From 809154571a2f9aa9e65d29874135c0d29d2135e2 Mon Sep 17 00:00:00 2001 From: Metalbird1997 <45519048+Metalbird1997@users.noreply.github.com> Date: Wed, 8 Dec 2021 22:19:39 +0100 Subject: [PATCH 001/239] add fingerprint for European 2018 Toyota C-HR Hybrid (#23171) --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 275822530e..692de379b5 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -434,6 +434,7 @@ FW_VERSIONS = { }, CAR.CHRH: { (Ecu.engine, 0x700, None): [ + b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', From 1d119999c2fad20708eae522503d7656124c5628 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Wed, 8 Dec 2021 13:55:30 -0800 Subject: [PATCH 002/239] New model: 224877e7-dfcf-4b28-9482-371655918fe1/950 (#23170) * New model: 224877e7-dfcf-4b28-9482-371655918fe1/950 * Updated model replay ref --- models/supercombo.dlc | 2 +- models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/models/supercombo.dlc b/models/supercombo.dlc index 7a92a33a67..2ebf4fa828 100644 --- a/models/supercombo.dlc +++ b/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ebb75bbd4c19994752f038f181359dce358a2c95c4ad1760d2d1ee346a45503d +oid sha256:209e9544e456dbc2a7d60490da65154e129bc84830909d8d931f97b3df93949b size 56684955 diff --git a/models/supercombo.onnx b/models/supercombo.onnx index 7aa47f83ad..17d233dad7 100644 --- a/models/supercombo.onnx +++ b/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6e004a9ff90304fd3dfd661f3f52886affa677d486ff78c131d8a4887757b5f1 -size 57552499 +oid sha256:2365bae967cce21ce68707c30bf2981bb7081ee5c3e6a3dff793e660f23ff622 +size 57554657 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 93b61856de..012c34c80c 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ed6d7e8f5e7e2c141b35814bb1c9b965f5e7dde8 +6629322b3f6fa417e3b58a1d9dfe149afce1dc66 From 755ec71c051b20238185039a0d85272a7c9a66d6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Dec 2021 13:58:06 -0800 Subject: [PATCH 003/239] UI: remove burn in prevention (#23173) --- selfdrive/ui/ui.cc | 11 ----------- selfdrive/ui/ui.h | 2 -- 2 files changed, 13 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 53d73c1043..38c08eb484 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -106,7 +106,6 @@ static void update_sockets(UIState *s) { static void update_state(UIState *s) { SubMaster &sm = *(s->sm); UIScene &scene = s->scene; - s->running_time = 1e-9 * (nanos_since_boot() - sm["deviceState"].getDeviceState().getStartedMonoTime()); if (sm.updated("modelV2")) { update_model(s, sm["modelV2"].getModelV2()); @@ -290,16 +289,6 @@ void Device::updateBrightness(const UIState &s) { // Scale back to 10% to 100% clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); - - // Limit brightness if running for too long - if (Hardware::TICI()) { - const float MAX_BRIGHTNESS_HOURS = 4; - const float HOURLY_BRIGHTNESS_DECREASE = 5; - float ui_running_hours = s.running_time / (60*60); - float anti_burnin_max_percent = std::clamp(100.0f - HOURLY_BRIGHTNESS_DECREASE * (ui_running_hours - MAX_BRIGHTNESS_HOURS), - 30.0f, 100.0f); - clipped_brightness = std::min(clipped_brightness, anti_burnin_max_percent); - } } int brightness = brightness_filter.update(clipped_brightness); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index fe9e96462f..4b4ef0bb28 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -114,8 +114,6 @@ typedef struct UIState { QTransform car_space_transform; bool wide_camera; - - float running_time; } UIState; From 1638975627d8321c05449f06dc5dca5a66e68094 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Dec 2021 14:40:14 -0800 Subject: [PATCH 004/239] Merge 2021 Accords into 2018 Accords (#23174) * Merge 2021 Accords into 2018 Accords * last of them --- selfdrive/car/honda/carstate.py | 6 +- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/honda/values.py | 104 ++++++------------------------- selfdrive/test/test_models.py | 2 +- selfdrive/test/test_routes.py | 4 +- 5 files changed, 26 insertions(+), 92 deletions(-) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 65a9d8fd44..12a4ae4c29 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -107,7 +107,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks += [("CRUISE_PARAMS", 50)] - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)] elif CP.carFingerprint == CAR.ODYSSEY_CHN: signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)] @@ -185,7 +185,7 @@ class CarState(CarStateBase): # ******************* parse out can ******************* # TODO: find wheels moving bit in dbc - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1 ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint == CAR.ODYSSEY_CHN: @@ -236,7 +236,7 @@ class CarState(CarStateBase): 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 - if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, + if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 else: diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 09804c3ebd..03074b875c 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -114,7 +114,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1. ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] - elif candidate in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021): + elif candidate in (CAR.ACCORD, CAR.ACCORDH): stop_and_go = True ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index dad3c9a938..083a52bb86 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -66,8 +66,6 @@ VISUAL_HUD = { class CAR: ACCORD = "HONDA ACCORD 2018" ACCORDH = "HONDA ACCORD HYBRID 2018" - ACCORD_2021 = "HONDA ACCORD 2021" - ACCORDH_2021 = "HONDA ACCORD HYBRID 2021" CIVIC = "HONDA CIVIC 2016" CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" @@ -105,7 +103,9 @@ FW_VERSIONS = { b'37805-6A0-A750\x00\x00', b'37805-6A0-A840\x00\x00', b'37805-6A0-A850\x00\x00', + b'37805-6A0-AF30\x00\x00', b'37805-6A0-AG30\x00\x00', + b'37805-6B2-C520\x00\x00', b'37805-6A0-C540\x00\x00', b'37805-6A1-H650\x00\x00', b'37805-6B2-A550\x00\x00', @@ -131,6 +131,7 @@ FW_VERSIONS = { b'28101-6A7-A410\x00\x00', b'28101-6A7-A510\x00\x00', b'28101-6A7-A610\x00\x00', + b'28101-6A7-A710\x00\x00', b'28101-6A9-H140\x00\x00', b'28101-6A9-H420\x00\x00', b'28102-6B8-A560\x00\x00', @@ -155,10 +156,12 @@ FW_VERSIONS = { b'57114-TVA-B040\x00\x00', b'57114-TVA-B050\x00\x00', b'57114-TVA-B060\x00\x00', + b'57114-TVA-B530\x00\x00', b'57114-TVA-C040\x00\x00', b'57114-TVA-C050\x00\x00', b'57114-TVA-C060\x00\x00', b'57114-TVA-C530\x00\x00', + b'57114-TVA-E520\x00\x00', b'57114-TVE-H250\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ @@ -166,6 +169,7 @@ FW_VERSIONS = { b'39990-TVA-A140\x00\x00', b'39990-TVA-A150\x00\x00', b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', b'39990-TVA-X030\x00\x00', b'39990-TVA-X040\x00\x00', b'39990-TVA,A150\x00\x00', @@ -173,6 +177,7 @@ FW_VERSIONS = { ], (Ecu.unknown, 0x18da3af1, None): [ b'39390-TVA-A020\x00\x00', + b'39390-TVA-A120\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TBX-H230\x00\x00', @@ -191,6 +196,7 @@ FW_VERSIONS = { b'78109-TVA-A120\x00\x00', b'78109-TVA-A210\x00\x00', b'78109-TVA-A220\x00\x00', + b'78109-TVA-A230\x00\x00', b'78109-TVA-A310\x00\x00', b'78109-TVA-C010\x00\x00', b'78109-TVA-L010\x00\x00', @@ -203,6 +209,7 @@ FW_VERSIONS = { b'78109-TVC-A130\x00\x00', b'78109-TVC-A210\x00\x00', b'78109-TVC-A220\x00\x00', + b'78109-TVC-A230\x00\x00', b'78109-TVC-C010\x00\x00', b'78109-TVC-C110\x00\x00', b'78109-TVC-L010\x00\x00', @@ -214,12 +221,15 @@ FW_VERSIONS = { ], (Ecu.hud, 0x18da61f1, None): [ b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TBX-H140\x00\x00', b'36802-TVA-A150\x00\x00', b'36802-TVA-A160\x00\x00', b'36802-TVA-A170\x00\x00', + b'36802-TVA-A330\x00\x00', + b'36802-TVC-A330\x00\x00', b'36802-TVE-H070\x00\x00', b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', @@ -227,6 +237,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TBX-H130\x00\x00', b'36161-TVA-A060\x00\x00', + b'36161-TVA-A330\x00\x00', b'36161-TVC-A330\x00\x00', b'36161-TVE-H050\x00\x00', b'36161-TWA-A070\x00\x00', @@ -246,6 +257,7 @@ FW_VERSIONS = { (Ecu.vsa, 0x18da28f1, None): [ b'57114-TWA-A040\x00\x00', b'57114-TWA-A050\x00\x00', + b'57114-TWA-A530\x00\x00', b'57114-TWA-B520\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ @@ -258,6 +270,7 @@ FW_VERSIONS = { b'78109-TWA-A030\x00\x00', b'78109-TWA-A110\x00\x00', b'78109-TWA-A120\x00\x00', + b'78109-TWA-A130\x00\x00', b'78109-TWA-A210\x00\x00', b'78109-TWA-A220\x00\x00', b'78109-TWA-A230\x00\x00', @@ -273,95 +286,18 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TWA-A070\x00\x00', + b'36161-TWA-A330\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TWA-A070\x00\x00', b'36802-TWA-A080\x00\x00', + b'36802-TWA-A330\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TVA-A160\x00\x00', b'39990-TVA-A150\x00\x00', - ], - }, - CAR.ACCORD_2021: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6A0-AF30\x00\x00', - b'37805-6B2-C520\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-6A7-A710\x00\x00', - b'28102-6B8-A700\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TVA-A320\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TVA-A020\x00\x00', - b'38897-TVA-A240\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TVA-B530\x00\x00', - b'57114-TVA-E520\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TVA-L420\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TVA-A230\x00\x00', - b'78109-TVC-A230\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A110\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TVC-A910\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TVA-A330\x00\x00', - b'36161-TVC-A330\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TVA-A330\x00\x00', - b'36802-TVC-A330\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ b'39990-TVA-A340\x00\x00', ], - (Ecu.unknown, 0x18da3af1, None): [ - b'39390-TVA-A120\x00\x00', - ], - }, - CAR.ACCORDH_2021: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TWD-J020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TWA-A530\x00\x00', - b'57114-TWA-B520\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TWA-L420\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TWA-A030\x00\x00', - b'78109-TWA-A130\x00\x00', - b'78109-TWA-A230\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TWA-A330\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TWA-A330\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TVA-A340\x00\x00', - ], - (Ecu.unknown, 0x18da3af1, None): [ - b'39390-TVA-A120\x00\x00', - ], }, CAR.CIVIC: { (Ecu.programmedFuelInjection, 0x18da10f1, None): [ @@ -1419,9 +1355,7 @@ FW_VERSIONS = { DBC = { CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), - CAR.ACCORD_2021: dbc_dict('honda_accord_2018_can_generated', None), CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None), - CAR.ACCORDH_2021: dbc_dict('honda_accord_2018_can_generated', None), CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None), @@ -1454,6 +1388,6 @@ STEER_THRESHOLD = { HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY]) HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE]) -HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, +HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E]) -HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G]) +HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G]) diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py index fc1f919b83..5c277bfcb1 100755 --- a/selfdrive/test/test_models.py +++ b/selfdrive/test/test_models.py @@ -221,7 +221,7 @@ class TestCarModel(unittest.TestCase): # TODO: use the same signal in panda and carState # tolerate a small delay between the button press and PCM entering a cruise state - if self.car_model == HONDA.ACCORD_2021: + if self.car_model == HONDA.ACCORD: if failed_checks['controlsAllowed'] < 500: del failed_checks['controlsAllowed'] diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py index dc6b926dba..a59690e94b 100755 --- a/selfdrive/test/test_routes.py +++ b/selfdrive/test/test_routes.py @@ -53,9 +53,9 @@ routes = [ TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN), TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T - TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD_2021), # 2.0T + TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD), # 2021 with new style HUD msgs TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH), - TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH_2021), + TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G), TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY), TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL), From 7e20fe7ca2a75110d8918b2d38c37dbc9e56b6de Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Wed, 8 Dec 2021 15:41:48 -0800 Subject: [PATCH 005/239] Long mpc: fix xva policy for sim --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index e75e84da13..7401526364 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -352,7 +352,7 @@ class LongitudinalMpc(): x_obstacle = 1e5*np.ones((N+1)) self.params = np.concatenate([self.accel_limit_arr, x_obstacle[:,None], - self.prev_a], axis=1) + self.prev_a[:,None]], axis=1) self.run() From c41a0cae4b6feaf87c6e85bf4ef7a71a17671cff Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 8 Dec 2021 16:06:09 -0800 Subject: [PATCH 006/239] XVA long policy: prev_a becomes numpy anyway (#23175) --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 7401526364..e0e0208d67 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -203,7 +203,7 @@ class LongitudinalMpc(): self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR) self.v_solution = [0.0 for i in range(N+1)] self.a_solution = [0.0 for i in range(N+1)] - self.prev_a = self.a_solution + self.prev_a = np.array(self.a_solution) self.j_solution = [0.0 for i in range(N)] self.yref = np.zeros((N+1, COST_DIM)) for i in range(N): @@ -371,7 +371,7 @@ class LongitudinalMpc(): self.a_solution = self.x_sol[:,2] self.j_solution = self.u_sol[:,0] - self.prev_a = interp(T_IDXS + 0.05, T_IDXS, self.a_solution) + self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) t = sec_since_boot() if self.solution_status != 0: From e4caaeb2d36ec83c12bc7b34f7b40a684898a711 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Dec 2021 16:21:12 -0800 Subject: [PATCH 007/239] tests for agnos manifest (#23176) --- .github/workflows/selfdrive_tests.yaml | 1 + selfdrive/hardware/tici/test_agnos_updater.py | 26 +++++++++++++++++++ 2 files changed, 27 insertions(+) create mode 100755 selfdrive/hardware/tici/test_agnos_updater.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3b0cc29963..1210430af2 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -246,6 +246,7 @@ jobs: $UNIT_TEST selfdrive/locationd && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ + $UNIT_TEST selfdrive/hardware/tici && \ $UNIT_TEST tools/lib/tests && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./selfdrive/common/tests/test_util && \ diff --git a/selfdrive/hardware/tici/test_agnos_updater.py b/selfdrive/hardware/tici/test_agnos_updater.py new file mode 100755 index 0000000000..9f188b83dc --- /dev/null +++ b/selfdrive/hardware/tici/test_agnos_updater.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python3 +import json +import os +import unittest +import requests + +AGNOS_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) +MANIFEST = os.path.join(AGNOS_DIR, "agnos.json") + + +class TestAgnosUpdater(unittest.TestCase): + + def test_manifest(self): + with open(MANIFEST) as f: + m = json.load(f) + + for img in m: + r = requests.head(img['url']) + r.raise_for_status() + self.assertEqual(r.headers['Content-Type'], "application/x-xz") + if not img['sparse']: + assert img['hash'] == img['hash_raw'] + + +if __name__ == "__main__": + unittest.main() From 44adea73ce2281cd0d0117c7ef6d1609031be2b9 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Wed, 8 Dec 2021 17:13:43 -0800 Subject: [PATCH 008/239] fix max speed comments --- selfdrive/car/interfaces.py | 4 +--- selfdrive/controls/lib/drive_helpers.py | 9 +++++---- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 487fcab8c7..bef3456a76 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -14,9 +14,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName -# WARNING: this value was determined based on the model's training distribution, -# model predictions above this speed can be unpredictable -MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph +MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index e578bd677f..f173f5fd98 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -5,10 +5,11 @@ from common.realtime import DT_MDL from selfdrive.config import Conversions as CV from selfdrive.modeld.constants import T_IDXS -# kph -V_CRUISE_MAX = 145 -V_CRUISE_MIN = 8 -V_CRUISE_ENABLE_MIN = 40 +# WARNING: this value was determined based on the model's training distribution, +# model predictions above this speed can be unpredictable +V_CRUISE_MAX = 145 # kph +V_CRUISE_MIN = 8 # kph +V_CRUISE_ENABLE_MIN = 40 # kph LAT_MPC_N = 16 LON_MPC_N = 32 From aa02e05193a247fe6fc14d494245e9126e7d2e96 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Dec 2021 17:46:01 -0800 Subject: [PATCH 009/239] tici: lower offroad temp setpoint (#23177) * tici: lower offroad temp setpoint * Update selfdrive/thermald/thermald.py --- selfdrive/thermald/thermald.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index c5bf955e7f..1b467f9627 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -136,7 +136,7 @@ def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition): controller.reset() fan_pwr_out = -int(controller.update( - setpoint=(75 if ignition else (OFFROAD_DANGER_TEMP - 2)), + setpoint=75, measurement=max_cpu_temp, feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80]) )) From f71085484ddc67b712a1495cbc2f8846ee62a195 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Dec 2021 18:54:16 -0800 Subject: [PATCH 010/239] tici: lower min volume --- selfdrive/hardware/tici/hardware.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/hardware/tici/hardware.h b/selfdrive/hardware/tici/hardware.h index 3d025775ae..c37dbb0a36 100644 --- a/selfdrive/hardware/tici/hardware.h +++ b/selfdrive/hardware/tici/hardware.h @@ -10,7 +10,7 @@ class HardwareTici : public HardwareNone { public: static constexpr float MAX_VOLUME = 0.9; - static constexpr float MIN_VOLUME = 0.3; + static constexpr float MIN_VOLUME = 0.2; static bool TICI() { return true; } static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); From 85b90883ad6aa20721ec60300a711849d6026c14 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Dec 2021 19:24:40 -0800 Subject: [PATCH 011/239] AGNOS 3 (#23172) * AGNOS 3 * always forget to do this * update * release manifest --- RELEASES.md | 1 + launch_env.sh | 2 +- selfdrive/hardware/tici/agnos.json | 14 +++++++------- 3 files changed, 9 insertions(+), 8 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 79ad237b50..bce5a84159 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.8.12 (2021-12-XX) ======================== * New alert sounds + * AGNOS 3 * Audi Q3 2020-21 support thanks to jyoung8607! * Honda Accord 2021 support thanks to csouers! * Honda Accord Hybrid 2021 support thanks to csouers! diff --git a/launch_env.sh b/launch_env.sh index 47d98cc923..cb0a0572d0 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then fi if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="2" + export AGNOS_VERSION="3" fi if [ -z "$PASSIVE" ]; then diff --git a/selfdrive/hardware/tici/agnos.json b/selfdrive/hardware/tici/agnos.json index 14f5567c73..f22575a335 100644 --- a/selfdrive/hardware/tici/agnos.json +++ b/selfdrive/hardware/tici/agnos.json @@ -1,10 +1,10 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-ab4b6f64a90617ddbebe250f977616d70a25864f82c9c6ea9d88ebc5fe80e37c.img.xz", - "hash": "ab4b6f64a90617ddbebe250f977616d70a25864f82c9c6ea9d88ebc5fe80e37c", - "hash_raw": "ab4b6f64a90617ddbebe250f977616d70a25864f82c9c6ea9d88ebc5fe80e37c", - "size": 14772224, + "url": "https://commadist.azureedge.net/agnosupdate/boot-5ad783213b7de18400f5fd3609fe75677fec80780ae31cbdf5a8ee7106675d7c.img.xz", + "hash": "5ad783213b7de18400f5fd3609fe75677fec80780ae31cbdf5a8ee7106675d7c", + "hash_raw": "5ad783213b7de18400f5fd3609fe75677fec80780ae31cbdf5a8ee7106675d7c", + "size": 14768128, "sparse": false, "full_check": true, "has_ab": true @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-a778d523851d88a78ad7440ab602a80e09decdd1877f9f31ea36a7d7f15970dd.img.xz", - "hash": "540ee7184cc6d8c14f94e652a062027dcc7559e47f4b347b6f8abac570521ec6", - "hash_raw": "a778d523851d88a78ad7440ab602a80e09decdd1877f9f31ea36a7d7f15970dd", + "url": "https://commadist.azureedge.net/agnosupdate/system-0fee88a42385d067756e9b25d57a80228835310deb7b5eef7b7bed5c22c45515.img.xz", + "hash": "a043cba1ae08ca6d17704a8a0978b1e27e5bc79abb85b97efd35203ae26ae1ea", + "hash_raw": "0fee88a42385d067756e9b25d57a80228835310deb7b5eef7b7bed5c22c45515", "size": 10737418240, "sparse": true, "full_check": false, From f93d89b888f790269729d7fa10b98a5f27f13909 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 9 Dec 2021 16:20:50 +0100 Subject: [PATCH 012/239] dmonitoring/DriverView: get crop_rect & transform by video size (#23169) * dmonitoring/DriverView: get crop_rect & transform by video size (#23014) * keep rounding the same Co-authored-by: Dean Lee --- selfdrive/common/modeldata.h | 14 +++++++++----- selfdrive/modeld/models/dmonitoring.cc | 17 ++++++----------- selfdrive/ui/qt/widgets/cameraview.cc | 22 ++++++++-------------- 3 files changed, 23 insertions(+), 30 deletions(-) diff --git a/selfdrive/common/modeldata.h b/selfdrive/common/modeldata.h index 7aec15e7be..9a9414cfa3 100644 --- a/selfdrive/common/modeldata.h +++ b/selfdrive/common/modeldata.h @@ -1,6 +1,8 @@ #pragma once #include +#include "selfdrive/common/mat.h" +#include "selfdrive/hardware/hw.h" const int TRAJECTORY_SIZE = 33; const int LAT_MPC_N = 16; @@ -36,10 +38,14 @@ const std::array X_IDXS = { 168.75 , 180.1875, 192.}; const auto X_IDXS_FLOAT = convert_array_to_type(X_IDXS); -#ifdef __cplusplus +const int TICI_CAM_WIDTH = 1928; + +namespace tici_dm_crop { + const int x_offset = -72; + const int y_offset = -144; + const int width = 954; +}; -#include "selfdrive/common/mat.h" -#include "selfdrive/hardware/hw.h" const mat3 fcam_intrinsic_matrix = Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2, 0., 910., 874.0 / 2, @@ -62,5 +68,3 @@ static inline mat3 get_model_yuv_transform(bool bayer = true) { }}; return bayer ? transform_scale_buffer(transform, db_s) : transform; } - -#endif diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index 9d87e320af..de07ffd38b 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -3,6 +3,7 @@ #include "libyuv.h" #include "selfdrive/common/mat.h" +#include "selfdrive/common/modeldata.h" #include "selfdrive/common/params.h" #include "selfdrive/common/timing.h" #include "selfdrive/hardware/hw.h" @@ -67,21 +68,15 @@ void crop_yuv(uint8_t *raw, int width, int height, uint8_t *y, uint8_t *u, uint8 DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) { Rect crop_rect; - if (Hardware::TICI()) { - const int full_width_tici = 1928; - const int full_height_tici = 1208; - const int adapt_width_tici = 954; - const int x_offset_tici = -72; - const int y_offset_tici = -144; - const int cropped_height = adapt_width_tici / 1.33; - crop_rect = {full_width_tici / 2 - adapt_width_tici / 2 + x_offset_tici, - full_height_tici / 2 - cropped_height / 2 + y_offset_tici, + if (width == TICI_CAM_WIDTH) { + const int cropped_height = tici_dm_crop::width / 1.33; + crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset, + height / 2 - cropped_height / 2 + tici_dm_crop::y_offset, cropped_height / 2, cropped_height}; if (!s->is_rhd) { - crop_rect.x += adapt_width_tici - crop_rect.w; + crop_rect.x += tici_dm_crop::width - crop_rect.w; } - } else { const int adapt_width = 372; crop_rect = {0, 0, adapt_width, height}; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 4203d146e0..a238f13c85 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -51,28 +51,22 @@ const mat4 device_transform = {{ 0.0, 0.0, 0.0, 1.0, }}; -mat4 get_driver_view_transform() { +mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { const float driver_view_ratio = 1.333; mat4 transform; - if (Hardware::TICI()) { - // from dmonitoring.cc - const int full_width_tici = 1928; - const int full_height_tici = 1208; - const int adapt_width_tici = 954; - const int crop_x_offset = -72; - const int crop_y_offset = -144; - const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici; - const float xscale = yscale*(1080)/(2160)*full_width_tici/full_height_tici; + if (stream_width == TICI_CAM_WIDTH) { + const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width; + const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; transform = (mat4){{ - xscale, 0.0, 0.0, xscale*crop_x_offset/full_width_tici*2, - 0.0, yscale, 0.0, yscale*crop_y_offset/full_height_tici*2, + xscale, 0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2, + 0.0, yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; } else { // frame from 4/3 to 16/9 display transform = (mat4){{ - driver_view_ratio*(1080)/(1920), 0.0, 0.0, 0.0, + driver_view_ratio * screen_height / screen_width, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, @@ -178,7 +172,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { void CameraViewWidget::updateFrameMat(int w, int h) { if (zoomed_view) { if (stream_type == VISION_STREAM_RGB_FRONT) { - frame_mat = matmul(device_transform, get_driver_view_transform()); + frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height)); } else { auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; float zoom = ZOOM / intrinsic_matrix.v[0]; From 2335a2058489bff8f7a930dec81fdd4000876478 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 10 Dec 2021 03:37:59 +0800 Subject: [PATCH 013/239] limit style scope (#23181) --- selfdrive/ui/qt/offroad/settings.cc | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index eee4dab052..72bfd2eb80 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -165,13 +165,9 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff); setStyleSheet(R"( - QPushButton { - height: 120px; - border-radius: 15px; - } - #reboot_btn { background-color: #393939; } + #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; } #reboot_btn:pressed { background-color: #4a4a4a; } - #poweroff_btn { background-color: #E22C2C; } + #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; } #poweroff_btn:pressed { background-color: #FF2424; } )"); addItem(power_layout); From c133ad760a565694de78e4562a575e0ce4b933c1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Dec 2021 14:15:52 -0800 Subject: [PATCH 014/239] not separate model ports --- RELEASES.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index bce5a84159..a45525a366 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,8 @@ -Version 0.8.12 (2021-12-XX) +Version 0.8.12 (2021-12-15) ======================== * New alert sounds * AGNOS 3 * Audi Q3 2020-21 support thanks to jyoung8607! - * Honda Accord 2021 support thanks to csouers! - * Honda Accord Hybrid 2021 support thanks to csouers! * Lexus RC 2020 support thanks to ErichMoraga! Version 0.8.11 (2021-11-29) From 45f3662cf0b4dce617cc76118c85c088ffb235d9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Dec 2021 14:29:50 -0800 Subject: [PATCH 015/239] alerts: add test for creation delay --- selfdrive/controls/tests/test_alerts.py | 38 +++++++++++++++---------- 1 file changed, 23 insertions(+), 15 deletions(-) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index a55cb373a1..920c126c44 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -8,7 +8,7 @@ from PIL import Image, ImageDraw, ImageFont from cereal import log, car from common.basedir import BASEDIR from common.params import Params -from selfdrive.controls.lib.events import Alert, EVENTS +from selfdrive.controls.lib.events import Alert, EVENTS, ET from selfdrive.controls.lib.alertmanager import set_offroad_alert AlertSize = log.ControlsState.AlertSize @@ -74,20 +74,28 @@ class TestAlerts(unittest.TestCase): self.assertLessEqual(w, max_text_width, msg=msg) def test_alert_sanity_check(self): - for a in ALERTS: - if a.alert_size == AlertSize.none: - self.assertEqual(len(a.alert_text_1), 0) - self.assertEqual(len(a.alert_text_2), 0) - elif a.alert_size == AlertSize.small: - self.assertGreater(len(a.alert_text_1), 0) - self.assertEqual(len(a.alert_text_2), 0) - elif a.alert_size == AlertSize.mid: - self.assertGreater(len(a.alert_text_1), 0) - self.assertGreater(len(a.alert_text_2), 0) - else: - self.assertGreater(len(a.alert_text_1), 0) - - self.assertGreaterEqual(a.duration, 0.) + for event_types in EVENTS.values(): + for event_type, a in event_types.items(): + # TODO: add callback alerts + if not isinstance(a, Alert): + continue + + if a.alert_size == AlertSize.none: + self.assertEqual(len(a.alert_text_1), 0) + self.assertEqual(len(a.alert_text_2), 0) + elif a.alert_size == AlertSize.small: + self.assertGreater(len(a.alert_text_1), 0) + self.assertEqual(len(a.alert_text_2), 0) + elif a.alert_size == AlertSize.mid: + self.assertGreater(len(a.alert_text_1), 0) + self.assertGreater(len(a.alert_text_2), 0) + else: + self.assertGreater(len(a.alert_text_1), 0) + + self.assertGreaterEqual(a.duration, 0.) + + if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE): + self.assertEqual(a.creation_delay, 0.) def test_offroad_alerts(self): params = Params() From b2c0fcb58030f973e3f7d622b29dbd753c6e6fb7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Dec 2021 15:50:49 -0800 Subject: [PATCH 016/239] revert to old red alert sound for now (#23182) --- selfdrive/assets/sounds/disengage.wav | Bin selfdrive/assets/sounds/engage.wav | Bin selfdrive/assets/sounds/prompt.wav | Bin selfdrive/assets/sounds/prompt_distracted.wav | Bin selfdrive/assets/sounds/refuse.wav | Bin selfdrive/assets/sounds/warning_immediate.wav | Bin 153644 -> 62760 bytes selfdrive/assets/sounds/warning_soft.wav | Bin 7 files changed, 0 insertions(+), 0 deletions(-) mode change 100755 => 100644 selfdrive/assets/sounds/disengage.wav mode change 100755 => 100644 selfdrive/assets/sounds/engage.wav mode change 100755 => 100644 selfdrive/assets/sounds/prompt.wav mode change 100755 => 100644 selfdrive/assets/sounds/prompt_distracted.wav mode change 100755 => 100644 selfdrive/assets/sounds/refuse.wav mode change 100755 => 100644 selfdrive/assets/sounds/warning_immediate.wav mode change 100755 => 100644 selfdrive/assets/sounds/warning_soft.wav diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav old mode 100755 new mode 100644 diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav old mode 100755 new mode 100644 diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav old mode 100755 new mode 100644 diff --git a/selfdrive/assets/sounds/prompt_distracted.wav b/selfdrive/assets/sounds/prompt_distracted.wav old mode 100755 new mode 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zop%8aJ-tRTown9$U2}fz5TSadxr(opq^N*VEBBvI_ys#A|QwJO!r;5XTmRd{9nt2`J5Kl+J#j_fZ zne}Wp_nQ-r@S7udzN%BBJDT^(X>dnpx6|iDZr+-MSyV@Lc5#I(yeQ;jCta!g?MMgC zmAZPW3Ii><>iWQEZR{7}_vNKDj-E^_m@S-5jQP%Y{de2nI|zcR5n`WjW+mc$#Pe*r M2Gv|}@#^*e0ZZw`JOBUy diff --git a/selfdrive/assets/sounds/warning_soft.wav b/selfdrive/assets/sounds/warning_soft.wav old mode 100755 new mode 100644 From 921656e9d7967699e389c37cece64fec1f705636 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 9 Dec 2021 16:15:24 -0800 Subject: [PATCH 017/239] Added sbigmodel frame transformations --- common/transformations/model.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/common/transformations/model.py b/common/transformations/model.py index 1215909fc4..5d6458fad3 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -84,6 +84,12 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics, bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) +sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + +sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics, + get_view_frame_from_calib_frame(0, 0, 0, 0)) + medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) From 4627d201b68b670c4d4c29f3ce7523daf8ddc732 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Dec 2021 15:21:37 -0800 Subject: [PATCH 018/239] alert text simplification (#23186) * alert text simplification * little more * user triggered * little more * less annoying ldw * Update selfdrive/controls/lib/events.py * update refs * revert --- selfdrive/controls/lib/events.py | 47 ++++++++++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 28 insertions(+), 21 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index d858dbfcbc..e278a00cc5 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -153,6 +153,13 @@ class SoftDisableAlert(Alert): AudibleAlert.warningSoft, 2.), +# less harsh version of SoftDisable, where the condition is user-triggered +class UserSoftDisableAlert(SoftDisableAlert): + def __init__(self, alert_text_2): + super().__init__(alert_text_2), + self.alert_text_1 = "openpilot will disengage" + + class ImmediateDisableAlert(Alert): def __init__(self, alert_text_2): super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, @@ -247,7 +254,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo }, EventName.controlsInitializing: { - ET.NO_ENTRY: NoEntryAlert("Controls Initializing"), + ET.NO_ENTRY: NoEntryAlert("System Initializing"), }, EventName.startup: { @@ -281,7 +288,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo }, EventName.invalidLkasSetting: { - ET.PERMANENT: NormalPermanentAlert("Stock LKAS is turned on", + ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on", "Turn off stock LKAS to engage"), }, @@ -293,8 +300,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # detects the use of a community feature it switches to dashcam mode # until these features are allowed using a toggle in settings. EventName.communityFeatureDisallowed: { - ET.PERMANENT: NormalPermanentAlert("openpilot Not Available", - "Enable Community Features in Settings to Engage"), + ET.PERMANENT: NormalPermanentAlert("openpilot Unavailable", + "Enable Community Features in Settings"), }, # openpilot doesn't recognize the car. This switches openpilot into a @@ -325,9 +332,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.ldw: { ET.PERMANENT: Alert( - "TAKE CONTROL", "Lane Departure Detected", - AlertStatus.userPrompt, AlertSize.mid, + "", + AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), }, @@ -335,7 +342,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.gasPressed: { ET.PRE_ENABLE: Alert( - "openpilot will not brake while gas pressed", + "Release Gas Pedal to Engage", "", AlertStatus.normal, AlertSize.small, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.), @@ -364,7 +371,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.preDriverDistracted: { ET.WARNING: Alert( - "KEEP EYES ON ROAD: Driver Distracted", + "Pay Attention", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), @@ -372,7 +379,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.promptDriverDistracted: { ET.WARNING: Alert( - "KEEP EYES ON ROAD", + "Pay Attention", "Driver Distracted", AlertStatus.userPrompt, AlertSize.mid, Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), @@ -388,7 +395,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.preDriverUnresponsive: { ET.WARNING: Alert( - "TOUCH STEERING WHEEL: No Face Detected", + "Touch Steering Wheel: No Face Detected", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75), @@ -396,7 +403,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.promptDriverUnresponsive: { ET.WARNING: Alert( - "TOUCH STEERING WHEEL", + "Touch Steering Wheel", "Driver Unresponsive", AlertStatus.userPrompt, AlertSize.mid, Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), @@ -421,7 +428,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.resumeRequired: { ET.WARNING: Alert( "STOPPED", - "Press Resume to Move", + "Press Resume to Go", AlertStatus.userPrompt, AlertSize.mid, Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, @@ -464,7 +471,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.steerSaturated: { ET.WARNING: Alert( - "TAKE CONTROL", + "Take Control", "Turn Exceeds Steering Limit", AlertStatus.userPrompt, AlertSize.mid, Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.), @@ -517,12 +524,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.parkBrake: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Park Brake Engaged"), + ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"), }, EventName.pedalPressed: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt", + ET.NO_ENTRY: NoEntryAlert("Pedal Pressed", visual_alert=VisualAlert.brakePressed), }, @@ -533,7 +540,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.wrongCruiseMode: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), - ET.NO_ENTRY: NoEntryAlert("Enable Adaptive Cruise"), + ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"), }, EventName.steerTempUnavailable: { @@ -579,7 +586,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo }, EventName.wrongGear: { - ET.SOFT_DISABLE: SoftDisableAlert("Gear not D"), + ET.SOFT_DISABLE: UserSoftDisableAlert("Gear not D"), ET.NO_ENTRY: NoEntryAlert("Gear not D"), }, @@ -601,12 +608,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo }, EventName.doorOpen: { - ET.SOFT_DISABLE: SoftDisableAlert("Door Open"), + ET.SOFT_DISABLE: UserSoftDisableAlert("Door Open"), ET.NO_ENTRY: NoEntryAlert("Door Open"), }, EventName.seatbeltNotLatched: { - ET.SOFT_DISABLE: SoftDisableAlert("Seatbelt Unlatched"), + ET.SOFT_DISABLE: UserSoftDisableAlert("Seatbelt Unlatched"), ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"), }, @@ -789,7 +796,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.), }, - # When the car is driving faster than most cars in the training data the model outputs can be unpredictable + # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable. EventName.speedTooHigh: { ET.WARNING: Alert( "Speed Too High", diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b08a84bbac..1c523cd77e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7dad09224e82177e1da44b89a253c343be45dd38 \ No newline at end of file +c09fc7b1409529a9991428845ee14f0e37d95b2d \ No newline at end of file From 07b971d4735d891cc59f404095812f5d001b3092 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Dec 2021 19:20:07 -0800 Subject: [PATCH 019/239] alerts: handle min duration properly (#23191) * alerts: handle min duration properly * add active * tests * cleanup test * update refs --- selfdrive/controls/controlsd.py | 2 +- selfdrive/controls/lib/alertmanager.py | 25 ++++++----- selfdrive/controls/lib/events.py | 2 +- .../controls/lib/tests/test_alertmanager.py | 45 +++++++++++++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 62 insertions(+), 14 deletions(-) create mode 100755 selfdrive/controls/lib/tests/test_alertmanager.py diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d029650aaf..fb58d56472 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -614,7 +614,7 @@ class Controls: clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric]) - self.AM.add_many(self.sm.frame, alerts, self.enabled) + self.AM.add_many(self.sm.frame, alerts) self.AM.process_alerts(self.sm.frame, clear_event) CC.hudControl.visualAlert = self.AM.visual_alert diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index 22d7f3eac4..c8e702c5c7 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -8,7 +8,6 @@ from typing import List, Dict, Optional from cereal import car, log from common.basedir import BASEDIR from common.params import Params -from common.realtime import DT_CTRL from selfdrive.controls.lib.events import Alert @@ -33,12 +32,14 @@ class AlertEntry: start_frame: int = -1 end_frame: int = -1 + def active(self, frame: int) -> bool: + return frame <= self.end_frame class AlertManager: def __init__(self): self.reset() - self.activealerts: Dict[str, AlertEntry] = defaultdict(AlertEntry) + self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry) def reset(self) -> None: self.alert: Optional[Alert] = None @@ -51,25 +52,27 @@ class AlertManager: self.audible_alert = car.CarControl.HUDControl.AudibleAlert.none self.alert_rate: float = 0. - def add_many(self, frame: int, alerts: List[Alert], enabled: bool = True) -> None: + def add_many(self, frame: int, alerts: List[Alert]) -> None: for alert in alerts: - self.activealerts[alert.alert_type].alert = alert - self.activealerts[alert.alert_type].start_frame = frame - self.activealerts[alert.alert_type].end_frame = frame + int(alert.duration / DT_CTRL) + key = alert.alert_type + self.alerts[key].alert = alert + if not self.alerts[key].active(frame): + self.alerts[key].start_frame = frame + min_end_frame = self.alerts[key].start_frame + alert.duration + self.alerts[key].end_frame = max(frame + 1, min_end_frame) def process_alerts(self, frame: int, clear_event_type=None) -> None: current_alert = AlertEntry() - for k, v in self.activealerts.items(): + for k, v in self.alerts.items(): if v.alert is None: continue - if v.alert.event_type == clear_event_type: - self.activealerts[k].end_frame = -1 + if clear_event_type is not None and v.alert.event_type == clear_event_type: + self.alerts[k].end_frame = -1 # sort by priority first and then by start_frame - active = self.activealerts[k].end_frame > frame greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame) - if active and greater: + if v.active(frame) and greater: current_alert = v # clear current alert diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index e278a00cc5..6254786b83 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -123,7 +123,7 @@ class Alert: self.visual_alert = visual_alert self.audible_alert = audible_alert - self.duration = duration + self.duration = int(duration / DT_CTRL) self.alert_rate = alert_rate self.creation_delay = creation_delay diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py new file mode 100755 index 0000000000..bb6664303b --- /dev/null +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import random +import unittest + +from selfdrive.controls.lib.events import Alert, EVENTS +from selfdrive.controls.lib.alertmanager import AlertManager + + +class TestAlertManager(unittest.TestCase): + + def test_duration(self): + """ + Enforce that an alert lasts for max(alert duration, duration the alert is added) + """ + for duration in range(1, 100): + alert = None + while not isinstance(alert, Alert): + event = random.choice([e for e in EVENTS.values() if len(e)]) + alert = random.choice(list(event.values())) + + alert.duration = duration + + # check two cases: + # - alert is added to AM for <= the alert's duration + # - alert is added to AM for > alert's duration + for greater in (True, False): + if greater: + add_duration = duration + random.randint(1, 10) + else: + add_duration = random.randint(1, duration) + show_duration = max(duration, add_duration) + + AM = AlertManager() + for frame in range(duration+10): + if frame < add_duration: + AM.add_many(frame, [alert, ]) + AM.process_alerts(frame) + + shown = AM.alert is not None + should_show = frame <= show_duration + self.assertEqual(shown, should_show, msg=f"{frame=} {add_duration=} {duration=}") + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1c523cd77e..c162de2bb2 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c09fc7b1409529a9991428845ee14f0e37d95b2d \ No newline at end of file +0ae46ae318a63476d8905aa0c32b0e587177868a \ No newline at end of file From 7c9fa91fb87d4ba2c97d6b08971e86827a6c38cf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Dec 2021 20:14:24 -0800 Subject: [PATCH 020/239] fix missing time import --- selfdrive/hardware/tici/agnos.