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Merge remote-tracking branch 'upstream/master' into fuzzy-panda-carstate

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pull/30443/head
Shane Smiskol 2 years ago
parent f1bd4e951d 2a55ff4f55
commit 9564eb15b2
41 changed files with 600 additions and 823 deletions
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  1. 28
      .github/workflows/stale.yaml
  2. 4
      .pre-commit-config.yaml
  3. 2
      Jenkinsfile
  4. 38
      common/modeldata.h
  5. 2
      panda
  6. 719
      poetry.lock
  7. 1
      release/files_common
  8. 2
      release/files_tici
  9. 2
      scripts/code_stats.py
  10. 7
      selfdrive/debug/profiling/snapdragon/README
  11. 13
      selfdrive/debug/profiling/snapdragon/README.md
  12. 14
      selfdrive/debug/profiling/snapdragon/setup-profiler.sh
  13. 2
      selfdrive/manager/process_config.py
  14. 2
      selfdrive/test/test_onroad.py
  15. 5
      selfdrive/ui/qt/widgets/controls.cc
  16. 6
      selfdrive/ui/ui.cc
  17. 17
      selfdrive/ui/ui.h
  18. 3
      selfdrive/updated.py
  19. 1
      system/camerad/cameras/camera_common.cc
  20. 182
      system/loggerd/logger.cc
  21. 62
      system/loggerd/logger.h
  22. 51
      system/loggerd/loggerd.cc
  23. 27
      system/loggerd/tests/fill.py
  24. 99
      system/loggerd/tests/test_logger.cc
  25. 8
      system/loggerd/tools/mark_all_uploaded.py
  26. 8
      system/loggerd/tools/mark_unuploaded.py
  27. 0
      system/qcomgpsd/modemdiag.py
  28. 6
      system/qcomgpsd/nmeaport.py
  29. 10
      system/qcomgpsd/qcomgpsd.py
  30. 0
      system/qcomgpsd/structs.py
  31. 28
      system/qcomgpsd/tests/test_qcomgpsd.py
  32. 7
      tools/bodyteleop/web.py
  33. 4
      tools/cabana/tools/findsignal.cc
  34. 21
      tools/replay/consoleui.cc
  35. 1
      tools/replay/consoleui.h
  36. 6
      tools/replay/main.cc
  37. 6
      tools/replay/replay.cc
  38. 1
      tools/replay/replay.h
  39. 20
      tools/sim/lib/manual_ctrl.py
  40. 4
      tools/sim/tests/test_carla_bridge.py

28
.github/workflows/stale.yaml
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@ -0,0 +1,28 @@
name: stale
on:
schedule:
- cron: '30 1 * * *'
workflow_dispatch:
env:
DAYS_BEFORE_PR_CLOSE: 7
DAYS_BEFORE_PR_STALE: 30
jobs:
stale:
runs-on: ubuntu-latest
steps:
- uses: actions/stale@v8
with:
exempt-milestones: true
# pull request config
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
# issue config
days-before-issue-stale: -1 # ignore issues for now

4
.pre-commit-config.yaml
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@ -38,10 +38,10 @@ repos:
entry: mypy entry: mypy
language: system language: system
types: [python] types: [python]
args: ['--explicit-package-bases'] args: ['--explicit-package-bases', '--local-partial-types']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit - repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.1.5 rev: v0.1.6
hooks: hooks:
- id: ruff - id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'

2
Jenkinsfile vendored
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@ -216,7 +216,7 @@ node {
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
]) ])
}, },

38
common/modeldata.h
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@ -1,38 +0,0 @@
#pragma once
#include <array>
#include "common/mat.h"
#include "system/hardware/hw.h"
const int TRAJECTORY_SIZE = 33;
const int LAT_MPC_N = 16;
const int LON_MPC_N = 32;
const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;
const float RYG_GREEN = 0.01165;
const float RYG_YELLOW = 0.06157;
template <typename T, size_t size>
constexpr std::array<T, size> build_idxs(float max_val) {
std::array<T, size> result{};
for (int i = 0; i < size; ++i) {
result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
}
return result;
}
constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
// tici ecam focal probably wrong? magnification is not consistent across frame
// Need to retrain model before this can be changed
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
0.0, 567.0, 1208.0 / 2,
0.0, 0.0, 1.0}};

2
panda

@ -1 +1 @@
Subproject commit 7a197ff30dda000539ce6a3d5c22422cf0c7311c Subproject commit 83acc65743364f9f2c214bb4d68976ab3b043949

719
poetry.lock generated
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@ -2,111 +2,98 @@
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name = "aiohttp" name = "aiohttp"
version = "3.8.6" version = "3.9.0"
description = "Async http client/server framework (asyncio)" description = "Async http client/server framework (asyncio)"
optional = false optional = false
python-versions = ">=3.6" python-versions = ">=3.8"
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] ]
[package.dependencies] [package.dependencies]

1
release/files_common
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@ -163,7 +163,6 @@ common/ratekeeper.h
common/watchdog.cc common/watchdog.cc
common/watchdog.h common/watchdog.h
common/modeldata.h
common/mat.h common/mat.h
common/timing.h common/timing.h

2
release/files_tici
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@ -12,7 +12,7 @@ system/camerad/cameras/camera_util.cc
system/camerad/cameras/camera_util.h system/camerad/cameras/camera_util.h
system/camerad/cameras/real_debayer.cl system/camerad/cameras/real_debayer.cl
system/sensord/rawgps/* system/qcomgpsd/*
selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/spinner_larch64
selfdrive/ui/qt/text_larch64 selfdrive/ui/qt/text_larch64

2
scripts/code_stats.py
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@ -13,7 +13,7 @@ for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
if f.endswith(".py"): if f.endswith(".py"):
pyf.append(os.path.join(root, f)) pyf.append(os.path.join(root, f))
imps = set() imps: set[str] = set()
class Analyzer(ast.NodeVisitor): class Analyzer(ast.NodeVisitor):
def visit_Import(self, node): def visit_Import(self, node):

