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pull/36007/head
Yassine Yousfi 3 weeks ago
parent c3add4f521 ae3b74245f
commit 93b26a91a6
36 changed files with 328 additions and 341 deletions
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  1. 3
      .github/workflows/selfdrive_tests.yaml
  2. 1
      README.md
  3. 3
      RELEASES.md
  4. 6
      docs/CARS.md
  5. 2
      docs/CONTRIBUTING.md
  6. 2
      launch_env.sh
  7. 2
      opendbc_repo
  8. 2
      panda
  9. 25
      release/README.md
  10. 1
      release/build_devel.sh
  11. 11
      selfdrive/modeld/modeld.py
  12. 4
      selfdrive/modeld/models/driving_policy.onnx
  13. 4
      selfdrive/modeld/models/driving_vision.onnx
  14. 34
      selfdrive/modeld/parse_model_outputs.py
  15. 6
      selfdrive/selfdrived/selfdrived.py
  16. 2
      selfdrive/test/process_replay/test_processes.py
  17. 14
      selfdrive/test/test_onroad.py
  18. 3
      selfdrive/ui/feedback/feedbackd.py
  19. 10
      selfdrive/ui/layouts/settings/toggles.py
  20. 30
      selfdrive/ui/onroad/model_renderer.py
  21. 7
      selfdrive/ui/qt/offroad/settings.cc
  22. 1
      selfdrive/ui/tests/test_feedbackd.py
  23. 12
      system/hardware/tici/agnos.json
  24. 36
      system/hardware/tici/all-partitions.json
  25. 9
      system/ui/lib/application.py
  26. 4
      system/ui/lib/shader_polygon.py
  27. 2
      system/ui/lib/wifi_manager.py
  28. 2
      tinygrad_repo
  29. 7
      tools/camerastream/compressed_vipc.py
  30. 57
      tools/lib/file_sources.py
  31. 86
      tools/lib/logreader.py
  32. 3
      tools/lib/route.py
  33. 10
      tools/lib/tests/test_logreader.py
  34. 4
      tools/lib/url_file.py
  35. 242
      uv.lock

3
.github/workflows/selfdrive_tests.yaml
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@ -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' &> /dev/null && \
# 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 && \

1
README.md
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@ -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
------

3
RELEASES.md
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@ -1,5 +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)
========================
@ -10,7 +12,6 @@ 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!

6
docs/CARS.md
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@ -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|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|Honda|Accord Hybrid 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||

2
docs/CONTRIBUTING.md
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@ -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

2
launch_env.sh
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@ -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"

2
opendbc_repo

@ -1 +1 @@
Subproject commit 74bfaa2c750f2eca584dd6b58c1b862ba59d29d8
Subproject commit 43006b9a41e233325cb7cbcb6ff40de0234217a0

2
panda

@ -1 +1 @@
Subproject commit 5b0f1a2eca710121ef7573f1d183d4bc6c07b6ec
Subproject commit 3dc21386239e3073a623156b75901aa302340d6c

25
release/README.md
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@ -3,33 +3,34 @@
```
## 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:
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
- [ ] 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 <commit-hash> && 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.
```

1
release/build_devel.sh
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@ -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

11
selfdrive/modeld/modeld.py
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@ -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()

4
selfdrive/modeld/models/driving_policy.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:11c845933f9cd9cdea0563441c7d323cc5ceffafc14b9986115036dc121456ec
size 15583374
oid sha256:a629089e37bcc78d0fbb78edffe25de1c62658cec9e8faff8b4e5c029176df60
size 12343523

4
selfdrive/modeld/models/driving_vision.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
size 46265993
oid sha256:13117c848af25b9c5ff2363b32e039a7061f7a72cee8d39611b6fb12bebee056
size 46271991

34
selfdrive/modeld/parse_model_outputs.py
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@ -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 +102,17 @@ 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)
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]:
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

6
selfdrive/selfdrived/selfdrived.py
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@ -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:

2
selfdrive/test/process_replay/test_processes.py
Unescape View File

@ -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")

14
selfdrive/test/test_onroad.py
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@ -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()))

3
selfdrive/ui/feedback/feedbackd.py
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@ -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:

10
selfdrive/ui/layouts/settings/toggles.py
Unescape View File

@ -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"
),

30
selfdrive/ui/onroad/model_renderer.py
Unescape View File

@ -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
@ -201,22 +201,21 @@ 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 (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.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)
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)
@ -280,7 +279,7 @@ 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))
@ -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)

7
selfdrive/ui/qt/offroad/settings.cc
Unescape View File

@ -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"),

1
selfdrive/ui/tests/test_feedbackd.py
Unescape View File

@ -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'])

12
system/hardware/tici/agnos.json
Unescape View File

@ -67,17 +67,17 @@
},
{
"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
}
}

36
system/hardware/tici/all-partitions.json
Unescape View File

@ -350,51 +350,51 @@
},
{
"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
}
},
{
"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"
}
]

9
system/ui/lib/application.py
Unescape View File

@ -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

4
system/ui/lib/shader_polygon.py
Unescape View File

@ -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]);

2
system/ui/lib/wifi_manager.py
Unescape View File

@ -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

2
tinygrad_repo

@ -1 +1 @@
Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59
Subproject commit c30a113b2a876cabaea1049601fea3a0b758c5b1

7
tools/camerastream/compressed_vipc.py
Unescape View File

@ -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())

57
tools/lib/file_sources.py
Unescape View File

@ -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

86
tools/lib/logreader.py
Unescape View File

@ -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]
@ -40,6 +39,7 @@ 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""
@ -139,68 +139,15 @@ 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]]
InternalUnavailableException = Exception("Internal source not available")
class LogsUnavailable(Exception):
pass
def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName) -> dict[int, LogPath]:
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}
else:
return {seg: route.qlog_paths()[seg] for seg in seg_idxs}
def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> dict[int, LogPath]:
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, LogPath]:
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]:
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, LogPath]:
# 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] = {}
for seg_idx, urls in files.items():
if isinstance(urls, str):
urls = [urls]
# Add first valid file URL or None
for url in urls:
if file_exists(url):
valid_files[seg_idx] = url
break
else:
valid_files[seg_idx] = None
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 = {}
@ -219,37 +166,35 @@ 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()]))
@ -353,6 +298,7 @@ class LogReader:
def time_series(self):
return msgs_to_time_series(self)
if __name__ == "__main__":
import codecs

3
tools/lib/route.py
Unescape View File

@ -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)
@ -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__()

10
tools/lib/tests/test_logreader.py
Unescape View File

@ -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
@ -40,7 +41,7 @@ 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
@ -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)
@ -208,13 +209,12 @@ 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

4
tools/lib/url_file.py
Unescape View File

@ -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()
@ -33,7 +35,7 @@ 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

242
uv.lock
Unescape View File

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