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/hardware/tici/agnos.py b/selfdrive/hardware/tici/agnos.py index d62d4dbc51..a28b13ac4a 100755 --- a/selfdrive/hardware/tici/agnos.py +++ b/selfdrive/hardware/tici/agnos.py @@ -5,6 +5,7 @@ import hashlib import requests import struct import subprocess +import time import os from typing import Generator @@ -224,7 +225,6 @@ def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool: if __name__ == "__main__": import logging - import time import argparse parser = argparse.ArgumentParser(description="Flash and verify AGNOS update", From c6d3306dbe32a7f438c5422426d570316a697cba Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Dec 2021 22:49:32 -0800 Subject: [PATCH 021/239] updated: handle execptions while setting params --- selfdrive/updated.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 0a203e3cd0..2acebf2a4e 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -459,7 +459,11 @@ def main(): exception = str(e) overlay_init.unlink(missing_ok=True) - set_params(new_version, update_failed_count, exception) + try: + set_params(new_version, update_failed_count, exception) + except Exception: + cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") + wait_helper.sleep(60) dismount_overlay() From c9c96cbf73a07431a8071ecdfc8c02d07f0fac4c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Dec 2021 22:49:46 -0800 Subject: [PATCH 022/239] update release notes --- RELEASES.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index a45525a366..46e7e88444 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,16 @@ Version 0.8.12 (2021-12-15) ======================== + * New driving model + * Improved behavior around exits + * Improved follow distance * New alert sounds * AGNOS 3 + * Display burn in prevention + * Improved audio amplifier configuration + * System reliability improvements + * Update Python to 3.8.10 + * Raw logs upload moved to connect.comma.ai + * Honda Bosch HUD messages * Audi Q3 2020-21 support thanks to jyoung8607! * Lexus RC 2020 support thanks to ErichMoraga! From 9c51aa9f0efff596765867ae29b22b8ad60a6c39 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Dec 2021 22:53:44 -0800 Subject: [PATCH 023/239] add honda bosch hud msgs to release notes --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 46e7e88444..4559bc2169 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -10,7 +10,7 @@ Version 0.8.12 (2021-12-15) * System reliability improvements * Update Python to 3.8.10 * Raw logs upload moved to connect.comma.ai - * Honda Bosch HUD messages + * Fixed HUD alerts on newer Honda Bosch thanks to csouers! * Audi Q3 2020-21 support thanks to jyoung8607! * Lexus RC 2020 support thanks to ErichMoraga! From 321b08a0e92a01cb2d375ada9c0a50df4b024b01 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 10 Dec 2021 23:20:49 -0800 Subject: [PATCH 024/239] Update RELEASES.md --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 4559bc2169..e4179980cd 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.8.12 (2021-12-15) * New driving model * Improved behavior around exits * Improved follow distance + * Better longitudinal policy, especially in low speed traffic * New alert sounds * AGNOS 3 * Display burn in prevention From 8122a0af4cc27ed6df5775c941f42991e9255103 Mon Sep 17 00:00:00 2001 From: George Hotz Date: Sat, 11 Dec 2021 14:15:59 -0800 Subject: [PATCH 025/239] RELEASES.md: prevention is a bold statement --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index e4179980cd..6910f8d316 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,7 +6,7 @@ Version 0.8.12 (2021-12-15) * Better longitudinal policy, especially in low speed traffic * New alert sounds * AGNOS 3 - * Display burn in prevention + * Display burn in mitigation * Improved audio amplifier configuration * System reliability improvements * Update Python to 3.8.10 From d28622f8d34dbcf242e2ba0ed2f5d1e831775f48 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Dec 2021 14:32:38 -0800 Subject: [PATCH 026/239] Revert "soundd: use setLoopCount(0) to stop repeating sound (#23076)" This reverts commit 35885745f1b4fcaafee2ed7276de491e6df018d2. --- selfdrive/ui/soundd/sound.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 4e88f41b1c..f303aa92bf 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -67,7 +67,7 @@ void Sound::setAlert(const Alert &alert) { for (auto &[s, loops] : sounds) { // Only stop repeating sounds if (s->loopsRemaining() > 1 || s->loopsRemaining() == QSoundEffect::Infinite) { - s->setLoopCount(0); + s->stop(); } } From 8068df0b2a35eb8fcef809f4ce9a6cb7bfc75fdc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Dec 2021 17:07:37 -0800 Subject: [PATCH 027/239] alerts: escalate soft disable alert near disengagement (#23198) * alerts: escalate soft disable alert if resulted in disengagement * show 0.5s before disengagement --- selfdrive/controls/controlsd.py | 5 ++- selfdrive/controls/lib/events.py | 73 ++++++++++++++++++++------------ selfdrive/debug/cycle_alerts.py | 2 +- 3 files changed, 51 insertions(+), 29 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index fb58d56472..f49fbef5e9 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -28,6 +28,7 @@ from selfdrive.locationd.calibrationd import Calibration from selfdrive.hardware import HARDWARE, TICI, EON from selfdrive.manager.process_config import managed_processes +SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS LANE_DEPARTURE_THRESHOLD = 0.1 STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL @@ -430,7 +431,7 @@ class Controls: if self.state == State.enabled: if self.events.any(ET.SOFT_DISABLE): self.state = State.softDisabling - self.soft_disable_timer = int(3 / DT_CTRL) + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) # SOFT DISABLING @@ -613,7 +614,7 @@ class Controls: self.events.add(EventName.ldw) clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None - alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric]) + alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer]) self.AM.add_many(self.sm.frame, alerts) self.AM.process_alerts(self.sm.frame, clear_event) CC.hudControl.visualAlert = self.AM.visual_alert diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 6254786b83..0048ca661c 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,5 +1,5 @@ from enum import IntEnum -from typing import Dict, Union, Callable, Any +from typing import Dict, Union, Callable from cereal import log, car import cereal.messaging as messaging @@ -198,11 +198,31 @@ def get_display_speed(speed_ms: float, metric: bool) -> str: # ********** alert callback functions ********** -def below_engage_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert: + +AlertCallbackType = Callable[[car.CarParams, messaging.SubMaster, bool, int], Alert] + + +def soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + def func(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + if soft_disable_time < int(0.5 / DT_CTRL): + return ImmediateDisableAlert(alert_text_2) + return SoftDisableAlert(alert_text_2) + return func + + +def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: + def func(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + if soft_disable_time < int(0.5 / DT_CTRL): + return ImmediateDisableAlert(alert_text_2) + return UserSoftDisableAlert(alert_text_2) + return func + + +def below_engage_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}") -def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert: +def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: return Alert( f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", "", @@ -210,7 +230,7 @@ def below_steer_speed_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) -def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert: +def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: return Alert( "Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc, f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}", @@ -218,7 +238,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) -def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert: +def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: gps_integrated = sm['peripheralState'].pandaType in [log.PandaState.PandaType.uno, log.PandaState.PandaType.dos] return Alert( "Poor GPS reception", @@ -227,21 +247,22 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Al Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.) -def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert: +def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: text = "Cruise Mode Disabled" if CP.carName == "honda": text = "Main Switch Off" return NoEntryAlert(text) -def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert: +def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: axes = sm['testJoystick'].axes gb, steer = list(axes)[:2] if len(axes) else (0., 0.) vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" return NormalPermanentAlert("Joystick Mode", vals) -EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = { + +EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { # ********** events with no alerts ********** EventName.stockFcw: {}, @@ -358,7 +379,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub EventName.vehicleModelInvalid: { ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"), - ET.SOFT_DISABLE: SoftDisableAlert("Vehicle Parameter Identification Failed"), + ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"), }, EventName.steerTempUnavailableSilent: { @@ -544,7 +565,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo }, EventName.steerTempUnavailable: { - ET.SOFT_DISABLE: SoftDisableAlert("Steering Temporarily Unavailable"), + ET.SOFT_DISABLE: soft_disable_alert("Steering Temporarily Unavailable"), ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"), }, @@ -581,12 +602,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo EventName.overheat: { ET.PERMANENT: NormalPermanentAlert("System Overheated"), - ET.SOFT_DISABLE: SoftDisableAlert("System Overheated"), + ET.SOFT_DISABLE: soft_disable_alert("System Overheated"), ET.NO_ENTRY: NoEntryAlert("System Overheated"), }, EventName.wrongGear: { - ET.SOFT_DISABLE: UserSoftDisableAlert("Gear not D"), + ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"), ET.NO_ENTRY: NoEntryAlert("Gear not D"), }, @@ -597,33 +618,33 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # See https://comma.ai/setup for more information EventName.calibrationInvalid: { ET.PERMANENT: NormalPermanentAlert("Calibration Invalid", "Remount Device and Recalibrate"), - ET.SOFT_DISABLE: SoftDisableAlert("Calibration Invalid: Remount Device & Recalibrate"), + ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"), ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"), }, EventName.calibrationIncomplete: { ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: SoftDisableAlert("Calibration in Progress"), + ET.SOFT_DISABLE: soft_disable_alert("Calibration in Progress"), ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), }, EventName.doorOpen: { - ET.SOFT_DISABLE: UserSoftDisableAlert("Door Open"), + ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"), ET.NO_ENTRY: NoEntryAlert("Door Open"), }, EventName.seatbeltNotLatched: { - ET.SOFT_DISABLE: UserSoftDisableAlert("Seatbelt Unlatched"), + ET.SOFT_DISABLE: user_soft_disable_alert("Seatbelt Unlatched"), ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"), }, EventName.espDisabled: { - ET.SOFT_DISABLE: SoftDisableAlert("ESP Off"), + ET.SOFT_DISABLE: soft_disable_alert("ESP Off"), ET.NO_ENTRY: NoEntryAlert("ESP Off"), }, EventName.lowBattery: { - ET.SOFT_DISABLE: SoftDisableAlert("Low Battery"), + ET.SOFT_DISABLE: soft_disable_alert("Low Battery"), ET.NO_ENTRY: NoEntryAlert("Low Battery"), }, @@ -632,7 +653,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # is thrown. This can mean a service crashed, did not broadcast a message for # ten times the regular interval, or the average interval is more than 10% too high. EventName.commIssue: { - ET.SOFT_DISABLE: SoftDisableAlert("Communication Issue between Processes"), + ET.SOFT_DISABLE: soft_disable_alert("Communication Issue between Processes"), ET.NO_ENTRY: NoEntryAlert("Communication Issue between Processes"), }, @@ -642,7 +663,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo }, EventName.radarFault: { - ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"), + ET.SOFT_DISABLE: soft_disable_alert("Radar Error: Restart the Car"), ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"), }, @@ -650,7 +671,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # is not processing frames fast enough they have to be dropped. This alert is # thrown when over 20% of frames are dropped. EventName.modeldLagging: { - ET.SOFT_DISABLE: SoftDisableAlert("Driving model lagging"), + ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"), ET.NO_ENTRY: NoEntryAlert("Driving model lagging"), }, @@ -660,25 +681,25 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # usually means the model has trouble understanding the scene. This is used # as a heuristic to warn the driver. EventName.posenetInvalid: { - ET.SOFT_DISABLE: SoftDisableAlert("Model Output Uncertain"), + ET.SOFT_DISABLE: soft_disable_alert("Model Output Uncertain"), ET.NO_ENTRY: NoEntryAlert("Model Output Uncertain"), }, # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we # alert the driver the device might have fallen from the windshield. EventName.deviceFalling: { - ET.SOFT_DISABLE: SoftDisableAlert("Device Fell Off Mount"), + ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"), ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"), }, EventName.lowMemory: { - ET.SOFT_DISABLE: SoftDisableAlert("Low Memory: Reboot Your Device"), + ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"), ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"), ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"), }, EventName.highCpuUsage: { - #ET.SOFT_DISABLE: SoftDisableAlert("System Malfunction: Reboot Your Device"), + #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"), #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"), ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"), }, @@ -714,7 +735,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo # Sometimes the USB stack on the device can get into a bad state # causing the connection to the panda to be lost EventName.usbError: { - ET.SOFT_DISABLE: SoftDisableAlert("USB Error: Reboot Your Device"), + ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"), ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""), ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"), }, diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index ca238b4293..f28d5373f4 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -52,7 +52,7 @@ def cycle_alerts(duration=200, is_metric=False): events.clear() events.add(alert) - a = events.create_alerts([et, ], [CP, sm, is_metric]) + a = events.create_alerts([et, ], [CP, sm, is_metric, 0]) AM.add_many(frame, a) AM.process_alerts(frame) print(AM.alert) From 40d2e4ec9075b25a8000692ffe4ffc419babc87c Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sun, 12 Dec 2021 11:41:25 -0800 Subject: [PATCH 028/239] model output struct for metadata (#23139) * model output struct for metadata * better max element search * ModelDataRawDesireProb.to_array() * eliminate some copies * not worth messing with softmax now * remove unused includes * more cleanup * no longer pointers * better variable name * fix recurrent state * improve variable name * fix OUTPUT_SIZE and NET_OUTPUT_SIZE --- selfdrive/modeld/modeld.cc | 6 +- selfdrive/modeld/models/driving.cc | 127 +++++++--------- selfdrive/modeld/models/driving.h | 237 ++++++++++++++++------------- 3 files changed, 189 insertions(+), 181 deletions(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 9013e63617..121cdcab6d 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -104,7 +104,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { } double mt1 = millis_since_boot(); - ModelDataRaw model_buf = model_eval_frame(&model, buf->buf_cl, buf->width, buf->height, + ModelOutput *model_output = model_eval_frame(&model, buf->buf_cl, buf->width, buf->height, model_transform, vec_desire); double mt2 = millis_since_boot(); float model_execution_time = (mt2 - mt1) / 1000.0; @@ -119,9 +119,9 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { float frame_drop_ratio = frames_dropped / (1 + frames_dropped); - model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time, + model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time, kj::ArrayPtr(model.output.data(), model.output.size())); - posenet_publish(pm, extra.frame_id, vipc_dropped_frames, model_buf, extra.timestamp_eof); + posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof); //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); last = mt1; diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index a2ff9e811f..629e1d7ed1 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -16,8 +16,8 @@ constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15; constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05; constexpr float FCW_THRESHOLD_3MS2 = 0.7; -float prev_brake_5ms2_probs[5] = {0,0,0,0,0}; -float prev_brake_3ms2_probs[3] = {0,0,0}; +std::array prev_brake_5ms2_probs = {0,0,0,0,0}; +std::array prev_brake_3ms2_probs = {0,0,0}; // #define DUMP_YUV @@ -52,7 +52,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { #endif } -ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height, +ModelOutput* model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height, const mat3 &transform, float *desire_in) { #ifdef DESIRE if (desire_in != NULL) { @@ -69,35 +69,18 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int heigh } #endif - //for (int i = 0; i < NET_OUTPUT_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n"); - // if getInputBuf is not NULL, net_input_buf will be auto net_input_buf = s->frame->prepare(yuv_cl, width, height, transform, static_cast(s->m->getInputBuf())); s->m->execute(net_input_buf, s->frame->buf_size); - // net outputs - ModelDataRaw net_outputs { - .plans = (ModelDataRawPlans*)&s->output[PLAN_IDX], - .lane_lines = (ModelDataRawLaneLines*)&s->output[LL_IDX], - .road_edges = (ModelDataRawRoadEdges*)&s->output[RE_IDX], - .leads = (ModelDataRawLeads*)&s->output[LEAD_IDX], - .meta = &s->output[DESIRE_STATE_IDX], - .pose = (ModelDataRawPose*)&s->output[POSE_IDX], - }; - return net_outputs; + return (ModelOutput*)&s->output; } void model_free(ModelState* s) { delete s->frame; } -void fill_sigmoid(const float *input, float *output, int len, int stride) { - for (int i=0; i lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0}; const auto &best_prediction = leads.get_best_prediction(t_idx); lead.setProb(sigmoid(leads.prob[t_idx])); @@ -125,56 +108,54 @@ void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelDataRaw lead.setAStd(to_kj_array_ptr(lead_a_std)); } -void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_data) { - float desire_state_softmax[DESIRE_LEN]; - float desire_pred_softmax[4*DESIRE_LEN]; - softmax(&meta_data[0], desire_state_softmax, DESIRE_LEN); - for (int i=0; i<4; i++) { - softmax(&meta_data[DESIRE_LEN + OTHER_META_SIZE + i*DESIRE_LEN], - &desire_pred_softmax[i*DESIRE_LEN], DESIRE_LEN); +void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data) { + std::array desire_state_softmax; + softmax(meta_data.desire_state_prob.array.data(), desire_state_softmax.data(), DESIRE_LEN); + + std::array desire_pred_softmax; + for (int i=0; i lat_long_t = {2,4,6,8,10}; + std::array gas_disengage_sigmoid, brake_disengage_sigmoid, steer_override_sigmoid, + brake_3ms2_sigmoid, brake_4ms2_sigmoid, brake_5ms2_sigmoid; + for (int i=0; i threshold; } - for (int i=0; i<3; i++) { + for (int i=0; i FCW_THRESHOLD_3MS2; } auto disengage = meta.initDisengagePredictions(); - disengage.setT({2,4,6,8,10}); - disengage.setGasDisengageProbs(gas_disengage_sigmoid); - disengage.setBrakeDisengageProbs(brake_disengage_sigmoid); - disengage.setSteerOverrideProbs(steer_override_sigmoid); - disengage.setBrake3MetersPerSecondSquaredProbs(brake_3ms2_sigmoid); - disengage.setBrake4MetersPerSecondSquaredProbs(brake_4ms2_sigmoid); - disengage.setBrake5MetersPerSecondSquaredProbs(brake_5ms2_sigmoid); - - meta.setEngagedProb(sigmoid(meta_data[DESIRE_LEN])); - meta.setDesirePrediction(desire_pred_softmax); - meta.setDesireState(desire_state_softmax); + disengage.setT(to_kj_array_ptr(lat_long_t)); + disengage.setGasDisengageProbs(to_kj_array_ptr(gas_disengage_sigmoid)); + disengage.setBrakeDisengageProbs(to_kj_array_ptr(brake_disengage_sigmoid)); + disengage.setSteerOverrideProbs(to_kj_array_ptr(steer_override_sigmoid)); + disengage.setBrake3MetersPerSecondSquaredProbs(to_kj_array_ptr(brake_3ms2_sigmoid)); + disengage.setBrake4MetersPerSecondSquaredProbs(to_kj_array_ptr(brake_4ms2_sigmoid)); + disengage.setBrake5MetersPerSecondSquaredProbs(to_kj_array_ptr(brake_5ms2_sigmoid)); + + meta.setEngagedProb(sigmoid(meta_data.engaged_prob)); + meta.setDesirePrediction(to_kj_array_ptr(desire_pred_softmax)); + meta.setDesireState(to_kj_array_ptr(desire_state_softmax)); meta.setHardBrakePredicted(above_fcw_threshold); } @@ -197,7 +178,7 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array pos_x, pos_y, pos_z; std::array pos_x_std, pos_y_std, pos_z_std; std::array vel_x, vel_y, vel_z; @@ -229,7 +210,7 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelDataRawPlanPredi } void fill_lane_lines(cereal::ModelDataV2::Builder &framed, const std::array &plan_t, - const ModelDataRawLaneLines &lanes) { + const ModelOutputLaneLines &lanes) { std::array left_far_y, left_far_z; std::array left_near_y, left_near_z; std::array right_near_y, right_near_z; @@ -267,7 +248,7 @@ void fill_lane_lines(cereal::ModelDataV2::Builder &framed, const std::array &plan_t, - const ModelDataRawRoadEdges &edges) { + const ModelOutputRoadEdges &edges) { std::array left_y, left_z; std::array right_y, right_z; for (int j=0; jget_best_prediction(); +void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs) { + const auto &best_plan = net_outputs.plans.get_best_prediction(); std::array plan_t; std::fill_n(plan_t.data(), plan_t.size(), NAN); plan_t[0] = 0.0; @@ -311,8 +292,8 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_ou } fill_plan(framed, best_plan); - fill_lane_lines(framed, plan_t, *net_outputs.lane_lines); - fill_road_edges(framed, plan_t, *net_outputs.road_edges); + fill_lane_lines(framed, plan_t, net_outputs.lane_lines); + fill_road_edges(framed, plan_t, net_outputs.road_edges); // meta fill_meta(framed.initMeta(), net_outputs.meta); @@ -321,12 +302,12 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_ou auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION); std::array t_offsets = {0.0, 2.0, 4.0}; for (int i=0; i raw_pred) { const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0; MessageBuilder msg; @@ -344,12 +325,12 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, flo } void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelDataRaw &net_outputs, uint64_t timestamp_eof) { + const ModelOutput &net_outputs, uint64_t timestamp_eof) { MessageBuilder msg; - auto v_mean = net_outputs.pose->velocity_mean; - auto r_mean = net_outputs.pose->rotation_mean; - auto v_std = net_outputs.pose->velocity_std; - auto r_std = net_outputs.pose->rotation_std; + auto v_mean = net_outputs.pose.velocity_mean; + auto r_mean = net_outputs.pose.rotation_mean; + auto v_std = net_outputs.pose.velocity_std; + auto r_std = net_outputs.pose.rotation_std; auto posenetd = msg.initEvent(vipc_dropped_frames < 1).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index c6d3e00acc..5749fb5ec2 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -16,78 +16,54 @@ #include "selfdrive/modeld/runners/run.h" constexpr int DESIRE_LEN = 8; +constexpr int DESIRE_PRED_LEN = 4; constexpr int TRAFFIC_CONVENTION_LEN = 2; constexpr int MODEL_FREQ = 20; -constexpr int DESIRE_PRED_SIZE = 32; -constexpr int OTHER_META_SIZE = 48; -constexpr int NUM_META_INTERVALS = 5; +constexpr int DISENGAGE_LEN = 5; +constexpr int BLINKER_LEN = 6; constexpr int META_STRIDE = 7; constexpr int PLAN_MHP_N = 5; -constexpr int PLAN_MHP_VALS = 15*33; -constexpr int PLAN_MHP_SELECTION = 1; -constexpr int PLAN_MHP_GROUP_SIZE = (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION); constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; constexpr int LEAD_PRED_DIM = 4; -constexpr int LEAD_MHP_VALS = LEAD_PRED_DIM*LEAD_TRAJ_LEN; constexpr int LEAD_MHP_SELECTION = 3; -constexpr int LEAD_MHP_GROUP_SIZE = (2*LEAD_MHP_VALS + LEAD_MHP_SELECTION); - -constexpr int POSE_SIZE = 12; - -constexpr int PLAN_IDX = 0; -constexpr int LL_IDX = PLAN_IDX + PLAN_MHP_N*PLAN_MHP_GROUP_SIZE; -constexpr int LL_PROB_IDX = LL_IDX + 4*2*2*33; -constexpr int RE_IDX = LL_PROB_IDX + 8; -constexpr int LEAD_IDX = RE_IDX + 2*2*2*33; -constexpr int LEAD_PROB_IDX = LEAD_IDX + LEAD_MHP_N*(LEAD_MHP_GROUP_SIZE); -constexpr int DESIRE_STATE_IDX = LEAD_PROB_IDX + 3; -constexpr int META_IDX = DESIRE_STATE_IDX + DESIRE_LEN; -constexpr int POSE_IDX = META_IDX + OTHER_META_SIZE + DESIRE_PRED_SIZE; -constexpr int OUTPUT_SIZE = POSE_IDX + POSE_SIZE; -#ifdef TEMPORAL - constexpr int TEMPORAL_SIZE = 512; -#else - constexpr int TEMPORAL_SIZE = 0; -#endif -constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + TEMPORAL_SIZE; -struct ModelDataRawXYZ { +struct ModelOutputXYZ { float x; float y; float z; }; -static_assert(sizeof(ModelDataRawXYZ) == sizeof(float)*3); +static_assert(sizeof(ModelOutputXYZ) == sizeof(float)*3); -struct ModelDataRawYZ { +struct ModelOutputYZ { float y; float z; }; -static_assert(sizeof(ModelDataRawYZ) == sizeof(float)*2); +static_assert(sizeof(ModelOutputYZ) == sizeof(float)*2); -struct ModelDataRawPlanElement { - ModelDataRawXYZ position; - ModelDataRawXYZ velocity; - ModelDataRawXYZ acceleration; - ModelDataRawXYZ rotation; - ModelDataRawXYZ rotation_rate; +struct ModelOutputPlanElement { + ModelOutputXYZ position; + ModelOutputXYZ velocity; + ModelOutputXYZ acceleration; + ModelOutputXYZ rotation; + ModelOutputXYZ rotation_rate; }; -static_assert(sizeof(ModelDataRawPlanElement) == sizeof(ModelDataRawXYZ)*5); +static_assert(sizeof(ModelOutputPlanElement) == sizeof(ModelOutputXYZ)*5); -struct ModelDataRawPlanPrediction { - std::array mean; - std::array std; +struct ModelOutputPlanPrediction { + std::array mean; + std::array std; float prob; }; -static_assert(sizeof(ModelDataRawPlanPrediction) == (sizeof(ModelDataRawPlanElement)*TRAJECTORY_SIZE*2) + sizeof(float)); +static_assert(sizeof(ModelOutputPlanPrediction) == (sizeof(ModelOutputPlanElement)*TRAJECTORY_SIZE*2) + sizeof(float)); -struct ModelDataRawPlans { - std::array prediction; +struct ModelOutputPlans { + std::array prediction; - constexpr const ModelDataRawPlanPrediction &get_best_prediction() const { + constexpr const ModelOutputPlanPrediction &get_best_prediction() const { int max_idx = 0; for (int i = 1; i < prediction.size(); i++) { if (prediction[i].prob > prediction[max_idx].prob) { @@ -97,69 +73,69 @@ struct ModelDataRawPlans { return prediction[max_idx]; } }; -static_assert(sizeof(ModelDataRawPlans) == sizeof(ModelDataRawPlanPrediction)*PLAN_MHP_N); +static_assert(sizeof(ModelOutputPlans) == sizeof(ModelOutputPlanPrediction)*PLAN_MHP_N); -struct ModelDataRawLinesXY { - std::array left_far; - std::array left_near; - std::array right_near; - std::array right_far; +struct ModelOutputLinesXY { + std::array left_far; + std::array left_near; + std::array right_near; + std::array right_far; }; -static_assert(sizeof(ModelDataRawLinesXY) == sizeof(ModelDataRawYZ)*TRAJECTORY_SIZE*4); +static_assert(sizeof(ModelOutputLinesXY) == sizeof(ModelOutputYZ)*TRAJECTORY_SIZE*4); -struct ModelDataRawLineProbVal { +struct ModelOutputLineProbVal { float val_deprecated; float val; }; -static_assert(sizeof(ModelDataRawLineProbVal) == sizeof(float)*2); +static_assert(sizeof(ModelOutputLineProbVal) == sizeof(float)*2); -struct ModelDataRawLinesProb { - ModelDataRawLineProbVal left_far; - ModelDataRawLineProbVal left_near; - ModelDataRawLineProbVal right_near; - ModelDataRawLineProbVal right_far; +struct ModelOutputLinesProb { + ModelOutputLineProbVal left_far; + ModelOutputLineProbVal left_near; + ModelOutputLineProbVal right_near; + ModelOutputLineProbVal right_far; }; -static_assert(sizeof(ModelDataRawLinesProb) == sizeof(ModelDataRawLineProbVal)*4); +static_assert(sizeof(ModelOutputLinesProb) == sizeof(ModelOutputLineProbVal)*4); -struct ModelDataRawLaneLines { - ModelDataRawLinesXY mean; - ModelDataRawLinesXY std; - ModelDataRawLinesProb prob; +struct ModelOutputLaneLines { + ModelOutputLinesXY mean; + ModelOutputLinesXY std; + ModelOutputLinesProb prob; }; -static_assert(sizeof(ModelDataRawLaneLines) == (sizeof(ModelDataRawLinesXY)*2) + sizeof(ModelDataRawLinesProb)); +static_assert(sizeof(ModelOutputLaneLines) == (sizeof(ModelOutputLinesXY)*2) + sizeof(ModelOutputLinesProb)); -struct ModelDataRawEdgessXY { - std::array left; - std::array right; +struct ModelOutputEdgessXY { + std::array left; + std::array right; }; -static_assert(sizeof(ModelDataRawEdgessXY) == sizeof(ModelDataRawYZ)*TRAJECTORY_SIZE*2); +static_assert(sizeof(ModelOutputEdgessXY) == sizeof(ModelOutputYZ)*TRAJECTORY_SIZE*2); -struct ModelDataRawRoadEdges { - ModelDataRawEdgessXY mean; - ModelDataRawEdgessXY std; +struct ModelOutputRoadEdges { + ModelOutputEdgessXY mean; + ModelOutputEdgessXY std; }; -static_assert(sizeof(ModelDataRawRoadEdges) == (sizeof(ModelDataRawEdgessXY)*2)); +static_assert(sizeof(ModelOutputRoadEdges) == (sizeof(ModelOutputEdgessXY)*2)); -struct ModelDataRawLeadElement { +struct ModelOutputLeadElement { float x; float y; float velocity; float acceleration; }; -static_assert(sizeof(ModelDataRawLeadElement) == sizeof(float)*4); +static_assert(sizeof(ModelOutputLeadElement) == sizeof(float)*4); -struct ModelDataRawLeadPrediction { - std::array mean; - std::array std; +struct ModelOutputLeadPrediction { + std::array mean; + std::array std; std::array prob; }; -static_assert(sizeof(ModelDataRawLeadPrediction) == (sizeof(ModelDataRawLeadElement)*LEAD_TRAJ_LEN*2) + (sizeof(float)*LEAD_MHP_SELECTION)); +static_assert(sizeof(ModelOutputLeadPrediction) == (sizeof(ModelOutputLeadElement)*LEAD_TRAJ_LEN*2) + (sizeof(float)*LEAD_MHP_SELECTION)); -struct ModelDataRawLeads { - std::array prediction; +struct ModelOutputLeads { + std::array prediction; std::array prob; - constexpr const ModelDataRawLeadPrediction &get_best_prediction(int t_idx) const { + constexpr const ModelOutputLeadPrediction &get_best_prediction(int t_idx) const { int max_idx = 0; for (int i = 1; i < prediction.size(); i++) { if (prediction[i].prob[t_idx] > prediction[max_idx].prob[t_idx]) { @@ -169,26 +145,77 @@ struct ModelDataRawLeads { return prediction[max_idx]; } }; -static_assert(sizeof(ModelDataRawLeads) == (sizeof(ModelDataRawLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION)); - -struct ModelDataRawPose { - ModelDataRawXYZ velocity_mean; - ModelDataRawXYZ rotation_mean; - ModelDataRawXYZ velocity_std; - ModelDataRawXYZ rotation_std; -}; -static_assert(sizeof(ModelDataRawPose) == sizeof(ModelDataRawXYZ)*4); - -struct ModelDataRaw { - const ModelDataRawPlans *const plans; - const ModelDataRawLaneLines *const lane_lines; - const ModelDataRawRoadEdges *const road_edges; - const ModelDataRawLeads *const leads; - const float *const desire_state; - const float *const meta; - const float *const desire_pred; - const ModelDataRawPose *const pose; -}; +static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION)); + +struct ModelOutputPose { + ModelOutputXYZ velocity_mean; + ModelOutputXYZ rotation_mean; + ModelOutputXYZ velocity_std; + ModelOutputXYZ rotation_std; +}; +static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4); + +struct ModelOutputDisengageProb { + float gas_disengage; + float brake_disengage; + float steer_override; + float brake_3ms2; + float brake_4ms2; + float brake_5ms2; + float gas_pressed; +}; +static_assert(sizeof(ModelOutputDisengageProb) == sizeof(float)*7); + +struct ModelOutputBlinkerProb { + float left; + float right; +}; +static_assert(sizeof(ModelOutputBlinkerProb) == sizeof(float)*2); + +struct ModelOutputDesireProb { + union { + struct { + float none; + float turn_left; + float turn_right; + float lane_change_left; + float lane_change_right; + float keep_left; + float keep_right; + float null; + }; + struct { + std::array array; + }; + }; +}; +static_assert(sizeof(ModelOutputDesireProb) == sizeof(float)*DESIRE_LEN); + +struct ModelOutputMeta { + ModelOutputDesireProb desire_state_prob; + float engaged_prob; + std::array disengage_prob; + std::array blinker_prob; + std::array desire_pred_prob; +}; +static_assert(sizeof(ModelOutputMeta) == sizeof(ModelOutputDesireProb) + sizeof(float) + (sizeof(ModelOutputDisengageProb)*DISENGAGE_LEN) + (sizeof(ModelOutputBlinkerProb)*BLINKER_LEN) + (sizeof(ModelOutputDesireProb)*DESIRE_PRED_LEN)); + +struct ModelOutput { + const ModelOutputPlans plans; + const ModelOutputLaneLines lane_lines; + const ModelOutputRoadEdges road_edges; + const ModelOutputLeads leads; + const ModelOutputMeta meta; + const ModelOutputPose pose; +}; + +constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); +#ifdef TEMPORAL + constexpr int TEMPORAL_SIZE = 512; +#else + constexpr int TEMPORAL_SIZE = 0; +#endif +constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + TEMPORAL_SIZE; // TODO: convert remaining arrays to std::array and update model runners struct ModelState { @@ -205,12 +232,12 @@ struct ModelState { }; void model_init(ModelState* s, cl_device_id device_id, cl_context context); -ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height, +ModelOutput *model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height, const mat3 &transform, float *desire_in); void model_free(ModelState* s); void poly_fit(float *in_pts, float *in_stds, float *out); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop, - const ModelDataRaw &net_outputs, uint64_t timestamp_eof, + const ModelOutput &net_outputs, uint64_t timestamp_eof, float model_execution_time, kj::ArrayPtr raw_pred); void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelDataRaw &net_outputs, uint64_t timestamp_eof); + const ModelOutput &net_outputs, uint64_t timestamp_eof); From 7f618b16bfa47352143d6edac30fba05f9fdfc28 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 12 Dec 2021 13:35:12 -0800 Subject: [PATCH 029/239] increase cruise mismatch threshold --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f49fbef5e9..19fe328dbf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -301,7 +301,7 @@ class Controls: # Check for mismatch between openpilot and car's PCM cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 - if self.cruise_mismatch_counter > int(1. / DT_CTRL): + if self.cruise_mismatch_counter > int(3. / DT_CTRL): self.events.add(EventName.cruiseMismatch) # Check for FCW From af125f3c5124bd44ceb999a8cabcc7bea20dc7fe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 12 Dec 2021 13:49:14 -0800 Subject: [PATCH 030/239] update refs --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c162de2bb2..863b5a20fa 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0ae46ae318a63476d8905aa0c32b0e587177868a \ No newline at end of file +7f618b16bfa47352143d6edac30fba05f9fdfc28 \ No newline at end of file From 9decd3d8a20167de684322a458e28c8d1f746f83 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 06:42:23 +0800 Subject: [PATCH 031/239] util: move all functions into util namespace (#23203) --- selfdrive/boardd/boardd.cc | 14 +++++++------- selfdrive/camerad/cameras/camera_common.cc | 2 +- selfdrive/camerad/cameras/camera_qcom.cc | 2 +- selfdrive/camerad/cameras/camera_replay.cc | 4 ++-- selfdrive/camerad/cameras/camera_webcam.cc | 4 ++-- selfdrive/camerad/main.cc | 4 ++-- selfdrive/common/util.cc | 4 ++-- selfdrive/common/util.h | 5 ++--- selfdrive/locationd/locationd.cc | 2 +- selfdrive/loggerd/loggerd.cc | 2 +- selfdrive/loggerd/main.cc | 4 ++-- selfdrive/modeld/modeld.cc | 8 ++++---- 12 files changed, 27 insertions(+), 28 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 3f66efc9fe..51471b8a20 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -205,7 +205,7 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) { } void can_send_thread(std::vector pandas, bool fake_send) { - set_thread_name("boardd_can_send"); + util::set_thread_name("boardd_can_send"); AlignedBuffer aligned_buf; Context * context = Context::create(); @@ -243,7 +243,7 @@ void can_send_thread(std::vector pandas, bool fake_send) { } void can_recv_thread(std::vector pandas) { - set_thread_name("boardd_can_recv"); + util::set_thread_name("boardd_can_recv"); // can = 8006 PubMaster pm({"can"}); @@ -415,7 +415,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { } void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofing_started) { - set_thread_name("boardd_panda_state"); + util::set_thread_name("boardd_panda_state"); Params params; Panda *peripheral_panda = pandas[0]; @@ -461,7 +461,7 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin void peripheral_control_thread(Panda *panda) { - set_thread_name("boardd_peripheral_control"); + util::set_thread_name("boardd_peripheral_control"); SubMaster sm({"deviceState", "driverCameraState"}); @@ -547,7 +547,7 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) { } void pigeon_thread(Panda *panda) { - set_thread_name("boardd_pigeon"); + util::set_thread_name("boardd_pigeon"); PubMaster pm({"ubloxRaw"}); bool ignition_last = false; @@ -629,9 +629,9 @@ int main(int argc, char *argv[]) { if (!Hardware::PC()) { int err; - err = set_realtime_priority(54); + err = util::set_realtime_priority(54); assert(err == 0); - err = set_core_affinity({Hardware::TICI() ? 4 : 3}); + err = util::set_core_affinity({Hardware::TICI() ? 4 : 3}); assert(err == 0); } diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index b901dc39d3..3581e56ddd 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -351,7 +351,7 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre } else { thread_name = "WideRoadCamera"; } - set_thread_name(thread_name); + util::set_thread_name(thread_name); uint32_t cnt = 0; while (!do_exit) { diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 11383de668..04dc624e79 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -1045,7 +1045,7 @@ static void ops_thread(MultiCameraState *s) { CameraExpInfo road_cam_op; CameraExpInfo driver_cam_op; - set_thread_name("camera_settings"); + util::set_thread_name("camera_settings"); SubMaster sm({"sensorEvents"}); while(!do_exit) { road_cam_op = road_cam_exp.load(); diff --git a/selfdrive/camerad/cameras/camera_replay.cc b/selfdrive/camerad/cameras/camera_replay.cc index 8ff1b6aacc..b5b2e6ad29 100644 --- a/selfdrive/camerad/cameras/camera_replay.cc +++ b/selfdrive/camerad/cameras/camera_replay.cc @@ -67,12 +67,12 @@ void run_camera(CameraState *s) { } void road_camera_thread(CameraState *s) { - set_thread_name("replay_road_camera_thread"); + util::set_thread_name("replay_road_camera_thread"); run_camera(s); } // void driver_camera_thread(CameraState *s) { -// set_thread_name("replay_driver_camera_thread"); +// util::set_thread_name("replay_driver_camera_thread"); // run_camera(s); // } diff --git a/selfdrive/camerad/cameras/camera_webcam.cc b/selfdrive/camerad/cameras/camera_webcam.cc index 47da56042c..956f2dc88f 100644 --- a/selfdrive/camerad/cameras/camera_webcam.cc +++ b/selfdrive/camerad/cameras/camera_webcam.cc @@ -97,7 +97,7 @@ void run_camera(CameraState *s, cv::VideoCapture &video_cap, float *ts) { } static void road_camera_thread(CameraState *s) { - set_thread_name("webcam_road_camera_thread"); + util::set_thread_name("webcam_road_camera_thread"); cv::VideoCapture cap_road(ROAD_CAMERA_ID, cv::CAP_V4L2); // road cap_road.set(cv::CAP_PROP_FRAME_WIDTH, 853); @@ -186,7 +186,7 @@ void cameras_run(MultiCameraState *s) { threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera)); std::thread t_rear = std::thread(road_camera_thread, &s->road_cam); - set_thread_name("webcam_thread"); + util::set_thread_name("webcam_thread"); driver_camera_thread(&s->driver_cam); t_rear.join(); diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index 1db7130444..f06bd341df 100644 --- a/selfdrive/camerad/main.cc +++ b/selfdrive/camerad/main.cc @@ -46,9 +46,9 @@ void party(cl_device_id device_id, cl_context context) { int main(int argc, char *argv[]) { if (!Hardware::PC()) { int ret; - ret = set_realtime_priority(53); + ret = util::set_realtime_priority(53); assert(ret == 0); - ret = set_core_affinity({Hardware::EON() ? 