7
selfdrive/debug/profiling/snapdragon/README
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@ -1,7 +0,0 @@
snapdragon profiler
--------
* download from https://developer.qualcomm.com/software/snapdragon-profiler
* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
* run ./setup-agnos.sh
* run selfdrive/debug/adb.sh on device

13
selfdrive/debug/profiling/snapdragon/README.md
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@ -0,0 +1,13 @@
snapdragon profiler
--------
* download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
* choose v2021.5 (verified working with 20.04 dev environment)
* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
* run ```./setup-profiler.sh```
* run ```./setup-agnos.sh```
* run ```selfdrive/debug/adb.sh``` on device
* run the ```adb connect xxx``` command that was given to you on local pc
* cd to SnapdragonProfiler and run ```./run_sdp.sh```
* connect to device -> choose device you just setup

14
selfdrive/debug/profiling/snapdragon/setup-profiler.sh
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@ -0,0 +1,14 @@
#!/bin/bash
# install depends
sudo apt update
sudo apt-get install libc++1 libc++abi1 default-jre android-tools-adb gtk-sharp2
# setup mono
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 3FA7E0328081BFF6A14DA29AA6A19B38D3D831EF
sudo apt install apt-transport-https ca-certificates
echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | sudo tee /etc/apt/sources.list.d/mono-official-stable.list
sudo apt update
sudo apt-get install -y mono-complete
echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh"

2
selfdrive/manager/process_config.py
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@ -68,7 +68,7 @@ procs = [
PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("deleter", "system.loggerd.deleter", always_run),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),

2
selfdrive/test/test_onroad.py
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@ -69,7 +69,7 @@ PROCS.update({
}, },
"tizi": { "tizi": {
"./boardd": 19.0, "./boardd": 19.0,
"system.sensord.rawgps.rawgpsd": 1.0, "system.qcomgpsd.qcomgpsd": 1.0,
} }
}.get(HARDWARE.get_device_type(), {})) }.get(HARDWARE.get_device_type(), {}))

5
selfdrive/ui/qt/widgets/controls.cc
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@ -12,13 +12,14 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
hlayout->setSpacing(20); hlayout->setSpacing(20);
// left icon // left icon
icon_label = new QLabel(); icon_label = new QLabel(this);
hlayout->addWidget(icon_label);
if (!icon.isEmpty()) { if (!icon.isEmpty()) {
icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
icon_label->setPixmap(icon_pixmap); icon_label->setPixmap(icon_pixmap);
icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
hlayout->addWidget(icon_label);
} }
icon_label->setVisible(!icon.isEmpty());
// title // title
title_label = new QPushButton(title); title_label = new QPushButton(title);

6
selfdrive/ui/ui.cc
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@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
const auto line_x = line.getX(); const auto line_x = line.getX();
int max_idx = 0; int max_idx = 0;
for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
max_idx = i; max_idx = i;
} }
return max_idx; return max_idx;
@ -84,10 +84,10 @@ void update_model(UIState *s,
const cereal::UiPlan::Reader &plan) { const cereal::UiPlan::Reader &plan) {
UIScene &scene = s->scene; UIScene &scene = s->scene;
auto plan_position = plan.getPosition(); auto plan_position = plan.getPosition();
if (plan_position.getX().size() < TRAJECTORY_SIZE){ if (plan_position.getX().size() < model.getPosition().getX().size()) {
plan_position = model.getPosition(); plan_position = model.getPosition();
} }
float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1], float max_distance = std::clamp(*(plan_position.getX().end() - 1),
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
// update lane lines // update lane lines

17
selfdrive/ui/ui.h
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@ -3,7 +3,6 @@
#include <map> #include <map>
#include <memory> #include <memory>
#include <string> #include <string>
#include <optional>
#include <QObject> #include <QObject>
#include <QTimer> #include <QTimer>
@ -13,9 +12,10 @@
#include <QTransform> #include <QTransform>
#include "cereal/messaging/messaging.h" #include "cereal/messaging/messaging.h"
#include "common/modeldata.h" #include "common/mat.h"
#include "common/params.h" #include "common/params.h"
#include "common/timing.h" #include "common/timing.h"
#include "system/hardware/hw.h"
const int UI_BORDER_SIZE = 30; const int UI_BORDER_SIZE = 30;
const int UI_HEADER_HEIGHT = 420; const int UI_HEADER_HEIGHT = 420;
@ -24,7 +24,18 @@ const int UI_FREQ = 20; // Hz
const int BACKLIGHT_OFFROAD = 50; const int BACKLIGHT_OFFROAD = 50;
typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;
constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
// tici ecam focal probably wrong? magnification is not consistent across frame
// Need to retrain model before this can be changed
constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
0.0, 567.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
constexpr vec3 default_face_kpts_3d[] = { constexpr vec3 default_face_kpts_3d[] = {
{-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},

3
selfdrive/updated.py
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@ -428,6 +428,9 @@ def main() -> None:
# invalidate old finalized update # invalidate old finalized update
set_consistent_flag(False) set_consistent_flag(False)
# wait a bit before first cycle
wait_helper.sleep(60)
# Run the update loop # Run the update loop
while True: while True:
wait_helper.ready_event.clear() wait_helper.ready_event.clear()

1
system/camerad/cameras/camera_common.cc
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@ -13,7 +13,6 @@
#include "system/camerad/imgproc/utils.h" #include "system/camerad/imgproc/utils.h"
#include "common/clutil.h" #include "common/clutil.h"
#include "common/modeldata.h"
#include "common/swaglog.h" #include "common/swaglog.h"
#include "common/util.h" #include "common/util.h"
#include "system/hardware/hw.h" #include "system/hardware/hw.h"

