reset --hard origin/__nightly` +- [ ] bump version on master: `common/version.h` and `RELEASES.md` - [ ] build new userdata partition from `release3-staging` -- [ ] open a pull request from `devel-staging` to `devel` - [ ] post on Discord, tag `@release crew` -**Go to `devel`** -- [ ] bump version on master: `common/version.h` and `RELEASES.md` -- [ ] before merging the pull request, test the following: +Updates to staging: +- [ ] either rebase on master or cherry-pick changes +- [ ] run this to update: `BRANCH=devel-staging release/build_devel.sh` + +**Go to release** +- [ ] before going to release, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release - [ ] fresh install with `openpilot-test.comma.ai` - [ ] drive on fresh install - [ ] no submodules or LFS - [ ] check sentry, MTBF, etc. - - [ ] stress test in production - -**Go to `release3`** + - [ ] stress test passes in production - [ ] publish the blog post - [ ] `git reset --hard origin/release3-staging` - [ ] tag the release: `git tag v0.X.X && git push origin v0.X.X` - [ ] create GitHub release - [ ] final test install on `openpilot.comma.ai` - [ ] update factory provisioning -- [ ] close out milestone +- [ ] close out milestone and issue - [ ] post on Discord, X, etc. ``` From d097a0c201d407f61ccdb18058919d05dccea3ac Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 11:35:22 -0700 Subject: [PATCH 16/36] model parser: fix lead mhp out shape (#36024) * model parser: fix lead mhp out shape * fix for real --- selfdrive/modeld/parse_model_outputs.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..038f51ca9c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -104,16 +104,15 @@ class Parser: self.parse_binary_crossentropy('lead_prob', outs) lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \ + (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From 09aa21390dda71c49cf82df9fd9455f927f0db3c Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 19 Aug 2025 15:38:55 -0400 Subject: [PATCH 17/36] Honda: Adding support for Honda City (#36026) * bump opendbc * release notes * regen CARS.md * bump opendbc correctly this time --- RELEASES.md | 1 + docs/CARS.md | 6 ++++-- opendbc_repo | 2 +- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index cb7274e827..dacf0eaa17 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.10.1 (2025-09-08) ======================== * Record driving feedback using LKAS button +* Honda City 2023 support thanks to drFritz! Version 0.10.0 (2025-08-05) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index fcb87236c8..7269f25737 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 319 Supported Cars +# 321 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video|Setup Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -76,10 +76,12 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Accord 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|City (Brazil only) 2023|All|openpilot available[1](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Honda|Civic Hatchback 2019-21|All|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Honda|Civic Hatchback 2022-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
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Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| diff --git a/opendbc_repo b/opendbc_repo index 4b203ff5d1..43006b9a41 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4b203ff5d1ad867de127de6b27382ba73e6e31a7 +Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0 From 6005b12f940b96f14ccf87fb14c37a9c2fca8948 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 15:04:17 -0700 Subject: [PATCH 18/36] format logreader --- tools/lib/logreader.py | 2 ++ tools/lib/route.py | 7 +++---- tools/lib/url_file.py | 18 ++++++++++-------- 3 files changed, 15 insertions(+), 12 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index bedafb8566..833f9825bb 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -40,6 +40,7 @@ def save_log(dest, log_msgs, compress=True): with open(dest, "wb") as f: f.write(dat) + def decompress_stream(data: bytes): dctx = zstd.ZstdDecompressor() decompressed_data = b"" @@ -353,6 +354,7 @@ class LogReader: def time_series(self): return msgs_to_time_series(self) + if __name__ == "__main__": import codecs diff --git a/tools/lib/route.py b/tools/lib/route.py index 882585a151..1fc26fb996 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -231,7 +231,6 @@ class RouteName: def __str__(self) -> str: return self._canonical_name - class SegmentName: # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances # of this class instead of manually constructing a segment name (use canonical_name prop instead) @@ -252,7 +251,7 @@ class SegmentName: @property def canonical_name(self) -> str: return self._canonical_name - #TODO should only use one name + # TODO should only use one name @property def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}" @@ -283,7 +282,7 @@ class SegmentName: @staticmethod def from_file_name(file_name): # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2 - dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1] + dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1] return SegmentName(dongle_id + "|" + route_name + "--" + segment_num) @staticmethod @@ -304,6 +303,7 @@ class SegmentName: dongle_id, route_name, segment_num = prefix.split("/") return SegmentName(dongle_id + "|" + route_name + "--" + segment_num) + @cache def get_max_seg_number_cached(sr: 'SegmentRange') -> int: try: @@ -365,4 +365,3 @@ class SegmentRange: def __repr__(self) -> str: return self.