2 : 6}); + ret = util::set_core_affinity({Hardware::EON() ? 2 : 6}); assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores } diff --git a/selfdrive/common/util.cc b/selfdrive/common/util.cc index f115b13dc7..534a7f4456 100644 --- a/selfdrive/common/util.cc +++ b/selfdrive/common/util.cc @@ -20,6 +20,8 @@ #include #endif // __linux__ +namespace util { + void set_thread_name(const char* name) { #ifdef __linux__ // pthread_setname_np is dumb (fails instead of truncates) @@ -56,8 +58,6 @@ int set_core_affinity(std::vector cores) { #endif } -namespace util { - std::string read_file(const std::string& fn) { std::ifstream f(fn, std::ios::binary | std::ios::in); if (f.is_open()) { diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h index a47cce68ff..9a6a4d9bdb 100644 --- a/selfdrive/common/util.h +++ b/selfdrive/common/util.h @@ -37,13 +37,12 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE; const double METER_TO_MILE = KM_TO_MILE / 1000.0; const double METER_TO_FOOT = 3.28084; -void set_thread_name(const char* name); +namespace util { +void set_thread_name(const char* name); int set_realtime_priority(int level); int set_core_affinity(std::vector cores); -namespace util { - // ***** Time helpers ***** struct tm get_time(); bool time_valid(struct tm sys_time); diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 7926846895..0350625a91 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -531,7 +531,7 @@ int Localizer::locationd_thread() { } int main() { - set_realtime_priority(5); + util::set_realtime_priority(5); Localizer localizer; return localizer.locationd_thread(); diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index 40d0a15efd..8b6cf9e553 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -38,7 +38,7 @@ bool trigger_rotate_if_needed(LoggerdState *s, int cur_seg, uint32_t frame_id) { } void encoder_thread(LoggerdState *s, const LogCameraInfo &cam_info) { - set_thread_name(cam_info.filename); + util::set_thread_name(cam_info.filename); int cur_seg = -1; int encode_idx = 0; diff --git a/selfdrive/loggerd/main.cc b/selfdrive/loggerd/main.cc index 04da0f67e8..7069aa7068 100644 --- a/selfdrive/loggerd/main.cc +++ b/selfdrive/loggerd/main.cc @@ -7,10 +7,10 @@ int main(int argc, char** argv) { setpriority(PRIO_PROCESS, 0, -20); } else if (Hardware::TICI()) { int ret; - ret = set_core_affinity({0, 1, 2, 3}); + ret = util::set_core_affinity({0, 1, 2, 3}); assert(ret == 0); // TODO: why does this impact camerad timings? - //ret = set_realtime_priority(1); + //ret = util::set_realtime_priority(1); //assert(ret == 0); } diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 121cdcab6d..9e1750eeaf 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -20,8 +20,8 @@ mat3 cur_transform; std::mutex transform_lock; void calibration_thread(bool wide_camera) { - set_thread_name("calibration"); - set_realtime_priority(50); + util::set_thread_name("calibration"); + util::set_realtime_priority(50); SubMaster sm({"liveCalibration"}); @@ -133,9 +133,9 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { int main(int argc, char **argv) { if (!Hardware::PC()) { int ret; - ret = set_realtime_priority(54); + ret = util::set_realtime_priority(54); assert(ret == 0); - set_core_affinity({Hardware::EON() ? 2 : 7}); + util::set_core_affinity({Hardware::EON() ? 2 : 7}); assert(ret == 0); } From cfad1f35e8a763a7ae15244966c925c751e684b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 18:46:52 +0800 Subject: [PATCH 032/239] RawLogger: fix wrong pts (#23205) --- selfdrive/loggerd/raw_logger.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/loggerd/raw_logger.cc b/selfdrive/loggerd/raw_logger.cc index c490a0813d..b0f9f7a9c8 100644 --- a/selfdrive/loggerd/raw_logger.cc +++ b/selfdrive/loggerd/raw_logger.cc @@ -127,7 +127,7 @@ int RawLogger::encode_frame(const uint8_t *y_ptr, const uint8_t *u_ptr, const ui frame->data[0] = (uint8_t*)y_ptr; frame->data[1] = (uint8_t*)u_ptr; frame->data[2] = (uint8_t*)v_ptr; - frame->pts = ts; + frame->pts = counter; int ret = counter; From 4aa291c406752169f4d836e952708eeccbb36c5d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 21:16:53 +0800 Subject: [PATCH 033/239] Use std::unique_ptr to manage memory (#23168) * use unique_ptr * trigger ci * move down loggerdstate --- selfdrive/boardd/boardd.cc | 25 ++++++++----------------- selfdrive/locationd/ubloxd.cc | 12 ++++-------- selfdrive/loggerd/loggerd.cc | 10 ++++------ selfdrive/loggerd/loggerd.h | 1 - 4 files changed, 16 insertions(+), 32 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 51471b8a20..d09738a709 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -208,14 +208,14 @@ void can_send_thread(std::vector pandas, bool fake_send) { util::set_thread_name("boardd_can_send"); AlignedBuffer aligned_buf; - Context * context = Context::create(); - SubSocket * subscriber = SubSocket::create(context, "sendcan"); + std::unique_ptr context(Context::create()); + std::unique_ptr subscriber(SubSocket::create(context.get(), "sendcan")); assert(subscriber != NULL); subscriber->setTimeout(100); // run as fast as messages come in while (!do_exit && check_all_connected(pandas)) { - Message * msg = subscriber->receive(); + std::unique_ptr msg(subscriber->receive()); if (!msg) { if (errno == EINTR) { do_exit = true; @@ -223,23 +223,16 @@ void can_send_thread(std::vector pandas, bool fake_send) { continue; } - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg)); + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); //Dont send if older than 1 second - if (nanos_since_boot() - event.getLogMonoTime() < 1e9) { - if (!fake_send) { - for (const auto& panda : pandas) { - panda->can_send(event.getSendcan()); - } + if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { + for (const auto& panda : pandas) { + panda->can_send(event.getSendcan()); } } - - delete msg; } - - delete subscriber; - delete context; } void can_recv_thread(std::vector pandas) { @@ -552,7 +545,7 @@ void pigeon_thread(Panda *panda) { PubMaster pm({"ubloxRaw"}); bool ignition_last = false; - Pigeon *pigeon = Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda); + std::unique_ptr pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda)); std::unordered_map last_recv_time; std::unordered_map cls_max_dt = { @@ -620,8 +613,6 @@ void pigeon_thread(Panda *panda) { // 10ms - 100 Hz util::sleep_for(10); } - - delete pigeon; } int main(int argc, char *argv[]) { diff --git a/selfdrive/locationd/ubloxd.cc b/selfdrive/locationd/ubloxd.cc index bcf33b3f73..ae07284c8e 100644 --- a/selfdrive/locationd/ubloxd.cc +++ b/selfdrive/locationd/ubloxd.cc @@ -17,14 +17,14 @@ int main() { PubMaster pm({"ubloxGnss", "gpsLocationExternal"}); - Context * context = Context::create(); - SubSocket * subscriber = SubSocket::create(context, "ubloxRaw"); + std::unique_ptr context(Context::create()); + std::unique_ptr subscriber(SubSocket::create(context.get(), "ubloxRaw")); assert(subscriber != NULL); subscriber->setTimeout(100); while (!do_exit) { - Message * msg = subscriber->receive(); + std::unique_ptr msg(subscriber->receive()); if (!msg) { if (errno == EINTR) { do_exit = true; @@ -32,7 +32,7 @@ int main() { continue; } - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg)); + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); auto ubloxRaw = event.getUbloxRaw(); @@ -58,11 +58,7 @@ int main() { } bytes_consumed += bytes_consumed_this_time; } - delete msg; } - delete subscriber; - delete context; - return 0; } diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index 8b6cf9e553..37f03ef4e5 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -185,15 +185,14 @@ void loggerd_thread() { } QlogState; std::unordered_map qlog_states; - LoggerdState s; - s.ctx = Context::create(); - Poller * poller = Poller::create(); + std::unique_ptr ctx(Context::create()); + std::unique_ptr poller(Poller::create()); // subscribe to all socks for (const auto& it : services) { if (!it.should_log) continue; - SubSocket * sock = SubSocket::create(s.ctx, it.name); + SubSocket * sock = SubSocket::create(ctx.get(), it.name); assert(sock != NULL); poller->registerSocket(sock); qlog_states[sock] = { @@ -203,6 +202,7 @@ void loggerd_thread() { }; } + LoggerdState s; // init logger logger_init(&s.logger, "rlog", true); logger_rotate(&s); @@ -266,6 +266,4 @@ void loggerd_thread() { // messaging cleanup for (auto &[sock, qs] : qlog_states) delete sock; - delete poller; - delete s.ctx; } diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 0101a91a5e..bdf5ef8f9d 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -108,7 +108,6 @@ const LogCameraInfo qcam_info = { }; struct LoggerdState { - Context *ctx; LoggerState logger = {}; char segment_path[4096]; std::mutex rotate_lock; From 13ad02bc064e87516539cb42d3e7e41bc3b56b28 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 21:58:21 +0800 Subject: [PATCH 034/239] commonmodel.h: move global model size into class ModelFrame (#23193) * move to class ModelFrame * remove defines in dmonitoring as well Co-authored-by: Willem Melching --- selfdrive/modeld/models/commonmodel.h | 11 +++++------ selfdrive/modeld/models/dmonitoring.cc | 5 ++--- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index d7904489b1..19af75eef4 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -16,10 +16,6 @@ #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -constexpr int MODEL_WIDTH = 512; -constexpr int MODEL_HEIGHT = 256; -constexpr int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL; void softmax(const float* input, float* output, size_t len); @@ -27,14 +23,17 @@ float softplus(float input); float sigmoid(float input); class ModelFrame { - public: +public: ModelFrame(cl_device_id device_id, cl_context context); ~ModelFrame(); float* prepare(cl_mem yuv_cl, int width, int height, const mat3& transform, cl_mem *output); + const int MODEL_WIDTH = 512; + const int MODEL_HEIGHT = 256; + const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; const int buf_size = MODEL_FRAME_SIZE * 2; - private: +private: Transform transform; LoadYUVState loadyuv; cl_command_queue q; diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index de07ffd38b..2acdf7d2b7 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -10,9 +10,8 @@ #include "selfdrive/modeld/models/dmonitoring.h" -#define MODEL_WIDTH 320 -#define MODEL_HEIGHT 640 -#define FULL_W 852 // should get these numbers from camerad +constexpr int MODEL_WIDTH = 320; +constexpr int MODEL_HEIGHT = 640; template static inline T *get_buffer(std::vector &buf, const size_t size) { From 5c6229f3df7ab499fa0a6121a327d9d538a2c847 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 22:07:31 +0800 Subject: [PATCH 035/239] common_process_driver_camera: same parameters as process_thread_cb (#23202) --- selfdrive/camerad/cameras/camera_common.cc | 8 ++++---- selfdrive/camerad/cameras/camera_common.h | 2 +- selfdrive/camerad/cameras/camera_qcom.cc | 6 +----- selfdrive/camerad/cameras/camera_qcom2.cc | 7 +------ 4 files changed, 7 insertions(+), 16 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index 3581e56ddd..6dcbf18c4b 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -408,11 +408,11 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) { camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip)); } -void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) { +void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { int j = Hardware::TICI() ? 1 : 3; if (cnt % j == 0) { - sm->update(0); - driver_cam_auto_exposure(c, *sm); + s->sm->update(0); + driver_cam_auto_exposure(c, *(s->sm)); } MessageBuilder msg; auto framed = msg.initEvent().initDriverCameraState(); @@ -421,5 +421,5 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, if (env_send_driver) { framed.setImage(get_frame_image(&c->buf)); } - pm->send("driverCameraState", msg); + s->pm->send("driverCameraState", msg); } diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h index 20c00c5b5b..9394f90756 100644 --- a/selfdrive/camerad/cameras/camera_common.h +++ b/selfdrive/camerad/cameras/camera_common.h @@ -123,7 +123,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr kj::Array get_frame_image(const CameraBuf *b); float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip); std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); -void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt); +void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt); void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx); void cameras_open(MultiCameraState *s); diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 04dc624e79..5b24b639f2 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -1086,10 +1086,6 @@ static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t la c->self_recover.store(self_recover); } -void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - common_process_driver_camera(s->sm, s->pm, c, cnt); -} - // called by processing_thread void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { const CameraBuf *b = &c->buf; @@ -1121,7 +1117,7 @@ void cameras_run(MultiCameraState *s) { std::vector threads; threads.push_back(std::thread(ops_thread, s)); threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera)); - threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera)); + threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera)); CameraState* cameras[2] = {&s->road_cam, &s->driver_cam}; diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index 3ea065ae73..030bbe47e1 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -987,11 +987,6 @@ void camera_autoexposure(CameraState *s, float grey_frac) { set_camera_exposure(s, grey_frac); } - -void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - common_process_driver_camera(s->sm, s->pm, c, cnt); -} - // called by processing_thread void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { const CameraBuf *b = &c->buf; @@ -1016,7 +1011,7 @@ void cameras_run(MultiCameraState *s) { LOG("-- Starting threads"); std::vector threads; threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera)); - threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera)); + threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera)); threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera)); // start devices From 8a84263c2d20484d83c30f1928c0312d7fa8a350 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 22:22:31 +0800 Subject: [PATCH 036/239] replay: use std::unique_ptr to manage memory, reuse events buffer. (#23049) * reuse events buffer * Trigger Build --- selfdrive/ui/replay/replay.cc | 24 +++++++++++------------- selfdrive/ui/replay/replay.h | 5 +++-- 2 files changed, 14 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index e3753ccf20..8155eb3456 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -25,10 +25,11 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s qDebug() << "services " << s; if (sm == nullptr) { - pm = new PubMaster(s); + pm = std::make_unique(s); } route_ = std::make_unique(route, data_dir); - events_ = new std::vector(); + events_ = std::make_unique>(); + new_events_ = std::make_unique>(); connect(this, &Replay::seekTo, this, &Replay::doSeek); connect(this, &Replay::segmentChanged, this, &Replay::queueSegment); @@ -36,8 +37,6 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s Replay::~Replay() { stop(); - delete pm; - delete events_; } void Replay::stop() { @@ -181,28 +180,27 @@ void Replay::queueSegment() { void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) { // merge 3 segments in sequence. std::vector segments_need_merge; + size_t new_events_size = 0; for (auto it = begin; it != end && it->second->isLoaded() && segments_need_merge.size() < 3; ++it) { segments_need_merge.push_back(it->first); + new_events_size += it->second->log->events.size(); } if (segments_need_merge != segments_merged_) { qDebug() << "merge segments" << segments_need_merge; - std::vector *new_events = new std::vector(); - new_events->reserve(std::accumulate(segments_need_merge.begin(), segments_need_merge.end(), 0, - [=](int v, int n) { return v + segments_[n]->log->events.size(); })); + new_events_->clear(); + new_events_->reserve(new_events_size); for (int n : segments_need_merge) { - auto &e = segments_[n]->log->events; - auto middle = new_events->insert(new_events->end(), e.begin(), e.end()); - std::inplace_merge(new_events->begin(), middle, new_events->end(), Event::lessThan()); + const auto &e = segments_[n]->log->events; + auto middle = new_events_->insert(new_events_->end(), e.begin(), e.end()); + std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan()); } - auto prev_events = events_; updateEvents([&]() { - events_ = new_events; + events_.swap(new_events_); segments_merged_ = segments_need_merge; return true; }); - delete prev_events; } } diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index 2d30d90e4b..a3e6efaadb 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -69,12 +69,13 @@ protected: bool events_updated_ = false; uint64_t route_start_ts_ = 0; uint64_t cur_mono_time_ = 0; - std::vector *events_ = nullptr; + std::unique_ptr> events_; + std::unique_ptr> new_events_; std::vector segments_merged_; // messaging SubMaster *sm = nullptr; - PubMaster *pm = nullptr; + std::unique_ptr pm; std::vector sockets_; std::unique_ptr route_; std::unique_ptr camera_server_; From b519acd37bc4b160fc367bd690a326459f70109f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 22:53:44 +0800 Subject: [PATCH 037/239] LapConv: remove hardcoded FULL_STRIDE_X (#23200) * fix wroing stride_x * remove hardcoded rgb_stride --- selfdrive/camerad/cameras/camera_qcom.cc | 2 +- selfdrive/camerad/imgproc/utils.cc | 8 ++++---- selfdrive/camerad/imgproc/utils.h | 8 ++------ 3 files changed, 7 insertions(+), 11 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 5b24b639f2..06d58f2b01 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -227,7 +227,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i s->stats_bufs[i].allocate(0xb80); } std::fill_n(s->lapres, std::size(s->lapres), 16160); - s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, 3); + s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, s->road_cam.buf.rgb_stride, 3); } static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) { diff --git a/selfdrive/camerad/imgproc/utils.cc b/selfdrive/camerad/imgproc/utils.cc index ad6452c6a6..a88b8f4bb1 100644 --- a/selfdrive/camerad/imgproc/utils.cc +++ b/selfdrive/camerad/imgproc/utils.cc @@ -55,8 +55,8 @@ static cl_program build_conv_program(cl_device_id device_id, cl_context context, return cl_program_from_file(context, device_id, "imgproc/conv.cl", args); } -LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size) - : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), +LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size) + : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), rgb_stride(rgb_stride), roi_buf(width * height * 3), result_buf(width * height) { prg = build_conv_program(device_id, ctx, width, height, filter_size); @@ -81,9 +81,9 @@ uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int r const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1); const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1); - const uint8_t *rgb_offset = rgb_buf + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3; + const uint8_t *rgb_offset = rgb_buf + y_offset * height * rgb_stride + x_offset * width * 3; for (int i = 0; i < height; ++i) { - memcpy(&roi_buf[i * width * 3], &rgb_offset[i * FULL_STRIDE_X * 3], width * 3); + memcpy(&roi_buf[i * width * 3], &rgb_offset[i * rgb_stride], width * 3); } constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t)); diff --git a/selfdrive/camerad/imgproc/utils.h b/selfdrive/camerad/imgproc/utils.h index 72baa5d53a..b735975b3e 100644 --- a/selfdrive/camerad/imgproc/utils.h +++ b/selfdrive/camerad/imgproc/utils.h @@ -16,16 +16,11 @@ #define LM_THRESH 120 #define LM_PREC_THRESH 0.9 // 90 perc is blur - -// only apply to QCOM -#define FULL_STRIDE_X 1280 -#define FULL_STRIDE_Y 896 - #define CONV_LOCAL_WORKSIZE 16 class LapConv { public: - LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size); + LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size); ~LapConv(); uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id); @@ -34,6 +29,7 @@ private: cl_program prg; cl_kernel krnl; const int width, height; + const int rgb_stride; std::vector roi_buf; std::vector result_buf; }; From f482354e4e2ce5d96f5b0c96f7ba923611dc199d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Dec 2021 22:57:04 +0800 Subject: [PATCH 038/239] Qt/SetingWindow: faster initialization and painting (#21764) * reduce init time from ~520ms to ~350ms * faster init toggle setfixedheight in ctor delay init TogglesPanel,reduce init time to ~180ms cleanup * precise style, reduce to ~100ms * revert 'faster toggle * fix horizontal_line * fix background * cleanup --- selfdrive/ui/qt/offroad/settings.cc | 97 +++++++++++++-------------- selfdrive/ui/qt/widgets/controls.cc | 2 +- selfdrive/ui/qt/widgets/scrollview.cc | 7 +- 3 files changed, 53 insertions(+), 53 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 72bfd2eb80..c01da2140c 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -321,33 +321,23 @@ void SettingsWindow::showEvent(QShowEvent *event) { } SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { + QHBoxLayout *main_layout = new QHBoxLayout(this); // setup two main layouts sidebar_widget = new QWidget; + sidebar_widget->setFixedWidth(500); QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); - sidebar_layout->setMargin(0); + sidebar_layout->setContentsMargins(50, 50, 100, 50); + main_layout->addWidget(sidebar_widget); + panel_widget = new QStackedWidget(); - panel_widget->setStyleSheet(R"( - border-radius: 30px; - background-color: #292929; - )"); + panel_widget->setObjectName("panel_widget"); + panel_widget->setContentsMargins(25, 25, 25, 25); + main_layout->addWidget(panel_widget); // close button QPushButton *close_btn = new QPushButton("×"); - close_btn->setStyleSheet(R"( - QPushButton { - font-size: 140px; - padding-bottom: 20px; - font-weight: bold; - border 1px grey solid; - border-radius: 100px; - background-color: #292929; - font-weight: 400; - } - QPushButton:pressed { - background-color: #3B3B3B; - } - )"); + close_btn->setObjectName("close_btn"); close_btn->setFixedSize(200, 200); sidebar_layout->addSpacing(45); sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter); @@ -371,36 +361,17 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); #endif - const int padding = panels.size() > 3 ? 25 : 35; - nav_btns = new QButtonGroup(this); for (auto &[name, panel] : panels) { QPushButton *btn = new QPushButton(name); btn->setCheckable(true); btn->setChecked(nav_btns->buttons().size() == 0); - btn->setStyleSheet(QString(R"( - QPushButton { - color: grey; - border: none; - background: none; - font-size: 65px; - font-weight: 500; - padding-top: %1px; - padding-bottom: %1px; - } - QPushButton:checked { - color: white; - } - QPushButton:pressed { - color: #ADADAD; - } - )").arg(padding)); - + btn->setProperty("type", "menu"); nav_btns->addButton(btn); sidebar_layout->addWidget(btn, 0, Qt::AlignRight); - const int lr_margin = name != "Network" ? 50 : 0; // Network panel handles its own margins - panel->setContentsMargins(lr_margin, 25, lr_margin, 25); + const int lr_margin = name != "Network" ? 25 : 0; // Network panel handles its own margins + panel->setContentsMargins(lr_margin, 0, lr_margin, 0); ScrollView *panel_frame = new ScrollView(panel, this); panel_widget->addWidget(panel_frame); @@ -410,16 +381,9 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { panel_widget->setCurrentWidget(w); }); } - sidebar_layout->setContentsMargins(50, 50, 100, 50); - // main settings layout, sidebar + main panel - QHBoxLayout *main_layout = new QHBoxLayout(this); - - sidebar_widget->setFixedWidth(500); - main_layout->addWidget(sidebar_widget); - main_layout->addWidget(panel_widget); - - setStyleSheet(R"( + const int padding = panels.size() > 3 ? 25 : 35; + setStyleSheet(QString(R"( * { color: white; font-size: 50px; @@ -427,7 +391,38 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { SettingsWindow { background-color: black; } - )"); + #panel_widget{ + border-radius: 30px; + background-color: #292929; + } + QPushButton#close_btn { + font-size: 140px; + padding-bottom: 20px; + font-weight: bold; + border 1px grey solid; + border-radius: 100px; + background-color: #292929; + font-weight: 400; + } + QPushButton#close_btn:pressed { + background-color: #3B3B3B; + } + QPushButton[type="menu"] { + color: grey; + border: none; + background: none; + font-size: 65px; + font-weight: 500; + padding-top: %1px; + padding-bottom: %1px; + } + QPushButton[type="menu"]:checked { + color: white; + } + QPushButton[type="menu"]:pressed { + color: #ADADAD; + } + )").arg(padding)); } void SettingsWindow::hideEvent(QHideEvent *event) { diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 8b09ba2bb3..da4e4d7955 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -39,7 +39,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons // title title_label = new QPushButton(title); title_label->setFixedHeight(120); - title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); + title_label->setStyleSheet("border:none; font-size: 50px; font-weight: 400; text-align: left"); hlayout->addWidget(title_label); main_layout->addLayout(hlayout); diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index 1aa05b4157..beb0b7d464 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -4,11 +4,16 @@ #include ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { + QPalette pal = palette(); + pal.setColor(QPalette::Background, QColor(0x29, 0x29, 0x29)); + w->setAutoFillBackground(true); + w->setPalette(pal); + setWidget(w); setWidgetResizable(true); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setStyleSheet("background-color: transparent;"); + setFrameStyle(QFrame::NoFrame); QString style = R"( QScrollBar:vertical { From df5b374033cd89a7cffaddb12a7650c895f84cea Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Dec 2021 17:38:19 -0800 Subject: [PATCH 039/239] add small minimum time between taps to onboarding (#23212) Co-authored-by: Comma Device --- selfdrive/ui/qt/offroad/onboarding.cc | 6 ++++++ selfdrive/ui/qt/offroad/onboarding.h | 2 ++ 2 files changed, 8 insertions(+) diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index e6593f7679..458464239e 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -16,6 +16,11 @@ TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) { } void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) { + if (click_timer.elapsed() < 250) { + return; + } + click_timer.restart(); + if (boundingRect[currentIndex].contains(e->x(), e->y())) { if (currentIndex == 9) { const QRect yes = QRect(692, 842, 492, 148); @@ -40,6 +45,7 @@ void TrainingGuide::showEvent(QShowEvent *event) { currentIndex = 0; image.load(img_path + "step0.png"); + click_timer.start(); } void TrainingGuide::paintEvent(QPaintEvent *event) { diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h index 7ae72649d1..9424c07d19 100644 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ b/selfdrive/ui/qt/offroad/onboarding.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -74,6 +75,7 @@ private: QString img_path; QVector boundingRect; + QElapsedTimer click_timer; signals: void completedTraining(); From 8a229826cf395cb2e8f7ab31a72738dc4abfbc4b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Dec 2021 17:42:15 -0800 Subject: [PATCH 040/239] androidd: reduce cloudlog spam --- selfdrive/hardware/eon/androidd.py | 35 +++++++++++++++--------------- 1 file changed, 18 insertions(+), 17 deletions(-) diff --git a/selfdrive/hardware/eon/androidd.py b/selfdrive/hardware/eon/androidd.py index 6de00d8e71..b836eb0129 100755 --- a/selfdrive/hardware/eon/androidd.py +++ b/selfdrive/hardware/eon/androidd.py @@ -52,25 +52,26 @@ def main(): cloudlog.event("android service pid changed", proc=p, cur=cur[p], prev=procs[p]) procs.update(cur) - # check modem state - state = get_modem_state() - if state != modem_state and not modem_killed: - cloudlog.event("modem state changed", state=state) - modem_state = state + if os.path.exists(MODEM_PATH): + # check modem state + state = get_modem_state() + if state != modem_state and not modem_killed: + cloudlog.event("modem state changed", state=state) + modem_state = state - # check modem crashes - cnt = get_modem_crash_count() - if cnt is not None: - if cnt > crash_count: - cloudlog.event("modem crash", count=cnt) - crash_count = cnt + # check modem crashes + cnt = get_modem_crash_count() + if cnt is not None: + if cnt > crash_count: + cloudlog.event("modem crash", count=cnt) + crash_count = cnt - # handle excessive modem crashes - if crash_count > MAX_MODEM_CRASHES and not modem_killed: - cloudlog.event("killing modem") - with open("/sys/kernel/debug/msm_subsys/modem", "w") as f: - f.write("put") - modem_killed = True + # handle excessive modem crashes + if crash_count > MAX_MODEM_CRASHES and not modem_killed: + cloudlog.event("killing modem") + with open("/sys/kernel/debug/msm_subsys/modem", "w") as f: + f.write("put") + modem_killed = True time.sleep(1) From 5aa701b029516b62618be8a30cdf372c86d407a3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Dec 2021 20:30:24 -0800 Subject: [PATCH 041/239] update contributing.md --- docs/CONTRIBUTING.md | 49 ++++++++++++++++++++------------------------ 1 file changed, 22 insertions(+), 27 deletions(-) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 8dcdeee509..b9da6c576c 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -1,46 +1,41 @@ # How to contribute -Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). -Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/). +Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/). -## Getting Started +### Getting Started * Setup your [development environment](../tools/) * Join our [Discord](https://discord.comma.ai) * Make sure you have a [GitHub account](https://github.com/signup/free) * Fork [our repositories](https://github.com/commaai) on GitHub -## Testing - -### Automated Testing - -All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. +## Pull Requests -### Code Style and Linting +Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. -Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. +A good pull request has all of the following: +* a clearly stated purpose +* every line changed directly contributes to the stated purpose +* verification, i.e. how did you test your PR? +* justification + * if you've optimized something, post benchmarks to prove it's better + * if you've improved your car's tuning, post before and after plots +* passes the CI tests -## Car Ports +### Car Ports We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models. If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/). -## Pull Requests +## Testing + +### Automated Testing + +All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. + +### Code Style and Linting -Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository: -``` -git clone https://github.com/commaai/openpilot.git --recursive -``` -Or alternatively, when on the master branch: -``` -git submodule update --init -``` -The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). -Modules that are in seperate repositories include: -* cereal -* laika -* opendbc -* panda -* rednose +Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. From 57871c99031cf597ffa0d819057ac1401e129f32 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Mon, 13 Dec 2021 20:39:39 -0800 Subject: [PATCH 042/239] Updated release notes --- RELEASES.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index 6910f8d316..5d4f114b84 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,8 @@ Version 0.8.12 (2021-12-15) ======================== * New driving model * Improved behavior around exits + * Better pose accuracy at high speeds, allowing max speed of 90mph + * Fully incorporated comma three data into all parts of training stack * Improved follow distance * Better longitudinal policy, especially in low speed traffic * New alert sounds From 4a936bb2e51dda50041c3ba7cc3db744411193fa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Dec 2021 22:24:03 -0800 Subject: [PATCH 043/239] bump version to 0.8.13 --- RELEASES.md | 3 +++ selfdrive/common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 5d4f114b84..2c630e70ad 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.8.13 (2022-XX-XX) +======================== + Version 0.8.12 (2021-12-15) ======================== * New driving model diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h index aa786903c4..f1f7df9baf 100644 --- a/selfdrive/common/version.h +++ b/selfdrive/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.8.12" +#define COMMA_VERSION "0.8.13" From d4b8cba0f6614138a7a836559712baeb894f7163 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Dec 2021 18:00:01 +0800 Subject: [PATCH 044/239] move LayoutWidget,ClickableWidget to controls (#23207) --- selfdrive/ui/qt/util.cc | 15 --------------- selfdrive/ui/qt/util.h | 26 -------------------------- selfdrive/ui/qt/widgets/controls.cc | 14 ++++++++++++++ selfdrive/ui/qt/widgets/controls.h | 24 ++++++++++++++++++++++++ 4 files changed, 38 insertions(+), 41 deletions(-) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index b1defb0081..668154fd7a 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -98,21 +98,6 @@ void initApp() { } } -ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { } - -void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) { - emit clicked(); -} - -// Fix stylesheets -void ClickableWidget::paintEvent(QPaintEvent *) { - QStyleOption opt; - opt.init(this); - QPainter p(this); - style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this); -} - - void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { static std::map levels = { {QtMsgType::QtDebugMsg, CLOUDLOG_DEBUG}, diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 588dac704f..3e37444a75 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -4,7 +4,6 @@ #include #include -#include #include #include #include @@ -21,28 +20,3 @@ QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); void initApp(); QWidget* topWidget (QWidget* widget); - - -// convenience class for wrapping layouts -class LayoutWidget : public QWidget { - Q_OBJECT - -public: - LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { - setLayout(l); - }; -}; - -class ClickableWidget : public QWidget { - Q_OBJECT - -public: - ClickableWidget(QWidget *parent = nullptr); - -protected: - void mouseReleaseEvent(QMouseEvent *event) override; - void paintEvent(QPaintEvent *) override; - -signals: - void clicked(); -}; diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index da4e4d7955..1a67c8ddd7 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -121,3 +121,17 @@ void ElidedLabel::paintEvent(QPaintEvent *event) { opt.initFrom(this); style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole()); } + +ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { } + +void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) { + emit clicked(); +} + +// Fix stylesheets +void ClickableWidget::paintEvent(QPaintEvent *) { + QStyleOption opt; + opt.init(this); + QPainter p(this); + style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this); +} diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index b793326056..13cd55ff3b 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -161,3 +161,27 @@ private: QVBoxLayout outer_layout; QVBoxLayout inner_layout; }; + +// convenience class for wrapping layouts +class LayoutWidget : public QWidget { + Q_OBJECT + +public: + LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { + setLayout(l); + }; +}; + +class ClickableWidget : public QWidget { + Q_OBJECT + +public: + ClickableWidget(QWidget *parent = nullptr); + +protected: + void mouseReleaseEvent(QMouseEvent *event) override; + void paintEvent(QPaintEvent *) override; + +signals: + void clicked(); +}; From c5dbee4e58aad2efca6d91baa4c7c4171ee8953f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Dec 2021 18:22:16 +0800 Subject: [PATCH 045/239] UI: add timeout to close settings window while onroad (#22980) * refactor updateWakefulness * don't hide sidebar * rename reset->reset_timeout * move related variables and functions into class Device * reset timeout in ctor * set timeout to 10s if ignition is on * cleanup * remove unused QTimer *timer * check getTimestamp * keep socket reading in update_state * keep filtering Co-authored-by: Willem Melching --- selfdrive/ui/qt/window.cc | 12 +++++------ selfdrive/ui/ui.cc | 42 +++++++++++++++++++++++++-------------- selfdrive/ui/ui.h | 12 +++++------ 3 files changed, 38 insertions(+), 28 deletions(-) diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 7fe87ce698..da83bb97e4 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -37,17 +37,16 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { main_layout->setCurrentWidget(onboardingWindow); } - device.setAwake(true, true); QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update); QObject::connect(&qs, &QUIState::offroadTransition, [=](bool offroad) { if (!offroad) { closeSettings(); } }); - QObject::connect(&device, &Device::displayPowerChanged, [=]() { - if(main_layout->currentWidget() != onboardingWindow) { - closeSettings(); - } + QObject::connect(&device, &Device::interactiveTimout, [=]() { + if (main_layout->currentWidget() == settingsWindow) { + closeSettings(); + } }); // load fonts @@ -86,9 +85,8 @@ void MainWindow::closeSettings() { } bool MainWindow::eventFilter(QObject *obj, QEvent *event) { - // wake screen on tap if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::TouchBegin) { - device.setAwake(true, true); + device.resetInteractiveTimout(); } #ifdef QCOM diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 38c08eb484..3dd044653b 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -251,6 +251,8 @@ void QUIState::update() { } Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) { + setAwake(true); + resetInteractiveTimout(); } void Device::update(const UIState &s) { @@ -261,17 +263,17 @@ void Device::update(const UIState &s) { QUIState::ui_state.awake = awake; } -void Device::setAwake(bool on, bool reset) { +void Device::setAwake(bool on) { if (on != awake) { awake = on; Hardware::set_display_power(awake); LOGD("setting display power %d", awake); emit displayPowerChanged(awake); } +} - if (reset) { - awake_timeout = 30 * UI_FREQ; - } +void Device::resetInteractiveTimout() { + interactive_timeout = (ignition_on ? 