182
system/loggerd/logger.cc
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@ -1,21 +1,7 @@
#include "system/loggerd/logger.h" #include "system/loggerd/logger.h"
#include <sys/stat.h>
#include <unistd.h>
#include <ftw.h>
#include <cassert>
#include <cerrno>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <ctime>
#include <fstream> #include <fstream>
#include <iostream>
#include <map> #include <map>
#include <streambuf>
#include <string>
#include <vector> #include <vector>
#include "common/params.h" #include "common/params.h"
@ -108,159 +94,51 @@ std::string logger_get_route_name() {
return route_name; return route_name;
} }
void log_init_data(LoggerState *s) { static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) {
auto bytes = s->init_data.asBytes();
logger_log(s, bytes.begin(), bytes.size(), s->has_qlog);
}
static void lh_log_sentinel(LoggerHandle *h, SentinelType type) {
MessageBuilder msg; MessageBuilder msg;
auto sen = msg.initEvent().initSentinel(); auto sen = msg.initEvent().initSentinel();
sen.setType(type); sen.setType(type);
sen.setSignal(h->exit_signal); sen.setSignal(eixt_signal);
auto bytes = msg.toBytes(); log->write(msg.toBytes(), true);
lh_log(h, bytes.begin(), bytes.size(), true);
}
// ***** logging functions *****
void logger_init(LoggerState *s, bool has_qlog) {
pthread_mutex_init(&s->lock, NULL);
s->part = -1;
s->has_qlog = has_qlog;
s->route_name = logger_get_route_name();
s->init_data = logger_build_init_data();
}
static LoggerHandle* logger_open(LoggerState *s, const char* root_path) {
LoggerHandle *h = NULL;
for (int i=0; i<LOGGER_MAX_HANDLES; i++) {
if (s->handles[i].refcnt == 0) {
h = &s->handles[i];
break;
}
}
assert(h);
snprintf(h->segment_path, sizeof(h->segment_path),
"%s/%s--%d", root_path, s->route_name.c_str(), s->part);
snprintf(h->log_path, sizeof(h->log_path), "%s/rlog", h->segment_path);
snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog", h->segment_path);
snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path);
h->end_sentinel_type = SentinelType::END_OF_SEGMENT;
h->exit_signal = 0;
if (!util::create_directories(h->segment_path, 0775)) return nullptr;
FILE* lock_file = fopen(h->lock_path, "wb");
if (lock_file == NULL) return NULL;
fclose(lock_file);
h->log = std::make_unique<RawFile>(h->log_path);
if (s->has_qlog) {
h->q_log = std::make_unique<RawFile>(h->qlog_path);
} }
pthread_mutex_init(&h->lock, NULL); LoggerState::LoggerState(const std::string &log_root) {
h->refcnt++; route_name = logger_get_route_name();
return h; route_path = log_root + "/" + route_name;
init_data = logger_build_init_data();
} }
int logger_next(LoggerState *s, const char* root_path, LoggerState::~LoggerState() {
char* out_segment_path, size_t out_segment_path_len, if (rlog) {
int* out_part) { log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal);
bool is_start_of_route = !s->cur_handle; std::remove(lock_file.c_str());
pthread_mutex_lock(&s->lock);
s->part++;
LoggerHandle* next_h = logger_open(s, root_path);
if (!next_h) {
pthread_mutex_unlock(&s->lock);
return -1;
} }
if (s->cur_handle) {
lh_close(s->cur_handle);
} }
s->cur_handle = next_h;
if (out_segment_path) { bool LoggerState::next() {
snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path); if (rlog) {
} log_sentinel(this, SentinelType::END_OF_SEGMENT);
if (out_part) { std::remove(lock_file.c_str());
*out_part = s->part;
} }
pthread_mutex_unlock(&s->lock); segment_path = route_path + "--" + std::to_string(++part);
bool ret = util::create_directories(segment_path, 0775);
assert(ret == true);
// write beginning of log metadata const std::string rlog_path = segment_path + "/rlog";
log_init_data(s); lock_file = rlog_path + ".lock";
lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT); std::ofstream{lock_file};
return 0;
}
LoggerHandle* logger_get_handle(LoggerState *s) { rlog.reset(new RawFile(rlog_path));
pthread_mutex_lock(&s->lock); qlog.reset(new RawFile(segment_path + "/qlog"));
LoggerHandle* h = s->cur_handle;
if (h) {
pthread_mutex_lock(&h->lock);
h->refcnt++;
pthread_mutex_unlock(&h->lock);
}
pthread_mutex_unlock(&s->lock);
return h;
}
void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) { // log init data & sentinel type.
pthread_mutex_lock(&s->lock); write(init_data.asBytes(), true);
if (s->cur_handle) { log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE);
lh_log(s->cur_handle, data, data_size, in_qlog); return true;
}
pthread_mutex_unlock(&s->lock);
} }
void logger_close(LoggerState *s, ExitHandler *exit_handler) { void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) {
pthread_mutex_lock(&s->lock); rlog->write(data, size);
if (s->cur_handle) { if (in_qlog) qlog->write(data, size);
s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load();
s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE;
lh_close(s->cur_handle);
}
pthread_mutex_unlock(&s->lock);
}
void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) {
pthread_mutex_lock(&h->lock);
assert(h->refcnt > 0);
h->log->write(data, data_size);
if (in_qlog && h->q_log) {
h->q_log->write(data, data_size);
}
pthread_mutex_unlock(&h->lock);
}
void lh_close(LoggerHandle* h) {
pthread_mutex_lock(&h->lock);
assert(h->refcnt > 0);
if (h->refcnt == 1) {
// a very ugly hack. only here can guarantee sentinel is the last msg
pthread_mutex_unlock(&h->lock);
lh_log_sentinel(h, h->end_sentinel_type);
pthread_mutex_lock(&h->lock);
}
h->refcnt--;
if (h->refcnt == 0) {
h->log.reset(nullptr);
h->q_log.reset(nullptr);
unlink(h->lock_path);
pthread_mutex_unlock(&h->lock);
pthread_mutex_destroy(&h->lock);
return;
}
pthread_mutex_unlock(&h->lock);
} }