__str__() - diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 204726363d..e80ba1399d 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -9,12 +9,14 @@ from urllib3.util import Timeout from openpilot.common.file_helpers import atomic_write_in_dir from openpilot.system.hardware.hw import Paths + # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K logging.getLogger("urllib3").setLevel(logging.WARNING) + def hash_256(link: str) -> str: return sha256((link.split("?")[0]).encode('utf-8')).hexdigest() @@ -24,7 +26,7 @@ class URLFileException(Exception): class URLFile: - _pool_manager: PoolManager|None = None + _pool_manager: PoolManager | None = None @staticmethod def reset() -> None: @@ -33,16 +35,16 @@ class URLFile: @staticmethod def pool_manager() -> PoolManager: if URLFile._pool_manager is None: - socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),] + socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)] retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504]) URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries) return URLFile._pool_manager - def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None): + def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None): self._url = url self._timeout = Timeout(connect=timeout, read=timeout) self._pos = 0 - self._length: int|None = None + self._length: int | None = None self._debug = debug # True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0")) @@ -58,7 +60,7 @@ class URLFile: def __exit__(self, exc_type, exc_value, traceback) -> None: pass - def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse: + def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse: return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers) def get_length_online(self) -> int: @@ -85,7 +87,7 @@ class URLFile: file_length.write(str(self._length)) return self._length - def read(self, ll: int|None=None) -> bytes: + def read(self, ll: int | None = None) -> bytes: if self._force_download: return self.read_aux(ll=ll) @@ -117,7 +119,7 @@ class URLFile: self._pos = file_end return response - def read_aux(self, ll: int|None=None) -> bytes: + def read_aux(self, ll: int | None = None) -> bytes: download_range = False headers = {} if self._pos != 0 or ll is not None: @@ -152,7 +154,7 @@ class URLFile: self._pos += len(ret) return ret - def seek(self, pos:int) -> None: + def seek(self, pos: int) -> None: self._pos = pos @property From 927548621be1be0c2c9063868b93d1f5020904de Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 15:37:39 -0700 Subject: [PATCH 19/36] update to latest userdata partition (#36027) bump --- system/hardware/tici/all-partitions.json | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index e49f93a066..5891e2748a 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12.img.xz", - "hash": "59e1bb2606b65293721dd89bcdc8d0c5cae47718c213eb40f235149aa5a408ae", - "hash_raw": "ad38266b508280f22d02c3749322291eb083e08580ff8b7014add6989d290b12", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz", + "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac", + "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "40b5e666ec137a863178b51a7947e3bb76fe9259584d84e6a66361fabced3da5" + "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33.img.xz", - "hash": "e555a29c3ccb547ed840085c052cd1c6126c32d5c6dafe1712f593ae631be190", - "hash_raw": "2f78f798861e0a3dd55af87e7a0c1982502a9293340d3eee6f3b8c9c88878e33", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz", + "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116", + "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "f5bc368dbe52ac7800634f74b1fd764fc3b6e68337984f40fd59222b1276d9f2" + "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b.img.xz", - "hash": "f5dfbe1dcba25b9a1920259bc89f52b5e406519539ff0112d5469fff3f1b6dba", - "hash_raw": "6367d73ba6a32823035c9941168ca3af3704c783f6bcd912f70afe1dbdfdd14b", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz", + "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9", + "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "b8f447f0ea40faae7292d3a0dc380d194caab6ec3f5007eda5661f2aa4d2f4ab" + "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507" } ] \ No newline at end of file From 5ec9aee2166ec2fefd15128360e4ca26180e6afb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 15:39:44 -0700 Subject: [PATCH 20/36] File sourcing: simplify return type (#36028) * rm str | none pattern * clean up * more clean up * stash * Revert "stash" This reverts commit 3e2472160cc97e9d11922137757d9ef942a0312d. * fix da prints * fix cmt --- tools/lib/logreader.py | 43 +++++++++++++++++++----------------------- 1 file changed, 19 insertions(+), 24 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 833f9825bb..50e3b9dc7a 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -140,9 +140,8 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogPath = str | None LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, LogPath]] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] InternalUnavailableException = Exception("Internal source not available") @@ -151,17 +150,17 @@ class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: route = Route(sr.route_name) # comma api will have already checked if the file exists