10 : 30) * UI_FREQ; } void Device::updateBrightness(const UIState &s) { @@ -302,18 +304,28 @@ void Device::updateBrightness(const UIState &s) { last_brightness = brightness; } +bool Device::motionTriggered(const UIState &s) { + static float accel_prev = 0; + static float gyro_prev = 0; + + bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2; + bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15; + + gyro_prev = s.scene.gyro_sensor; + accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples; + + return (!awake && accel_trigger && gyro_trigger); +} + void Device::updateWakefulness(const UIState &s) { - awake_timeout = std::max(awake_timeout - 1, 0); - - bool should_wake = s.scene.started || s.scene.ignition; - if (!should_wake) { - // tap detection while display is off - bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2; - bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15; - should_wake = accel_trigger && gyro_trigger; - gyro_prev = s.scene.gyro_sensor; - accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples; + bool ignition_just_turned_off = !s.scene.ignition && ignition_on; + ignition_on = s.scene.ignition; + + if (ignition_just_turned_off || motionTriggered(s)) { + resetInteractiveTimout(); + } else if (interactive_timeout > 0 && --interactive_timeout == 0) { + emit interactiveTimout(); } - setAwake(awake_timeout, should_wake); + setAwake(s.scene.ignition || interactive_timeout > 0); } diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 4b4ef0bb28..924fb8194c 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -152,22 +152,22 @@ private: const float accel_samples = 5*UI_FREQ; bool awake = false; - int awake_timeout = 0; - float accel_prev = 0; - float gyro_prev = 0; + int interactive_timeout = 0; + bool ignition_on = false; int last_brightness = 0; FirstOrderFilter brightness_filter; - QTimer *timer; - void updateBrightness(const UIState &s); void updateWakefulness(const UIState &s); + bool motionTriggered(const UIState &s); + void setAwake(bool on); signals: void displayPowerChanged(bool on); + void interactiveTimout(); public slots: - void setAwake(bool on, bool reset); + void resetInteractiveTimout(); void update(const UIState &s); }; From 084ef394891360d05b272f502029f9e7e23886db Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Dec 2021 19:14:51 +0800 Subject: [PATCH 046/239] C2: display ip address in network panel (#23215) * display ipv4 address * refactor to class * only display ip address --- selfdrive/ui/qt/offroad/settings.cc | 38 +++++++++++++++++++++++------ selfdrive/ui/qt/offroad/settings.h | 11 +++++++++ 2 files changed, 42 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index c01da2140c..b91b507e9f 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -286,15 +286,14 @@ void SoftwarePanel::updateLabels() { osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed()); } -QWidget * network_panel(QWidget * parent) { -#ifdef QCOM - QWidget *w = new QWidget(parent); - QVBoxLayout *layout = new QVBoxLayout(w); +C2NetworkPanel::C2NetworkPanel(QWidget *parent) : QWidget(parent) { + QVBoxLayout *layout = new QVBoxLayout(this); layout->setContentsMargins(50, 0, 50, 0); ListWidget *list = new ListWidget(); list->setSpacing(30); // wifi + tethering buttons +#ifdef QCOM auto wifiBtn = new ButtonControl("Wi-Fi Settings", "OPEN"); QObject::connect(wifiBtn, &ButtonControl::clicked, [=]() { HardwareEon::launch_wifi(); }); list->addItem(wifiBtn); @@ -302,17 +301,42 @@ QWidget * network_panel(QWidget * parent) { auto tetheringBtn = new ButtonControl("Tethering Settings", "OPEN"); QObject::connect(tetheringBtn, &ButtonControl::clicked, [=]() { HardwareEon::launch_tethering(); }); list->addItem(tetheringBtn); +#endif + ipaddress = new LabelControl("IP Address", ""); + list->addItem(ipaddress); // SSH key management list->addItem(new SshToggle()); list->addItem(new SshControl()); - layout->addWidget(list); layout->addStretch(1); +} + +void C2NetworkPanel::showEvent(QShowEvent *event) { + ipaddress->setText(getIPAddress()); +} + +QString C2NetworkPanel::getIPAddress() { + std::string result = util::check_output("ifconfig wlan0"); + if (result.empty()) return ""; + + const std::string inetaddrr = "inet addr:"; + std::string::size_type begin = result.find(inetaddrr); + if (begin == std::string::npos) return ""; + + begin += inetaddrr.length(); + std::string::size_type end = result.find(' ', begin); + if (end == std::string::npos) return ""; + + return result.substr(begin, end - begin).c_str(); +} + +QWidget *network_panel(QWidget *parent) { +#ifdef QCOM + return new C2NetworkPanel(parent); #else - Networking *w = new Networking(parent); + return new Networking(parent); #endif - return w; } void SettingsWindow::showEvent(QShowEvent *event) { diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 7fc5a8581f..f69c080ee7 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -77,3 +77,14 @@ private: Params params; QFileSystemWatcher *fs_watch; }; + +class C2NetworkPanel: public QWidget { + Q_OBJECT +public: + explicit C2NetworkPanel(QWidget* parent = nullptr); + +private: + void showEvent(QShowEvent *event) override; + QString getIPAddress(); + LabelControl *ipaddress; +}; From b745a14ff71622fe1fe4c9c043c7d7694d23dc08 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Dec 2021 05:15:13 -0600 Subject: [PATCH 047/239] version.py: make function names more clear (#23216) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * rename a few version functions * and is_prebuilt * and some formatting 😊 --- selfdrive/athena/manage_athenad.py | 4 ++-- selfdrive/car/car_helpers.py | 4 ++-- selfdrive/manager/build.py | 4 ++-- selfdrive/manager/manager.py | 12 ++++++------ selfdrive/tombstoned.py | 4 ++-- selfdrive/updated.py | 4 ++-- selfdrive/version.py | 21 ++++++++++----------- 7 files changed, 26 insertions(+), 27 deletions(-) diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index fa95eacd8e..17926f5a93 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -6,7 +6,7 @@ from multiprocessing import Process from common.params import Params from selfdrive.manager.process import launcher from selfdrive.swaglog import cloudlog -from selfdrive.version import get_version, get_dirty +from selfdrive.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" @@ -14,7 +14,7 @@ ATHENA_MGR_PID_PARAM = "AthenadPid" def main(): params = Params() dongle_id = params.get("DongleId").decode('utf-8') - cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=get_dirty()) + cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty()) try: while 1: diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 786b00fa2b..2481c6e94b 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -1,7 +1,7 @@ import os from common.params import Params from common.basedir import BASEDIR -from selfdrive.version import get_comma_remote, get_tested_branch +from selfdrive.version import is_comma_remote, is_tested_branch from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, VIN_UNKNOWN from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car @@ -14,7 +14,7 @@ EventName = car.CarEvent.EventName def get_startup_event(car_recognized, controller_available, fw_seen): - if get_comma_remote() and get_tested_branch(): + if is_comma_remote() and is_tested_branch(): event = EventName.startup else: event = EventName.startupMaster diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 078f18fd29..5bbb4bd976 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -12,7 +12,7 @@ from common.spinner import Spinner from common.text_window import TextWindow from selfdrive.hardware import TICI from selfdrive.swaglog import cloudlog, add_file_handler -from selfdrive.version import get_dirty +from selfdrive.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if TICI else "/tmp/scons_cache") @@ -98,4 +98,4 @@ def build(spinner, dirty=False): if __name__ == "__main__" and not PREBUILT: spinner = Spinner() spinner.update_progress(0, 100) - build(spinner, get_dirty()) + build(spinner, is_dirty()) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 386876b692..f9bda4c3a1 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -18,8 +18,8 @@ from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from selfdrive.swaglog import cloudlog, add_file_handler -from selfdrive.version import get_dirty, get_commit, get_version, get_origin, get_short_branch, \ - terms_version, training_version, get_comma_remote +from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ + terms_version, training_version, is_comma_remote sys.path.append(os.path.join(BASEDIR, "pyextra")) @@ -86,16 +86,16 @@ def manager_init(): raise Exception(f"Registration failed for device {serial}") os.environ['DONGLE_ID'] = dongle_id # Needed for swaglog - if not get_dirty(): + if not is_dirty(): os.environ['CLEAN'] = '1' - cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=get_dirty(), + cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(), device=HARDWARE.get_device_type()) - if get_comma_remote() and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): + if is_comma_remote() and not (os.getenv("NOLOG") or os.getenv("NOCRASH") or PC): crash.init() crash.bind_user(id=dongle_id) - crash.bind_extra(dirty=get_dirty(), origin=get_origin(), branch=get_short_branch(), commit=get_commit(), + crash.bind_extra(dirty=is_dirty(), origin=get_origin(), branch=get_short_branch(), commit=get_commit(), device=HARDWARE.get_device_type()) diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index a301725bae..e69de00937 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -15,7 +15,7 @@ from common.file_helpers import mkdirs_exists_ok from selfdrive.hardware import TICI, HARDWARE from selfdrive.loggerd.config import ROOT from selfdrive.swaglog import cloudlog -from selfdrive.version import get_branch, get_commit, get_dirty, get_origin, get_version +from selfdrive.version import get_branch, get_commit, is_dirty, get_origin, get_version MAX_SIZE = 100000 * 10 # mal size is 40-100k, allow up to 1M if TICI: @@ -207,7 +207,7 @@ def main(): dongle_id = Params().get("DongleId", encoding='utf-8') sentry_sdk.set_user({"id": dongle_id}) - sentry_sdk.set_tag("dirty", get_dirty()) + sentry_sdk.set_tag("dirty", is_dirty()) sentry_sdk.set_tag("origin", get_origin()) sentry_sdk.set_tag("branch", get_branch()) sentry_sdk.set_tag("commit", get_commit()) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 2acebf2a4e..2aa8147dae 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -40,7 +40,7 @@ from common.params import Params from selfdrive.hardware import EON, TICI, HARDWARE from selfdrive.swaglog import cloudlog from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.version import get_tested_branch +from selfdrive.version import is_tested_branch LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") @@ -142,7 +142,7 @@ def set_params(new_version: bool, failed_count: int, exception: Optional[str]) - now = datetime.datetime.utcnow() dt = now - last_update if failed_count > 15 and exception is not None: - if get_tested_branch(): + if is_tested_branch(): extra_text = "Ensure the software is correctly installed" else: extra_text = exception diff --git a/selfdrive/version.py b/selfdrive/version.py index 2ddfc93c69..6f41731cad 100644 --- a/selfdrive/version.py +++ b/selfdrive/version.py @@ -7,7 +7,6 @@ from functools import lru_cache from common.basedir import BASEDIR from selfdrive.swaglog import cloudlog - TESTED_BRANCHES = ['devel', 'release2-staging', 'release3-staging', 'dashcam-staging', 'release2', 'release3', 'dashcam'] training_version: bytes = b"0.2.0" @@ -62,12 +61,12 @@ def get_version() -> str: @cache -def get_prebuilt() -> bool: +def is_prebuilt() -> bool: return os.path.exists(os.path.join(BASEDIR, 'prebuilt')) @cache -def get_comma_remote() -> bool: +def is_comma_remote() -> bool: origin = get_origin() if origin is None: return False @@ -76,12 +75,12 @@ def get_comma_remote() -> bool: @cache -def get_tested_branch() -> bool: +def is_tested_branch() -> bool: return get_short_branch() in TESTED_BRANCHES @cache -def get_dirty() -> bool: +def is_dirty() -> bool: origin = get_origin() branch = get_branch() if (origin is None) or (branch is None): @@ -90,7 +89,7 @@ def get_dirty() -> bool: dirty = False try: # Actually check dirty files - if not get_prebuilt(): + if not is_prebuilt(): # This is needed otherwise touched files might show up as modified try: subprocess.check_call(["git", "update-index", "--refresh"]) @@ -100,15 +99,15 @@ def get_dirty() -> bool: dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0) # Log dirty files - if dirty and get_comma_remote(): + if dirty and is_comma_remote(): try: dirty_files = run_cmd(["git", "diff-index", branch, "--"]) cloudlog.event("dirty comma branch", version=get_version(), dirty=dirty, origin=origin, branch=branch, - dirty_files=dirty_files, commit=get_commit(), origin_commit=get_commit(branch)) + dirty_files=dirty_files, commit=get_commit(), origin_commit=get_commit(branch)) except subprocess.CalledProcessError: pass - dirty = dirty or (not get_comma_remote()) + dirty = dirty or (not is_comma_remote()) dirty = dirty or ('master' in branch) except subprocess.CalledProcessError: @@ -125,9 +124,9 @@ if __name__ == "__main__": params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) - print("Dirty: %s" % get_dirty()) + print("Dirty: %s" % is_dirty()) print("Version: %s" % get_version()) print("Origin: %s" % get_origin()) print("Branch: %s" % get_branch()) print("Short branch: %s" % get_short_branch()) - print("Prebuilt: %s" % get_prebuilt()) + print("Prebuilt: %s" % is_prebuilt()) From 8cb83b29a6b0cb1e5081651e96745c425e7e31f9 Mon Sep 17 00:00:00 2001 From: Devin Leamy Date: Tue, 14 Dec 2021 07:29:17 -0500 Subject: [PATCH 048/239] athena: persist upload queue to disk (#22659) * revert submodules * lowercase * addressed comments * add test for cancelled uploads * formatting * catch all exceptions * handle empty param Co-authored-by: Willem Melching --- selfdrive/athena/athenad.py | 31 ++++++++++++++++++++++++-- selfdrive/athena/tests/helpers.py | 22 +++++++++++++----- selfdrive/athena/tests/test_athenad.py | 25 ++++++++++++++++++++- selfdrive/common/params.cc | 1 + 4 files changed, 70 insertions(+), 9 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d196926611..adfa8673f4 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -56,6 +56,28 @@ UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', ' cur_upload_items = {} +class UploadQueueCache(): + params = Params() + + @staticmethod + def initialize(upload_queue): + try: + upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue") + if upload_queue_json is not None: + for item in json.loads(upload_queue_json): + upload_queue.put(UploadItem(**item)) + except Exception: + cloudlog.exception("athena.UploadQueueCache.initialize.exception") + + @staticmethod + def cache(upload_queue): + try: + items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads] + UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items)) + except Exception: + cloudlog.exception("athena.UploadQueueCache.cache.exception") + + def handle_long_poll(ws): end_event = threading.Event() @@ -111,6 +133,7 @@ def upload_handler(end_event): try: cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True) + if cur_upload_items[tid].id in cancelled_uploads: cancelled_uploads.remove(cur_upload_items[tid].id) continue @@ -120,6 +143,7 @@ def upload_handler(end_event): cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1) _do_upload(cur_upload_items[tid], cb) + UploadQueueCache.cache(upload_queue) except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError) as e: cloudlog.warning(f"athena.upload_handler.retry {e} {cur_upload_items[tid]}") @@ -131,6 +155,8 @@ def upload_handler(end_event): current=False ) upload_queue.put_nowait(item) + UploadQueueCache.cache(upload_queue) + cur_upload_items[tid] = None for _ in range(RETRY_DELAY): @@ -248,6 +274,7 @@ def uploadFileToUrl(fn, url, headers): item = item._replace(id=upload_id) upload_queue.put_nowait(item) + UploadQueueCache.cache(upload_queue) return {"enqueued": 1, "item": item._asdict()} @@ -280,8 +307,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port): cloudlog.debug("athena.startLocalProxy.starting") - params = Params() - dongle_id = params.get("DongleId").decode('utf8') + dongle_id = Params().get("DongleId").decode('utf8') identity_token = Api(dongle_id).get_token() ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, @@ -525,6 +551,7 @@ def backoff(retries): def main(): params = Params() dongle_id = params.get("DongleId", encoding='utf-8') + UploadQueueCache.initialize(upload_queue) ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id api = Api(dongle_id) diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 831b668297..26655b4a37 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -50,18 +50,28 @@ class MockApi(): class MockParams(): - def __init__(self): - self.params = { - "DongleId": b"0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private" # noqa: E501 - } + default_params = { + "DongleId": b"0000000000000000", + "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "AthenadUploadQueue": '[]' + } + params = default_params.copy() + + @staticmethod + def restore_defaults(): + MockParams.params = MockParams.default_params.copy() def get(self, k, encoding=None): - ret = self.params.get(k) + ret = MockParams.params.get(k) if ret is not None and encoding is not None: ret = ret.decode(encoding) return ret + def put(self, k, v): + if k not in MockParams.params: + raise KeyError(f"key: {k} not in MockParams") + MockParams.params[k] = v + class MockWebsocket(): def __init__(self, recv_queue, send_queue): diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 5bf34d1bc7..d96e32abc2 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -21,19 +21,22 @@ from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server from cereal import messaging + class TestAthenadMethods(unittest.TestCase): @classmethod def setUpClass(cls): cls.SOCKET_PORT = 45454 + athenad.Params = MockParams athenad.ROOT = tempfile.mkdtemp() athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp() - athenad.Params = MockParams athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = set([cls.SOCKET_PORT]) def setUp(self): + MockParams.restore_defaults() athenad.upload_queue = queue.Queue() athenad.cur_upload_items.clear() + athenad.cancelled_uploads.clear() for i in os.listdir(athenad.ROOT): p = os.path.join(athenad.ROOT, i) @@ -249,6 +252,26 @@ class TestAthenadMethods(unittest.TestCase): items = dispatcher["listUploadQueue"]() self.assertEqual(len(items), 0) + def test_upload_queue_persistence(self): + item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') + item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2') + + athenad.upload_queue.put_nowait(item1) + athenad.upload_queue.put_nowait(item2) + + # Ensure cancelled items are not persisted + athenad.cancelled_uploads.add(item2.id) + + # serialize item + athenad.UploadQueueCache.cache(athenad.upload_queue) + + # deserialize item + athenad.upload_queue.queue.clear() + athenad.UploadQueueCache.initialize(athenad.upload_queue) + + self.assertEqual(athenad.upload_queue.qsize(), 1) + self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict()) + @mock.patch('selfdrive.athena.athenad.create_connection') def test_startLocalProxy(self, mock_create_connection): end_event = threading.Event() diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc index a405d21609..f0508cace0 100644 --- a/selfdrive/common/params.cc +++ b/selfdrive/common/params.cc @@ -85,6 +85,7 @@ private: std::unordered_map keys = { {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, {"AthenadPid", PERSISTENT}, + {"AthenadUploadQueue", PERSISTENT}, {"BootedOnroad", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"CalibrationParams", PERSISTENT}, {"CarBatteryCapacity", PERSISTENT}, From 36db473babe445f0bae08065fb9d37197d5cd575 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 14 Dec 2021 13:29:59 +0100 Subject: [PATCH 049/239] comma two: remove lens sag compensation (#23113) --- selfdrive/camerad/cameras/camera_common.cc | 1 - selfdrive/camerad/cameras/camera_common.h | 1 - selfdrive/camerad/cameras/camera_qcom.cc | 35 ++-------------------- selfdrive/camerad/cameras/camera_qcom.h | 1 - 4 files changed, 3 insertions(+), 35 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index 6dcbf18c4b..424ad78ab3 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -200,7 +200,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction); framed.setTargetGreyFraction(frame_data.target_grey_fraction); framed.setLensPos(frame_data.lens_pos); - framed.setLensSag(frame_data.lens_sag); framed.setLensErr(frame_data.lens_err); framed.setLensTruePos(frame_data.lens_true_pos); } diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h index 9394f90756..75bd79bfdf 100644 --- a/selfdrive/camerad/cameras/camera_common.h +++ b/selfdrive/camerad/cameras/camera_common.h @@ -68,7 +68,6 @@ typedef struct FrameMetadata { // Focus unsigned int lens_pos; - float lens_sag; float lens_err; float lens_true_pos; } FrameMetadata; diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 06d58f2b01..ecb1c8ffe4 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -852,21 +852,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) { s->focus_err = max_focus*1.0; } -static std::optional get_accel_z(SubMaster *sm) { - sm->update(0); - if(sm->updated("sensorEvents")) { - for (auto event : (*sm)["sensorEvents"].getSensorEvents()) { - if (event.which() == cereal::SensorEventData::ACCELERATION) { - if (auto v = event.getAcceleration().getV(); v.size() >= 3) - return -v[2]; - break; - } - } - } - return std::nullopt; -} - -static void do_autofocus(CameraState *s, SubMaster *sm) { +static void do_autofocus(CameraState *s) { float lens_true_pos = s->lens_true_pos.load(); if (!isnan(s->focus_err)) { // learn lens_true_pos @@ -874,23 +860,10 @@ static void do_autofocus(CameraState *s, SubMaster *sm) { lens_true_pos -= s->focus_err*focus_kp; } - if (auto accel_z = get_accel_z(sm)) { - s->last_sag_acc_z = *accel_z; - } - const float sag = (s->last_sag_acc_z / 9.8) * 128; // stay off the walls lens_true_pos = std::clamp(lens_true_pos, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP)); - int target = std::clamp(lens_true_pos - sag, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP)); s->lens_true_pos.store(lens_true_pos); - - /*char debug[4096]; - char *pdebug = debug; - pdebug += sprintf(pdebug, "focus "); - for (int i = 0; i < NUM_FOCUS; i++) pdebug += sprintf(pdebug, "%2x(%4d) ", s->confidence[i], s->focus[i]); - pdebug += sprintf(pdebug, " err: %7.2f offset: %6.2f sag: %6.2f lens_true_pos: %6.2f cur_lens_pos: %4d->%4d", err * focus_kp, offset, sag, s->lens_true_pos, s->cur_lens_pos, target); - LOGD(debug);*/ - - actuator_move(s, target); + actuator_move(s, lens_true_pos); } void camera_autoexposure(CameraState *s, float grey_frac) { @@ -1046,12 +1019,11 @@ static void ops_thread(MultiCameraState *s) { CameraExpInfo driver_cam_op; util::set_thread_name("camera_settings"); - SubMaster sm({"sensorEvents"}); while(!do_exit) { road_cam_op = road_cam_exp.load(); if (road_cam_op.op_id != last_road_cam_op_id) { do_autoexposure(&s->road_cam, road_cam_op.grey_frac); - do_autofocus(&s->road_cam, &sm); + do_autofocus(&s->road_cam); last_road_cam_op_id = road_cam_op.op_id; } @@ -1165,7 +1137,6 @@ void cameras_run(MultiCameraState *s) { .frame_length = (uint32_t)c->frame_length, .integ_lines = (uint32_t)c->cur_integ_lines, .lens_pos = c->cur_lens_pos, - .lens_sag = c->last_sag_acc_z, .lens_err = c->focus_err, .lens_true_pos = c->lens_true_pos, .gain = c->cur_gain_frac, diff --git a/selfdrive/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h index 207857e05c..87bbe4b7e7 100644 --- a/selfdrive/camerad/cameras/camera_qcom.h +++ b/selfdrive/camerad/cameras/camera_qcom.h @@ -76,7 +76,6 @@ typedef struct CameraState { // rear camera only,used for focusing unique_fd actuator_fd; std::atomic focus_err; - std::atomic last_sag_acc_z; std::atomic lens_true_pos; std::atomic self_recover; // af recovery counter, neg is patience, pos is active uint16_t cur_step_pos; From f042962933837dbe612d4eb0f9bf5c0a0e0fb6f3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Dec 2021 03:54:54 +0800 Subject: [PATCH 050/239] put logcat in bootlog (#23217) * put logcat in boot log * continue * use std::unique_ptr * Revert "use std::unique_ptr" This reverts commit c671f8ca7160691791bade508c4a8eb5cdb73fb8. --- selfdrive/logcatd/logcatd_android.cc | 6 ++++-- selfdrive/loggerd/bootlog.cc | 2 ++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/logcatd/logcatd_android.cc b/selfdrive/logcatd/logcatd_android.cc index 1a982a0feb..4452e2f093 100644 --- a/selfdrive/logcatd/logcatd_android.cc +++ b/selfdrive/logcatd/logcatd_android.cc @@ -14,8 +14,10 @@ int main() { ExitHandler do_exit; PubMaster pm({"androidLog"}); - log_time last_log_time = {}; - logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, 0, 0); + struct timespec cur_time; + clock_gettime(CLOCK_REALTIME, &cur_time); + log_time last_log_time(cur_time); + logger_list *logger_list = nullptr; while (!do_exit) { // setup android logging diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc index 5209958377..478eb16852 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/selfdrive/loggerd/bootlog.cc @@ -11,6 +11,8 @@ static kj::Array build_boot_log() { if (Hardware::TICI()) { bootlog_commands.push_back("journalctl"); bootlog_commands.push_back("sudo nvme smart-log --output-format=json /dev/nvme0"); + } else if (Hardware::EON()) { + bootlog_commands.push_back("logcat -d"); } MessageBuilder msg; From 2799ef52928126d4b704a6ad83e25a35d0b56da3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Dec 2021 14:09:32 -0600 Subject: [PATCH 051/239] Remove minSpeedCan (#22991) * Remove minCanSpeed Remove minCanSpeed * it actually only goes out to 2.5 seconds, this is okay to remove * test to see if this preserves behavior add minSpeedCan * Revert "test to see if this preserves behavior" This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5. * preserve behavior (don't enter stopping as early) * vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation --- selfdrive/car/interfaces.py | 1 - selfdrive/controls/lib/longcontrol.py | 15 +++++---------- 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index bef3456a76..bd5b98c8e1 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -82,7 +82,6 @@ class CarInterfaceBase(): ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA ret.openpilotLongitudinalControl = False - ret.minSpeedCan = 0.3 ret.startAccel = -0.8 ret.stopAccel = -2.0 ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index beacc518d0..d6e138abbc 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -7,21 +7,17 @@ from selfdrive.modeld.constants import T_IDXS LongCtrlState = car.CarControl.Actuators.LongControlState -STOPPING_TARGET_SPEED_OFFSET = 0.01 - # As per ISO 15622:2018 for all speeds ACCEL_MIN_ISO = -3.5 # m/s^2 ACCEL_MAX_ISO = 2.0 # m/s^2 -def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future, v_pid, - output_accel, brake_pressed, cruise_standstill, min_speed_can): +def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future, + output_accel, brake_pressed, cruise_standstill): """Update longitudinal control state machine""" - stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET stopping_condition = (v_ego < 2.0 and cruise_standstill) or \ (v_ego < CP.vEgoStopping and - ((v_pid < stopping_target_speed and v_target_future < stopping_target_speed) or - brake_pressed)) + (v_target_future < CP.vEgoStopping or brake_pressed)) starting_condition = v_target_future > CP.vEgoStarting and not cruise_standstill @@ -91,8 +87,8 @@ class LongControl(): # Update state machine output_accel = self.last_output_accel self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo, - v_target_future, self.v_pid, output_accel, - CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan) + v_target_future, output_accel, + CS.brakePressed, CS.cruiseState.standstill) if self.long_control_state == LongCtrlState.off or CS.gasPressed: self.reset(CS.vEgo) @@ -119,7 +115,6 @@ class LongControl(): if not CS.standstill or output_accel > CP.stopAccel: output_accel -= CP.stoppingDecelRate * DT_CTRL output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) - self.reset(CS.vEgo) # Intention is to move again, release brake fast before handing control to PID From af5a418fa65347fb9215ce28c86c85cd3c4d9b0a Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 14 Dec 2021 12:13:59 -0800 Subject: [PATCH 052/239] DM: more adaptive pose policy (#23184) * rename and add dep * proto thresholds * tweak vk * update natural offset and clip offsets * 95th looks good * no punish for being relaxed * yaw laplace only * some pay more attention * update ref Co-authored-by: Willem Melching --- selfdrive/monitoring/dmonitoringd.py | 2 +- selfdrive/monitoring/driver_monitor.py | 51 +++++++++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 35 insertions(+), 20 deletions(-) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index f11d72266c..1728cc9e79 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -43,7 +43,7 @@ def dmonitoringd_thread(sm=None, pm=None): v_cruise_last = v_cruise if sm.updated['modelV2']: - driver_status.set_policy(sm['modelV2']) + driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo) # Get data from dmonitoringmodeld events = Events() diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index e4018d66f6..c470612dc0 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -32,15 +32,21 @@ class DRIVER_MONITOR_SETTINGS(): self._BLINK_THRESHOLD = 0.82 if TICI else 0.588 self._BLINK_THRESHOLD_SLACK = 0.9 if TICI else 0.77 self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD - self._PITCH_WEIGHT = 1.35 # pitch matters a lot more - self._POSESTD_THRESHOLD = 0.38 if TICI else 0.3 - self._METRIC_THRESHOLD = 0.48 - self._METRIC_THRESHOLD_SLACK = 0.66 - self._METRIC_THRESHOLD_STRICT = self._METRIC_THRESHOLD - self._PITCH_NATURAL_OFFSET = 0.02 # people don't seem to look straight when they drive relaxed, rather a bit up - self._YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car) + self._POSE_PITCH_THRESHOLD = 0.3237 + self._POSE_PITCH_THRESHOLD_SLACK = 0.3657 + self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD + self._POSE_YAW_THRESHOLD = 0.3109 + self._POSE_YAW_THRESHOLD_SLACK = 0.4294 + self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD + self._PITCH_NATURAL_OFFSET = 0.057 # initial value before offset is learned + self._YAW_NATURAL_OFFSET = 0.11 # initial value before offset is learned + self._PITCH_MAX_OFFSET = 0.124 + self._PITCH_MIN_OFFSET = -0.0881 + self._YAW_MAX_OFFSET = 0.289 + self._YAW_MIN_OFFSET = -0.0246 + self._POSESTD_THRESHOLD = 0.38 if TICI else 0.3 self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz @@ -93,7 +99,8 @@ class DriverPose(): self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) self.low_std = True - self.cfactor = 1. + self.cfactor_pitch = 1. + self.cfactor_yaw = 1. class DriverBlink(): def __init__(self): @@ -164,30 +171,38 @@ class DriverStatus(): pitch_error = pose.pitch - self.settings._PITCH_NATURAL_OFFSET yaw_error = pose.yaw - self.settings._YAW_NATURAL_OFFSET else: - pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean() - yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean() + pitch_error = pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(), + self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) + yaw_error = pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(), + self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit yaw_error = abs(yaw_error) - if pitch_error*self.settings._PITCH_WEIGHT > self.settings._METRIC_THRESHOLD*pose.cfactor or \ - yaw_error > self.settings._METRIC_THRESHOLD*pose.cfactor: + if pitch_error > self.settings._POSE_PITCH_THRESHOLD*pose.cfactor_pitch or \ + yaw_error > self.settings._POSE_YAW_THRESHOLD*pose.cfactor_yaw: return DistractedType.BAD_POSE elif (blink.left_blink + blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*blink.cfactor: return DistractedType.BAD_BLINK else: return DistractedType.NOT_DISTRACTED - def set_policy(self, model_data): - ep = min(model_data.meta.engagedProb, 0.8) / 0.8 - self.pose.cfactor = interp(ep, [0, 0.5, 1], - [self.settings._METRIC_THRESHOLD_STRICT, - self.settings. _METRIC_THRESHOLD, - self.settings._METRIC_THRESHOLD_SLACK]) / self.settings._METRIC_THRESHOLD + def set_policy(self, model_data, car_speed): + ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob + bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s + # TODO: retune adaptive blink self.blink.cfactor = interp(ep, [0, 0.5, 1], [self.settings._BLINK_THRESHOLD_STRICT, self.settings._BLINK_THRESHOLD, self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD + k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2) + bp_normal = max(min(bp / k1, 0.5),0) + self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5], + [self.settings._POSE_PITCH_THRESHOLD_SLACK, + self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD + self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5], + [self.settings._POSE_YAW_THRESHOLD_SLACK, + self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged): if not all(len(x) > 0 for x in [driver_state.faceOrientation, driver_state.facePosition, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 863b5a20fa..2cb7782462 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7f618b16bfa47352143d6edac30fba05f9fdfc28 \ No newline at end of file +179e288c649e6fd7b51773e5942da2013bfbd211 \ No newline at end of file From c84310c94ccab023e36d02e9b85430ad7d878868 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Dec 2021 14:17:02 -0600 Subject: [PATCH 053/239] seems to be flipped (#23213) --- selfdrive/ui/qt/offroad/settings.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index b91b507e9f..a0123e75fe 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -187,8 +187,8 @@ void DevicePanel::updateCalibDescription() { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); desc += QString(" Your device is pointed %1° %2 and %3° %4.") - .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "up" : "down", - QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "right" : "left"); + .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up", + QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right"); } } catch (kj::Exception) { qInfo() << "invalid CalibrationParams"; From c25ed45437b7b216a3df528915c7cab56f09e198 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Tue, 14 Dec 2021 12:31:30 -0800 Subject: [PATCH 054/239] Update ref with minSpeedCAN removed --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2cb7782462..0301f0900d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -179e288c649e6fd7b51773e5942da2013bfbd211 \ No newline at end of file +c84310c94ccab023e36d02e9b85430ad7d878868 \ No newline at end of file From 19335bb6a48f0e3558c837557a1ae7c66b8b8587 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 14 Dec 2021 13:58:42 -0800 Subject: [PATCH 055/239] Dont use erratic current block (#23211) --- selfdrive/locationd/calibrationd.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 604f4f68d9..0ba2bad7e4 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -99,10 +99,16 @@ class Calibrator(): self.old_rpy = smooth_from self.old_rpy_weight = 1.0 + def get_valid_idxs(self, ): + # exclude current block_idx from validity window + before_current = list(range(self.block_idx)) + after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) + return before_current + after_current + def update_status(self): if self.valid_blocks > 0: - max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0)) - min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0)) + max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0)) + min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) else: self.calib_spread = np.zeros(3) @@ -158,7 +164,7 @@ class Calibrator(): self.valid_blocks = max(self.block_idx, self.valid_blocks) self.block_idx = self.block_idx % INPUTS_WANTED if self.valid_blocks > 0: - self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0) + self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0) self.update_status() From 837823ff58b57d49bc079a5d7f9ea8db55dc7d76 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 14 Dec 2021 13:59:39 -0800 Subject: [PATCH 056/239] Revert "Dont use erratic current block (#23211)" (#23221) This reverts commit 19335bb6a48f0e3558c837557a1ae7c66b8b8587. --- selfdrive/locationd/calibrationd.py | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 0ba2bad7e4..604f4f68d9 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -99,16 +99,10 @@ class Calibrator(): self.old_rpy = smooth_from self.old_rpy_weight = 1.0 - def get_valid_idxs(self, ): - # exclude current block_idx from validity window - before_current = list(range(self.block_idx)) - after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) - return before_current + after_current - def update_status(self): if self.valid_blocks > 0: - max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0)) - min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0)) + max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0)) + min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) else: self.calib_spread = np.zeros(3) @@ -164,7 +158,7 @@ class Calibrator(): self.valid_blocks = max(self.block_idx, self.valid_blocks) self.block_idx = self.block_idx % INPUTS_WANTED if self.valid_blocks > 0: - self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0) + self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0) self.update_status() From 40dcc6382343df687f8304fe48a27d60c09f5d11 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 14 Dec 2021 14:09:38 -0800 Subject: [PATCH 057/239] Calibrationd: don't use noisy current block (#23222) --- selfdrive/locationd/calibrationd.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 604f4f68d9..0ba2bad7e4 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -99,10 +99,16 @@ class Calibrator(): self.old_rpy = smooth_from self.old_rpy_weight = 1.0 + def get_valid_idxs(self, ): + # exclude current block_idx from validity window + before_current = list(range(self.block_idx)) + after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) + return before_current + after_current + def update_status(self): if self.valid_blocks > 0: - max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0)) - min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0)) + max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0)) + min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) else: self.calib_spread = np.zeros(3) @@ -158,7 +164,7 @@ class Calibrator(): self.valid_blocks = max(self.block_idx, self.valid_blocks) self.block_idx = self.block_idx % INPUTS_WANTED if self.valid_blocks > 0: - self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0) + self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0) self.update_status() From cd190dc85d3b917137bd3d7efa8032fe3045dc84 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 14 Dec 2021 15:14:14 -0800 Subject: [PATCH 058/239] Calibrationd: check size of valid_blocks without current (#23223) --- selfdrive/locationd/calibrationd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 0ba2bad7e4..5ffb17ac56 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -106,7 +106,7 @@ class Calibrator(): return before_current + after_current def update_status(self): - if self.valid_blocks > 0: + if len(self.get_valid_idxs()) > 0: max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0)) min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) @@ -163,7 +163,7 @@ class Calibrator(): self.block_idx += 1 self.valid_blocks = max(self.block_idx, self.valid_blocks) self.block_idx = self.block_idx % INPUTS_WANTED - if self.valid_blocks > 0: + if len(self.get_valid_idxs()) > 0: self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0) self.update_status() From 245b4d910c287d75f0c26eeed3a135683699b9f9 Mon Sep 17 00:00:00 2001 From: Kevin Robert Keegan Date: Tue, 14 Dec 2021 16:42:31 -0800 Subject: [PATCH 059/239] Toyota: Display Blue Barriers When Engaged, Matches OEM Design (#23150) --- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/toyota/toyotacan.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 1997e6c111..b35081c703 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -120,7 +120,7 @@ class CarController(): send_ui = True if (frame % 100 == 0 or send_ui): - can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart)) + can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, enabled)) if frame % 100 == 0 and CS.