62
system/loggerd/logger.h
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@ -1,27 +1,17 @@
#pragma once #pragma once
#include <pthread.h>
#include <cassert> #include <cassert>
#include <cstdint>
#include <cstdio>
#include <memory> #include <memory>
#include <string> #include <string>
#include <capnp/serialize.h>
#include <kj/array.h>
#include "cereal/messaging/messaging.h" #include "cereal/messaging/messaging.h"
#include "common/util.h" #include "common/util.h"
#include "common/swaglog.h"
#include "system/hardware/hw.h" #include "system/hardware/hw.h"
#define LOGGER_MAX_HANDLES 16
class RawFile { class RawFile {
public: public:
RawFile(const char* path) { RawFile(const std::string &path) {
file = util::safe_fopen(path, "wb"); file = util::safe_fopen(path.c_str(), "wb");
assert(file != nullptr); assert(file != nullptr);
} }
~RawFile() { ~RawFile() {
@ -41,39 +31,25 @@ class RawFile {
typedef cereal::Sentinel::SentinelType SentinelType; typedef cereal::Sentinel::SentinelType SentinelType;
typedef struct LoggerHandle {
pthread_mutex_t lock;
SentinelType end_sentinel_type;
int exit_signal;
int refcnt;
char segment_path[4096];
char log_path[4096];
char qlog_path[4096];
char lock_path[4096];
std::unique_ptr<RawFile> log, q_log;
} LoggerHandle;
typedef struct LoggerState { class LoggerState {
pthread_mutex_t lock; public:
int part; LoggerState(const std::string& log_root = Path::log_root());
~LoggerState();
bool next();
void write(uint8_t* data, size_t size, bool in_qlog);
inline int segment() const { return part; }
inline const std::string& segmentPath() const { return segment_path; }
inline const std::string& routeName() const { return route_name; }
inline void write(kj::ArrayPtr<kj::byte> bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); }
inline void setExitSignal(int signal) { exit_signal = signal; }
protected:
int part = -1, exit_signal = 0;
std::string route_path, route_name, segment_path, lock_file;
kj::Array<capnp::word> init_data; kj::Array<capnp::word> init_data;
std::string route_name; std::unique_ptr<RawFile> rlog, qlog;
char log_name[64]; };
bool has_qlog;
LoggerHandle handles[LOGGER_MAX_HANDLES];
LoggerHandle* cur_handle;
} LoggerState;
kj::Array<capnp::word> logger_build_init_data(); kj::Array<capnp::word> logger_build_init_data();
std::string logger_get_route_name(); std::string logger_get_route_name();
void logger_init(LoggerState *s, bool has_qlog);
int logger_next(LoggerState *s, const char* root_path,
char* out_segment_path, size_t out_segment_path_len,
int* out_part);
LoggerHandle* logger_get_handle(LoggerState *s);
void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr);
void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog);
void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog);
void lh_close(LoggerHandle* h);

51
system/loggerd/loggerd.cc
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@ -13,9 +13,7 @@
ExitHandler do_exit; ExitHandler do_exit;
struct LoggerdState { struct LoggerdState {
LoggerState logger = {}; LoggerState logger;
char segment_path[4096];
std::atomic<int> rotate_segment;
std::atomic<double> last_camera_seen_tms; std::atomic<double> last_camera_seen_tms;
std::atomic<int> ready_to_rotate; // count of encoders ready to rotate std::atomic<int> ready_to_rotate; // count of encoders ready to rotate
int max_waiting = 0; int max_waiting = 0;
@ -23,13 +21,11 @@ struct LoggerdState {
}; };
void logger_rotate(LoggerdState *s) { void logger_rotate(LoggerdState *s) {
int segment = -1; bool ret =s->logger.next();
int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment); assert(ret);
assert(err == 0);
s->rotate_segment = segment;
s->ready_to_rotate = 0; s->ready_to_rotate = 0;
s->last_rotate_tms = millis_since_boot(); s->last_rotate_tms = millis_since_boot();
LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path); LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str());
} }
void rotate_if_needed(LoggerdState *s) { void rotate_if_needed(LoggerdState *s) {
@ -85,16 +81,16 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
} }
int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset; int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;
if (offset_segment_num == s->rotate_segment) { if (offset_segment_num == s->logger.segment()) {
// loggerd is now on the segment that matches this packet // loggerd is now on the segment that matches this packet
// if this is a new segment, we close any possible old segments, move to the new, and process any queued packets // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
if (re.current_segment != s->rotate_segment) { if (re.current_segment != s->logger.segment()) {
if (re.recording) { if (re.recording) {
re.writer.reset(); re.writer.reset();
re.recording = false; re.recording = false;
} }
re.current_segment = s->rotate_segment; re.current_segment = s->logger.segment();
re.marked_ready_to_rotate = false; re.marked_ready_to_rotate = false;
// we are in this segment now, process any queued messages before this one // we are in this segment now, process any queued messages before this one
if (!re.q.empty()) { if (!re.q.empty()) {
@ -117,7 +113,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
// if we aren't actually recording, don't create the writer // if we aren't actually recording, don't create the writer
if (encoder_info.record) { if (encoder_info.record) {
assert(encoder_info.filename != NULL); assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->segment_path, re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
// write the header // write the header
@ -149,28 +145,28 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
evt.setLogMonoTime(event.getLogMonoTime()); evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx); (evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes(); auto new_msg = bmsg.toBytes();
logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
bytes_count += new_msg.size(); bytes_count += new_msg.size();
// free the message, we used it // free the message, we used it
delete msg; delete msg;
} else if (offset_segment_num > s->rotate_segment) { } else if (offset_segment_num > s->logger.segment()) {
// encoderd packet has a newer segment, this means encoderd has rolled over // encoderd packet has a newer segment, this means encoderd has rolled over
if (!re.marked_ready_to_rotate) { if (!re.marked_ready_to_rotate) {
re.marked_ready_to_rotate = true; re.marked_ready_to_rotate = true;
++s->ready_to_rotate; ++s->ready_to_rotate;
LOGD("rotate %d -> %d ready %d/%d for %s", LOGD("rotate %d -> %d ready %d/%d for %s",
s->rotate_segment.load(), offset_segment_num, s->logger.segment(), offset_segment_num,
s->ready_to_rotate.load(), s->max_waiting, name.c_str()); s->ready_to_rotate.load(), s->max_waiting, name.c_str());
} }
// queue up all the new segment messages, they go in after the rotate // queue up all the new segment messages, they go in after the rotate
re.q.push_back(msg); re.q.push_back(msg);
} else { } else {
LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->rotate_segment:%d re.encoderd_segment_offset:%d", LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d",
name.c_str(), idx.getSegmentNum(), s->rotate_segment.load(), re.encoderd_segment_offset); name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
// free the message, it's useless. this should never happen // free the message, it's useless. this should never happen
// actually, this can happen if you restart encoderd // actually, this can happen if you restart encoderd
re.encoderd_segment_offset = -s->rotate_segment.load(); re.encoderd_segment_offset = -s->logger.segment();
delete msg; delete msg;
} }
@ -179,19 +175,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
void handle_user_flag(LoggerdState *s) { void handle_user_flag(LoggerdState *s) {
static int prev_segment = -1; static int prev_segment = -1;
if (s->rotate_segment == prev_segment) return; if (s->logger.segment() == prev_segment) return;
LOGW("preserving %s", s->segment_path); LOGW("preserving %s", s->logger.segmentPath().c_str());
#ifdef __APPLE__ #ifdef __APPLE__
int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
#else #else
int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
#endif #endif
if (ret) { if (ret) {
LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno)); LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno));
} }
prev_segment = s->rotate_segment.load(); prev_segment = s->logger.segment();
} }
void loggerd_thread() { void loggerd_thread() {
@ -228,9 +224,8 @@ void loggerd_thread() {
LoggerdState s; LoggerdState s;
// init logger // init logger
logger_init(&s.logger, true);
logger_rotate(&s); logger_rotate(&s);
Params().put("CurrentRoute", s.logger.route_name); Params().put("CurrentRoute", s.logger.routeName());
std::map<std::string, EncoderInfo> encoder_infos_dict; std::map<std::string, EncoderInfo> encoder_infos_dict;
for (const auto &cam : cameras_logged) { for (const auto &cam : cameras_logged) {
@ -261,7 +256,7 @@ void loggerd_thread() {
s.last_camera_seen_tms = millis_since_boot(); s.last_camera_seen_tms = millis_since_boot();
bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
} else { } else {
logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog);
bytes_count += msg->getSize(); bytes_count += msg->getSize();
delete msg; delete msg;
} }
@ -283,7 +278,7 @@ void loggerd_thread() {
} }
LOGW("closing logger"); LOGW("closing logger");
logger_close(&s.logger, &do_exit); s.logger.setExitSignal(do_exit.signal);
if (do_exit.power_failure) { if (do_exit.power_failure) {
LOGE("power failure"); LOGE("power failure");