if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs} + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs} + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]: +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: if not internal_source_available(endpoint_url): raise InternalUnavailableException @@ -171,11 +170,11 @@ def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, end return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]: +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) @@ -183,21 +182,19 @@ def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, LogPath]: +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, LogPath] = {} + valid_files: dict[int, str] = {} for seg_idx, urls in files.items(): if isinstance(urls, str): urls = [urls] - # Add first valid file URL or None + # Add first valid file URL for url in urls: if file_exists(url): valid_files[seg_idx] = url break - else: - valid_files[seg_idx] = None return valid_files @@ -220,37 +217,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None. # This function only returns when we've sourced all files, or throws an exception - valid_files: dict[int, LogPath] = {} + valid_files: dict[int, str] = {} for fn in try_fns: for source in sources: try: files = source(sr, needed_seg_idxs, fn) # Build a dict of valid files - for idx, f in files.items(): - if valid_files.get(idx) is None: - valid_files[idx] = f + valid_files |= files # Don't check for segment files that have already been found - needed_seg_idxs = [idx for idx in needed_seg_idxs if valid_files.get(idx) is None] + needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files] # We've found all files, return them - if all(f is not None for f in valid_files.values()): + if len(needed_seg_idxs) == 0: return cast(list[str], list(valid_files.values())) except Exception as e: exceptions[source.__name__] = e if fn == try_fns[0]: - missing_logs = list(valid_files.values()).count(None) + missing_logs = len(needed_seg_idxs) if mode == ReadMode.AUTO: - cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...") + cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...") elif mode == ReadMode.AUTO_INTERACTIVE: - if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y": + if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y": break - missing_logs = list(valid_files.values()).count(None) - raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " + + missing_logs = len(needed_seg_idxs) + raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " + "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" + "Exceptions for sources:\n - " + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()])) From 18b7ddef8fb8e6e0f1dbb2f8a7799e423d0bd208 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 19 Aug 2025 16:25:13 -0700 Subject: [PATCH 21/36] File sourcing: Not all files are logs (#36025) * Not all files are logs * more refactor * linting ok * fix tests * import exception * whoops forgot to git add * fix --------- Co-authored-by: Shane Smiskol --- tools/lib/file_sources.py | 57 +++++++++++++++++++++++++++++ tools/lib/logreader.py | 61 +++---------------------------- tools/lib/tests/test_logreader.py | 5 ++- 3 files changed, 65 insertions(+), 58 deletions(-) create mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py new file mode 100755 index 0000000000..cb7bf15114 --- /dev/null +++ b/tools/lib/file_sources.py @@ -0,0 +1,57 @@ +from collections.abc import Callable + +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName + +# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) +FileNames = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 50e3b9dc7a..8d84cdbd5d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,16 +12,15 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Callable, Iterable, Iterator +from collections.abc import Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source +from openpilot.tools.lib.route import SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -140,65 +139,15 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files - - +# TODO this should apply to camera files as well def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 7a70ad6aab..6e508967b9 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,7 +10,8 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode +from openpilot.tools.lib.log_sources import comma_api_source, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -90,7 +91,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From dd5f5fdb98fed20d37cde4b9c786146814b00b58 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 17:11:29 -0700 Subject: [PATCH 22/36] ci: show all unit test failures (#36029) * testci * fix * Revert "testci" This reverts commit b62a0aacb604fc0fd39c6e50a726b686979b9880. --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2d94a39260..fa462166b0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -162,7 +162,7 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - $PYTEST --collect-only -m 'not slow' &> /dev/null && \ + $PYTEST --collect-only -m 'not slow' && \ MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ From 3570022b9a7e90c98a0188d5b7f7f2e14710af61 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 17:11:53 -0700 Subject: [PATCH 23/36] Revert "File sourcing: Not all files are logs (#36025)" This reverts commit 18b7ddef8fb8e6e0f1dbb2f8a7799e423d0bd208. --- tools/lib/file_sources.py | 57 ----------------------------- tools/lib/logreader.py | 61 ++++++++++++++++++++++++++++--- tools/lib/tests/test_logreader.py | 5 +-- 3 files changed, 58 insertions(+), 65 deletions(-) delete mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py deleted file mode 100755 index cb7bf15114..0000000000 --- a/tools/lib/file_sources.py +++ /dev/null @@ -1,57 +0,0 @@ -from collections.abc import Callable - -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName - -# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) -FileNames = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 8d84cdbd5d..50e3b9dc7a 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,15 +12,16 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Iterable, Iterator +from collections.abc import Callable, Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source -from openpilot.tools.lib.route import SegmentRange, FileName +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -139,15 +140,65 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user +LogFileName = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + class LogsUnavailable(Exception): pass +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -# TODO this should apply to camera files as well +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files + + def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 6e508967b9..7a70ad6aab 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,8 +10,7 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode -from openpilot.tools.lib.log_sources import comma_api_source, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -91,7 +90,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From 22e79479d257bc3fca5692a82dc9b570db23c044 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:39:27 -0700 Subject: [PATCH 24/36] unit tests: add comment (#36030) * remove collection * test * back * wtf it actually saves 10s?! * ah that makes sense * rm * ? * ugh * qq * bc --- .github/workflows/selfdrive_tests.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fa462166b0..aad772757d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -162,7 +162,8 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - $PYTEST --collect-only -m 'not slow' && \ + # Pre-compile Python bytecode so each pytest worker doesn't need to + $PYTEST --collect-only -m 'not slow' -qq && \ MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ From 60c34a083791e96b0a244dc56decb1423e080da0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:58:47 -0700 Subject: [PATCH 25/36] LogReader: run source test (#36031) run "slow" test --- tools/lib/tests/test_logreader.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 7a70ad6aab..a9f7b2352d 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -40,7 +40,7 @@ def setup_source_scenario(mocker, is_internal=False): else: internal_source_mock.side_effect = InternalUnavailableException - openpilotci_source_mock.return_value = {3: None} + openpilotci_source_mock.return_value = {} comma_api_source_mock.return_value = {3: QLOG_FILE} yield @@ -208,13 +208,12 @@ class TestLogReader: assert qlog_len == log_len @pytest.mark.parametrize("is_internal", [True, False]) - @pytest.mark.slow def test_auto_source_scenarios(self, mocker, is_internal): lr = LogReader(QLOG_FILE) qlog_len = len(list(lr)) with setup_source_scenario(mocker, is_internal=is_internal): - lr = LogReader(f"{TEST_ROUTE}/0/q") + lr = LogReader(f"{TEST_ROUTE}/3/q") log_len = len(list(lr)) assert qlog_len == log_len From 870d19f33de194679e060b49f7a970c3cfaa3836 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 19:59:50 -0700 Subject: [PATCH 26/36] Reapply "File sourcing: Not all files are logs (#36025)" This reverts commit 3570022b9a7e90c98a0188d5b7f7f2e14710af61. Fix test --- tools/lib/file_sources.py | 57 +++++++++++++++++++++++++++++ tools/lib/logreader.py | 61 +++---------------------------- tools/lib/tests/test_logreader.py | 5 ++- 3 files changed, 65 insertions(+), 58 deletions(-) create mode 100755 tools/lib/file_sources.py diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py new file mode 100755 index 0000000000..cb7bf15114 --- /dev/null +++ b/tools/lib/file_sources.py @@ -0,0 +1,57 @@ +from collections.abc import Callable + +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available +from openpilot.tools.lib.route import Route, SegmentRange, FileName + +# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2) +FileNames = tuple[str, ...] +Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]] + +InternalUnavailableException = Exception("Internal source not available") + + +def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + route = Route(sr.route_name) + + # comma api will have already checked if the file exists + if fns == FileName.RLOG: + return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} + else: + return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} + + +def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: + if not internal_source_available(endpoint_url): + raise InternalUnavailableException + + def get_internal_url(sr: SegmentRange, seg, file): + return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" + + return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) + + +def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]: + return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) + + +def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: + # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) + valid_files: dict[int, str] = {} + + for seg_idx, urls in files.items(): + if isinstance(urls, str): + urls = [urls] + + # Add first valid file URL + for url in urls: + if file_exists(url): + valid_files[seg_idx] = url + break + + return valid_files diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 50e3b9dc7a..8d84cdbd5d 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,16 +12,15 @@ import urllib.parse import warnings import zstandard as zstd -from collections.abc import Callable, Iterable, Iterator +from collections.abc import Iterable, Iterator from typing import cast from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log from openpilot.common.swaglog import cloudlog -from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available -from openpilot.tools.lib.route import Route, SegmentRange, FileName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source +from openpilot.tools.lib.route import SegmentRange, FileName from openpilot.tools.lib.log_time_series import msgs_to_time_series LogMessage = type[capnp._DynamicStructReader] @@ -140,65 +139,15 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogFileName = tuple[str, ...] -Source = Callable[[SegmentRange, list[int], LogFileName], dict[int, str]] - -InternalUnavailableException = Exception("Internal source not available") - - class LogsUnavailable(Exception): pass -def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - route = Route(sr.route_name) - - # comma api will have already checked if the file exists - if fns == FileName.RLOG: - return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None} - else: - return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None} - - -def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]: - if not internal_source_available(endpoint_url): - raise InternalUnavailableException - - def get_internal_url(sr: SegmentRange, seg, file): - return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}" - - return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs}) - - -def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, str]: - return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs}) - - def direct_source(file_or_url: str) -> list[str]: return [file_or_url] -def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]: - # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst) - valid_files: dict[int, str] = {} - - for seg_idx, urls in files.items(): - if isinstance(urls, str): - urls = [urls] - - # Add first valid file URL - for url in urls: - if file_exists(url): - valid_files[seg_idx] = url - break - - return valid_files - - +# TODO this should apply to camera files as well def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]: exceptions = {} diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index a9f7b2352d..8d0870171f 100644 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -10,7 +10,8 @@ import requests from parameterized import parameterized from cereal import log as capnp_log -from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException +from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode +from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -90,7 +91,7 @@ class TestLogReader: @pytest.mark.parametrize("cache_enabled", [True, False]) def test_direct_parsing(self, mocker, cache_enabled): - file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists") + file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) From d0069c136b4302c6978717abc6e3859efeea3a93 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:19:56 -0700 Subject: [PATCH 27/36] raylib: fix experimental mode path gradient (#36033) * fix! * this is enough to fix the broken colors * clean up * fix * use last colors -- need this so we don't have to always pass perfect gradient * clean up * clean up * clean up --- selfdrive/ui/onroad/model_renderer.py | 16 ++++++++-------- system/ui/lib/shader_polygon.py | 4 ++++ 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 4439141a40..684f2a8453 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -187,9 +187,9 @@ class ModelRenderer(Widget): self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False ) - self._update_experimental_gradient(self._rect.height) + self._update_experimental_gradient() - def _update_experimental_gradient(self, height): + def _update_experimental_gradient(self): """Pre-calculate experimental mode gradient colors""" if not self._experimental_mode: return @@ -201,14 +201,14 @@ class ModelRenderer(Widget): i = 0 while i < max_len: - track_idx = max_len - i - 1 # flip idx to start from bottom right - track_y = self._path.projected_points[track_idx][1] - if track_y < 0 or track_y > height: + # Some points are out of frame + track_y = self._path.projected_points[i][1] + if track_y < self._rect.y or track_y > self._rect.height: i += 1 continue - # Calculate color based on acceleration - lin_grad_point = (height - track_y) / height + # Calculate color based on acceleration (0 is bottom, 1 is top) + lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height # speed up: 120, slow down: 0 path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) @@ -280,7 +280,7 @@ class ModelRenderer(Widget): if self._experimental_mode: # Draw with acceleration coloring - if len(self._exp_gradient['colors']) > 2: + if len(self._exp_gradient['colors']) > 1: draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient) else: draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30)) diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py index cfde81c554..39bc0d5aa4 100644 --- a/system/ui/lib/shader_polygon.py +++ b/system/ui/lib/shader_polygon.py @@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) { float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0); if (gradientColorCount <= 1) return gradientColors[0]; + + // handle t before first / after last stop + if (t <= gradientStops[0]) return gradientColors[0]; + if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1]; for (int i = 0; i < gradientColorCount - 1; i++) { if (t >= gradientStops[i] && t <= gradientStops[i+1]) { float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]); From 63441c048cb59178778aa670e17973324d2ed0d9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 19 Aug 2025 22:30:48 -0700 Subject: [PATCH 28/36] test_onroad: relax first fid assertion (#36032) * fid * test * Revert "test" This reverts commit 38e6635dd0b0b9fb9c08bcc3a74b9283207b0c2f. * r * Revert "r" This reverts commit 4037a321f89af137a645345a0fffb73da6071c72. --- selfdrive/test/test_onroad.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 935da99c10..0149653c84 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -333,20 +333,18 @@ class TestOnroad: assert np.all(eof_sof_diff > 0) assert np.all(eof_sof_diff < 50*1e6) - first_fid = {c: min(self.ts[c]['frameId']) for c in cams} + first_fid = {min(self.ts[c]['frameId']) for c in cams} + assert len(first_fid) == 1, "Cameras don't start on same frame ID" if cam.endswith('CameraState'): # camerad guarantees that all cams start on frame ID 0 # (note loggerd also needs to start up fast enough to catch it) - assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0" - else: - # encoder guarantees all cams start on the same frame ID - assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID" + assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high" # we don't do a full segment rotation, so these might not match exactly - last_fid = {c: max(self.ts[c]['frameId']) for c in cams} - assert max(last_fid.values()) - min(last_fid.values()) < 10 + last_fid = {max(self.ts[c]['frameId']) for c in cams} + assert max(last_fid) - min(last_fid) < 10 - start, end = min(first_fid.values()), min(last_fid.values()) + start, end = min(first_fid), min(last_fid) for i in range(end-start): ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams} diff = (max(ts.values()) - min(ts.values())) From 8320934d91b78ddea2c4d714dc29e3d4c72dd196 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:33:07 -0700 Subject: [PATCH 29/36] raylib: cleanup experimental mode gradient color calculations (#36035) * dfebug * simplify * come on man --- selfdrive/ui/onroad/model_renderer.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 684f2a8453..f81b0be66c 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -211,12 +211,11 @@ class ModelRenderer(Widget): lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height # speed up: 120, slow down: 0 - path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0) - path_hue = int(path_hue * 100 + 0.5) / 100 + path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120) saturation = min(abs(self._acceleration_x[i] * 1.5), 1) - lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62) - alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0) + lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62]) + alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0]) # Use HSL to RGB conversion color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha) @@ -409,13 +408,6 @@ class ModelRenderer(Widget): return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32) - @staticmethod - def _map_val(x, x0, x1, y0, y1): - x = np.clip(x, x0, x1) - ra = x1 - x0 - rb = y1 - y0 - return (x - x0) * rb / ra + y0 if ra != 0 else y0 - @staticmethod def _hsla_to_color(h, s, l, a): rgb = colorsys.hls_to_rgb(h, l, s) From 2ff707d82f53b01811ad184fbfc873c664188cc3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Aug 2025 22:37:55 -0700 Subject: [PATCH 30/36] Fix gradient point ignore --- selfdrive/ui/onroad/model_renderer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index f81b0be66c..932773755d 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -201,9 +201,9 @@ class ModelRenderer(Widget): i = 0 while i < max_len: - # Some points are out of frame + # Some points (screen space) are out of frame (rect space) track_y = self._path.projected_points[i][1] - if track_y < self._rect.y or track_y > self._rect.height: + if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height): i += 1 continue From 154f65533554e7b55b6d9abdf22d57e5035b1bc5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Aug 2025 15:44:13 -0700 Subject: [PATCH 31/36] update release checklist --- release/README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/release/README.md b/release/README.md index 266d881d3c..170a2d65ca 100644 --- a/release/README.md +++ b/release/README.md @@ -3,7 +3,7 @@ ``` ## release checklist -**Go to staging** +### Go to staging - [ ] make a GitHub issue to track release - [ ] create release master branch - [ ] update RELEASES.md @@ -11,11 +11,12 @@ - [ ] build new userdata partition from `release3-staging` - [ ] post on Discord, tag `@release crew` -Updates to staging: -- [ ] either rebase