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 5a78e3c7b6..0852991611 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -67,11 +67,11 @@ def create_fcw_command(packer, fcw): return packer.make_can_msg("ACC_HUD", 0, values) -def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart): +def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled): values = { "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, - "BARRIERS" : 3 if left_lane_depart else 2 if right_lane_depart else 0, + "BARRIERS" : 1 if enabled else 0, "SET_ME_X0C": 0x0c, "SET_ME_X2C": 0x2c, "SET_ME_X38": 0x38, From fa62b9d3f9882ec33559ceb7377fa991be1d4fb5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Dec 2021 17:04:40 -0800 Subject: [PATCH 060/239] modeld: start publishing before calib seen (#23190) --- selfdrive/modeld/modeld.cc | 54 ++++++++++++++---------------- selfdrive/modeld/models/driving.cc | 8 ++--- selfdrive/modeld/models/driving.h | 4 +-- 3 files changed, 31 insertions(+), 35 deletions(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 9e1750eeaf..a682fb6349 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -87,7 +87,6 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { transform_lock.lock(); mat3 model_transform = cur_transform; - const bool run_model_this_iter = live_calib_seen; transform_lock.unlock(); // TODO: path planner timeout? @@ -95,38 +94,35 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); - if (run_model_this_iter) { - run_count++; - - float vec_desire[DESIRE_LEN] = {0}; - if (desire >= 0 && desire < DESIRE_LEN) { - vec_desire[desire] = 1.0; - } + float vec_desire[DESIRE_LEN] = {0}; + if (desire >= 0 && desire < DESIRE_LEN) { + vec_desire[desire] = 1.0; + } - double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf->buf_cl, buf->width, buf->height, - model_transform, vec_desire); - double mt2 = millis_since_boot(); - float model_execution_time = (mt2 - mt1) / 1000.0; - - // tracked dropped frames - uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1; - float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U)); - if (run_count < 10) { // let frame drops warm up - frame_dropped_filter.reset(0); - frames_dropped = 0.; - } + double mt1 = millis_since_boot(); + ModelOutput *model_output = model_eval_frame(&model, buf->buf_cl, buf->width, buf->height, + model_transform, vec_desire); + double mt2 = millis_since_boot(); + float model_execution_time = (mt2 - mt1) / 1000.0; + + // tracked dropped frames + uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1; + float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U)); + if (run_count < 10) { // let frame drops warm up + frame_dropped_filter.reset(0); + frames_dropped = 0.; + } + run_count++; - float frame_drop_ratio = frames_dropped / (1 + frames_dropped); + float frame_drop_ratio = frames_dropped / (1 + frames_dropped); - model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time, - kj::ArrayPtr(model.output.data(), model.output.size())); - posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof); + model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time, + kj::ArrayPtr(model.output.data(), model.output.size()), live_calib_seen); + posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen); - //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); - last = mt1; - last_vipc_frame_id = extra.frame_id; - } + //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); + last = mt1; + last_vipc_frame_id = extra.frame_id; } } diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 629e1d7ed1..22d0716f67 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -308,10 +308,10 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop, const ModelOutput &net_outputs, uint64_t timestamp_eof, - float model_execution_time, kj::ArrayPtr raw_pred) { + float model_execution_time, kj::ArrayPtr raw_pred, const bool valid) { const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0; MessageBuilder msg; - auto framed = msg.initEvent().initModelV2(); + auto framed = msg.initEvent(valid).initModelV2(); framed.setFrameId(vipc_frame_id); framed.setFrameAge(frame_age); framed.setFrameDropPerc(frame_drop * 100); @@ -325,14 +325,14 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, flo } void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelOutput &net_outputs, uint64_t timestamp_eof) { + const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid) { MessageBuilder msg; auto v_mean = net_outputs.pose.velocity_mean; auto r_mean = net_outputs.pose.rotation_mean; auto v_std = net_outputs.pose.velocity_std; auto r_std = net_outputs.pose.rotation_std; - auto posenetd = msg.initEvent(vipc_dropped_frames < 1).initCameraOdometry(); + auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 5749fb5ec2..115e1342c1 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -238,6 +238,6 @@ void model_free(ModelState* s); void poly_fit(float *in_pts, float *in_stds, float *out); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop, const ModelOutput &net_outputs, uint64_t timestamp_eof, - float model_execution_time, kj::ArrayPtr raw_pred); + float model_execution_time, kj::ArrayPtr raw_pred, const bool valid); void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelOutput &net_outputs, uint64_t timestamp_eof); + const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid); From b27a19e9d1cfe9e9f94ccb4978338ebe4a898bc3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Dec 2021 20:43:26 -0800 Subject: [PATCH 061/239] cloudlog: add daemon name to context for python daemons (#23225) * python * manager is a daemon too * Update selfdrive/manager/process.py Co-authored-by: Comma Device --- selfdrive/manager/manager.py | 1 + selfdrive/manager/process.py | 7 +++++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index f9bda4c3a1..196673d467 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -117,6 +117,7 @@ def manager_cleanup(): def manager_thread(): + cloudlog.bind(daemon="manager") cloudlog.info("manager start") cloudlog.info({"environ": os.environ}) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index d9a1619411..22d75edce7 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -22,7 +22,7 @@ WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None -def launcher(proc): +def launcher(proc, name): try: # import the process mod = importlib.import_module(proc) @@ -33,6 +33,9 @@ def launcher(proc): # create new context since we forked messaging.context = messaging.Context() + # add daemon name to cloudlog ctx + cloudlog.bind(daemon=name) + # exec the process mod.main() except KeyboardInterrupt: @@ -223,7 +226,7 @@ class PythonProcess(ManagerProcess): return cloudlog.info("starting python %s" % self.module) - self.proc = Process(name=self.name, target=launcher, args=(self.module,)) + self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name)) self.proc.start() self.watchdog_seen = False self.shutting_down = False From 345fe48338fe4d95a88d9f001484a56e4a146ac4 Mon Sep 17 00:00:00 2001 From: martinl Date: Wed, 15 Dec 2021 07:55:14 +0200 Subject: [PATCH 062/239] Subaru Pre-Global: Rename ES_CruiseThrottle to ES_Distance (#23024) * Rename preglobal ES_CruiseThrottle to ES_Distance * bump opendbc Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/subaru/carcontroller.py | 7 ++--- selfdrive/car/subaru/carstate.py | 41 +++++++++++++-------------- selfdrive/car/subaru/subarucan.py | 8 +++--- 4 files changed, 28 insertions(+), 30 deletions(-) diff --git a/opendbc b/opendbc index 61534fd131..2bab99fd86 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 61534fd13162d714432c5685f2c59fafe7a96823 +Subproject commit 2bab99fd861786312bde676823e21d80eeeb01fa diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 6163d7329c..17b3e057f2 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -8,7 +8,6 @@ class CarController(): def __init__(self, dbc_name, CP, VM): self.apply_steer_last = 0 self.es_distance_cnt = -1 - self.es_accel_cnt = -1 self.es_lkas_cnt = -1 self.cruise_button_prev = 0 self.steer_rate_limited = False @@ -44,7 +43,7 @@ class CarController(): # *** alerts and pcm cancel *** if CS.CP.carFingerprint in PREGLOBAL_CARS: - if self.es_accel_cnt != CS.es_accel_msg["Counter"]: + if self.es_distance_cnt != CS.es_distance_msg["Counter"]: # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep # disengage ACC when OP is disengaged if pcm_cancel_cmd: @@ -60,8 +59,8 @@ class CarController(): cruise_button = 0 self.cruise_button_prev = cruise_button - can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg)) - self.es_accel_cnt = CS.es_accel_msg["Counter"] + can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) + self.es_distance_cnt = CS.es_distance_msg["Counter"] else: if self.es_distance_cnt != CS.es_distance_msg["Counter"]: diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 1f56f09ff7..e9728e557b 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -65,14 +65,13 @@ class CarState(CarStateBase): ret.steerError = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 if self.car_fingerprint in PREGLOBAL_CARS: - self.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_Button"] + self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] - self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"]) else: ret.steerWarning = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 - self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) return ret @@ -168,28 +167,28 @@ class CarState(CarStateBase): ("Cruise_Set_Speed", "ES_DashStatus", 0), ("Not_Ready_Startup", "ES_DashStatus", 0), - ("Throttle_Cruise", "ES_CruiseThrottle", 0), - ("Signal1", "ES_CruiseThrottle", 0), - ("Cruise_Activated", "ES_CruiseThrottle", 0), - ("Signal2", "ES_CruiseThrottle", 0), - ("Brake_On", "ES_CruiseThrottle", 0), - ("Distance_Swap", "ES_CruiseThrottle", 0), - ("Standstill", "ES_CruiseThrottle", 0), - ("Signal3", "ES_CruiseThrottle", 0), - ("Close_Distance", "ES_CruiseThrottle", 0), - ("Signal4", "ES_CruiseThrottle", 0), - ("Standstill_2", "ES_CruiseThrottle", 0), - ("Cruise_Fault", "ES_CruiseThrottle", 0), - ("Signal5", "ES_CruiseThrottle", 0), - ("Counter", "ES_CruiseThrottle", 0), - ("Signal6", "ES_CruiseThrottle", 0), - ("Cruise_Button", "ES_CruiseThrottle", 0), - ("Signal7", "ES_CruiseThrottle", 0), + ("Cruise_Throttle", "ES_Distance", 0), + ("Signal1", "ES_Distance", 0), + ("Car_Follow", "ES_Distance", 0), + ("Signal2", "ES_Distance", 0), + ("Brake_On", "ES_Distance", 0), + ("Distance_Swap", "ES_Distance", 0), + ("Standstill", "ES_Distance", 0), + ("Signal3", "ES_Distance", 0), + ("Close_Distance", "ES_Distance", 0), + ("Signal4", "ES_Distance", 0), + ("Standstill_2", "ES_Distance", 0), + ("Cruise_Fault", "ES_Distance", 0), + ("Signal5", "ES_Distance", 0), + ("Counter", "ES_Distance", 0), + ("Signal6", "ES_Distance", 0), + ("Cruise_Button", "ES_Distance", 0), + ("Signal7", "ES_Distance", 0), ] checks = [ ("ES_DashStatus", 20), - ("ES_CruiseThrottle", 20), + ("ES_Distance", 20), ] else: signals = [ diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 6485de7901..86ec5e8bd4 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -80,11 +80,11 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step): return packer.make_can_msg("ES_LKAS", 0, values) -def create_es_throttle_control(packer, cruise_button, es_accel_msg): +def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): - values = copy.copy(es_accel_msg) + values = copy.copy(es_distance_msg) values["Cruise_Button"] = cruise_button - values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle") + values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance") - return packer.make_can_msg("ES_CruiseThrottle", 0, values) + return packer.make_can_msg("ES_Distance", 0, values) From 2483fc5d5dd7ad586a92b62b2ef5bc8f9094f262 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Dec 2021 14:28:12 +0800 Subject: [PATCH 063/239] ui: singleton uistate (#22789) * singleton uistate * merge master * merge master * merge master * connect uistate in sidebar * move to device --- selfdrive/ui/SConscript | 3 +-- selfdrive/ui/qt/home.cc | 6 +---- selfdrive/ui/qt/home.h | 4 ---- selfdrive/ui/qt/maps/map.cc | 6 ++--- selfdrive/ui/qt/offroad/settings.cc | 14 +++++------ selfdrive/ui/qt/offroad/settings.h | 1 - selfdrive/ui/qt/onroad.cc | 14 +++++------ selfdrive/ui/qt/onroad.h | 4 ---- selfdrive/ui/qt/request_repeater.cc | 2 +- selfdrive/ui/qt/sidebar.cc | 2 ++ selfdrive/ui/qt/widgets/prime.cc | 4 ++-- selfdrive/ui/qt/window.cc | 9 ++----- selfdrive/ui/qt/window.h | 1 - selfdrive/ui/ui.cc | 37 +++++++++++++++++------------ selfdrive/ui/ui.h | 19 ++++++--------- 15 files changed, 55 insertions(+), 71 deletions(-) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 52e4e0c42c..d33e576691 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -117,8 +117,7 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'): replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs) replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs) - - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11']) + qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) if GetOption('test'): qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs]) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 1e89264952..df4f474943 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -19,7 +19,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { sidebar = new Sidebar(this); main_layout->addWidget(sidebar); - QObject::connect(this, &HomeWindow::update, sidebar, &Sidebar::updateState); QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings); slayout = new QStackedLayout(); @@ -31,15 +30,13 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { onroad = new OnroadWindow(this); slayout->addWidget(onroad); - QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::updateStateSignal); - QObject::connect(this, &HomeWindow::offroadTransitionSignal, onroad, &OnroadWindow::offroadTransitionSignal); - driver_view = new DriverViewWindow(this); connect(driver_view, &DriverViewWindow::done, [=] { showDriverView(false); }); slayout->addWidget(driver_view); setAttribute(Qt::WA_NoSystemBackground); + QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition); } void HomeWindow::showSidebar(bool show) { @@ -53,7 +50,6 @@ void HomeWindow::offroadTransition(bool offroad) { } else { slayout->setCurrentWidget(onroad); } - emit offroadTransitionSignal(offroad); } void HomeWindow::showDriverView(bool show) { diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index 0e65ef05e9..732071c153 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -43,10 +43,6 @@ signals: void openSettings(); void closeSettings(); - // forwarded signals - void update(const UIState &s); - void offroadTransitionSignal(bool offroad); - public slots: void offroadTransition(bool offroad); void showDriverView(bool show); diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index e1bfe96c8e..7bf5f0b4d1 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -106,7 +106,7 @@ void MapWindow::initLayers() { } void MapWindow::timerUpdate() { - if (!QUIState::ui_state.scene.started) { + if (!uiState()->scene.started) { return; } @@ -387,7 +387,7 @@ void MapInstructions::updateDistance(float d) { d = std::max(d, 0.0f); QString distance_str; - if (QUIState::ui_state.scene.is_metric) { + if (uiState()->scene.is_metric) { if (d > 500) { distance_str.setNum(d / 1000, 'f', 1); distance_str += " km"; @@ -620,7 +620,7 @@ void MapETA::updateETA(float s, float s_typical, float d) { // Distance QString distance_str; float num = 0; - if (QUIState::ui_state.scene.is_metric) { + if (uiState()->scene.is_metric) { num = d / 1000.0; distance_unit->setText("km"); } else { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index a0123e75fe..1819f7b5a8 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -98,7 +98,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); if (!locked) { - connect(parent, &SettingsWindow::offroadTransition, toggle, &ParamControl::setEnabled); + connect(uiState(), &UIState::offroadTransition, toggle, &ParamControl::setEnabled); } addItem(toggle); } @@ -144,7 +144,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(regulatoryBtn); } - QObject::connect(parent, &SettingsWindow::offroadTransition, [=](bool offroad) { + QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { for (auto btn : findChildren()) { btn->setEnabled(offroad); } @@ -198,10 +198,10 @@ void DevicePanel::updateCalibDescription() { } void DevicePanel::reboot() { - if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) { + if (uiState()->status == UIStatus::STATUS_DISENGAGED) { if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) { // Check engaged again in case it changed while the dialog was open - if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) { + if (uiState()->status == UIStatus::STATUS_DISENGAGED) { Params().putBool("DoReboot", true); } } @@ -211,10 +211,10 @@ void DevicePanel::reboot() { } void DevicePanel::poweroff() { - if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) { + if (uiState()->status == UIStatus::STATUS_DISENGAGED) { if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) { // Check engaged again in case it changed while the dialog was open - if (QUIState::ui_state.status == UIStatus::STATUS_DISENGAGED) { + if (uiState()->status == UIStatus::STATUS_DISENGAGED) { Params().putBool("DoShutdown", true); } } @@ -247,7 +247,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { params.putBool("DoUninstall", true); } }); - connect(parent, SIGNAL(offroadTransition(bool)), uninstallBtn, SLOT(setEnabled(bool))); + connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled); QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn}; for (QWidget* w : widgets) { diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index f69c080ee7..c3acf3d94a 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -24,7 +24,6 @@ protected: signals: void closeSettings(); - void offroadTransition(bool offroad); void reviewTrainingGuide(); void showDriverView(); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 53cc963674..e9f9bbfa09 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -41,8 +41,8 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { alerts->raise(); setAttribute(Qt::WA_OpaquePaintEvent); - QObject::connect(this, &OnroadWindow::updateStateSignal, this, &OnroadWindow::updateState); - QObject::connect(this, &OnroadWindow::offroadTransitionSignal, this, &OnroadWindow::offroadTransition); + QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState); + QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition); } void OnroadWindow::updateState(const UIState &s) { @@ -76,10 +76,10 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) { void OnroadWindow::offroadTransition(bool offroad) { #ifdef ENABLE_MAPS if (!offroad) { - if (map == nullptr && (QUIState::ui_state.has_prime || !MAPBOX_TOKEN.isEmpty())) { + if (map == nullptr && (uiState()->has_prime || !MAPBOX_TOKEN.isEmpty())) { MapWindow * m = new MapWindow(get_mapbox_settings()); m->setFixedWidth(topWidget(this)->width() / 2); - QObject::connect(this, &OnroadWindow::offroadTransitionSignal, m, &MapWindow::offroadTransition); + QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition); split->addWidget(m, 0, Qt::AlignRight); map = m; } @@ -274,7 +274,7 @@ void NvgWindow::initializeGL() { void NvgWindow::updateFrameMat(int w, int h) { CameraViewWidget::updateFrameMat(w, h); - UIState *s = &QUIState::ui_state; + UIState *s = uiState(); s->fb_w = w; s->fb_h = h; auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; @@ -348,7 +348,7 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV void NvgWindow::paintGL() { CameraViewWidget::paintGL(); - UIState *s = &QUIState::ui_state; + UIState *s = uiState(); if (s->scene.world_objects_visible) { QPainter painter(this); painter.setRenderHint(QPainter::Antialiasing); @@ -379,6 +379,6 @@ void NvgWindow::paintGL() { void NvgWindow::showEvent(QShowEvent *event) { CameraViewWidget::showEvent(event); - ui_update_params(&QUIState::ui_state); + ui_update_params(uiState()); prev_draw_t = millis_since_boot(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 37460c8ba6..05811c5060 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -97,10 +97,6 @@ private: QWidget *map = nullptr; QHBoxLayout* split; -signals: - void updateStateSignal(const UIState &s); - void offroadTransitionSignal(bool offroad); - private slots: void offroadTransition(bool offroad); void updateState(const UIState &s); diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc index d2c0f9bc30..7ef1c833ab 100644 --- a/selfdrive/ui/qt/request_repeater.cc +++ b/selfdrive/ui/qt/request_repeater.cc @@ -5,7 +5,7 @@ RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, con timer = new QTimer(this); timer->setTimerType(Qt::VeryCoarseTimer); QObject::connect(timer, &QTimer::timeout, [=]() { - if ((!QUIState::ui_state.scene.started || while_onroad) && QUIState::ui_state.awake && !active()) { + if ((!uiState()->scene.started || while_onroad) && uiState()->awake && !active()) { sendRequest(requestURL); } }); diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 73c4e2f8ce..e8804bc059 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -34,6 +34,8 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { setAttribute(Qt::WA_OpaquePaintEvent); setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding); setFixedWidth(300); + + QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState); } void Sidebar::mouseReleaseEvent(QMouseEvent *event) { diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index ab6dc67d36..2e9a9e6af9 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -314,8 +314,8 @@ void SetupWidget::replyFinished(const QString &response, bool success) { bool prime = json["prime"].toBool(); - if (QUIState::ui_state.has_prime != prime) { - QUIState::ui_state.has_prime = prime; + if (uiState()->has_prime != prime) { + uiState()->has_prime = prime; Params().putBool("HasPrime", prime); } diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index da83bb97e4..0fee52f736 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -12,14 +12,10 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { main_layout->addWidget(homeWindow); QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings); QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings); - QObject::connect(&qs, &QUIState::uiUpdate, homeWindow, &HomeWindow::update); - QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransition); - QObject::connect(&qs, &QUIState::offroadTransition, homeWindow, &HomeWindow::offroadTransitionSignal); settingsWindow = new SettingsWindow(this); main_layout->addWidget(settingsWindow); QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings); - QObject::connect(&qs, &QUIState::offroadTransition, settingsWindow, &SettingsWindow::offroadTransition); QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() { onboardingWindow->showTrainingGuide(); main_layout->setCurrentWidget(onboardingWindow); @@ -37,8 +33,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { main_layout->setCurrentWidget(onboardingWindow); } - QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update); - QObject::connect(&qs, &QUIState::offroadTransition, [=](bool offroad) { + QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { if (!offroad) { closeSettings(); } @@ -79,7 +74,7 @@ void MainWindow::openSettings() { void MainWindow::closeSettings() { main_layout->setCurrentWidget(homeWindow); - if (QUIState::ui_state.scene.started) { + if (uiState()->scene.started) { homeWindow->showSidebar(false); } } diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h index 069831cffe..0bd328aa8a 100644 --- a/selfdrive/ui/qt/window.h +++ b/selfdrive/ui/qt/window.h @@ -19,7 +19,6 @@ private: void closeSettings(); Device device; - QUIState qs; QStackedLayout *main_layout; HomeWindow *homeWindow; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 3dd044653b..a8453889cb 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -218,41 +218,43 @@ static void update_status(UIState *s) { } -QUIState::QUIState(QObject *parent) : QObject(parent) { - ui_state.sm = std::make_unique>({ +UIState::UIState(QObject *parent) : QObject(parent) { + sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", }); Params params; - ui_state.wide_camera = Hardware::TICI() ? params.getBool("EnableWideCamera") : false; - ui_state.has_prime = params.getBool("HasPrime"); + wide_camera = Hardware::TICI() ? params.getBool("EnableWideCamera") : false; + has_prime = params.getBool("HasPrime"); // update timer timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, this, &QUIState::update); + QObject::connect(timer, &QTimer::timeout, this, &UIState::update); timer->start(1000 / UI_FREQ); } -void QUIState::update() { - update_sockets(&ui_state); - update_state(&ui_state); - update_status(&ui_state); +void UIState::update() { + update_sockets(this); + update_state(this); + update_status(this); - if (ui_state.scene.started != started_prev || ui_state.sm->frame == 1) { - started_prev = ui_state.scene.started; - emit offroadTransition(!ui_state.scene.started); + if (scene.started != started_prev || sm->frame == 1) { + started_prev = scene.started; + emit offroadTransition(!scene.started); } - if (ui_state.sm->frame % UI_FREQ == 0) { + if (sm->frame % UI_FREQ == 0) { watchdog_kick(); } - emit uiUpdate(ui_state); + emit uiUpdate(*this); } Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) { setAwake(true); resetInteractiveTimout(); + + QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update); } void Device::update(const UIState &s) { @@ -260,7 +262,7 @@ void Device::update(const UIState &s) { updateWakefulness(s); // TODO: remove from UIState and use signals - QUIState::ui_state.awake = awake; + uiState()->awake = awake; } void Device::setAwake(bool on) { @@ -329,3 +331,8 @@ void Device::updateWakefulness(const UIState &s) { setAwake(s.scene.ignition || interactive_timeout > 0); } + +UIState *uiState() { + static UIState ui_state; + return &ui_state; +} diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 924fb8194c..7c16e4ae6f 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -101,7 +101,12 @@ typedef struct UIScene { uint64_t started_frame; } UIScene; -typedef struct UIState { +class UIState : public QObject { + Q_OBJECT + +public: + UIState(QObject* parent = 0); + int fb_w = 0, fb_h = 0; std::unique_ptr sm; @@ -114,17 +119,6 @@ typedef struct UIState { QTransform car_space_transform; bool wide_camera; -} UIState; - - -class QUIState : public QObject { - Q_OBJECT - -public: - QUIState(QObject* parent = 0); - - // TODO: get rid of this, only use signal - inline static UIState ui_state = {0}; signals: void uiUpdate(const UIState &s); @@ -138,6 +132,7 @@ private: bool started_prev = true; }; +UIState *uiState(); // device management class From 13b4ff504d7dc7bbdc0648df1711ce7a160a127f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Dec 2021 22:35:18 -0800 Subject: [PATCH 064/239] selfdrive/version: remove one unnecessary write to .git/ (#23183) --- selfdrive/version.py | 9 --------- 1 file changed, 9 deletions(-) diff --git a/selfdrive/version.py b/selfdrive/version.py index 6f41731cad..6f15228d8b 100644 --- a/selfdrive/version.py +++ b/selfdrive/version.py @@ -98,15 +98,6 @@ def is_dirty() -> bool: dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0) - # Log dirty files - if dirty and is_comma_remote(): - try: - dirty_files = run_cmd(["git", "diff-index", branch, "--"]) - cloudlog.event("dirty comma branch", version=get_version(), dirty=dirty, origin=origin, branch=branch, - dirty_files=dirty_files, commit=get_commit(), origin_commit=get_commit(branch)) - except subprocess.CalledProcessError: - pass - dirty = dirty or (not is_comma_remote()) dirty = dirty or ('master' in branch) From 75687169eb978a7a49f15fb086df87cc959a871a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Dec 2021 14:58:47 +0800 Subject: [PATCH 065/239] qt/util: new function scaledPixmap (#23103) * new function scaledPixmap * rename to loadpixmap --- selfdrive/ui/qt/maps/map.cc | 3 +-- selfdrive/ui/qt/offroad/driverview.cc | 4 ++-- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/sidebar.cc | 8 ++++---- selfdrive/ui/qt/sidebar.h | 2 +- selfdrive/ui/qt/spinner.cc | 4 ++-- selfdrive/ui/qt/util.cc | 8 ++++++++ selfdrive/ui/qt/util.h | 2 ++ 8 files changed, 21 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 7bf5f0b4d1..5e5fdb40cf 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -498,10 +498,9 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct fn += "turn_straight"; } - QPixmap pix(fn + ICON_SUFFIX); auto icon = new QLabel; int wh = active ? 125 : 75; - icon->setPixmap(pix.scaled(wh, wh, Qt::IgnoreAspectRatio, Qt::SmoothTransformation)); + icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio)); icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); lane_layout->addWidget(icon); } diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 6f03e2ed4a..3ab5b999b2 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -26,7 +26,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { } DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) { - face_img = QImage("../assets/img_driver_face.png").scaled(FACE_IMG_SIZE, FACE_IMG_SIZE, Qt::KeepAspectRatio, Qt::SmoothTransformation); + face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } void DriverViewScene::showEvent(QShowEvent* event) { @@ -97,5 +97,5 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset; const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset; p.setOpacity(face_detected ? 1.0 : 0.3); - p.drawImage(img_x, img_y, face_img); + p.drawPixmap(img_x, img_y, face_img); } diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 8eab76a3dd..4d4a4358ef 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -24,7 +24,7 @@ protected: private: Params params; SubMaster sm; - QImage face_img; + QPixmap face_img; bool is_rhd = false; bool frame_updated = false; }; diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index e8804bc059..cdff1fce86 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -26,8 +26,8 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) { } Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { - home_img = QImage("../assets/images/button_home.png").scaled(180, 180, Qt::KeepAspectRatio, Qt::SmoothTransformation); - settings_img = QImage("../assets/images/button_settings.png").scaled(settings_btn.width(), settings_btn.height(), Qt::IgnoreAspectRatio, Qt::SmoothTransformation); + home_img = loadPixmap("../assets/images/button_home.png", {180, 180}); + settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); connect(this, &Sidebar::valueChanged, [=] { update(); }); @@ -90,9 +90,9 @@ void Sidebar::paintEvent(QPaintEvent *event) { // static imgs p.setOpacity(0.65); - p.drawImage(settings_btn.x(), settings_btn.y(), settings_img); + p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); p.setOpacity(1.0); - p.drawImage(60, 1080 - 180 - 40, home_img); + p.drawPixmap(60, 1080 - 180 - 40, home_img); // network int x = 58; diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 6cea9bdb6d..5d1b921750 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -32,7 +32,7 @@ protected: void mouseReleaseEvent(QMouseEvent *event) override; void drawMetric(QPainter &p, const QString &label, QColor c, int y); - QImage home_img, settings_img; + QPixmap home_img, settings_img; const QMap network_type = { {cereal::DeviceState::NetworkType::NONE, "--"}, {cereal::DeviceState::NetworkType::WIFI, "Wi-Fi"}, diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc index 8948d2adb7..b9868f6035 100644 --- a/selfdrive/ui/qt/spinner.cc +++ b/selfdrive/ui/qt/spinner.cc @@ -19,8 +19,8 @@ TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) { setFixedSize(spinner_size); // pre-compute all the track imgs. make this a gif instead? - QPixmap comma_img = QPixmap("../assets/img_spinner_comma.png").scaled(spinner_size, Qt::KeepAspectRatio, Qt::SmoothTransformation); - QPixmap track_img = QPixmap("../assets/img_spinner_track.png").scaled(spinner_size, Qt::KeepAspectRatio, Qt::SmoothTransformation); + QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size); + QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size); QTransform transform(1, 0, 0, 1, width() / 2, height() / 2); QPixmap pm(spinner_size); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 668154fd7a..16d5c174b5 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -121,3 +121,11 @@ QWidget* topWidget (QWidget* widget) { while (widget->parentWidget() != nullptr) widget=widget->parentWidget(); return widget; } + +QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMode aspectRatioMode) { + if (size.isEmpty()) { + return QPixmap(fileName); + } else { + return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation); + } +} diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 3e37444a75..1b9461fabf 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -5,6 +5,7 @@ #include #include #include +#include #include #include @@ -20,3 +21,4 @@ QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); void initApp(); QWidget* topWidget (QWidget* widget); +QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); From f20d53b15cbeccb44916434a25b187414d65af3f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Dec 2021 21:00:46 +0800 Subject: [PATCH 066/239] driving.h: remove obsolete poly_fit function prototype (#23229) --- selfdrive/modeld/models/driving.h | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 115e1342c1..14645dcfaa 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -235,7 +235,6 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context); ModelOutput *model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height, const mat3 &transform, float *desire_in); void model_free(ModelState* s); -void poly_fit(float *in_pts, float *in_stds, float *out); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop, const ModelOutput &net_outputs, uint64_t timestamp_eof, float model_execution_time, kj::ArrayPtr raw_pred, const bool valid); From 7c4855a609887038ace5930ab54f4739a1f9b28c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Dec 2021 21:01:11 +0800 Subject: [PATCH 067/239] modeld: make valid variable thread safe (#23228) --- selfdrive/modeld/modeld.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index a682fb6349..03b487bbbf 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -87,6 +87,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { transform_lock.lock(); mat3 model_transform = cur_transform; + bool valid = live_calib_seen; transform_lock.unlock(); // TODO: path planner timeout? @@ -117,8 +118,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { float frame_drop_ratio = frames_dropped / (1 + frames_dropped); model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time, - kj::ArrayPtr(model.output.data(), model.output.size()), live_calib_seen); - posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen); + kj::ArrayPtr(model.output.data(), model.output.size()), valid); + posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, valid); //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); last = mt1; From d09cc197d11efa2181ce68ef4212cb9df5ee285c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 15 Dec 2021 17:03:12 +0100 Subject: [PATCH 068/239] manage_athenad.py: add daemon argument to launcher --- selfdrive/athena/manage_athenad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 17926f5a93..58ad58310f 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -19,7 +19,7 @@ def main(): try: while 1: cloudlog.info("starting athena daemon") - proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad',)) + proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad')) proc.start() proc.join() cloudlog.event("athenad exited", exitcode=proc.exitcode) From 472177e2a8a1d002e56f9096326fd2dff62e54f9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Dec 2021 09:58:25 -0800 Subject: [PATCH 069/239] Revert "Qt/SetingWindow: faster initialization and painting (#21764)" This reverts commit f482354e4e2ce5d96f5b0c96f7ba923611dc199d. --- selfdrive/ui/qt/offroad/settings.cc | 97 ++++++++++++++------------- selfdrive/ui/qt/widgets/controls.cc | 2 +- selfdrive/ui/qt/widgets/scrollview.cc | 7 +- 3 files changed, 53 insertions(+), 53 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 1819f7b5a8..6131e1b995 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -345,23 +345,33 @@ void SettingsWindow::showEvent(QShowEvent *event) { } SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { - QHBoxLayout *main_layout = new QHBoxLayout(this); // setup two main layouts sidebar_widget = new QWidget; - sidebar_widget->setFixedWidth(500); QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); - sidebar_layout->setContentsMargins(50, 50, 100, 50); - main_layout->addWidget(sidebar_widget); - + sidebar_layout->setMargin(0); panel_widget = new QStackedWidget(); - panel_widget->setObjectName("panel_widget"); - panel_widget->setContentsMargins(25, 25, 25, 25); - main_layout->addWidget(panel_widget); + panel_widget->setStyleSheet(R"( + border-radius: 30px; + background-color: #292929; + )"); // close button QPushButton *close_btn = new QPushButton("×"); - close_btn->setObjectName("close_btn"); + close_btn->setStyleSheet(R"( + QPushButton { + font-size: 140px; + padding-bottom: 20px; + font-weight: bold; + border 1px grey solid; + border-radius: 100px; + background-color: #292929; + font-weight: 400; + } + QPushButton:pressed { + background-color: #3B3B3B; + } + )"); close_btn->setFixedSize(200, 200); sidebar_layout->addSpacing(45); sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter); @@ -385,17 +395,36 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); #endif + const int padding = panels.size() > 3 ? 25 : 35; + nav_btns = new QButtonGroup(this); for (auto &[name, panel] : panels) { QPushButton *btn = new QPushButton(name); btn->setCheckable(true); btn->setChecked(nav_btns->buttons().size() == 0); - btn->setProperty("type", "menu"); + btn->setStyleSheet(QString(R"( + QPushButton { + color: grey; + border: none; + background: none; + font-size: 65px; + font-weight: 500; + padding-top: %1px; + padding-bottom: %1px; + } + QPushButton:checked { + color: white; + } + QPushButton:pressed { + color: #ADADAD; + } + )").arg(padding)); + nav_btns->addButton(btn); sidebar_layout->addWidget(btn, 0, Qt::AlignRight); - const int lr_margin = name != "Network" ? 25 : 0; // Network panel handles its own margins - panel->setContentsMargins(lr_margin, 0, lr_margin, 0); + const int lr_margin = name != "Network" ? 50 : 0; // Network panel handles its own margins + panel->setContentsMargins(lr_margin, 25, lr_margin, 25); ScrollView *panel_frame = new ScrollView(panel, this); panel_widget->addWidget(panel_frame); @@ -405,9 +434,16 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { panel_widget->setCurrentWidget(w); }); } + sidebar_layout->setContentsMargins(50, 50, 100, 50); - const int padding = panels.size() > 3 ? 25 : 35; - setStyleSheet(QString(R"( + // main settings layout, sidebar + main panel + QHBoxLayout *main_layout = new QHBoxLayout(this); + + sidebar_widget->setFixedWidth(500); + main_layout->addWidget(sidebar_widget); + main_layout->addWidget(panel_widget); + + setStyleSheet(R"( * { color: white; font-size: 50px; @@ -415,38 +451,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { SettingsWindow { background-color: black; } - #panel_widget{ - border-radius: 30px; - background-color: #292929; - } - QPushButton#close_btn { - font-size: 140px; - padding-bottom: 20px; - font-weight: bold; - border 1px grey solid; - border-radius: 100px; - background-color: #292929; - font-weight: 400; - } - QPushButton#close_btn:pressed { - background-color: #3B3B3B; - } - QPushButton[type="menu"] { - color: grey; - border: none; - background: none; - font-size: 65px; - font-weight: 500; - padding-top: %1px; - padding-bottom: %1px; - } - QPushButton[type="menu"]:checked { - color: white; - } - QPushButton[type="menu"]:pressed { - color: #ADADAD; - } - )").arg(padding)); + )"); } void SettingsWindow::hideEvent(QHideEvent *event) { diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 1a67c8ddd7..d4e48fc64f 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -39,7 +39,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons // title title_label = new QPushButton(title); title_label->setFixedHeight(120); - title_label->setStyleSheet("border:none; font-size: 50px; font-weight: 400; text-align: left"); + title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); hlayout->addWidget(title_label); main_layout->addLayout(hlayout); diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index beb0b7d464..1aa05b4157 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -4,16 +4,11 @@ #include ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { - QPalette pal = palette(); - pal.setColor(QPalette::Background, QColor(0x29, 0x29, 0x29)); - w->setAutoFillBackground(true); - w->setPalette(pal); - setWidget(w); setWidgetResizable(true); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setFrameStyle(QFrame::NoFrame); + setStyleSheet("background-color: transparent;"); QString style = R"( QScrollBar:vertical { From 5810583d573af004120e6339a5597bf39cd6d331 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 16 Dec 2021 03:13:50 +0800 Subject: [PATCH 070/239] UI: always clear CameraView background (#23231) * fix background * gate that with Hardware::EON * always call glclear --- selfdrive/ui/qt/widgets/cameraview.cc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index a238f13c85..ff9f7754d1 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -199,11 +199,10 @@ void CameraViewWidget::updateFrameMat(int w, int h) { } void CameraViewWidget::paintGL() { - if (latest_texture_id == -1) { - glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); - glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - return; - } + glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); + glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); + + if (latest_texture_id == -1) return; glViewport(0, 0, width(), height()); From a11259929ba4d6f18892ae31844501d4db1eaa36 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 15 Dec 2021 14:18:40 -0500 Subject: [PATCH 071/239] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202018=20?= =?UTF-8?q?=C5=A0koda=20Superb=20(#23233)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 822326acda..0ca7aa512a 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -741,6 +741,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', + b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906264A \xf1\x890002', ], @@ -748,6 +749,7 @@ FW_VERSIONS = { b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', @@ -759,6 +761,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572B \xf1\x890192', From 3bdb445c84383768d365315abdeab5dad43ccfb5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Dec 2021 14:29:32 -0800 Subject: [PATCH 072/239] soundd: back to onroad only (#23236) --- selfdrive/manager/process_config.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 2e3741350e..8fc07a06ef 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -19,7 +19,7 @@ procs = [ NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], persistent=True), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), From 7fd98757b46b384fba00aaa91612f66f3de2f020 Mon Sep 17 00:00:00 2001 From: martinl Date: Thu, 16 Dec 2021 01:13:31 +0200 Subject: [PATCH 073/239] Subaru: Add Impreza/Crosstrek 2020 (#21011) * Add Subaru Impreza/Crosstrek 2020 * Update selfdrive/test/test_routes.py Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 2 +- selfdrive/car/subaru/carcontroller.py | 11 +++++----- selfdrive/car/subaru/interface.py | 10 +++++++++ selfdrive/car/subaru/values.py | 29 ++++++++++++++++++++------- selfdrive/test/test_routes.py | 1 + 5 files changed, 40 insertions(+), 13 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9c762ee7bf..e4b7b3cac3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -147,7 +147,7 @@ | Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph | | Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph | | Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph | -| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | +| Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph | | Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph | | Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph | | Volkswagen| Arteon 20214 | Driver Assistance | Stock | 0mph | 0mph | diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 17b3e057f2..a2d0c2ebdd 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -12,6 +12,7 @@ class CarController(): self.cruise_button_prev = 0 self.steer_rate_limited = False + self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): @@ -19,23 +20,23 @@ class CarController(): can_sends = [] # *** steering *** - if (frame % CarControllerParams.STEER_STEP) == 0: + if (frame % self.p.STEER_STEP) == 0: - apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) + apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) # limits due to driver torque new_steer = int(round(apply_steer)) - apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams) + apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) self.steer_rate_limited = new_steer != apply_steer if not enabled: apply_steer = 0 if CS.