27
system/loggerd/tests/fill.py
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@ -1,27 +0,0 @@
#!/usr/bin/env python3
"""Script to fill up storage with fake data"""
from pathlib import Path
from openpilot.system.hardware.hw import Paths
from openpilot.system.loggerd.config import get_available_percent
from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file
if __name__ == "__main__":
segment_idx = 0
while True:
seg_name = f"1970-01-01--00-00-00--{segment_idx}"
seg_path = Path(Paths.log_root()) / seg_name
print(seg_path)
create_random_file(seg_path / "fcamera.hevc", 36)
create_random_file(seg_path / "rlog.bz2", 2)
segment_idx += 1
# Fill up to 99 percent
available_percent = get_available_percent()
if available_percent < 1.0:
break

99
system/loggerd/tests/test_logger.cc
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@ -1,16 +1,5 @@
#include <sys/stat.h>
#include <climits>
#include <condition_variable>
#include <sstream>
#include <thread>
#include <utility>
#include "catch2/catch.hpp" #include "catch2/catch.hpp"
#include "cereal/messaging/messaging.h"
#include "common/util.h"
#include "system/loggerd/logger.h" #include "system/loggerd/logger.h"
#include "tools/replay/util.h"
typedef cereal::Sentinel::SentinelType SentinelType; typedef cereal::Sentinel::SentinelType SentinelType;
@ -57,91 +46,29 @@ void verify_segment(const std::string &route_path, int segment, int max_segment,
} }
} }
void write_msg(LoggerHandle *logger) { void write_msg(LoggerState *logger) {
MessageBuilder msg; MessageBuilder msg;
msg.initEvent().initClocks(); msg.initEvent().initClocks();
auto bytes = msg.toBytes(); logger->write(msg.toBytes(), true);
lh_log(logger, bytes.begin(), bytes.size(), true);
} }
TEST_CASE("logger") { TEST_CASE("logger") {
const int segment_cnt = 100;
const std::string log_root = "/tmp/test_logger"; const std::string log_root = "/tmp/test_logger";
system(("rm " + log_root + " -rf").c_str()); system(("rm " + log_root + " -rf").c_str());
std::string route_name;
ExitHandler do_exit; {
LoggerState logger(log_root);
LoggerState logger = {}; route_name = logger.routeName();
logger_init(&logger, true);
char segment_path[PATH_MAX] = {};
int segment = -1;
SECTION("single thread logging & rotation(100 segments, one thread)") {
const int segment_cnt = 100;
for (int i = 0; i < segment_cnt; ++i) {
REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0);
REQUIRE(util::file_exists(std::string(segment_path) + "/rlog.lock"));
REQUIRE(segment == i);
write_msg(logger.cur_handle);
}
do_exit = true;
do_exit.signal = 1;
logger_close(&logger, &do_exit);
for (int i = 0; i < segment_cnt; ++i) {
verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, 1);
}
}
SECTION("multiple threads logging & rotation(100 segments, 10 threads") {
const int segment_cnt = 100, thread_cnt = 10;
std::atomic<int> event_cnt[segment_cnt] = {};
std::atomic<int> main_segment = -1;
auto logging_thread = [&]() -> void {
LoggerHandle *lh = logger_get_handle(&logger);
assert(lh != nullptr);
int segment = main_segment;
int delayed_cnt = 0;
while (!do_exit) {
// write 2 more messages in the current segment and then rotate to the new segment.
if (main_segment > segment && ++delayed_cnt == 2) {
lh_close(lh);
lh = logger_get_handle(&logger);
segment = main_segment;
delayed_cnt = 0;
}
write_msg(lh);
event_cnt[segment] += 1;
usleep(1);
}
lh_close(lh);
};
// start logging
std::vector<std::thread> threads;
for (int i = 0; i < segment_cnt; ++i) { for (int i = 0; i < segment_cnt; ++i) {
REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); REQUIRE(logger.next());
REQUIRE(segment == i); REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
main_segment = segment; REQUIRE(logger.segment() == i);
if (i == 0) { write_msg(&logger);
for (int j = 0; j < thread_cnt; ++j) {
threads.push_back(std::thread(logging_thread));
} }
logger.setExitSignal(1);
} }
for (int j = 0; j < 100; ++j) {
write_msg(logger.cur_handle);
usleep(1);
}
event_cnt[segment] += 100;
}
// end logging
for (auto &t : threads) t.join();
do_exit = true;
do_exit.signal = 1;
logger_close(&logger, &do_exit);
REQUIRE(logger.cur_handle->refcnt == 0);
for (int i = 0; i < segment_cnt; ++i) { for (int i = 0; i < segment_cnt; ++i) {
verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, event_cnt[i]); verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
}
} }
} }