on master or cherry-pick changes -- [ ] run this to update: `BRANCH=devel-staging release/build_devel.sh` +Updating staging: +1. either rebase on master or cherry-pick changes +2. run this to update: `BRANCH=devel-staging release/build_devel.sh` +3. build new userdata partition from `release3-staging` -**Go to release** +### Go to release - [ ] before going to release, test the following: - [ ] update from previous release -> new release - [ ] update from new release -> previous release From b4cc4ea8e2dc0c7cae0fe5407b868a71dc1c1af9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Aug 2025 15:44:23 -0700 Subject: [PATCH 32/36] Update README.md --- release/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release/README.md b/release/README.md index 170a2d65ca..fb651fa05a 100644 --- a/release/README.md +++ b/release/README.md @@ -14,7 +14,7 @@ Updating staging: 1. either rebase on master or cherry-pick changes 2. run this to update: `BRANCH=devel-staging release/build_devel.sh` -3. build new userdata partition from `release3-staging` +3. build new userdata partition from `release3-staging` ### Go to release - [ ] before going to release, test the following: From cd9ec6b240abd6e2a2aa4afc29840180a332147f Mon Sep 17 00:00:00 2001 From: "kostas.pats" <35031825+kostas1507@users.noreply.github.com> Date: Wed, 20 Aug 2025 22:45:05 +0000 Subject: [PATCH 33/36] Compressed vipc name pick (#36036) * add custom vipc server name argument * Update compressed_vipc.py * add custom vipc server name argument + fixes * Update compressed_vipc.py --- tools/camerastream/compressed_vipc.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index b25b8b0cb7..4dc74272ea 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): class CompressedVipc: - def __init__(self, addr, vision_streams, nvidia=False, debug=False): + def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False): print("getting frame sizes") os.environ["ZMQ"] = "1" messaging.reset_context() @@ -117,7 +117,7 @@ class CompressedVipc: os.environ.pop("ZMQ") messaging.reset_context() - self.vipc_server = VisionIpcServer("camerad") + self.vipc_server = VisionIpcServer(server_name) for vst in vision_streams: ed = sm[ENCODE_SOCKETS[vst]] self.vipc_server.create_buffers(vst, 4, ed.width, ed.height) @@ -144,6 +144,7 @@ if __name__ == "__main__": parser.add_argument("addr", help="Address of comma three") parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg") parser.add_argument("--cams", default="0,1,2", help="Cameras to decode") + parser.add_argument("--server", default="camerad", help="choose vipc server name") parser.add_argument("--silent", action="store_true", help="Suppress debug output") args = parser.parse_args() @@ -154,7 +155,7 @@ if __name__ == "__main__": ] vsts = [vision_streams[int(x)] for x in args.cams.split(",")] - cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent)) + cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent)) # register exit handler signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill()) From cea3572b7416fd7589a85e9572fb620976e7b163 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Aug 2025 16:54:15 -0700 Subject: [PATCH 34/36] raylib: fix mouse scale for Widgets (#36040) fix mouse scale for mousestate --- system/ui/lib/application.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 718bf036fa..3f433e1fcb 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -67,7 +67,8 @@ class MouseEvent(NamedTuple): class MouseState: - def __init__(self): + def __init__(self, scale: float = 1.0): + self._scale = scale self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS @@ -102,8 +103,10 @@ class MouseState: def _handle_mouse_event(self): for slot in range(MAX_TOUCH_SLOTS): mouse_pos = rl.get_touch_position(slot) + x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x + y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y ev = MouseEvent( - MousePos(mouse_pos.x, mouse_pos.y), + MousePos(x, y), slot, rl.is_mouse_button_pressed(slot), rl.is_mouse_button_released(slot), @@ -133,7 +136,7 @@ class GuiApplication: self._trace_log_callback = None self._modal_overlay = ModalOverlay() - self._mouse = MouseState() + self._mouse = MouseState(self._scale) self._mouse_events: list[MouseEvent] = [] # Debug variables From c0a74f7a20da6375d710b92037bbf6143fe3822a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Aug 2025 01:55:01 -0700 Subject: [PATCH 35/36] raylib: change default tethering password --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 178bbec43e..4cb741bc95 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 TETHERING_IP_ADDRESS = "192.168.43.1" -DEFAULT_TETHERING_PASSWORD = "12345678" +DEFAULT_TETHERING_PASSWORD = "swagswagcomma" # NetworkManager device states From ae3b74245f0685e70e5e76c193e99f7f175c1db0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Aug 2025 09:08:40 -0700 Subject: [PATCH 36/36] sgo is just o now! --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index dcf645ff61..f3af58f85b 100644 --- a/README.md +++ b/README.md @@ -56,7 +56,6 @@ We have detailed instructions for [how to install the harness and device in a ca | `release3-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | -| `secretgoodopenpilot` | installer.comma.ai/commaai/secretgoodopenpilot | This is a preview branch from the autonomy team where new driving models get merged earlier than master. | To start developing openpilot ------