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP)) self.apply_steer_last = apply_steer diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 86bba542cc..f5b0886a95 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -45,6 +45,16 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] + if candidate == CAR.IMPREZA_2020: + ret.mass = 1480. + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 17 # learned, 14 stock + ret.steerActuatorDelay = 0.1 + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] + if candidate == CAR.FORESTER: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 39f8e5e598..4f8761588e 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -5,17 +5,22 @@ from cereal import car Ecu = car.CarParams.Ecu class CarControllerParams: - STEER_MAX = 2047 # max_steer 4095 - STEER_STEP = 2 # how often we update the steer cmd - STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max - STEER_DELTA_DOWN = 70 # torque decrease per refresh - STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting - STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily - STEER_DRIVER_FACTOR = 1 # from dbc + def __init__(self, CP): + if CP.carFingerprint == CAR.IMPREZA_2020: + self.STEER_MAX = 1439 + else: + self.STEER_MAX = 2047 + self.STEER_STEP = 2 # how often we update the steer cmd + self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max + self.STEER_DELTA_DOWN = 70 # torque decrease per refresh + self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting + self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily + self.STEER_DRIVER_FACTOR = 1 # from dbc class CAR: ASCENT = "SUBARU ASCENT LIMITED 2019" IMPREZA = "SUBARU IMPREZA LIMITED 2019" + IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" FORESTER = "SUBARU FORESTER 2019" FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018" @@ -30,6 +35,14 @@ FINGERPRINTS = { CAR.IMPREZA: [{ 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 }], + CAR.IMPREZA_2020: [{ + # SUBARU CROSSTREK SPORT 2020 + 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8 + }, + # IMPREZA 2020 + { + 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 + }], CAR.FORESTER: [{ # Forester 2019-2020 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 @@ -71,6 +84,7 @@ FINGERPRINTS = { STEER_THRESHOLD = { CAR.ASCENT: 80, CAR.IMPREZA: 80, + CAR.IMPREZA_2020: 80, CAR.FORESTER: 80, CAR.FORESTER_PREGLOBAL: 75, CAR.LEGACY_PREGLOBAL: 75, @@ -81,6 +95,7 @@ STEER_THRESHOLD = { DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), + CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py index a59690e94b..5fa7e30e5d 100755 --- a/selfdrive/test/test_routes.py +++ b/selfdrive/test/test_routes.py @@ -171,6 +171,7 @@ routes = [ TestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT), TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), + TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), # Dashcam TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), # Dashcam From 66ee3e9ef98f240f424228953c307be8daaf5597 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Dec 2021 16:12:24 -0800 Subject: [PATCH 074/239] model replay: more consistent replay (#23237) * first cleanup * don't send calib and desire * should always be valid * little more --- selfdrive/test/process_replay/model_replay.py | 154 ++++++++---------- 1 file changed, 72 insertions(+), 82 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 32a5717852..13e0c7288f 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -2,16 +2,16 @@ import os import sys import time -from typing import Any - +from collections import defaultdict from tqdm import tqdm +from typing import Any import cereal.messaging as messaging from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error from common.spinner import Spinner from common.timeout import Timeout from common.transformations.camera import get_view_frame_from_road_frame, eon_f_frame_size, tici_f_frame_size, \ - eon_d_frame_size, tici_d_frame_size + eon_d_frame_size, tici_d_frame_size from selfdrive.hardware import PC, TICI from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url @@ -25,50 +25,23 @@ if TICI: TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" else: TEST_ROUTE = "303055c0002aefd1|2021-11-22--18-36-32" +SEGMENT = 0 -CACHE_DIR = os.getenv("CACHE_DIR", None) +SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) -packet_from_camera = {"roadCameraState":"modelV2", "driverCameraState":"driverState"} def get_log_fn(ref_commit): return "%s_%s_%s.bz2" % (TEST_ROUTE, "model_tici" if TICI else "model", ref_commit) + def replace_calib(msg, calib): msg = msg.as_builder() if calib is not None: msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist() return msg -def process_frame(msg, pm, sm, log_msgs, vipc_server, spinner, frs, frame_idxs, last_desire): - if msg.which() == "roadCameraState" and last_desire is not None: - dat = messaging.new_message('lateralPlan') - dat.lateralPlan.desire = last_desire - pm.send('lateralPlan', dat) - - f = msg.as_builder() - pm.send(msg.which(), f) - - img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="yuv420p")[0] - if msg.which == "roadCameraState": - vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, img.flatten().tobytes(), f.roadCameraState.frameId, - f.roadCameraState.timestampSof, f.roadCameraState.timestampEof) - else: - vipc_server.send(VisionStreamType.VISION_STREAM_DRIVER, img.flatten().tobytes(), f.driverCameraState.frameId, - f.driverCameraState.timestampSof, f.driverCameraState.timestampEof) - with Timeout(seconds=15): - log_msgs.append(messaging.recv_one(sm.sock[packet_from_camera[msg.which()]])) - - frame_idxs[msg.which()] += 1 - if frame_idxs[msg.which()] >= frs[msg.which()].frame_count: - return None - update_spinner(spinner, frame_idxs['roadCameraState'], frs['roadCameraState'].frame_count, - frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count) - return 0 - -def update_spinner(s, fidx, fcnt, didx, dcnt): - s.update("replaying models: road %d/%d, driver %d/%d" % (fidx, fcnt, didx, dcnt)) - -def model_replay(lr_list, frs): + +def model_replay(lr, frs): spinner = Spinner() spinner.update("starting model replay") @@ -77,93 +50,110 @@ def model_replay(lr_list, frs): vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size)) vipc_server.start_listener() - pm = messaging.PubMaster(['roadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) sm = messaging.SubMaster(['modelV2', 'driverState']) + pm = messaging.PubMaster(['roadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) try: managed_processes['modeld'].start() managed_processes['dmonitoringmodeld'].start() - time.sleep(5) + time.sleep(2) sm.update(1000) - last_desire = None log_msgs = [] - frame_idxs = dict.fromkeys(['roadCameraState','driverCameraState'], 0) - - cal = [msg for msg in lr if msg.which() == "liveCalibration"] - for msg in cal[:5]: - pm.send(msg.which(), replace_calib(msg, None)) - - for msg in tqdm(lr_list): - if msg.which() == "liveCalibration": - last_calib = list(msg.liveCalibration.rpyCalib) - pm.send(msg.which(), replace_calib(msg, last_calib)) - elif msg.which() == "lateralPlan": - last_desire = msg.lateralPlan.desire - elif msg.which() in ["roadCameraState", "driverCameraState"]: - ret = process_frame(msg, pm, sm, log_msgs, vipc_server, spinner, frs, frame_idxs, last_desire) - if ret is None: + last_desire = None + frame_idxs = defaultdict(lambda: 0) + + # init modeld with valid calibration + cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"] + for _ in range(5): + pm.send(cal_msgs[0].which(), cal_msgs[0].as_builder()) + time.sleep(0.1) + + for msg in tqdm(lr): + if SEND_EXTRA_INPUTS: + if msg.which() == "liveCalibration": + last_calib = list(msg.liveCalibration.rpyCalib) + pm.send(msg.which(), replace_calib(msg, last_calib)) + elif msg.which() == "lateralPlan": + last_desire = msg.lateralPlan.desire + dat = messaging.new_message('lateralPlan') + dat.lateralPlan.desire = last_desire + pm.send('lateralPlan', dat) + + if msg.which() in ["roadCameraState", "driverCameraState"]: + camera_state = getattr(msg, msg.which()) + stream = VisionStreamType.VISION_STREAM_ROAD if msg.which() == "roadCameraState" else VisionStreamType.VISION_STREAM_DRIVER + img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="yuv420p")[0] + + # send camera state and frame + pm.send(msg.which(), msg.as_builder()) + vipc_server.send(stream, img.flatten().tobytes(), camera_state.frameId, + camera_state.timestampSof, camera_state.timestampEof) + + # wait for a response + with Timeout(seconds=15): + packet_from_camera = {"roadCameraState": "modelV2", "driverCameraState": "driverState"} + log_msgs.append(messaging.recv_one(sm.sock[packet_from_camera[msg.which()]])) + + frame_idxs[msg.which()] += 1 + if frame_idxs[msg.which()] >= frs[msg.which()].frame_count: break - except KeyboardInterrupt: - pass + spinner.update("replaying models: road %d/%d, driver %d/%d" % (frame_idxs['roadCameraState'], + frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count)) + finally: spinner.close() managed_processes['modeld'].stop() managed_processes['dmonitoringmodeld'].stop() + return log_msgs + if __name__ == "__main__": update = "--update" in sys.argv - - if TICI: - os.system('sudo mount -o remount,size=200M /tmp') # c3 hevcs are 75M each - replay_dir = os.path.dirname(os.path.abspath(__file__)) ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit") - segnum = 0 - frs = {} - if CACHE_DIR: - lr = LogReader(os.path.join(CACHE_DIR, '%s--%d--rlog.bz2' % (TEST_ROUTE.replace('|', '_'), segnum))) - frs['roadCameraState'] = FrameReader(os.path.join(CACHE_DIR, '%s--%d--fcamera.hevc' % (TEST_ROUTE.replace('|', '_'), segnum))) - frs['driverCameraState'] = FrameReader(os.path.join(CACHE_DIR, '%s--%d--dcamera.hevc' % (TEST_ROUTE.replace('|', '_'), segnum))) - else: - lr = LogReader(get_url(TEST_ROUTE, segnum)) - frs['roadCameraState'] = FrameReader(get_url(TEST_ROUTE, segnum, log_type="fcamera")) - frs['driverCameraState'] = FrameReader(get_url(TEST_ROUTE, segnum, log_type="dcamera")) + # load logs + lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) + frs = { + 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")), + 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")), + } - lr_list = list(lr) - log_msgs = model_replay(lr_list, frs) + # run replay + log_msgs = model_replay(lr, frs) + # get diff failed = False if not update: - ref_commit = open(ref_commit_fn).read().strip() + with open(ref_commit_fn) as f: + ref_commit = f.read().strip() log_fn = get_log_fn(ref_commit) cmp_log = LogReader(BASE_URL + log_fn) - ignore = ['logMonoTime', 'valid', - 'modelV2.frameDropPerc', - 'modelV2.modelExecutionTime', - 'driverState.modelExecutionTime', - 'driverState.dspExecutionTime'] + ignore = [ + 'logMonoTime', + 'modelV2.frameDropPerc', + 'modelV2.modelExecutionTime', + 'driverState.modelExecutionTime', + 'driverState.dspExecutionTime' + ] tolerance = None if not PC else 1e-3 results: Any = {TEST_ROUTE: {}} results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) diff1, diff2, failed = format_diff(results, ref_commit) print(diff2) - print('-------------') - print('-------------') - print('-------------') - print('-------------') - print('-------------') + print('-------------\n'*5) print(diff1) with open("model_diff.txt", "w") as f: f.write(diff2) + # upload new refs if update or failed: from selfdrive.test.openpilotci import upload_file From 768cfdb92a70f30435cf4c4ab1de083d8fbe6491 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 16 Dec 2021 08:19:07 +0800 Subject: [PATCH 075/239] framereader: use the same alignement as visionbuf (#23208) * aligned rgb buffer * fix yuv stride --- selfdrive/ui/replay/framereader.cc | 15 ++++++++++----- selfdrive/ui/replay/framereader.h | 3 ++- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc index 32af922f1f..5955d1bfcb 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/selfdrive/ui/replay/framereader.cc @@ -3,6 +3,8 @@ #include #include "libyuv.h" +#include "cereal/visionipc/visionbuf.h" + namespace { struct buffer_data { @@ -98,6 +100,7 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_cuda, std::at width = (decoder_ctx->width + 3) & ~3; height = decoder_ctx->height; + visionbuf_compute_aligned_width_and_height(width, height, &aligned_width, &aligned_height); if (has_cuda_device && !no_cuda) { if (!initHardwareDecoder(AV_HWDEVICE_TYPE_CUDA)) { @@ -218,19 +221,21 @@ bool FrameReader::copyBuffers(AVFrame *f, uint8_t *rgb, uint8_t *yuv) { libyuv::NV12ToI420(f->data[0], f->linesize[0], f->data[1], f->linesize[1], y, width, u, width / 2, v, width / 2, width, height); libyuv::I420ToRGB24(y, width, u, width / 2, v, width / 2, - rgb, width * 3, width, height); + rgb, aligned_width * 3, width, height); } else { if (yuv) { uint8_t *u = yuv + width * height; uint8_t *v = u + (width / 2) * (height / 2); - memcpy(yuv, f->data[0], width * height); - memcpy(u, f->data[1], width / 2 * height / 2); - memcpy(v, f->data[2], width / 2 * height / 2); + libyuv::I420Copy(f->data[0], f->linesize[0], + f->data[1], f->linesize[1], + f->data[2], f->linesize[2], + yuv, width, u, width / 2, v, width / 2, + width, height); } libyuv::I420ToRGB24(f->data[0], f->linesize[0], f->data[1], f->linesize[1], f->data[2], f->linesize[2], - rgb, width * 3, width, height); + rgb, aligned_width * 3, width, height); } return true; } diff --git a/selfdrive/ui/replay/framereader.h b/selfdrive/ui/replay/framereader.h index d572b727e5..8de5c1f93e 100644 --- a/selfdrive/ui/replay/framereader.h +++ b/selfdrive/ui/replay/framereader.h @@ -22,12 +22,13 @@ public: bool load(const std::string &url, bool no_cuda = false, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, bool no_cuda = false, std::atomic *abort = nullptr); bool get(int idx, uint8_t *rgb, uint8_t *yuv); - int getRGBSize() const { return width * height * 3; } + int getRGBSize() const { return aligned_width * aligned_height * 3; } int getYUVSize() const { return width * height * 3 / 2; } size_t getFrameCount() const { return packets.size(); } bool valid() const { return valid_; } int width = 0, height = 0; + int aligned_width = 0, aligned_height = 0; private: bool initHardwareDecoder(AVHWDeviceType hw_device_type); From a793b949bea7308051448924e0f3a97c396e39e8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Dec 2021 17:58:16 -0800 Subject: [PATCH 076/239] boardd: add controls heartbeat (#23185) * boardd: add controls heartbeat * bump panda * bump again * bump panda --- panda | 2 +- selfdrive/boardd/boardd.cc | 7 ++++++- selfdrive/boardd/panda.cc | 4 ++-- selfdrive/boardd/panda.h | 2 +- 4 files changed, 10 insertions(+), 5 deletions(-) diff --git a/panda b/panda index 652367d2e8..6f95a096e6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 652367d2e82f21f996c2217857d20ea05567ad62 +Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index d09738a709..0ca943de2e 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -411,6 +411,8 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin util::set_thread_name("boardd_panda_state"); Params params; + SubMaster sm({"controlsState"}); + Panda *peripheral_panda = pandas[0]; bool ignition_last = false; std::future safety_future; @@ -445,8 +447,11 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin ignition_last = ignition; + sm.update(0); + const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled(); + for (const auto &panda : pandas) { - panda->send_heartbeat(); + panda->send_heartbeat(engaged); } util::sleep_for(500); } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 751f735ca5..6850ad41b2 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -340,8 +340,8 @@ void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) usb_write(0xe6, (uint16_t)power_mode, 0); } -void Panda::send_heartbeat() { - usb_write(0xf3, 1, 0); +void Panda::send_heartbeat(bool engaged) { + usb_write(0xf3, engaged, 0); } void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index fe69189489..1a18a7f15a 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -108,7 +108,7 @@ class Panda { std::optional get_serial(); void set_power_saving(bool power_saving); void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode); - void send_heartbeat(); + void send_heartbeat(bool engaged); void set_can_speed_kbps(uint16_t bus, uint16_t speed); void set_data_speed_kbps(uint16_t bus, uint16_t speed); void can_send(capnp::List::Reader can_data_list); From 4f1eb4278a83a3abebebef67a081961e27594d90 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 16 Dec 2021 13:08:20 +0100 Subject: [PATCH 077/239] Log actuators after applying rate limits in CarController (#23230) * return actuators from carcontroller * log it * pass to latcontrol * chrysler * gm * honda * more brands * rest of the brands * gm cleanup * hyundai cleanup * update ref * rename field * fix subaru * add types * more subaru fixes #23240 * consistent whitespace * bump cereal --- cereal | 2 +- selfdrive/car/chrysler/carcontroller.py | 9 +++-- selfdrive/car/chrysler/interface.py | 6 ++-- selfdrive/car/ford/carcontroller.py | 2 +- selfdrive/car/ford/interface.py | 4 +-- selfdrive/car/gm/carcontroller.py | 30 ++++++++++------- selfdrive/car/gm/interface.py | 10 +++--- selfdrive/car/honda/carcontroller.py | 38 +++++++++++++++------- selfdrive/car/honda/interface.py | 16 ++++----- selfdrive/car/hyundai/carcontroller.py | 8 ++++- selfdrive/car/hyundai/interface.py | 8 ++--- selfdrive/car/interfaces.py | 18 +++++----- selfdrive/car/mazda/carcontroller.py | 6 +++- selfdrive/car/mazda/interface.py | 4 +-- selfdrive/car/mock/interface.py | 3 +- selfdrive/car/nissan/carcontroller.py | 5 ++- selfdrive/car/nissan/interface.py | 10 +++--- selfdrive/car/subaru/carcontroller.py | 5 ++- selfdrive/car/subaru/interface.py | 8 ++--- selfdrive/car/tesla/carcontroller.py | 5 ++- selfdrive/car/tesla/interface.py | 4 +-- selfdrive/car/toyota/carcontroller.py | 16 ++++++--- selfdrive/car/toyota/interface.py | 13 ++++---- selfdrive/car/volkswagen/carcontroller.py | 5 ++- selfdrive/car/volkswagen/interface.py | 14 ++++---- selfdrive/controls/controlsd.py | 6 ++-- selfdrive/controls/lib/latcontrol_angle.py | 4 +-- selfdrive/controls/lib/latcontrol_indi.py | 2 +- selfdrive/controls/lib/latcontrol_lqr.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 4 +-- selfdrive/test/process_replay/ref_commit | 2 +- 31 files changed, 163 insertions(+), 106 deletions(-) diff --git a/cereal b/cereal index e5a04ab458..f1c5c8ef7c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e5a04ab458afd52cf630cc9e35ccdc10efba6688 +Subproject commit f1c5c8ef7cab05b66892d67b6992f5ac1238ad4f diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 46681b13e2..d491ccd4b9 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,3 +1,4 @@ +from cereal import car from selfdrive.car import apply_toyota_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \ create_wheel_buttons @@ -20,9 +21,8 @@ class CarController(): # this seems needed to avoid steering faults and to force the sync with the EPS counter frame = CS.lkas_counter if self.prev_frame == frame: - return [] + return car.CarControl.Actuators.new_message(), [] - # *** compute control surfaces *** # steer torque new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, @@ -67,4 +67,7 @@ class CarController(): self.ccframe += 1 self.prev_frame = frame - return can_sends + new_actuators = actuators.copy() + new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + + return new_actuators, can_sends diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 1822d76a1a..a893b222f8 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -78,8 +78,6 @@ class CarInterface(CarInterfaceBase): def apply(self, c): if (self.CS.frame == -1): - return [] # if we haven't seen a frame 220, then do not update. + return car.CarControl.Actuators.new_message(), [] # if we haven't seen a frame 220, then do not update. - can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert) - - return can_sends + return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 06c5f25797..2eaacd301c 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -83,4 +83,4 @@ class CarController(): self.main_on_last = CS.out.cruiseState.available self.steer_alert_last = steer_alert - return can_sends + return actuators, can_sends diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 8c0b1e1faa..7155b3ea82 100755 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -63,8 +63,8 @@ class CarInterface(CarInterfaceBase): # to be called @ 100hz def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, + ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.hudControl.visualAlert, c.cruiseControl.cancel) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 8f4d0f27ca..71587b17d9 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -14,6 +14,9 @@ class CarController(): def __init__(self, dbc_name, CP, VM): self.start_time = 0. self.apply_steer_last = 0 + self.apply_gas = 0 + self.apply_brake = 0 + self.lka_steering_cmd_counter_last = -1 self.lka_icon_status_last = (False, False) self.steer_rate_limited = False @@ -53,22 +56,22 @@ class CarController(): can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled)) - if not enabled: - # Stock ECU sends max regen when not enabled. - apply_gas = P.MAX_ACC_REGEN - apply_brake = 0 - else: - apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V))) - apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V))) - # Gas/regen and brakes - all at 25Hz if (frame % 4) == 0: + if not enabled: + # Stock ECU sends max regen when not enabled. + self.apply_gas = P.MAX_ACC_REGEN + self.apply_brake = 0 + else: + self.apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V))) + idx = (frame // 4) % 4 at_full_stop = enabled and CS.out.standstill near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE) - can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop)) - can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop)) + can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop)) + can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, enabled, at_full_stop)) # Send dashboard UI commands (ACC status), 25hz if (frame % 4) == 0: @@ -106,4 +109,9 @@ class CarController(): can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) self.lka_icon_status_last = lka_icon_status - return can_sends + new_actuators = actuators.copy() + new_actuators.steer = self.apply_steer_last / P.STEER_MAX + new_actuators.gas = self.apply_gas + new_actuators.brake = self.apply_brake + + return new_actuators, can_sends diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index b06e5373aa..d9a63d32e3 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -220,10 +220,10 @@ class CarInterface(CarInterfaceBase): # In GM, PCM faults out if ACC command overlaps user gas. enabled = c.enabled and not self.CS.out.gasPressed - can_sends = self.CC.update(enabled, self.CS, self.frame, - c.actuators, - hud_v_cruise, c.hudControl.lanesVisible, - c.hudControl.leadVisible, c.hudControl.visualAlert) + ret = self.CC.update(enabled, self.CS, self.frame, + c.actuators, + hud_v_cruise, c.hudControl.lanesVisible, + c.hudControl.leadVisible, c.hudControl.visualAlert) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index e1488eda2a..9a424a1e68 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -105,6 +105,11 @@ class CarController(): self.last_pump_ts = 0. self.packer = CANPacker(dbc_name) + self.accel = 0 + self.speed = 0 + self.gas = 0 + self.brake = 0 + self.params = CarControllerParams(CP) def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, @@ -211,10 +216,9 @@ class CarController(): ts = frame * DT_CTRL if CS.CP.carFingerprint in HONDA_BOSCH: - accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX) - bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V) - can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint)) - + self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX) + self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V) + can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, starting, CS.CP.carFingerprint)) else: apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1)) @@ -224,6 +228,7 @@ class CarController(): can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw_display, idx, CS.CP.carFingerprint, CS.stock_brake)) self.apply_brake_last = apply_brake + self.brake = apply_brake / P.NIDEC_BRAKE_MAX if CS.CP.enableGasInterceptor: # way too aggressive at low speed without this @@ -233,17 +238,28 @@ class CarController(): # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected # when you do enable. if active: - apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.) + self.gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.) else: - apply_gas = 0.0 - can_sends.append(create_gas_interceptor_command(self.packer, apply_gas, idx)) - - hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car, - hud_lanes, fcw_display, acc_alert, steer_required) + self.gas = 0.0 + can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx)) # Send dashboard UI commands. if (frame % 10) == 0: idx = (frame//10) % 4 + hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car, + hud_lanes, fcw_display, acc_alert, steer_required) can_sends.extend(hondacan.create_ui_commands(self.packer, CS.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) - return can_sends + if (CS.CP.openpilotLongitudinalControl) and (CS.CP.carFingerprint not in HONDA_BOSCH): + self.speed = pcm_speed + + if not CS.CP.enableGasInterceptor: + self.gas = pcm_accel / 0xc6 + + new_actuators = actuators.copy() + new_actuators.speed = self.speed + new_actuators.accel = self.accel + new_actuators.gas = self.gas + new_actuators.brake = self.brake + + return new_actuators, can_sends diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 03074b875c..274f4ed5f6 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -438,13 +438,13 @@ class CarInterface(CarInterfaceBase): else: hud_v_cruise = 255 - can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame, - c.actuators, - c.cruiseControl.cancel, - hud_v_cruise, - c.hudControl.lanesVisible, - hud_show_car=c.hudControl.leadVisible, - hud_alert=c.hudControl.visualAlert) + ret = self.CC.update(c.enabled, c.active, self.CS, self.frame, + c.actuators, + c.cruiseControl.cancel, + hud_v_cruise, + c.hudControl.lanesVisible, + hud_show_car=c.hudControl.leadVisible, + hud_alert=c.hudControl.visualAlert) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index a8b70fcf90..a6812754e8 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -44,6 +44,7 @@ class CarController(): self.car_fingerprint = CP.carFingerprint self.steer_rate_limited = False self.last_resume_frame = 0 + self.accel = 0 def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed, left_lane, right_lane, left_lane_depart, right_lane_depart): @@ -100,6 +101,7 @@ class CarController(): stopping = (actuators.longControlState == LongCtrlState.stopping) set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH) can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping)) + self.accel = accel # 20 Hz LFA MFA message if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, @@ -116,4 +118,8 @@ class CarController(): if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl: can_sends.append(create_frt_radar_opt(self.packer)) - return can_sends + new_actuators = actuators.copy() + new_actuators.steer = apply_steer / self.p.STEER_MAX + new_actuators.accel = self.accel + + return new_actuators, can_sends diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 57b313e534..091523ac1a 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -347,8 +347,8 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible, - c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, + c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible, + c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index bd5b98c8e1..2ff26891ed 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,6 +1,7 @@ import os import time -from typing import Dict +from abc import abstractmethod +from typing import Dict, Tuple, List from cereal import car from common.kalman.simple_kalman import KF1D @@ -48,8 +49,9 @@ class CarInterfaceBase(): return ACCEL_MIN, ACCEL_MAX @staticmethod + @abstractmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): - raise NotImplementedError + pass @staticmethod def init(CP, logcan, sendcan): @@ -99,13 +101,13 @@ class CarInterfaceBase(): ret.longitudinalActuatorDelayUpperBound = 0.15 return ret - # returns a car.CarState, pass in car.CarControl - def update(self, c, can_strings): - raise NotImplementedError + @abstractmethod + def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState: + pass - # return sendcan, pass in a car.CarControl - def apply(self, c): - raise NotImplementedError + @abstractmethod + def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]: + pass def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True): events = Events() diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 06c5eb0948..c65ff72ed5 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -58,4 +58,8 @@ class CarController(): # send steering command can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint, frame, apply_steer, CS.cam_lkas)) - return can_sends + + new_actuators = c.actuators.copy() + new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + + return new_actuators, can_sends diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 8364bf000c..b4ae938228 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -95,6 +95,6 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - can_sends = self.CC.update(c, self.CS, self.frame) + ret = self.CC.update(c, self.CS, self.frame) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 999e735c73..bc1f6dcf6b 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -88,4 +88,5 @@ class CarInterface(CarInterfaceBase): def apply(self, c): # in mock no carcontrols - return [] + actuators = car.CarControl.Actuators.new_message() + return actuators, [] diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 41ba9f6599..8b40a050c1 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -87,4 +87,7 @@ class CarController(): self.packer, lkas_hud_info_msg, steer_hud_alert )) - return can_sends + new_actuators = actuators.copy() + new_actuators.steeringAngleDeg = apply_angle + + return new_actuators, can_sends diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 18ae885f83..004ea8dd0a 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -78,9 +78,9 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, c.hudControl.visualAlert, - c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, - c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, + c.cruiseControl.cancel, c.hudControl.visualAlert, + c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, + c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index a2d0c2ebdd..72b07f9192 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -72,4 +72,7 @@ class CarController(): can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart)) self.es_lkas_cnt = CS.es_lkas_msg["Counter"] - return can_sends + new_actuators = actuators.copy() + new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX + + return new_actuators, can_sends diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index f5b0886a95..9537f293ad 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -122,8 +122,8 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, c.hudControl.visualAlert, - c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, + c.cruiseControl.cancel, c.hudControl.visualAlert, + c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index 7e6a2f2e9a..4efd1c1fe7 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -62,4 +62,7 @@ class CarController(): # TODO: HUD control - return can_sends + new_actuators = actuators.copy() + new_actuators.steeringAngleDeg = apply_angle + + return actuators, can_sends diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 45dc0a7239..4b5b211787 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -71,6 +71,6 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel) + ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index b35081c703..506d754729 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -19,12 +19,12 @@ class CarController(): self.steer_rate_limited = False self.packer = CANPacker(dbc_name) + self.gas = 0 + self.accel = 0 def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_alert, left_line, right_line, lead, left_lane_depart, right_lane_depart): - # *** compute control surfaces *** - # gas and brake if CS.CP.enableGasInterceptor and enabled: MAX_INTERCEPTOR_GAS = 0.5 @@ -96,6 +96,7 @@ class CarController(): can_sends.append(create_acc_cancel_command(self.packer)) elif CS.CP.openpilotLongitudinalControl: can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type)) + self.accel = pcm_accel_cmd else: can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type)) @@ -103,6 +104,7 @@ class CarController(): # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. # This prevents unexpected pedal range rescaling can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, frame // 2)) + self.gas = interceptor_gas_cmd # ui mesg is at 100Hz but we send asap if: # - there is something to display @@ -125,10 +127,14 @@ class CarController(): if frame % 100 == 0 and CS.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) - #*** static msgs *** - + # *** static msgs *** for (addr, cars, bus, fr_step, vl) in STATIC_DSU_MSGS: if frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars: can_sends.append(make_can_msg(addr, vl, bus)) - return can_sends + new_actuators = actuators.copy() + new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators.accel = self.accel + new_actuators.gas = self.gas + + return new_actuators, can_sends diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index f9d6b586fd..6c1f3e9f41 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -312,12 +312,11 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c): - - can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame, - c.actuators, c.cruiseControl.cancel, - c.hudControl.visualAlert, c.hudControl.leftLaneVisible, - c.hudControl.rightLaneVisible, c.hudControl.leadVisible, - c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + ret = self.CC.update(c.enabled, c.active, self.CS, self.frame, + c.actuators, c.cruiseControl.cancel, + c.hudControl.visualAlert, c.hudControl.leftLaneVisible, + c.hudControl.rightLaneVisible, c.hudControl.leadVisible, + c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 977818dbd5..a0119e2a52 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -110,4 +110,7 @@ class CarController(): self.graButtonStatesToSend = None self.graMsgSentCount = 0 - return can_sends + new_actuators = actuators.copy() + new_actuators.steer = self.apply_steer_last / P.STEER_MAX + + return new_actuators, can_sends diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 560e64ce2d..bef1c37185 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -216,11 +216,11 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators, - c.hudControl.visualAlert, - c.hudControl.leftLaneVisible, - c.hudControl.rightLaneVisible, - c.hudControl.leftLaneDepart, - c.hudControl.rightLaneDepart) + ret = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators, + c.hudControl.visualAlert, + c.hudControl.leftLaneVisible, + c.hudControl.rightLaneVisible, + c.hudControl.leftLaneDepart, + c.hudControl.rightLaneDepart) self.frame += 1 - return can_sends + return ret diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 19fe328dbf..cc449537a6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -159,6 +159,7 @@ class Controls: self.current_alert_types = [ET.PERMANENT] self.logged_comm_issue = False self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0} + self.last_actuators = car.CarControl.Actuators.new_message() # TODO: no longer necessary, aside from process replay self.sm['liveParameters'].valid = True @@ -510,7 +511,7 @@ class Controls: lat_plan.psis, lat_plan.curvatures, lat_plan.curvatureRates) - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params, + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params, self.last_actuators, desired_curvature, desired_curvature_rate) else: lac_log = log.ControlsState.LateralDebugState.new_message() @@ -621,8 +622,9 @@ class Controls: if not self.read_only and self.initialized: # send car controls over can - can_sends = self.CI.apply(CC) + self.last_actuators, can_sends = self.CI.apply(CC) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + CC.actuatorsOutput = self.last_actuators force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ (self.state == State.softDisabling) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 8fcb9ae7bf..5975fa66b7 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -10,7 +10,7 @@ class LatControlAngle(): def reset(self): pass - def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate): + def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate): angle_log = log.ControlsState.LateralAngleState.new_message() if CS.vEgo < 0.3 or not active: @@ -23,6 +23,6 @@ class LatControlAngle(): angle_log.saturated = False angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) - angle_log.steeringAngleDesiredDeg = angle_steers_des + angle_log.steeringAngleDesiredDeg = angle_steers_des return 0, float(angle_steers_des), angle_log diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py index 50a8e22b3c..169d504d5b 100644 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -82,7 +82,7 @@ class LatControlINDI(): return self.sat_count > self.sat_limit - def update(self, active, CS, CP, VM, params, curvature, curvature_rate): + def update(self, active, CS, CP, VM, params, last_actuators, curvature, curvature_rate): self.speed = CS.vEgo # Update Kalman filter y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py index 16fffac279..9f58aea2e7 100644 --- a/selfdrive/controls/lib/latcontrol_lqr.py +++ b/selfdrive/controls/lib/latcontrol_lqr.py @@ -44,7 +44,7 @@ class LatControlLQR(): return self.sat_count > self.sat_limit - def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate): + def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate): lqr_log = log.ControlsState.LateralLQRState.new_message() steers_max = get_steer_max(CP, CS.vEgo) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index c7730d011c..ca78d5fa4e 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -16,7 +16,7 @@ class LatControlPID(): def reset(self): self.pid.reset() - def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate): + def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) @@ -24,7 +24,7 @@ class LatControlPID(): angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo)) angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg - pid_log.steeringAngleDesiredDeg = angle_steers_des + pid_log.steeringAngleDesiredDeg = angle_steers_des pid_log.angleError = angle_steers_des - CS.steeringAngleDeg if CS.vEgo < 0.3 or not active: output_steer = 0.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0301f0900d..8415bc8de7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c84310c94ccab023e36d02e9b85430ad7d878868 \ No newline at end of file +8118420b292f4c67ce7e196fc2121571da330e65 \ No newline at end of file From 55390d273f36f49da3896e687ac5530f40c1d150 Mon Sep 17 00:00:00 2001 From: Ewout ter Hoeven Date: Thu, 16 Dec 2021 14:58:17 +0100 Subject: [PATCH 078/239] Convert format strings strings to f-strings (#23241) * Convert all text strings to f-strings Reformats all the text from the old "%-formatted" and .format(...) format to the newer f-string format, as defined in PEP 498. This requires Python 3.6+. Flynt 0.69 was used to reformat the strings. 120 f-strings were created in 51 files. F-strings are in general more readable, concise and performant. See also: https://www.python.org/dev/peps/pep-0498/#rationale * revert pyextra changes * revert ublox.py Co-authored-by: Willem Melching --- common/ffi_wrapper.py | 2 +- common/file_helpers.py | 2 +- common/profiler.py | 2 +- common/realtime.py | 2 +- common/tests/test_file_helpers.py | 2 +- common/timeout.py | 2 +- selfdrive/camerad/test/test_camerad.py | 2 +- selfdrive/car/car_helpers.py | 4 +-- selfdrive/car/fingerprints.py | 2 +- selfdrive/car/fw_versions.py | 4 +-- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/tests/test_car_interfaces.py | 2 +- selfdrive/car/volkswagen/interface.py | 2 +- .../lib/longitudinal_mpc_lib/long_mpc.py | 3 +-- selfdrive/controls/lib/radar_helpers.py | 2 +- selfdrive/controls/radard.py | 2 +- selfdrive/controls/tests/test_alerts.py | 2 +- selfdrive/debug/can_printer.py | 2 +- selfdrive/debug/check_freq.py | 2 +- selfdrive/debug/cpu_usage_stat.py | 4 +-- selfdrive/debug/dump.py | 4 +-- selfdrive/debug/get_fingerprint.py | 4 +-- selfdrive/debug/internal/power_monitor.py | 6 ++--- selfdrive/debug/live_cpu_and_temp.py | 2 +- selfdrive/hardware/tici/power_monitor.py | 6 ++--- selfdrive/loggerd/deleter.py | 4 +-- selfdrive/loggerd/tools/mark_unuploaded.py | 2 +- selfdrive/loggerd/uploader.py | 2 +- selfdrive/manager/process.py | 10 +++---- selfdrive/modeld/visiontest.py | 2 +- selfdrive/test/openpilotci.py | 2 +- selfdrive/test/process_replay/model_replay.py | 2 +- .../test/process_replay/test_processes.py | 26 +++++++++---------- selfdrive/test/process_replay/update_refs.py | 2 +- selfdrive/test/test_fingerprints.py | 6 ++--- selfdrive/test/test_models.py | 2 +- selfdrive/test/update_ci_routes.py | 6 ++--- selfdrive/updated.py | 2 +- selfdrive/version.py | 12 ++++----- tools/lib/framereader.py | 10 +++---- tools/lib/route.py | 4 +-- tools/lib/url_file.py | 2 +- tools/replay/lib/ui_helpers.py | 2 +- tools/scripts/fetch_image_from_route.py | 4 +-- tools/scripts/save_ubloxraw_stream.py | 2 +- tools/scripts/setup_ssh_keys.py | 2 +- tools/sim/lib/manual_ctrl.py | 16 ++++++------ 47 files changed, 95 insertions(+), 96 deletions(-) diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py index e6ee2c23f7..a228b40256 100644 --- a/common/ffi_wrapper.py +++ b/common/ffi_wrapper.py @@ -28,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries= try: mod = __import__(cache) except Exception: - print("cache miss {0}".format(cache)) + print(f"cache miss {cache}") compile_code(cache, c_code, c_header, tmpdir, cflags, libraries) mod = __import__(cache) finally: diff --git a/common/file_helpers.py b/common/file_helpers.py index 2037a665b0..3373d82a03 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -35,7 +35,7 @@ def get_tmpdir_on_same_filesystem(path): if len(parts) > 1 and parts[1] == "scratch": return "/scratch/tmp" elif len(parts) > 2 and parts[2] == "runner": - return "/{}/runner/tmp".format(parts[1]) + return f"/{parts[1]}/runner/tmp" return "/tmp" diff --git a/common/profiler.py b/common/profiler.py index e4d208acae..8b1a7a8cfa 100644 --- a/common/profiler.py +++ b/common/profiler.py @@ -42,4 +42,4 @@ class Profiler(): print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) else: print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot)) + print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/common/realtime.py b/common/realtime.py index 762410f09e..697e816369 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -79,7 +79,7 @@ class Ratekeeper: remaining = self._next_frame_time - sec_since_boot() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: - print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000)) + print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") lagged = True self._frame += 1 self._remaining = remaining diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index 344455ba6c..d39e66de13 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -8,7 +8,7 @@ from common.file_helpers import atomic_write_in_dir class TestFileHelpers(unittest.TestCase): def run_atomic_write_func(self, atomic_write_func): - path = "/tmp/tmp{}".format(uuid4()) + path = f"/tmp/tmp{uuid4()}" with atomic_write_func(path) as f: f.write("test") diff --git a/common/timeout.py b/common/timeout.py index 4d424cdc0a..d0b0ce0630 100644 --- a/common/timeout.py +++ b/common/timeout.py @@ -12,7 +12,7 @@ class Timeout: """ def __init__(self, seconds, error_msg=None): if error_msg is None: - error_msg = 'Timed out after {} seconds'.format(seconds) + error_msg = f'Timed out after {seconds} seconds' self.seconds = seconds self.error_msg = error_msg diff --git a/selfdrive/camerad/test/test_camerad.py b/selfdrive/camerad/test/test_camerad.py index 11e070f328..ff37ad1f31 100755 --- a/selfdrive/camerad/test/test_camerad.py +++ b/selfdrive/camerad/test/test_camerad.py @@ -54,7 +54,7 @@ class TestCamerad(unittest.TestCase): self.assertTrue(abs(dfid - 1) <= SKIP_FRAME_TOLERANCE, "%s frame id diff is %d" % (camera, dfid)) dts = ct - last_ts[camera] - self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, "%s frame t(ms) diff is %f" % (camera, dts)) + self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, f"{camera} frame t(ms) diff is {dts:f}") last_frame_id[camera] = sm[camera].frameId last_ts[camera] = ct diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 2481c6e94b..5c4208625e 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -39,7 +39,7 @@ def get_one_can(logcan): def load_interfaces(brand_names): ret = {} for brand_name in brand_names: - path = ('selfdrive.car.