8
system/loggerd/tools/mark_all_uploaded.py
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@ -1,8 +0,0 @@
import os
from openpilot.system.hardware.hw import Paths
from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
for folder in os.walk(Paths.log_root()):
for file1 in folder[2]:
full_path = os.path.join(folder[0], file1)
os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)

8
system/loggerd/tools/mark_unuploaded.py
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@ -1,8 +0,0 @@
#!/usr/bin/env python3
import os
import sys
from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME
for fn in sys.argv[1:]:
print(f"unmarking {fn}")
os.removexattr(fn, UPLOAD_ATTR_NAME)

0
system/sensord/rawgps/modemdiag.py → system/qcomgpsd/modemdiag.py
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6
system/sensord/rawgps/nmeaport.py → system/qcomgpsd/nmeaport.py
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@ -120,11 +120,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
def main() -> NoReturn: def main() -> NoReturn:
from openpilot.common.gpio import gpio_init, gpio_set from openpilot.common.gpio import gpio_init, gpio_set
from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.pins import GPIO
from openpilot.system.sensord.rawgps.rawgpsd import at_cmd from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
try: try:
check_output(["pidof", "rawgpsd"]) check_output(["pidof", "qcomgpsd"])
print("rawgpsd is running, please kill openpilot before running this script! (aborted)") print("qcomgpsd is running, please kill openpilot before running this script! (aborted)")
sys.exit(1) sys.exit(1)
except CalledProcessError as e: except CalledProcessError as e:
if e.returncode != 1: # 1 == no process found (boardd not running) if e.returncode != 1: # 1 == no process found (boardd not running)

10
system/sensord/rawgps/rawgpsd.py → system/qcomgpsd/qcomgpsd.py
Unescape View File

@ -18,8 +18,8 @@ import cereal.messaging as messaging
from openpilot.common.gpio import gpio_init, gpio_set from openpilot.common.gpio import gpio_init, gpio_set
from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.hardware.tici.pins import GPIO
from openpilot.system.swaglog import cloudlog from openpilot.system.swaglog import cloudlog
from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
gps_measurement_report, gps_measurement_report_sv, gps_measurement_report, gps_measurement_report_sv,
glonass_measurement_report, glonass_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv,
oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
@ -101,7 +101,7 @@ def at_cmd(cmd: str) -> Optional[str]:
try: try:
return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
except subprocess.CalledProcessError: except subprocess.CalledProcessError:
cloudlog.exception("rawgps.mmcli_command_failed") cloudlog.exception("qcomgps.mmcli_command_failed")
time.sleep(1.0) time.sleep(1.0)
raise Exception(f"failed to execute mmcli command {cmd=}") raise Exception(f"failed to execute mmcli command {cmd=}")
@ -163,7 +163,7 @@ def inject_assistance():
return return
except subprocess.CalledProcessError as e: except subprocess.CalledProcessError as e:
cloudlog.event( cloudlog.event(
"rawgps.assistance_loading_failed", "qcomgps.assistance_loading_failed",
error=True, error=True,
cmd=e.cmd, cmd=e.cmd,
output=e.output, output=e.output,
@ -379,7 +379,7 @@ def main() -> NoReturn:
gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
# TODO needs update if there is another leap second, after june 2024? # TODO needs update if there is another leap second, after june 2024?
dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, None) + dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) +
datetime.timedelta(weeks=report['w_GpsWeekNumber']) + datetime.timedelta(weeks=report['w_GpsWeekNumber']) +
datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18))) datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18)))
gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3 gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3

0
system/sensord/rawgps/structs.py → system/qcomgpsd/structs.py
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28
system/sensord/rawgps/test_rawgps.py → system/qcomgpsd/tests/test_qcomgpsd.py
Unescape View File

@ -8,7 +8,7 @@ import unittest
import subprocess import subprocess
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.manager.process_config import managed_processes
GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@ -24,7 +24,7 @@ class TestRawgpsd(unittest.TestCase):
@classmethod @classmethod
def tearDownClass(cls): def tearDownClass(cls):
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart systemd-resolved")
os.system("sudo systemctl restart ModemManager lte") os.system("sudo systemctl restart ModemManager lte")
@ -33,7 +33,7 @@ class TestRawgpsd(unittest.TestCase):
self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
def tearDown(self): def tearDown(self):
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart systemd-resolved")
def _wait_for_output(self, t): def _wait_for_output(self, t):
@ -51,7 +51,7 @@ class TestRawgpsd(unittest.TestCase):
def test_wait_for_modem(self): def test_wait_for_modem(self):
os.system("sudo systemctl stop ModemManager") os.system("sudo systemctl stop ModemManager")
managed_processes['rawgpsd'].start() managed_processes['qcomgpsd'].start()
assert not self._wait_for_output(5) assert not self._wait_for_output(5)
os.system("sudo systemctl restart ModemManager") os.system("sudo systemctl restart ModemManager")
@ -62,15 +62,15 @@ class TestRawgpsd(unittest.TestCase):
if not internet: if not internet:
os.system("sudo systemctl stop systemd-resolved") os.system("sudo systemctl stop systemd-resolved")
with self.subTest(internet=internet): with self.subTest(internet=internet):
managed_processes['rawgpsd'].start() managed_processes['qcomgpsd'].start()
assert self._wait_for_output(7) assert self._wait_for_output(7)
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
def test_turns_off_gnss(self): def test_turns_off_gnss(self):
for s in (0.1, 1, 5): for s in (0.1, 1, 5):
managed_processes['rawgpsd'].start() managed_processes['qcomgpsd'].start()
time.sleep(s) time.sleep(s)
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
loc_status = json.loads(ls) loc_status = json.loads(ls)
@ -94,29 +94,29 @@ class TestRawgpsd(unittest.TestCase):
assert valid_duration == '0' assert valid_duration == '0'
def test_assistance_loading(self): def test_assistance_loading(self):
managed_processes['rawgpsd'].start() managed_processes['qcomgpsd'].start()
assert self._wait_for_output(10) assert self._wait_for_output(10)
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
self.check_assistance(True) self.check_assistance(True)
def test_no_assistance_loading(self): def test_no_assistance_loading(self):
os.system("sudo systemctl stop systemd-resolved") os.system("sudo systemctl stop systemd-resolved")
managed_processes['rawgpsd'].start() managed_processes['qcomgpsd'].start()
assert self._wait_for_output(10) assert self._wait_for_output(10)
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
self.check_assistance(False) self.check_assistance(False)
def test_late_assistance_loading(self): def test_late_assistance_loading(self):
os.system("sudo systemctl stop systemd-resolved") os.system("sudo systemctl stop systemd-resolved")
managed_processes['rawgpsd'].start() managed_processes['qcomgpsd'].start()
self._wait_for_output(17) self._wait_for_output(17)
assert self.sm.updated['qcomGnss'] assert self.sm.updated['qcomGnss']
os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart systemd-resolved")
time.sleep(15) time.sleep(15)
managed_processes['rawgpsd'].stop() managed_processes['qcomgpsd'].stop()
self.check_assistance(True) self.check_assistance(True)
if __name__ == "__main__": if __name__ == "__main__":

7
tools/bodyteleop/web.py
Unescape View File

@ -18,11 +18,14 @@ import cereal.messaging as messaging
from openpilot.common.basedir import BASEDIR from openpilot.common.basedir import BASEDIR
from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
from typing import Optional
logger = logging.getLogger("pc") logger = logging.getLogger("pc")
logging.basicConfig(level=logging.INFO) logging.basicConfig(level=logging.INFO)
pcs = set() pcs: set[RTCPeerConnection] = set()
pm, sm = None, None pm: Optional[messaging.PubMaster] = None
sm: Optional[messaging.SubMaster] = None
TELEOPDIR = f"{BASEDIR}/tools/bodyteleop" TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"

4
tools/cabana/tools/findsignal.cc
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@ -214,7 +214,9 @@ void FindSignalDlg::setInitialSignals() {
sig.factor = factor_edit->text().toDouble(); sig.factor = factor_edit->text().toDouble();
sig.offset = offset_edit->text().toDouble(); sig.offset = offset_edit->text().toDouble();
auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble()); double first_time_val = first_time_edit->text().toDouble();
double last_time_val = last_time_edit->text().toDouble();
auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val);
uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9; uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
model->last_time = std::numeric_limits<uint64_t>::max(); model->last_time = std::numeric_limits<uint64_t>::max();
if (last_sec > 0) { if (last_sec > 0) {

21
tools/replay/consoleui.cc
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@ -29,7 +29,7 @@ const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortc
}, },
{ {
{"enter", "Enter seek request"}, {"enter", "Enter seek request"},
{"x", "+/-Replay speed"}, {"+/-", "Playback speed"},
{"q", "Exit"}, {"q", "Exit"},
}, },
}; };
@ -331,13 +331,18 @@ void ConsoleUI::handleKey(char c) {
refresh(); refresh();
getch_timer.start(1000, this); getch_timer.start(1000, this);
} else if (c == 'x') { } else if (c == '+' || c == '=') {
if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) { auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
replay->removeFlag(REPLAY_FLAG_FULL_SPEED); if (it != speed_array.end()) {
rWarning("replay at normal speed"); rWarning("playback speed: %.1fx", *it);
} else { replay->setSpeed(*it);
replay->addFlag(REPLAY_FLAG_FULL_SPEED); }
rWarning("replay at full speed"); } else if (c == '_' || c == '-') {
auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
if (it != speed_array.begin()) {
auto prev = std::prev(it);
rWarning("playback speed: %.1fx", *prev);
replay->setSpeed(*prev);
} }
} else if (c == 'e') { } else if (c == 'e') {
replay->seekToFlag(FindFlag::nextEngagement); replay->seekToFlag(FindFlag::nextEngagement);

1
tools/replay/consoleui.h
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@ -16,6 +16,7 @@ class ConsoleUI : public QObject {
public: public:
ConsoleUI(Replay *replay, QObject *parent = 0); ConsoleUI(Replay *replay, QObject *parent = 0);
~ConsoleUI(); ~ConsoleUI();
inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
private: private:
void initWindows(); void initWindows();

6
tools/replay/main.cc
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@ -33,6 +33,8 @@ int main(int argc, char *argv[]) {
parser.addOption({{"b", "block"}, "blacklist of services to send", "block"}); parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"}); parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"}); parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
parser.addOption({"x", QString("playback <speed>. between %1 - %2")
.arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
parser.addOption({"demo", "use a demo route instead of providing your own"}); parser.addOption({"demo", "use a demo route instead of providing your own"});
parser.addOption({"data_dir", "local directory with routes", "data_dir"}); parser.addOption({"data_dir", "local directory with routes", "data_dir"});
parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"}); parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
@ -67,6 +69,10 @@ int main(int argc, char *argv[]) {
if (!parser.value("c").isEmpty()) { if (!parser.value("c").isEmpty()) {
replay->setSegmentCacheLimit(parser.value("c").toInt()); replay->setSegmentCacheLimit(parser.value("c").toInt());
} }
if (!parser.value("x").isEmpty()) {
replay->setSpeed(std::clamp(parser.value("x").toFloat(),
ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
}
if (!replay->load()) { if (!replay->load()) {
return 0; return 0;
} }

6
tools/replay/replay.cc
Unescape View File

@ -363,7 +363,7 @@ void Replay::publishFrame(const Event *e) {
void Replay::stream() { void Replay::stream() {
cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA; cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
double prev_replay_speed = 1.0; double prev_replay_speed = speed_;
std::unique_lock lk(stream_lock_); std::unique_lock lk(stream_lock_);
while (true) { while (true) {
@ -398,14 +398,14 @@ void Replay::stream() {
evt_start_ts = cur_mono_time_; evt_start_ts = cur_mono_time_;
loop_start_ts = nanos_since_boot(); loop_start_ts = nanos_since_boot();
prev_replay_speed = speed_; prev_replay_speed = speed_;
} else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) { } else if (behind_ns > 0) {
precise_nano_sleep(behind_ns); precise_nano_sleep(behind_ns);
} }
if (!evt->frame) { if (!evt->frame) {
publishMessage(evt); publishMessage(evt);
} else if (camera_server_) { } else if (camera_server_) {
if (hasFlag(REPLAY_FLAG_FULL_SPEED)) { if (speed_ > 1.0) {
camera_server_->waitForSent(); camera_server_->waitForSent();
} }
publishFrame(evt); publishFrame(evt);

1
tools/replay/replay.h
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@ -27,7 +27,6 @@ enum REPLAY_FLAGS {
REPLAY_FLAG_NO_FILE_CACHE = 0x0020, REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
REPLAY_FLAG_QCAMERA = 0x0040, REPLAY_FLAG_QCAMERA = 0x0040,
REPLAY_FLAG_NO_HW_DECODER = 0x0100, REPLAY_FLAG_NO_HW_DECODER = 0x0100,
REPLAY_FLAG_FULL_SPEED = 0x0200,
REPLAY_FLAG_NO_VIPC = 0x0400, REPLAY_FLAG_NO_VIPC = 0x0400,
REPLAY_FLAG_ALL_SERVICES = 0x0800, REPLAY_FLAG_ALL_SERVICES = 0x0800,
}; };

20
tools/sim/lib/manual_ctrl.py
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@ -4,7 +4,7 @@ import array
import os import os
import struct import struct
from fcntl import ioctl from fcntl import ioctl
from typing import NoReturn from typing import NoReturn, Dict, List
# Iterate over the joystick devices. # Iterate over the joystick devices.
print('Available devices:') print('Available devices:')
@ -13,8 +13,8 @@ for fn in os.listdir('/dev/input'):
print(f' /dev/input/{fn}') print(f' /dev/input/{fn}')
# We'll store the states here. # We'll store the states here.
axis_states = {} axis_states: Dict[str, float] = {}
button_states = {} button_states: Dict[str, float] = {}
# These constants were borrowed from linux/input.h # These constants were borrowed from linux/input.h
axis_names = { axis_names = {
@ -88,8 +88,8 @@ button_names = {
0x2c3 : 'dpad_down', 0x2c3 : 'dpad_down',
} }
axis_map = [] axis_name_list: List[str] = []
button_map = [] button_name_list: List[str] = []
def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
# Open the joystick device. # Open the joystick device.
@ -119,7 +119,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
for _axis in buf[:num_axes]: for _axis in buf[:num_axes]:
axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})') axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})')
axis_map.append(axis_name) axis_name_list.append(axis_name)
axis_states[axis_name] = 0.0 axis_states[axis_name] = 0.0
# Get the button map. # Get the button map.
@ -128,11 +128,11 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
for btn in buf[:num_buttons]: for btn in buf[:num_buttons]:
btn_name = button_names.get(btn, f'unknown(0x{btn:03x})') btn_name = button_names.get(btn, f'unknown(0x{btn:03x})')
button_map.append(btn_name) button_name_list.append(btn_name)
button_states[btn_name] = 0 button_states[btn_name] = 0
print('%d axes found: %s' % (num_axes, ', '.join(axis_map))) print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
print('%d buttons found: %s' % (num_buttons, ', '.join(button_map))) print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
# Enable FF # Enable FF
import evdev import evdev
@ -147,7 +147,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
value, mtype, number = struct.unpack('4xhBB', evbuf) value, mtype, number = struct.unpack('4xhBB', evbuf)
# print(mtype, number, value) # print(mtype, number, value)
if mtype & 0x02: # wheel & paddles if mtype & 0x02: # wheel & paddles
axis = axis_map[number] axis = axis_name_list[number]
if axis == "z": # gas if axis == "z": # gas
fvalue = value / 32767.0 fvalue = value / 32767.0

4
tools/sim/tests/test_carla_bridge.py
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@ -2,18 +2,20 @@
import subprocess import subprocess
import time import time
import unittest import unittest
from subprocess import Popen
from openpilot.selfdrive.manager.helpers import unblock_stdout from openpilot.selfdrive.manager.helpers import unblock_stdout
from openpilot.tools.sim.run_bridge import parse_args from openpilot.tools.sim.run_bridge import parse_args
from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
from typing import Optional
class TestCarlaBridge(TestSimBridgeBase): class TestCarlaBridge(TestSimBridgeBase):
""" """
Tests need Carla simulator to run Tests need Carla simulator to run
""" """
carla_process = None carla_process: Optional[Popen] = None
def setUp(self): def setUp(self):
super().setUp() super().setUp()

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