%s' % brand_name) + path = f'selfdrive.car.{brand_name}' CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'): @@ -65,7 +65,7 @@ def _get_interface_names(): for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: try: brand_name = car_folder.split('/')[-1] - model_names = __import__('selfdrive.car.%s.values' % brand_name, fromlist=['CAR']).CAR + model_names = __import__(f'selfdrive.car.{brand_name}.values', fromlist=['CAR']).CAR model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")] brand_names[brand_name] = model_names except (ImportError, IOError): diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index b09e14a429..ed5892a015 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -11,7 +11,7 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True): for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: try: car_name = car_folder.split('/')[-1] - values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr]) + values = __import__(f'selfdrive.car.{car_name}.values', fromlist=[attr]) if hasattr(values, attr): attr_values = getattr(values, attr) else: diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 5d982d6a8d..1c04f313e7 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -362,7 +362,7 @@ if __name__ == "__main__": print("Getting vin...") addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) print(f"VIN: {vin}") - print("Getting VIN took %.3f s" % (time.time() - t)) + print(f"Getting VIN took {time.time() - t:.3f} s") print() t = time.time() @@ -379,4 +379,4 @@ if __name__ == "__main__": print() print("Possible matches:", candidates) - print("Getting fw took %.3f s" % (time.time() - t)) + print(f"Getting fw took {time.time() - t:.3f} s") diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 274f4ed5f6..47bbd6715d 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -301,7 +301,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning else: - raise ValueError("unsupported car %s" % candidate) + raise ValueError(f"unsupported car {candidate}") # These cars use alternate user brake msg (0x1BE) if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL: diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 93dc05c838..930619ee67 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -59,7 +59,7 @@ class TestCarInterfaces(unittest.TestCase): car_interface.apply(CC) # Test radar interface - RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface + RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface radar_interface = RadarInterface(car_params) assert radar_interface diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index bef1c37185..b7346ebeaf 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -152,7 +152,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.84 else: - raise ValueError("unsupported car %s" % candidate) + raise ValueError(f"unsupported car {candidate}") ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.centerToFront = ret.wheelbase * 0.45 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index e0e0208d67..3a8234706f 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -377,8 +377,7 @@ class LongitudinalMpc(): if self.solution_status != 0: if t > self.last_cloudlog_t + 5.0: self.last_cloudlog_t = t - cloudlog.warning("Long mpc reset, solution_status: %s" % ( - self.solution_status)) + cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") self.reset() diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 01498fa138..4f87fdf09b 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -146,7 +146,7 @@ class Cluster(): } def __str__(self): - ret = "x: %4.1f y: %4.1f v: %4.1f a: %4.1f" % (self.dRel, self.yRel, self.vRel, self.aLeadK) + ret = f"x: {self.dRel:4.1f} y: {self.yRel:4.1f} v: {self.vRel:4.1f} a: {self.aLeadK:4.1f}" return ret def potential_low_speed_lead(self, v_ego): diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 88f39ce431..14de2eff32 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -189,7 +189,7 @@ def radard_thread(sm=None, pm=None, can_sock=None): # import the radar from the fingerprint cloudlog.info("radard is importing %s", CP.carName) - RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % CP.carName).RadarInterface + RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface # *** setup messaging if can_sock is None: diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 920c126c44..98767d6e2f 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -70,7 +70,7 @@ class TestAlerts(unittest.TestCase): font = fonts[alert.alert_size][i] w, _ = draw.textsize(txt, font) - msg = "type: %s msg: %s" % (alert.alert_type, txt) + msg = f"type: {alert.alert_type} msg: {txt}" self.assertLessEqual(w, max_text_width, msg=msg) def test_alert_sanity_check(self): diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py index cb6ff29006..b4436bd2be 100755 --- a/selfdrive/debug/can_printer.py +++ b/selfdrive/debug/can_printer.py @@ -22,7 +22,7 @@ def can_printer(bus, max_msg, addr): if sec_since_boot() - lp > 0.1: dd = chr(27) + "[2J" - dd += "%5.2f\n" % (sec_since_boot() - start) + dd += f"{sec_since_boot() - start:5.2f}\n" for addr in sorted(msgs.keys()): a = msgs[addr][-1].decode('ascii', 'backslashreplace') x = binascii.hexlify(msgs[addr][-1]).decode('ascii') diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index 300b3ea1fb..424ad67b6d 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -42,6 +42,6 @@ if __name__ == "__main__": for name in socket_names: dts = np.diff(rcv_times[name]) mean = np.mean(dts) - print("%s: Freq %.2f Hz, Min %.2f%%, Max %.2f%%, valid " % (name, 1.0 / mean, np.min(dts) / mean * 100, np.max(dts) / mean * 100), all(valids[name])) + print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name])) prev_print = t diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index aafc696b46..5f181e0a27 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -110,10 +110,10 @@ if __name__ == "__main__": stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i) stat['cpu_samples'][name] = [] - msg = 'avg: {1:.2%}, min: {2:.2%}, max: {3:.2%} {0}'.format(os.path.basename(k), stat['avg']['total'], stat['min']['total'], stat['max']['total']) + msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}" if args.detailed_times: for stat_type in ['avg', 'min', 'max']: - msg += '\n {}: {}'.format(stat_type, [name + ':' + str(round(stat[stat_type][name]*100, 2)) for name in cpu_time_names]) + msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}" l.append((os.path.basename(k), stat['avg']['total'], msg)) l.sort(key=lambda x: -x[1]) for x in l: diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py index 047c874fb7..f208920f12 100755 --- a/selfdrive/debug/dump.py +++ b/selfdrive/debug/dump.py @@ -54,13 +54,13 @@ if __name__ == "__main__": elif args.dump_json: print(json.dumps(evt.to_dict())) elif values: - print("logMonotime = {}".format(evt.logMonoTime)) + print(f"logMonotime = {evt.logMonoTime}") for value in values: if hasattr(evt, value[0]): item = evt for key in value: item = getattr(item, key) - print("{} = {}".format(".".join(value), item)) + print(f"{'.'.join(value)} = {item}") print("") else: try: diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py index 6c38957be3..e678db4f17 100755 --- a/selfdrive/debug/get_fingerprint.py +++ b/selfdrive/debug/get_fingerprint.py @@ -27,5 +27,5 @@ while True: fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items())) - print("number of messages {0}:".format(len(msgs))) - print("fingerprint {0}".format(fingerprint)) + print(f"number of messages {len(msgs)}:") + print(f"fingerprint {fingerprint}") diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py index 3377088f8b..c995ef6ff2 100755 --- a/selfdrive/debug/internal/power_monitor.py +++ b/selfdrive/debug/internal/power_monitor.py @@ -45,7 +45,7 @@ if __name__ == '__main__': capacity_average = average(capacity_average, capacity) bat_temp_average = average(bat_temp_average, bat_temp) - print("%.2f volts %12.2f ma %12.2f mW %8.2f%% battery %8.1f degC" % (voltage, current, power, capacity, bat_temp)) + print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC") time.sleep(0.1) finally: stop_time = datetime.now() @@ -55,8 +55,8 @@ if __name__ == '__main__': power = power_average[0] capacity = capacity_average[0] bat_temp = bat_temp_average[0] - print("%.2f volts %12.2f ma %12.2f mW %8.2f%% battery %8.1f degC" % (voltage, current, power, capacity, bat_temp)) - print(" {:.2f} Seconds {} samples".format((stop_time-start_time).total_seconds(), voltage_average[1])) + print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC") + print(f" {(stop_time - start_time).total_seconds():.2f} Seconds {voltage_average[1]} samples") print("----------------------------------------------------------------") # reenable charging diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py index 5589b0d6dd..e46c0b0a1f 100755 --- a/selfdrive/debug/live_cpu_and_temp.py +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -71,7 +71,7 @@ if __name__ == "__main__": total_times = total_times_new[:] busy_times = busy_times_new[:] - print("CPU %.2f%% - RAM: %.2f%% - Temp %.2fC" % (100. * mean(cores), last_mem, last_temp)) + print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C") if args.cpu and prev_proclog is not None: procs = {} diff --git a/selfdrive/hardware/tici/power_monitor.py b/selfdrive/hardware/tici/power_monitor.py index 65f58876de..d7f113cf2c 100755 --- a/selfdrive/hardware/tici/power_monitor.py +++ b/selfdrive/hardware/tici/power_monitor.py @@ -40,7 +40,7 @@ if __name__ == '__main__': power_average = average(power_average, power) power_total_average = average(power_total_average, power_total) - print("%12.2f mW %12.2f mW %12.2f mW" % (power, power_total, power_total-power)) + print(f"{power:12.2f} mW {power_total:12.2f} mW {power_total - power:12.2f} mW") time.sleep(0.25) finally: stop_time = time.monotonic() @@ -48,6 +48,6 @@ if __name__ == '__main__': voltage = voltage_average[0] current = current_average[0] power = power_average[0] - print("%.2f volts %12.2f ma %12.2f mW %12.2f mW" % (voltage, current, power, power_total)) - print(" {:.2f} Seconds {} samples".format(stop_time - start_time, voltage_average[1])) + print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {power_total:12.2f} mW") + print(f" {stop_time - start_time:.2f} Seconds {voltage_average[1]} samples") print("----------------------------------------------------------------") diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py index 16083ec921..e7006a08cf 100644 --- a/selfdrive/loggerd/deleter.py +++ b/selfdrive/loggerd/deleter.py @@ -27,11 +27,11 @@ def deleter_thread(exit_event): continue try: - cloudlog.info("deleting %s" % delete_path) + cloudlog.info(f"deleting {delete_path}") shutil.rmtree(delete_path) break except OSError: - cloudlog.exception("issue deleting %s" % delete_path) + cloudlog.exception(f"issue deleting {delete_path}") exit_event.wait(.1) else: exit_event.wait(30) diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/selfdrive/loggerd/tools/mark_unuploaded.py index e219c3a53a..0d3f765af4 100755 --- a/selfdrive/loggerd/tools/mark_unuploaded.py +++ b/selfdrive/loggerd/tools/mark_unuploaded.py @@ -4,5 +4,5 @@ from common.xattr import removexattr from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: - print("unmarking %s" % fn) + print(f"unmarking {fn}") removexattr(fn, UPLOAD_ATTR_NAME) diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index 10bf218b03..c75b34e9cb 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -140,7 +140,7 @@ class Uploader(): cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) if fake_upload: - cloudlog.debug("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url) + cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") class FakeResponse(): def __init__(self): diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 22d75edce7..2030b35e32 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -39,7 +39,7 @@ def launcher(proc, name): # exec the process mod.main() except KeyboardInterrupt: - cloudlog.warning("child %s got SIGINT" % proc) + cloudlog.warning(f"child {proc} got SIGINT") except Exception: # can't install the crash handler because sys.excepthook doesn't play nice # with threads, so catch it here. @@ -194,7 +194,7 @@ class NativeProcess(ManagerProcess): return cwd = os.path.join(BASEDIR, self.cwd) - cloudlog.info("starting process %s" % self.name) + cloudlog.info(f"starting process {self.name}") self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd)) self.proc.start() self.watchdog_seen = False @@ -214,7 +214,7 @@ class PythonProcess(ManagerProcess): def prepare(self): if self.enabled: - cloudlog.info("preimporting %s" % self.module) + cloudlog.info(f"preimporting {self.module}") importlib.import_module(self.module) def start(self): @@ -225,7 +225,7 @@ class PythonProcess(ManagerProcess): if self.proc is not None: return - cloudlog.info("starting python %s" % self.module) + cloudlog.info(f"starting python {self.module}") self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name)) self.proc.start() self.watchdog_seen = False @@ -260,7 +260,7 @@ class DaemonProcess(ManagerProcess): # process is dead pass - cloudlog.info("starting daemon %s" % self.name) + cloudlog.info(f"starting daemon {self.name}") proc = subprocess.Popen(['python', '-m', self.module], # pylint: disable=subprocess-popen-preexec-fn stdin=open('/dev/null', 'r'), stdout=open('/dev/null', 'w'), diff --git a/selfdrive/modeld/visiontest.py b/selfdrive/modeld/visiontest.py index 8bf71d26d5..1e30c05449 100644 --- a/selfdrive/modeld/visiontest.py +++ b/selfdrive/modeld/visiontest.py @@ -62,7 +62,7 @@ class VisionTest(): disable_model = 0 temporal_model = 1 else: - raise ValueError("Bad model name: {}".format(model)) + raise ValueError(f"Bad model name: {model}") prevdir = os.getcwd() os.chdir(_visiond_dir) # tmp hack to find kernels diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 9cc0e37c4b..5bf43fb10a 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -9,7 +9,7 @@ TOKEN_PATH = "/data/azure_token" def get_url(route_name, segment_num, log_type="rlog"): ext = "hevc" if log_type in ["fcamera", "dcamera"] else "bz2" - return BASE_URL + "%s/%s/%s.%s" % (route_name.replace("|", "/"), segment_num, log_type, ext) + return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" def upload_file(path, name): from azure.storage.blob import BlockBlobService # pylint: disable=import-error diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 13e0c7288f..6eb37dfa29 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -31,7 +31,7 @@ SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) def get_log_fn(ref_commit): - return "%s_%s_%s.bz2" % (TEST_ROUTE, "model_tici" if TICI else "model", ref_commit) + return f"{TEST_ROUTE}_{'model_tici' if TICI else 'model'}_{ref_commit}.bz2" def replace_calib(msg, calib): diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 8fd1b0b421..3283ec8191 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -74,7 +74,7 @@ def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None): break else: segment = cmp_log_fn.split("/")[-1].split("_")[0] - raise Exception("Route never enabled: %s" % segment) + raise Exception(f"Route never enabled: {segment}") try: return compare_logs(cmp_log_msgs, log_msgs, ignore_fields+cfg.ignore, ignore_msgs, cfg.tolerance) @@ -83,30 +83,30 @@ def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None): def format_diff(results, ref_commit): diff1, diff2 = "", "" - diff2 += "***** tested against commit %s *****\n" % ref_commit + diff2 += f"***** tested against commit {ref_commit} *****\n" failed = False for segment, result in list(results.items()): - diff1 += "***** results for segment %s *****\n" % segment - diff2 += "***** differences for segment %s *****\n" % segment + diff1 += f"***** results for segment {segment} *****\n" + diff2 += f"***** differences for segment {segment} *****\n" for proc, diff in list(result.items()): - diff1 += "\t%s\n" % proc - diff2 += "*** process: %s ***\n" % proc + diff1 += f"\t{proc}\n" + diff2 += f"*** process: {proc} ***\n" if isinstance(diff, str): - diff1 += "\t\t%s\n" % diff + diff1 += f"\t\t{diff}\n" failed = True elif len(diff): cnt = {} for d in diff: - diff2 += "\t%s\n" % str(d) + diff2 += f"\t{str(d)}\n" k = str(d[1]) cnt[k] = 1 if k not in cnt else cnt[k] + 1 for k, v in sorted(cnt.items()): - diff1 += "\t\t%s: %s\n" % (k, v) + diff1 += f"\t\t{k}: {v}\n" failed = True return diff1, diff2, failed @@ -139,13 +139,13 @@ if __name__ == "__main__": print("couldn't find reference commit") sys.exit(1) - print("***** testing against commit %s *****" % ref_commit) + print(f"***** testing against commit {ref_commit} *****") # check to make sure all car brands are tested if FULL_TEST: tested_cars = set(c.lower() for c, _ in segments) untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars - assert len(untested) == 0, "Cars missing routes: %s" % (str(untested)) + assert len(untested) == 0, f"Cars missing routes: {str(untested)}" results: Any = {} for car_brand, segment in segments: @@ -153,7 +153,7 @@ if __name__ == "__main__": (not cars_whitelisted and car_brand.upper() in args.blacklist_cars): continue - print("***** testing route segment %s *****\n" % segment) + print(f"***** testing route segment {segment} *****\n") results[segment] = {} @@ -165,7 +165,7 @@ if __name__ == "__main__": (not procs_whitelisted and cfg.proc_name in args.blacklist_procs): continue - cmp_log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit)) + cmp_log_fn = os.path.join(process_replay_dir, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") results[segment][cfg.proc_name] = test_process(cfg, lr, cmp_log_fn, args.ignore_fields, args.ignore_msgs) diff1, diff2, failed = format_diff(results, ref_commit) diff --git a/selfdrive/test/process_replay/update_refs.py b/selfdrive/test/process_replay/update_refs.py index 96feb0d534..0a3d95e714 100755 --- a/selfdrive/test/process_replay/update_refs.py +++ b/selfdrive/test/process_replay/update_refs.py @@ -28,7 +28,7 @@ if __name__ == "__main__": for cfg in CONFIGS: log_msgs = replay_process(cfg, lr) - log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit)) + log_fn = os.path.join(process_replay_dir, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") save_log(log_fn, log_msgs) if not no_upload: diff --git a/selfdrive/test/test_fingerprints.py b/selfdrive/test/test_fingerprints.py index 07e4774827..96bb5ffa02 100755 --- a/selfdrive/test/test_fingerprints.py +++ b/selfdrive/test/test_fingerprints.py @@ -18,7 +18,7 @@ def _get_fingerprints(): for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: car_name = car_folder.split('/')[-1] try: - fingerprints[car_name] = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS']).FINGERPRINTS + fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS except (ImportError, IOError, AttributeError): pass @@ -80,14 +80,14 @@ if __name__ == "__main__": for idx2, f2 in enumerate(fingerprints_flat): if idx1 < idx2 and not check_fingerprint_consistency(f1, f2): valid = False - print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2])) + print(f"Those two fingerprints are inconsistent {car_names[idx1]} {car_names[idx2]}") print("") print(', '.join("%d: %d" % v for v in sorted(f1.items()))) print("") print(', '.join("%d: %d" % v for v in sorted(f2.items()))) print("") - print("Found {0} individual fingerprints".format(len(fingerprints_flat))) + print(f"Found {len(fingerprints_flat)} individual fingerprints") if not valid or len(fingerprints_flat) == 0: print("TEST FAILED") sys.exit(1) diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py index 5c277bfcb1..5112d30919 100755 --- a/selfdrive/test/test_models.py +++ b/selfdrive/test/test_models.py @@ -134,7 +134,7 @@ class TestCarModel(unittest.TestCase): def test_radar_interface(self): os.environ['NO_RADAR_SLEEP'] = "1" - RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % self.CP.carName).RadarInterface + RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface RI = RadarInterface(self.CP) assert RI diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 3e5a0d2cf0..3a392b4b36 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -25,7 +25,7 @@ def upload_route(path): "azcopy", "copy", f"{path}/*", - "https://{}.blob.core.windows.net/{}/{}?{}".format(_DATA_ACCOUNT_CI, "openpilotci", destpath, DEST_KEY), + f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{DEST_KEY}", "--recursive=false", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", @@ -46,8 +46,8 @@ def sync_to_ci_public(route): cmd = [ "azcopy", "copy", - "https://{}.blob.core.windows.net/{}/{}?{}".format(source_account, source_bucket, key_prefix, source_key), - "https://{}.blob.core.windows.net/{}/{}?{}".format(_DATA_ACCOUNT_CI, "openpilotci", dongle_id, DEST_KEY), + f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", + f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{DEST_KEY}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 2aa8147dae..eaaed0e8de 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -342,7 +342,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: new_version = cur_hash != upstream_hash git_fetch_result = check_git_fetch_result(git_fetch_output) - cloudlog.info("comparing %s to %s" % (cur_hash, upstream_hash)) + cloudlog.info(f"comparing {cur_hash} to {upstream_hash}") if new_version or git_fetch_result: cloudlog.info("Running update") diff --git a/selfdrive/version.py b/selfdrive/version.py index 6f15228d8b..a0cb61875e 100644 --- a/selfdrive/version.py +++ b/selfdrive/version.py @@ -115,9 +115,9 @@ if __name__ == "__main__": params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) - print("Dirty: %s" % is_dirty()) - print("Version: %s" % get_version()) - print("Origin: %s" % get_origin()) - print("Branch: %s" % get_branch()) - print("Short branch: %s" % get_short_branch()) - print("Prebuilt: %s" % is_prebuilt()) + print(f"Dirty: {is_dirty()}") + print(f"Version: {get_version()}") + print(f"Origin: {get_origin()}") + print(f"Branch: {get_branch()}") + print(f"Short branch: {get_short_branch()}") + print(f"Prebuilt: {is_prebuilt()}") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index db07c20177..bd7980f6e0 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -50,7 +50,7 @@ def fingerprint_video(fn): with FileReader(fn) as f: header = f.read(4) if len(header) == 0: - raise DataUnreadableError("%s is empty" % fn) + raise DataUnreadableError(f"{fn} is empty") elif header == b"\x00\xc0\x12\x00": return FrameType.raw elif header == b"\x00\x00\x00\x01": @@ -90,7 +90,7 @@ def vidindex(fn, typ): try: subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name]) except subprocess.CalledProcessError: - raise DataUnreadableError("vidindex failed on file %s" % fn) + raise DataUnreadableError(f"vidindex failed on file {fn}") with open(index_f.name, "rb") as f: index = f.read() with open(prefix_f.name, "rb") as f: @@ -308,7 +308,7 @@ class RawFrameReader(BaseFrameReader): assert num+count <= self.frame_count if pix_fmt not in ("yuv420p", "rgb24"): - raise ValueError("Unsupported pixel format %r" % pix_fmt) + raise ValueError(f"Unsupported pixel format {pix_fmt!r}") app = [] for i in range(num, num+count): @@ -548,10 +548,10 @@ class GOPFrameReader(BaseFrameReader): assert self.frame_count is not None if num + count > self.frame_count: - raise ValueError("{} > {}".format(num + count, self.frame_count)) + raise ValueError(f"{num + count} > {self.frame_count}") if pix_fmt not in ("yuv420p", "rgb24", "yuv444p"): - raise ValueError("Unsupported pixel format %r" % pix_fmt) + raise ValueError(f"Unsupported pixel format {pix_fmt!r}") ret = [self._get_one(num + i, pix_fmt) for i in range(count)] diff --git a/tools/lib/route.py b/tools/lib/route.py index 8c03cd9cca..76ca2bcf54 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -112,7 +112,7 @@ class Route(object): if not seg_num.isdigit(): continue - segment_name = '{}--{}'.format(self.route_name, seg_num) + segment_name = f'{self.route_name}--{seg_num}' for seg_f in os.listdir(os.path.join(fullpath, seg_num)): segment_files[segment_name].append((os.path.join(fullpath, seg_num, seg_f), seg_f)) @@ -152,7 +152,7 @@ class Route(object): segments.append(RouteSegment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) if len(segments) == 0: - raise ValueError('Could not find segments for route {} in data directory {}'.format(self.route_name, data_dir)) + raise ValueError(f'Could not find segments for route {self.route_name} in data directory {data_dir}') return sorted(segments, key=lambda seg: seg.canonical_name.segment_num) class RouteSegment(object): diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 2161770d03..82f7c971fc 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -156,7 +156,7 @@ class URLFile(object): if self._debug: t2 = time.time() if t2 - t1 > 0.1: - print("get %s %r %.f slow" % (self._url, headers, t2 - t1)) + print(f"get {self._url} {headers!r} {t2 - t1:.f} slow") response_code = c.getinfo(pycurl.RESPONSE_CODE) if response_code == 416: # Requested Range Not Satisfiable diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index 0573973f9f..7410c107c4 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -152,7 +152,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co plots.append(plot) idxs.append(name_to_arr_idx[item]) plot_select.append(i) - axs[i].set_title(", ".join("%s (%s)" % (nm, cl) + axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i])), fontsize=10) axs[i].tick_params(axis="x", colors="white") axs[i].tick_params(axis="y", colors="white") diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py index e9111d9de2..39751ba551 100755 --- a/tools/scripts/fetch_image_from_route.py +++ b/tools/scripts/fetch_image_from_route.py @@ -2,7 +2,7 @@ import sys if len(sys.argv) < 4: - print("%s " % sys.argv[0]) + print(f"{sys.argv[0]} ") print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500') exit(0) @@ -33,5 +33,5 @@ if frame >= fr.frame_count: im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0]) fn = "uxxx_"+route.replace("|", "_")+"_%d_%d.png" % (segment, frame) im.save(fn) -print("saved %s" % fn) +print(f"saved {fn}") diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 518c4ecaf6..b04826a5db 100644 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -52,7 +52,7 @@ def main(argv): i += 1 except StopIteration: print('All done') - print('Writed {} msgs'.format(i)) + print(f'Writed {i} msgs') if __name__ == "__main__": diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 0eb44dbd59..5b5ebfbac5 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -7,7 +7,7 @@ import sys if __name__ == "__main__": if len(sys.argv) < 2: - print("%s " % sys.argv[0]) + print(f"{sys.argv[0]} ") exit(1) username = sys.argv[1] diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index d2111ad150..7c47e2ba4a 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -10,7 +10,7 @@ from typing import NoReturn print('Available devices:') for fn in os.listdir('/dev/input'): if fn.startswith('js'): - print(' /dev/input/%s' % (fn)) + print(f' /dev/input/{fn}') # We'll store the states here. axis_states = {} @@ -94,7 +94,7 @@ button_map = [] def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: # Open the joystick device. fn = '/dev/input/js0' - print('Opening %s...' % fn) + print(f'Opening {fn}...') jsdev = open(fn, 'rb') # Get the device name. @@ -102,7 +102,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: buf = array.array('B', [0] * 64) ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len) js_name = buf.tobytes().rstrip(b'\x00').decode('utf-8') - print('Device name: %s' % js_name) + print(f'Device name: {js_name}') # Get number of axes and buttons. buf = array.array('B', [0]) @@ -118,7 +118,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP for _axis in buf[:num_axes]: - axis_name = axis_names.get(_axis, 'unknown(0x%02x)' % _axis) + axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})') axis_map.append(axis_name) axis_states[axis_name] = 0.0 @@ -127,7 +127,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP for btn in buf[:num_buttons]: - btn_name = button_names.get(btn, 'unknown(0x%03x)' % btn) + btn_name = button_names.get(btn, f'unknown(0x{btn:03x})') button_map.append(btn_name) button_states[btn_name] = 0 @@ -153,19 +153,19 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = (1 - fvalue) * 50 - q.put("throttle_%f" % normalized) + q.put(f"throttle_{normalized:f}") elif axis == "rz": # brake fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = (1 - fvalue) * 50 - q.put("brake_%f" % normalized) + q.put(f"brake_{normalized:f}") elif axis == "x": # steer angle fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = fvalue - q.put("steer_%f" % normalized) + q.put(f"steer_{normalized:f}") elif mtype & 0x01: # buttons if value == 1: # press down From 14bf834fefc136bec817a69e066c325055841474 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 16 Dec 2021 15:31:53 +0100 Subject: [PATCH 079/239] Abstract classes inherit from ABC (#23246) --- selfdrive/car/interfaces.py | 8 ++++---- selfdrive/hardware/base.py | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 2ff26891ed..f0dae2d3f9 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,6 +1,6 @@ import os import time -from abc import abstractmethod +from abc import abstractmethod, ABC from typing import Dict, Tuple, List from cereal import car @@ -23,7 +23,7 @@ ACCEL_MIN = -3.5 # generic car and radar interfaces -class CarInterfaceBase(): +class CarInterfaceBase(ABC): def __init__(self, CP, CarController, CarState): self.CP = CP self.VM = VehicleModel(CP) @@ -170,7 +170,7 @@ class CarInterfaceBase(): return events -class RadarInterfaceBase(): +class RadarInterfaceBase(ABC): def __init__(self, CP): self.pts = {} self.delay = 0 @@ -184,7 +184,7 @@ class RadarInterfaceBase(): return ret -class CarStateBase: +class CarStateBase(ABC): def __init__(self, CP): self.CP = CP self.car_fingerprint = CP.carFingerprint diff --git a/selfdrive/hardware/base.py b/selfdrive/hardware/base.py index 06c86f0c26..d2bcce6a1c 100644 --- a/selfdrive/hardware/base.py +++ b/selfdrive/hardware/base.py @@ -1,9 +1,9 @@ -from abc import abstractmethod +from abc import abstractmethod, ABC from collections import namedtuple ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic']) -class HardwareBase: +class HardwareBase(ABC): @staticmethod def get_cmdline(): with open('/proc/cmdline') as f: From 2ab57c29b7d67fff55edca5393498adaef1ed5b1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Dec 2021 14:07:25 -0800 Subject: [PATCH 080/239] update release notes --- RELEASES.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index 2c630e70ad..dacfb23c16 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,8 @@ Version 0.8.13 (2022-XX-XX) ======================== + * Improved driver monitoring + * Improved camera focus on the comma two + * Subaru Impreza 2020 support thanks to martinl! Version 0.8.12 (2021-12-15) ======================== From 7d3ad941bc4ba4c923af7a1d7b48544bfc0d3e13 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 17 Dec 2021 06:19:46 +0800 Subject: [PATCH 081/239] modeldata: use a constexpr function to build the IDXS (#23245) remove convert_array_to_type rename to build_idxs space double --- selfdrive/common/modeldata.h | 34 ++++++++++------------------------ 1 file changed, 10 insertions(+), 24 deletions(-) diff --git a/selfdrive/common/modeldata.h b/selfdrive/common/modeldata.h index 9a9414cfa3..8d91f7be10 100644 --- a/selfdrive/common/modeldata.h +++ b/selfdrive/common/modeldata.h @@ -10,33 +10,19 @@ const int LON_MPC_N = 32; const float MIN_DRAW_DISTANCE = 10.0; const float MAX_DRAW_DISTANCE = 100.0; -template -const std::array convert_array_to_type(const std::array &src) { - std::array dst = {}; - for (int i=0; i +constexpr std::array build_idxs(float max_val) { + std::array result{}; + for (int i = 0; i < size; ++i) { + result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1))); } - return dst; + return result; } -const std::array T_IDXS = { - 0. , 0.00976562, 0.0390625 , 0.08789062, 0.15625 , - 0.24414062, 0.3515625 , 0.47851562, 0.625 , 0.79101562, - 0.9765625 , 1.18164062, 1.40625 , 1.65039062, 1.9140625 , - 2.19726562, 2.5 , 2.82226562, 3.1640625 , 3.52539062, - 3.90625 , 4.30664062, 4.7265625 , 5.16601562, 5.625 , - 6.10351562, 6.6015625 , 7.11914062, 7.65625 , 8.21289062, - 8.7890625 , 9.38476562, 10.}; -const auto T_IDXS_FLOAT = convert_array_to_type(T_IDXS); - -const std::array X_IDXS = { - 0. , 0.1875, 0.75 , 1.6875, 3. , 4.6875, - 6.75 , 9.1875, 12. , 15.1875, 18.75 , 22.6875, - 27. , 31.6875, 36.75 , 42.1875, 48. , 54.1875, - 60.75 , 67.6875, 75. , 82.6875, 90.75 , 99.1875, - 108. , 117.1875, 126.75 , 136.6875, 147. , 157.6875, - 168.75 , 180.1875, 192.}; -const auto X_IDXS_FLOAT = convert_array_to_type(X_IDXS); +constexpr auto T_IDXS = build_idxs(10.0); +constexpr auto T_IDXS_FLOAT = build_idxs(10.0); +constexpr auto X_IDXS = build_idxs(192.0); +constexpr auto X_IDXS_FLOAT = build_idxs(192.0); const int TICI_CAM_WIDTH = 1928; From e49480185ac315f817a2d4c63089e23d11023cb8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Dec 2021 15:58:56 -0800 Subject: [PATCH 082/239] update model replay ref commit after increased model idx precision --- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 012c34c80c..c343275b6b 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -6629322b3f6fa417e3b58a1d9dfe149afce1dc66 +7d3ad941bc4ba4c923af7a1d7b48544bfc0d3e13 From 4061f50da3dabff7a16e2a845d66efe00f9d7978 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 17 Dec 2021 08:53:48 +0800 Subject: [PATCH 083/239] boardd: new class USBDevice (#23015) * USBDevice * merge master * rebase master * add to fiels_common * inline functions * namespace * init err * remove nested if * cleanup * bump panda for branch * change includes * bump panda branch * change name * bump master panda Co-authored-by: Igor Biletskyy Co-authored-by: Igor Biletskyy --- panda | 2 +- release/files_common | 2 + selfdrive/boardd/SConscript | 4 +- selfdrive/boardd/boardd.cc | 2 +- selfdrive/boardd/panda.cc | 284 ++---------------- selfdrive/boardd/panda.h | 46 +-- selfdrive/boardd/pigeon.cc | 10 +- .../boardd/tests/test_boardd_usbprotocol.cc | 2 +- selfdrive/boardd/usbdevice.cc | 140 +++++++++ selfdrive/boardd/usbdevice.h | 43 +++ 10 files changed, 235 insertions(+), 300 deletions(-) create mode 100644 selfdrive/boardd/usbdevice.cc create mode 100644 selfdrive/boardd/usbdevice.h diff --git a/panda b/panda index 6f95a096e6..8d0d148681 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e +Subproject commit 8d0d148681163929260abf5742701cbf503abb22 diff --git a/release/files_common b/release/files_common index 3fc354396a..2706d2e8bf 100644 --- a/release/files_common +++ b/release/files_common @@ -92,6 +92,8 @@ selfdrive/boardd/boardd_api_impl.pyx selfdrive/boardd/can_list_to_can_capnp.cc selfdrive/boardd/panda.cc selfdrive/boardd/panda.h +selfdrive/boardd/usbdevice.cc +selfdrive/boardd/usbdevice.h selfdrive/boardd/pigeon.cc selfdrive/boardd/pigeon.h selfdrive/boardd/set_time.py diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index 07ded56e1b..c2142b7b27 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,9 +1,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs) +env.Program('boardd', ['boardd.cc', 'panda.cc', 'usbdevice.cc', 'pigeon.cc'], LIBS=libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('test'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs) + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'usbdevice.cc'], LIBS=libs) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0ca943de2e..a65bff63af 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -185,7 +185,7 @@ bool safety_setter_thread(std::vector pandas) { Panda *usb_connect(std::string serial="", uint32_t index=0) { std::unique_ptr panda; try { - panda = std::make_unique(serial, (index * PANDA_BUS_CNT)); + panda = std::make_unique(serial, (index * BUS_CNT)); } catch (std::exception &e) { return nullptr; } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 6850ad41b2..90c31dd34f 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -1,10 +1,7 @@ #include "selfdrive/boardd/panda.h" -#include - #include #include -#include #include "cereal/messaging/messaging.h" #include "panda/board/dlc_to_len.h" @@ -12,263 +9,44 @@ #include "selfdrive/common/swaglog.h" #include "selfdrive/common/util.h" -static int init_usb_ctx(libusb_context **context) { - assert(context != nullptr); - - int err = libusb_init(context); - if (err != 0) { - LOGE("libusb initialization error"); - return err; - } - -#if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); -#else - libusb_set_debug(*context, 3); -#endif - - return err; -} - - Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { - // init libusb - ssize_t num_devices; - libusb_device **dev_list = NULL; - int err = init_usb_ctx(&ctx); - if (err != 0) { goto fail; } - - // connect by serial - num_devices = libusb_get_device_list(ctx, &dev_list); - if (num_devices < 0) { goto fail; } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device_descriptor desc; - libusb_get_device_descriptor(dev_list[i], &desc); - if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { - libusb_open(dev_list[i], &dev_handle); - if (dev_handle == NULL) { goto fail; } - - unsigned char desc_serial[26] = { 0 }; - int ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - if (ret < 0) { goto fail; } - - usb_serial = std::string((char *)desc_serial, ret).c_str(); - if (serial.empty() || serial == usb_serial) { - break; - } - libusb_close(dev_handle); - dev_handle = NULL; - } + if (!open(serial)) { + throw std::runtime_error("Error connecting to panda"); } - if (dev_handle == NULL) goto fail; - libusb_free_device_list(dev_list, 1); - dev_list = nullptr; - - if (libusb_kernel_driver_active(dev_handle, 0) == 1) { - libusb_detach_kernel_driver(dev_handle, 0); - } - - err = libusb_set_configuration(dev_handle, 1); - if (err != 0) { goto fail; } - - err = libusb_claim_interface(dev_handle, 0); - if (err != 0) { goto fail; } - hw_type = get_hw_type(); - assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) && (hw_type != cereal::PandaState::PandaType::GREY_PANDA)); has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) || (hw_type == cereal::PandaState::PandaType::DOS); - - return; - -fail: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - cleanup(); - throw std::runtime_error("Error connecting to panda"); -} - -Panda::~Panda() { - std::lock_guard lk(usb_lock); - cleanup(); - connected = false; } -void Panda::cleanup() { - if (dev_handle) { - libusb_release_interface(dev_handle, 0); - libusb_close(dev_handle); - } - - if (ctx) { - libusb_exit(ctx); - } -} - -std::vector Panda::list() { - // init libusb - ssize_t num_devices; - libusb_context *context = NULL; - libusb_device **dev_list = NULL; - std::vector serials; - - int err = init_usb_ctx(&context); - if (err != 0) { return serials; } - - num_devices = libusb_get_device_list(context, &dev_list); - if (num_devices < 0) { - LOGE("libusb can't get device list"); - goto finish; - } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device *device = dev_list[i]; - libusb_device_descriptor desc; - libusb_get_device_descriptor(device, &desc); - if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { - libusb_device_handle *handle = NULL; - libusb_open(device, &handle); - unsigned char desc_serial[26] = { 0 }; - int ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - libusb_close(handle); - - if (ret < 0) { goto finish; } - serials.push_back(std::string((char *)desc_serial, ret).c_str()); - } - } - -finish: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - if (context) { - libusb_exit(context); - } - return serials; -} - -void Panda::handle_usb_issue(int err, const char func[]) { - LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); - if (err == LIBUSB_ERROR_NO_DEVICE) { - LOGE("lost connection"); - connected = false; - } - // TODO: check other errors, is simply retrying okay? -} - -int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(usb_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(usb_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(usb_lock); - do { - // Try sending can messages. If the receive buffer on the panda is full it will NAK - // and libusb will try again. After 5ms, it will time out. We will drop the messages. - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - LOGW("Transmit buffer full"); - break; - } else if (err != 0 || length != transferred) { - handle_usb_issue(err, __func__); - } - } while(err != 0 && connected); - - return transferred; -} - -int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(usb_lock); - - do { - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - break; // timeout is okay to exit, recv still happened - } else if (err == LIBUSB_ERROR_OVERFLOW) { - comms_healthy = false; - LOGE_100("overflow got 0x%x", transferred); - } else if (err != 0) { - handle_usb_issue(err, __func__); - } - - } while(err != 0 && connected); - - return transferred; -} +Panda::~Panda() {} void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param) { - usb_write(0xdc, (uint16_t)safety_model, safety_param); + write(0xdc, (uint16_t)safety_model, safety_param); } void Panda::set_unsafe_mode(uint16_t unsafe_mode) { - usb_write(0xdf, unsafe_mode, 0); + write(0xdf, unsafe_mode, 0); } cereal::PandaState::PandaType Panda::get_hw_type() { unsigned char hw_query[1] = {0}; - usb_read(0xc1, 0, 0, hw_query, 1); + read(0xc1, 0, 0, hw_query, 1); return (cereal::PandaState::PandaType)(hw_query[0]); } void Panda::set_rtc(struct tm sys_time) { // tm struct has year defined as years since 1900 - usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0); - usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0); - usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0); - // usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0); - usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0); - usb_write(0xa6, (uint16_t)sys_time.tm_min, 0); - usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0); + write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0); + write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0); + write(0xa3, (uint16_t)sys_time.tm_mday, 0); + // write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0); + write(0xa5, (uint16_t)sys_time.tm_hour, 0); + write(0xa6, (uint16_t)sys_time.tm_min, 0); + write(0xa7, (uint16_t)sys_time.tm_sec, 0); } struct tm Panda::get_rtc() { @@ -282,7 +60,7 @@ struct tm Panda::get_rtc() { uint8_t second; } rtc_time = {0}; - usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time)); + read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time)); struct tm new_time = { 0 }; new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900 @@ -296,60 +74,60 @@ struct tm Panda::get_rtc() { } void Panda::set_fan_speed(uint16_t fan_speed) { - usb_write(0xb1, fan_speed, 0); + write(0xb1, fan_speed, 0); } uint16_t Panda::get_fan_speed() { uint16_t fan_speed_rpm = 0; - usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); + read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); return fan_speed_rpm; } void Panda::set_ir_pwr(uint16_t ir_pwr) { - usb_write(0xb0, ir_pwr, 0); + write(0xb0, ir_pwr, 0); } health_t Panda::get_state() { health_t health {0}; - usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); + read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); return health; } void Panda::set_loopback(bool loopback) { - usb_write(0xe5, loopback, 0); + write(0xe5, loopback, 0); } std::optional> Panda::get_firmware_version() { std::vector fw_sig_buf(128); - int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64); - int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64); + int read_1 = read(0xd3, 0, 0, &fw_sig_buf[0], 64); + int read_2 = read(0xd4, 0, 0, &fw_sig_buf[64], 64); return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt; } std::optional Panda::get_serial() { char serial_buf[17] = {'\0'}; - int err = usb_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); + int err = read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); return err >= 0 ? std::make_optional(serial_buf) : std::nullopt; } void Panda::set_power_saving(bool power_saving) { - usb_write(0xe7, power_saving, 0); + write(0xe7, power_saving, 0); } void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) { - usb_write(0xe6, (uint16_t)power_mode, 0); + write(0xe6, (uint16_t)power_mode, 0); } void Panda::send_heartbeat(bool engaged) { - usb_write(0xf3, engaged, 0); + write(0xf3, engaged, 0); } void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { - usb_write(0xde, bus, (speed * 10)); + write(0xde, bus, (speed * 10)); } void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { - usb_write(0xf9, bus, (speed * 10)); + write(0xf9, bus, (speed * 10)); } static uint8_t len_to_dlc(uint8_t len) { @@ -382,7 +160,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data for (auto cmsg : can_data_list) { // check if the message is intended for this panda uint8_t bus = cmsg.getSrc(); - if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) { + if (bus < bus_offset || bus >= (bus_offset + BUS_CNT)) { continue; } auto can_data = cmsg.getDat(); @@ -410,13 +188,13 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data void Panda::can_send(capnp::List::Reader can_data_list) { pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) { - usb_bulk_write(3, data, size, 5); + bulk_write(3, data, size, 5); }); } bool Panda::can_receive(std::vector& out_vec) { uint8_t data[RECV_SIZE]; - int recv = usb_bulk_read(0x81, (uint8_t*)data, RECV_SIZE); + int recv = bulk_read(0x81, (uint8_t*)data, RECV_SIZE); if (!comms_healthy) { return false; } @@ -435,7 +213,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &o comms_healthy = false; return false; } - int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i)); + int chunk_len = std::min((int)USBPACKET_MAX_SIZE, (size - i)); recv_buf.insert(recv_buf.end(), &data[i + 1], &data[i + chunk_len]); } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 1a18a7f15a..ad93131eed 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -1,26 +1,15 @@ #pragma once -#include -#include -#include #include -#include -#include #include #include -#include - -#include "cereal/gen/cpp/car.capnp.h" #include "cereal/gen/cpp/log.capnp.h" +#include "selfdrive/boardd/usbdevice.h" -#define TIMEOUT 0 -#define PANDA_BUS_CNT 4 -#define RECV_SIZE (0x4000U) -#define USB_TX_SOFT_LIMIT (0x100U) -#define USBPACKET_MAX_SIZE (0x40) -#define CANPACKET_HEAD_SIZE 5U -#define CANPACKET_MAX_SIZE 72U +#define RECV_SIZE (MAX_EP1_CHUNK_PER_BULK_TRANSFER + 128U) +#define USB_TX_SOFT_LIMIT (USBPACKET_MAX_SIZE * 4) +#define CANPACKET_MAX_SIZE (CANPACKET_HEAD_SIZE + CANPACKET_DATA_SIZE_MAX) #define CANPACKET_REJECTED (0xC0U) #define CANPACKET_RETURNED (0x80U) @@ -64,35 +53,15 @@ struct can_frame { long src; }; -class Panda { - private: - libusb_context *ctx = NULL; - libusb_device_handle *dev_handle = NULL; - std::mutex usb_lock; - std::vector recv_buf; - void handle_usb_issue(int err, const char func[]); - void cleanup(); - - public: +class Panda : public USBDevice { +public: Panda(std::string serial="", uint32_t bus_offset=0); ~Panda(); - std::string usb_serial; - std::atomic connected = true; - std::atomic comms_healthy = true; cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; bool has_rtc = false; const uint32_t bus_offset; - // Static functions - static std::vector list(); - - // HW communication - int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT); - int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT); - int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - // Panda functionality cereal::PandaState::PandaType get_hw_type(); void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0); @@ -120,4 +89,7 @@ protected: void pack_can_buffer(const capnp::List::Reader &can_data_list, std::function write_func); bool unpack_can_buffer(uint8_t *data, int size, std::vector &out_vec); + +private: + std::vector recv_buf; }; diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc index 912f4b03e7..6edf84b555 100644 --- a/selfdrive/boardd/pigeon.cc +++ b/selfdrive/boardd/pigeon.cc @@ -186,8 +186,8 @@ void PandaPigeon::connect(Panda * p) { } void PandaPigeon::set_baud(int baud) { - panda->usb_write(0xe2, 1, 0); - panda->usb_write(0xe4, 1, baud/300); + panda->write(0xe2, 1, 0); + panda->write(0xe4, 1, baud/300); } void PandaPigeon::send(const std::string &s) { @@ -200,7 +200,7 @@ void PandaPigeon::send(const std::string &s) { int ll = std::min(0x20, len-i); memcpy(&a[1], &dat[i], ll); - panda->usb_bulk_write(2, a, ll+1); + panda->bulk_write(2, a, ll+1); } } @@ -209,7 +209,7 @@ std::string PandaPigeon::receive() { r.reserve(0x1000 + 0x40); unsigned char dat[0x40]; while (r.length() < 0x1000) { - int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat)); + int len = panda->read(0xe0, 1, 0, dat, sizeof(dat)); if (len <= 0) break; r.append((char*)dat, len); } @@ -218,7 +218,7 @@ std::string PandaPigeon::receive() { } void PandaPigeon::set_power(bool power) { - panda->usb_write(0xd9, power, 0); + panda->write(0xd9, power, 0); } PandaPigeon::~PandaPigeon() { diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index 6a13cbd71f..d2f7443f25 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -64,7 +64,7 @@ void PandaTest::test_can_send() { for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) { REQUIRE(chunk[i] == counter); - const int len = std::min(USBPACKET_MAX_SIZE, size_left); + const int len = std::min((int)USBPACKET_MAX_SIZE, size_left); unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]); size_left -= len; } diff --git a/selfdrive/boardd/usbdevice.cc b/selfdrive/boardd/usbdevice.cc new file mode 100644 index 0000000000..014fa88b51 --- /dev/null +++ b/selfdrive/boardd/usbdevice.cc @@ -0,0 +1,140 @@ +#include "selfdrive/boardd/usbdevice.h" + +#include +#include + +#include "selfdrive/common/swaglog.h" + +namespace { + +libusb_context *init_usb_ctx() { + libusb_context *context = nullptr; + int err = libusb_init(&context); + if (err != 0) { + LOGE("libusb initialization error %d", err); + return nullptr; + } +#if LIBUSB_API_VERSION >= 0x01000106 + libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); +#else + libusb_set_debug(context, 3); +#endif + return context; +} + +struct DeviceIterator { + DeviceIterator(libusb_context *ctx) { + ssize_t num_devices = libusb_get_device_list(ctx, &dev_list); + for (ssize_t i = 0; i < num_devices; ++i) { + libusb_device_descriptor desc = {}; + int ret = libusb_get_device_descriptor(dev_list[i], &desc); + if (ret < 0 || desc.idVendor != USB_VID || desc.idProduct != USB_PID) continue; + + libusb_device_handle *handle = nullptr; + if (libusb_open(dev_list[i], &handle) == 0) { + unsigned char serial[256] = {'\0'}; + libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, serial, std::size(serial) - 1); + devices[(const char *)serial] = dev_list[i]; + libusb_close(handle); + } + } + } + + ~DeviceIterator() { + if (dev_list) libusb_free_device_list(dev_list, 1); + } + + std::map::iterator begin() { return devices.begin(); } + std::map::iterator end() { return devices.end(); } + std::map devices; + libusb_device **dev_list = nullptr; +}; + +} // namespace + +bool USBDevice::open(const std::string &serial) { + ctx = init_usb_ctx(); + if (!ctx) return false; + + for (const auto &[s, device] : DeviceIterator(ctx)) { + if (serial.empty() || serial == s) { + usb_serial = s; + libusb_open(device, &dev_handle); + break; + } + } + if (!dev_handle) return false; + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) { + libusb_detach_kernel_driver(dev_handle, 0); + } + + if (libusb_set_configuration(dev_handle, 1) != 0 || + libusb_claim_interface(dev_handle, 0) != 0) { + return false; + } + + return true; +} + +USBDevice::~USBDevice() { + if (dev_handle) { + libusb_release_interface(dev_handle, 0); + libusb_close(dev_handle); + } + if (ctx) libusb_exit(ctx); +} + +std::vector USBDevice::list() { + std::vector serials; + if (libusb_context *ctx = init_usb_ctx()) { + for (auto it : DeviceIterator(ctx)) { + serials.push_back(it.first); + } + libusb_exit(ctx); + } + return serials; +} + +int USBDevice::control_transfer(libusb_endpoint_direction dir, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { + std::lock_guard lk(usb_lock); + + int ret = LIBUSB_ERROR_NO_DEVICE; + const uint8_t bmRequestType = dir | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + while (connected) { + ret = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); + if (ret >= 0) break; + + LOGE_100("usb control_transfer error %d, \"%s\"", ret, libusb_strerror((enum libusb_error)ret)); + if (ret == LIBUSB_ERROR_NO_DEVICE) { + LOGE("lost connection"); + connected = false; + } + // TODO: check other errors, is simply retrying okay? + } + return ret; +} + +int USBDevice::bulk_transfer(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout) { + std::lock_guard lk(usb_lock); + + int transferred = 0; + while (connected) { + int ret = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + if (ret == 0 && length == transferred) break; + + if (ret != 0) { + LOGE_100("usb control_transfer error %d, \"%s\"", ret, libusb_strerror((enum libusb_error)ret)); + if (ret == LIBUSB_ERROR_NO_DEVICE) { + connected = false; + } else if (ret == LIBUSB_ERROR_OVERFLOW) { + comms_healthy = false; + } else if (ret == LIBUSB_ERROR_TIMEOUT && (endpoint & LIBUSB_ENDPOINT_IN)) { + // timeout is okay to exit, recv still happened + LOGW("bulk_transfer timeout"); + break; + } + } + }; + return transferred; +} diff --git a/selfdrive/boardd/usbdevice.h b/selfdrive/boardd/usbdevice.h new file mode 100644 index 0000000000..1b94358b56 --- /dev/null +++ b/selfdrive/boardd/usbdevice.h @@ -0,0 +1,43 @@ +#pragma once + +#include +#include +#include + +#include +#include "panda/board/panda.h" + +#define TIMEOUT 0 + +class USBDevice { +public: + USBDevice() = default; + ~USBDevice(); + bool open(const std::string &serial); + static std::vector list(); + + inline int write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout = TIMEOUT) { + return control_transfer(LIBUSB_ENDPOINT_OUT, bRequest, wValue, wIndex, timeout); + } + inline int read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint8_t *data, uint16_t wLength, unsigned int timeout = TIMEOUT) { + return control_transfer(LIBUSB_ENDPOINT_IN, bRequest, wValue, wIndex, timeout); + } + inline int bulk_write(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT) { + return bulk_transfer(LIBUSB_ENDPOINT_OUT | endpoint, data, length, timeout); + } + inline int bulk_read(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT) { + return bulk_transfer(LIBUSB_ENDPOINT_IN | endpoint, data, length, timeout); + } + + std::atomic comms_healthy = true; + std::atomic connected = true; + std::string usb_serial; + +private: + int control_transfer(libusb_endpoint_direction dir, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout = TIMEOUT); + int bulk_transfer(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT); + + std::mutex usb_lock; + libusb_context *ctx = nullptr; + libusb_device_handle *dev_handle = nullptr; +}; From 285addeef26d60fc7d263efae81d07defabb0171 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Thu, 16 Dec 2021 17:11:45 -0800 Subject: [PATCH 084/239] Revert "boardd: new class USBDevice (#23015)" This reverts commit 4061f50da3dabff7a16e2a845d66efe00f9d7978. --- panda | 2 +- release/files_common | 2 - selfdrive/boardd/SConscript | 4 +- selfdrive/boardd/boardd.cc | 2 +- selfdrive/boardd/panda.cc | 284 ++++++++++++++++-- selfdrive/boardd/panda.h | 46 ++- selfdrive/boardd/pigeon.cc | 10 +- .../boardd/tests/test_boardd_usbprotocol.cc | 2 +- selfdrive/boardd/usbdevice.cc | 140 --------- selfdrive/boardd/usbdevice.h | 43 --- 10 files changed, 300 insertions(+), 235 deletions(-) delete mode 100644 selfdrive/boardd/usbdevice.cc delete mode 100644 selfdrive/boardd/usbdevice.h diff --git a/panda b/panda index 8d0d148681..6f95a096e6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8d0d148681163929260abf5742701cbf503abb22 +Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e diff --git a/release/files_common b/release/files_common index 2706d2e8bf..3fc354396a 100644 --- a/release/files_common +++ b/release/files_common @@ -92,8 +92,6 @@ selfdrive/boardd/boardd_api_impl.pyx selfdrive/boardd/can_list_to_can_capnp.cc selfdrive/boardd/panda.cc selfdrive/boardd/panda.h -selfdrive/boardd/usbdevice.cc -selfdrive/boardd/usbdevice.h selfdrive/boardd/pigeon.cc selfdrive/boardd/pigeon.h selfdrive/boardd/set_time.py diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index c2142b7b27..07ded56e1b 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,9 +1,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['boardd.cc', 'panda.cc', 'usbdevice.cc', 'pigeon.cc'], LIBS=libs) +env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('test'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'usbdevice.cc'], LIBS=libs) + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index a65bff63af..0ca943de2e 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -185,7 +185,7 @@ bool safety_setter_thread(std::vector pandas) { Panda *usb_connect(std::string serial="", uint32_t index=0) { std::unique_ptr panda; try { - panda = std::make_unique(serial, (index * BUS_CNT)); + panda = std::make_unique(serial, (index * PANDA_BUS_CNT)); } catch (std::exception &e) { return nullptr; } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 90c31dd34f..6850ad41b2 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -1,7 +1,10 @@ #include "selfdrive/boardd/panda.h" +#include + #include #include +#include #include "cereal/messaging/messaging.h" #include "panda/board/dlc_to_len.h" @@ -9,44 +12,263 @@ #include "selfdrive/common/swaglog.h" #include "selfdrive/common/util.h" +static int init_usb_ctx(libusb_context **context) { + assert(context != nullptr); + + int err = libusb_init(context); + if (err != 0) { + LOGE("libusb initialization error"); + return err; + } + +#if LIBUSB_API_VERSION >= 0x01000106 + libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); +#else + libusb_set_debug(*context, 3); +#endif + + return err; +} + + Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { - if (!open(serial)) { - throw std::runtime_error("Error connecting to panda"); + // init libusb + ssize_t num_devices; + libusb_device **dev_list = NULL; + int err = init_usb_ctx(&ctx); + if (err != 0) { goto fail; } + + // connect by serial + num_devices = libusb_get_device_list(ctx, &dev_list); + if (num_devices < 0) { goto fail; } + for (size_t i = 0; i < num_devices; ++i) { + libusb_device_descriptor desc; + libusb_get_device_descriptor(dev_list[i], &desc); + if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { + libusb_open(dev_list[i], &dev_handle); + if (dev_handle == NULL) { goto fail; } + + unsigned char desc_serial[26] = { 0 }; + int ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); + if (ret < 0) { goto fail; } + + usb_serial = std::string((char *)desc_serial, ret).c_str(); + if (serial.empty() || serial == usb_serial) { + break; + } + libusb_close(dev_handle); + dev_handle = NULL; + } } + if (dev_handle == NULL) goto fail; + libusb_free_device_list(dev_list, 1); + dev_list = nullptr; + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) { + libusb_detach_kernel_driver(dev_handle, 0); + } + + err = libusb_set_configuration(dev_handle, 1); + if (err != 0) { goto fail; } + + err = libusb_claim_interface(dev_handle, 0); + if (err != 0) { goto fail; } + hw_type = get_hw_type(); + assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) && (hw_type != cereal::PandaState::PandaType::GREY_PANDA)); has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) || (hw_type == cereal::PandaState::PandaType::DOS); + + return; + +fail: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + cleanup(); + throw std::runtime_error("Error connecting to panda"); +} + +Panda::~Panda() { + std::lock_guard lk(usb_lock); + cleanup(); + connected = false; } -Panda::~Panda() {} +void Panda::cleanup() { + if (dev_handle) { + libusb_release_interface(dev_handle, 0); + libusb_close(dev_handle); + } + + if (ctx) { + libusb_exit(ctx); + } +} + +std::vector Panda::list() { + // init libusb + ssize_t num_devices; + libusb_context *context = NULL; + libusb_device **dev_list = NULL; + std::vector serials; + + int err = init_usb_ctx(&context); + if (err != 0) { return serials; } + + num_devices = libusb_get_device_list(context, &dev_list); + if (num_devices < 0) { + LOGE("libusb can't get device list"); + goto finish; + } + for (size_t i = 0; i < num_devices; ++i) { + libusb_device *device = dev_list[i]; + libusb_device_descriptor desc; + libusb_get_device_descriptor(device, &desc); + if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { + libusb_device_handle *handle = NULL; + libusb_open(device, &handle); + unsigned char desc_serial[26] = { 0 }; + int ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); + libusb_close(handle); + + if (ret < 0) { goto finish; } + serials.push_back(std::string((char *)desc_serial, ret).c_str()); + } + } + +finish: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + if (context) { + libusb_exit(context); + } + return serials; +} + +void Panda::handle_usb_issue(int err, const char func[]) { + LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); + if (err == LIBUSB_ERROR_NO_DEVICE) { + LOGE("lost connection"); + connected = false; + } + // TODO: check other errors, is simply retrying okay? +} + +int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { + int err; + const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + + if (!connected) { + return LIBUSB_ERROR_NO_DEVICE; + } + + std::lock_guard lk(usb_lock); + do { + err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); + if (err < 0) handle_usb_issue(err, __func__); + } while (err < 0 && connected); + + return err; +} + +int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { + int err; + const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + + if (!connected) { + return LIBUSB_ERROR_NO_DEVICE; + } + + std::lock_guard lk(usb_lock); + do { + err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); + if (err < 0) handle_usb_issue(err, __func__); + } while (err < 0 && connected); + + return err; +} + +int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected) { + return 0; + } + + std::lock_guard lk(usb_lock); + do { + // Try sending can messages. If the receive buffer on the panda is full it will NAK + // and libusb will try again. After 5ms, it will time out. We will drop the messages. + err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + + if (err == LIBUSB_ERROR_TIMEOUT) { + LOGW("Transmit buffer full"); + break; + } else if (err != 0 || length != transferred) { + handle_usb_issue(err, __func__); + } + } while(err != 0 && connected); + + return transferred; +} + +int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected) { + return 0; + } + + std::lock_guard lk(usb_lock); + + do { + err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + + if (err == LIBUSB_ERROR_TIMEOUT) { + break; // timeout is okay to exit, recv still happened + } else if (err == LIBUSB_ERROR_OVERFLOW) { + comms_healthy = false; + LOGE_100("overflow got 0x%x", transferred); + } else if (err != 0) { + handle_usb_issue(err, __func__); + } + + } while(err != 0 && connected); + + return transferred; +} void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param) { - write(0xdc, (uint16_t)safety_model, safety_param); + usb_write(0xdc, (uint16_t)safety_model, safety_param); } void Panda::set_unsafe_mode(uint16_t unsafe_mode) { - write(0xdf, unsafe_mode, 0); + usb_write(0xdf, unsafe_mode, 0); } cereal::PandaState::PandaType Panda::get_hw_type() { unsigned char hw_query[1] = {0}; - read(0xc1, 0, 0, hw_query, 1); + usb_read(0xc1, 0, 0, hw_query, 1); return (cereal::PandaState::PandaType)(hw_query[0]); } void Panda::set_rtc(struct tm sys_time) { // tm struct has year defined as years since 1900 - write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0); - write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0); - write(0xa3, (uint16_t)sys_time.tm_mday, 0); - // write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0); - write(0xa5, (uint16_t)sys_time.tm_hour, 0); - write(0xa6, (uint16_t)sys_time.tm_min, 0); - write(0xa7, (uint16_t)sys_time.tm_sec, 0); + usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0); + usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0); + usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0); + // usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0); + usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0); + usb_write(0xa6, (uint16_t)sys_time.tm_min, 0); + usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0); } struct tm Panda::get_rtc() { @@ -60,7 +282,7 @@ struct tm Panda::get_rtc() { uint8_t second; } rtc_time = {0}; - read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time)); + usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time)); struct tm new_time = { 0 }; new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900 @@ -74,60 +296,60 @@ struct tm Panda::get_rtc() { } void Panda::set_fan_speed(uint16_t fan_speed) { - write(0xb1, fan_speed, 0); + usb_write(0xb1, fan_speed, 0); } uint16_t Panda::get_fan_speed() { uint16_t fan_speed_rpm = 0; - read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); + usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); return fan_speed_rpm; } void Panda::set_ir_pwr(uint16_t ir_pwr) { - write(0xb0, ir_pwr, 0); + usb_write(0xb0, ir_pwr, 0); } health_t Panda::get_state() { health_t health {0}; - read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); + usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); return health; } void Panda::set_loopback(bool loopback) { - write(0xe5, loopback, 0); + usb_write(0xe5, loopback, 0); } std::optional> Panda::get_firmware_version() { std::vector fw_sig_buf(128); - int read_1 = read(0xd3, 0, 0, &fw_sig_buf[0], 64); - int read_2 = read(0xd4, 0, 0, &fw_sig_buf[64], 64); + int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64); + int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64); return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt; } std::optional Panda::get_serial() { char serial_buf[17] = {'\0'}; - int err = read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); + int err = usb_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); return err >= 0 ? std::make_optional(serial_buf) : std::nullopt; } void Panda::set_power_saving(bool power_saving) { - write(0xe7, power_saving, 0); + usb_write(0xe7, power_saving, 0); } void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) { - write(0xe6, (uint16_t)power_mode, 0); + usb_write(0xe6, (uint16_t)power_mode, 0); } void Panda::send_heartbeat(bool engaged) { - write(0xf3, engaged, 0); + usb_write(0xf3, engaged, 0); } void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { - write(0xde, bus, (speed * 10)); + usb_write(0xde, bus, (speed * 10)); } void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { - write(0xf9, bus, (speed * 10)); + usb_write(0xf9, bus, (speed * 10)); } static uint8_t len_to_dlc(uint8_t len) { @@ -160,7 +382,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data for (auto cmsg : can_data_list) { // check if the message is intended for this panda uint8_t bus = cmsg.getSrc(); - if (bus < bus_offset || bus >= (bus_offset + BUS_CNT)) { + if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) { continue; } auto can_data = cmsg.getDat(); @@ -188,13 +410,13 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data void Panda::can_send(capnp::List::Reader can_data_list) { pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) { - bulk_write(3, data, size, 5); + usb_bulk_write(3, data, size, 5); }); } bool Panda::can_receive(std::vector& out_vec) { uint8_t data[RECV_SIZE]; - int recv = bulk_read(0x81, (uint8_t*)data, RECV_SIZE); + int recv = usb_bulk_read(0x81, (uint8_t*)data, RECV_SIZE); if (!comms_healthy) { return false; } @@ -213,7 +435,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &o comms_healthy = false; return false; } - int chunk_len = std::min((int)USBPACKET_MAX_SIZE, (size - i)); + int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i)); recv_buf.insert(recv_buf.end(), &data[i + 1], &data[i + chunk_len]); } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index ad93131eed..1a18a7f15a 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -1,15 +1,26 @@ #pragma once +#include +#include +#include #include +#include +#include #include #include +#include + +#include "cereal/gen/cpp/car.capnp.h" #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/boardd/usbdevice.h" -#define RECV_SIZE (MAX_EP1_CHUNK_PER_BULK_TRANSFER + 128U) -#define USB_TX_SOFT_LIMIT (USBPACKET_MAX_SIZE * 4) -#define CANPACKET_MAX_SIZE (CANPACKET_HEAD_SIZE + CANPACKET_DATA_SIZE_MAX) +#define TIMEOUT 0 +#define PANDA_BUS_CNT 4 +#define RECV_SIZE (0x4000U) +#define USB_TX_SOFT_LIMIT (0x100U) +#define USBPACKET_MAX_SIZE (0x40) +#define CANPACKET_HEAD_SIZE 5U +#define CANPACKET_MAX_SIZE 72U #define CANPACKET_REJECTED (0xC0U) #define CANPACKET_RETURNED (0x80U) @@ -53,15 +64,35 @@ struct can_frame { long src; }; -class Panda : public USBDevice { -public: +class Panda { + private: + libusb_context *ctx = NULL; + libusb_device_handle *dev_handle = NULL; + std::mutex usb_lock; + std::vector recv_buf; + void handle_usb_issue(int err, const char func[]); + void cleanup(); + + public: Panda(std::string serial="", uint32_t bus_offset=0); ~Panda(); + std::string usb_serial; + std::atomic connected = true; + std::atomic comms_healthy = true; cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; bool has_rtc = false; const uint32_t bus_offset; + // Static functions + static std::vector list(); + + // HW communication + int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT); + int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT); + int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + // Panda functionality cereal::PandaState::PandaType get_hw_type(); void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0); @@ -89,7 +120,4 @@ protected: void pack_can_buffer(const capnp::List::Reader &can_data_list, std::function write_func); bool unpack_can_buffer(uint8_t *data, int size, std::vector &out_vec); - -private: - std::vector recv_buf; }; diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc index 6edf84b555..912f4b03e7 100644 --- a/selfdrive/boardd/pigeon.cc +++ b/selfdrive/boardd/pigeon.cc @@ -186,8 +186,8 @@ void PandaPigeon::connect(Panda * p) { } void PandaPigeon::set_baud(int baud) { - panda->write(0xe2, 1, 0); - panda->write(0xe4, 1, baud/300); + panda->usb_write(0xe2, 1, 0); + panda->usb_write(0xe4, 1, baud/300); } void PandaPigeon::send(const std::string &s) { @@ -200,7 +200,7 @@ void PandaPigeon::send(const std::string &s) { int ll = std::min(0x20, len-i); memcpy(&a[1], &dat[i], ll); - panda->bulk_write(2, a, ll+1); + panda->usb_bulk_write(2, a, ll+1); } } @@ -209,7 +209,7 @@ std::string PandaPigeon::receive() { r.reserve(0x1000 + 0x40); unsigned char dat[0x40]; while (r.length() < 0x1000) { - int len = panda->read(0xe0, 1, 0, dat, sizeof(dat)); + int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat)); if (len <= 0) break; r.append((char*)dat, len); } @@ -218,7 +218,7 @@ std::string PandaPigeon::receive() { } void PandaPigeon::set_power(bool power) { - panda->write(0xd9, power, 0); + panda->usb_write(0xd9, power, 0); } PandaPigeon::~PandaPigeon() { diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index d2f7443f25..6a13cbd71f 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -64,7 +64,7 @@ void PandaTest::test_can_send() { for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) { REQUIRE(chunk[i] == counter); - const int len = std::min((int)USBPACKET_MAX_SIZE, size_left); + const int len = std::min(USBPACKET_MAX_SIZE, size_left); unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]); size_left -= len; } diff --git a/selfdrive/boardd/usbdevice.cc b/selfdrive/boardd/usbdevice.cc deleted file mode 100644 index 014fa88b51..0000000000 --- a/selfdrive/boardd/usbdevice.cc +++ /dev/null @@ -1,140 +0,0 @@ -#include "selfdrive/boardd/usbdevice.h" - -#include -#include - -#include "selfdrive/common/swaglog.h" - -namespace { - -libusb_context *init_usb_ctx() { - libusb_context *context = nullptr; - int err = libusb_init(&context); - if (err != 0) { - LOGE("libusb initialization error %d", err); - return nullptr; - } -#if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); -#else - libusb_set_debug(context, 3); -#endif - return context; -} - -struct DeviceIterator { - DeviceIterator(libusb_context *ctx) { - ssize_t num_devices = libusb_get_device_list(ctx, &dev_list); - for (ssize_t i = 0; i < num_devices; ++i) { - libusb_device_descriptor desc = {}; - int ret = libusb_get_device_descriptor(dev_list[i], &desc); - if (ret < 0 || desc.idVendor != USB_VID || desc.idProduct != USB_PID) continue; - - libusb_device_handle *handle = nullptr; - if (libusb_open(dev_list[i], &handle) == 0) { - unsigned char serial[256] = {'\0'}; - libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, serial, std::size(serial) - 1); - devices[(const char *)serial] = dev_list[i]; - libusb_close(handle); - } - } - } - - ~DeviceIterator() { - if (dev_list) libusb_free_device_list(dev_list, 1); - } - - std::map::iterator begin() { return devices.begin(); } - std::map::iterator end() { return devices.end(); } - std::map devices; - libusb_device **dev_list = nullptr; -}; - -} // namespace - -bool USBDevice::open(const std::string &serial) { - ctx = init_usb_ctx(); - if (!ctx) return false; - - for (const auto &[s, device] : DeviceIterator(ctx)) { - if (serial.empty() || serial == s) { - usb_serial = s; - libusb_open(device, &dev_handle); - break; - } - } - if (!dev_handle) return false; - - if (libusb_kernel_driver_active(dev_handle, 0) == 1) { - libusb_detach_kernel_driver(dev_handle, 0); - } - - if (libusb_set_configuration(dev_handle, 1) != 0 || - libusb_claim_interface(dev_handle, 0) != 0) { - return false; - } - - return true; -} - -USBDevice::~USBDevice() { - if (dev_handle) { - libusb_release_interface(dev_handle, 0); - libusb_close(dev_handle); - } - if (ctx) libusb_exit(ctx); -} - -std::vector USBDevice::list() { - std::vector serials; - if (libusb_context *ctx = init_usb_ctx()) { - for (auto it : DeviceIterator(ctx)) { - serials.push_back(it.first); - } - libusb_exit(ctx); - } - return serials; -} - -int USBDevice::control_transfer(libusb_endpoint_direction dir, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { - std::lock_guard lk(usb_lock); - - int ret = LIBUSB_ERROR_NO_DEVICE; - const uint8_t bmRequestType = dir | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - while (connected) { - ret = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); - if (ret >= 0) break; - - LOGE_100("usb control_transfer error %d, \"%s\"", ret, libusb_strerror((enum libusb_error)ret)); - if (ret == LIBUSB_ERROR_NO_DEVICE) { - LOGE("lost connection"); - connected = false; - } - // TODO: check other errors, is simply retrying okay? - } - return ret; -} - -int USBDevice::bulk_transfer(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout) { - std::lock_guard lk(usb_lock); - - int transferred = 0; - while (connected) { - int ret = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - if (ret == 0 && length == transferred) break; - - if (ret != 0) { - LOGE_100("usb control_transfer error %d, \"%s\"", ret, libusb_strerror((enum libusb_error)ret)); - if (ret == LIBUSB_ERROR_NO_DEVICE) { - connected = false; - } else if (ret == LIBUSB_ERROR_OVERFLOW) { - comms_healthy = false; - } else if (ret == LIBUSB_ERROR_TIMEOUT && (endpoint & LIBUSB_ENDPOINT_IN)) { - // timeout is okay to exit, recv still happened - LOGW("bulk_transfer timeout"); - break; - } - } - }; - return transferred; -} diff --git a/selfdrive/boardd/usbdevice.h b/selfdrive/boardd/usbdevice.h deleted file mode 100644 index 1b94358b56..0000000000 --- a/selfdrive/boardd/usbdevice.h +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -#include -#include -#include - -#include -#include "panda/board/panda.h" - -#define TIMEOUT 0 - -class USBDevice { -public: - USBDevice() = default; - ~USBDevice(); - bool open(const std::string &serial); - static std::vector list(); - - inline int write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout = TIMEOUT) { - return control_transfer(LIBUSB_ENDPOINT_OUT, bRequest, wValue, wIndex, timeout); - } - inline int read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint8_t *data, uint16_t wLength, unsigned int timeout = TIMEOUT) { - return control_transfer(LIBUSB_ENDPOINT_IN, bRequest, wValue, wIndex, timeout); - } - inline int bulk_write(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT) { - return bulk_transfer(LIBUSB_ENDPOINT_OUT | endpoint, data, length, timeout); - } - inline int bulk_read(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT) { - return bulk_transfer(LIBUSB_ENDPOINT_IN | endpoint, data, length, timeout); - } - - std::atomic comms_healthy = true; - std::atomic connected = true; - std::string usb_serial; - -private: - int control_transfer(libusb_endpoint_direction dir, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout = TIMEOUT); - int bulk_transfer(uint8_t endpoint, uint8_t *data, int length, unsigned int timeout = TIMEOUT); - - std::mutex usb_lock; - libusb_context *ctx = nullptr; - libusb_device_handle *dev_handle = nullptr; -}; From cf466222f623df5fac325b86b71dc4e181b40d55 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 16 Dec 2021 17:34:12 -0800 Subject: [PATCH 085/239] Road Roll Compensation Rebased (#23251) * first commit * update refs --- selfdrive/car/ford/carcontroller.py | 2 +- selfdrive/car/honda/interface.py | 1 - selfdrive/controls/controlsd.py | 5 +- selfdrive/controls/lib/latcontrol_angle.py | 2 +- selfdrive/controls/lib/latcontrol_indi.py | 4 +- selfdrive/controls/lib/latcontrol_lqr.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 2 +- .../controls/lib/tests/test_vehicle_model.py | 70 +++++++++++++++++++ selfdrive/controls/lib/vehicle_model.py | 63 +++++++++++++---- selfdrive/locationd/models/car_kf.py | 19 ++++- selfdrive/locationd/models/constants.py | 3 + selfdrive/locationd/paramsd.py | 38 +++++++--- selfdrive/test/process_replay/ref_commit | 2 +- 13 files changed, 177 insertions(+), 36 deletions(-) create mode 100755 selfdrive/controls/lib/tests/test_vehicle_model.py diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 2eaacd301c..6257cfd209 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -32,7 +32,7 @@ class CarController(): if (frame % 3) == 0: - curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo) + curvature = self.vehicle_model.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0) # The use of the toggle below is handy for trying out the various LKAS modes if TOGGLE_DEBUG: diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 47bbd6715d..6604f7d106 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -350,7 +350,6 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid) - ret.yawRate = self.VM.yaw_rate(ret.steeringAngleDeg * CV.DEG_TO_RAD, ret.vEgo) buttonEvents = [] diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cc449537a6..1933ab5282 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -631,8 +631,9 @@ class Controls: # Curvature & Steering angle params = self.sm['liveParameters'] - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetAverageDeg) - curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo) + + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) + curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll) # controlsState dat = messaging.new_message('controlsState') diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 5975fa66b7..dc184cf58b 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -18,7 +18,7 @@ class LatControlAngle(): angle_steers_des = float(CS.steeringAngleDeg) else: angle_log.active = True - angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo)) + angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) angle_steers_des += params.angleOffsetDeg angle_log.saturated = False diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py index 169d504d5b..75b27ac8c1 100644 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -93,11 +93,11 @@ class LatControlINDI(): indi_log.steeringRateDeg = math.degrees(self.x[1]) indi_log.steeringAccelDeg = math.degrees(self.x[2]) - steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo) + steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo, params.roll) steers_des += math.radians(params.angleOffsetDeg) indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) - rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo) + rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo, 0) indi_log.steeringRateDesiredDeg = math.degrees(rate_des) if CS.vEgo < 0.3 or not active: diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py index 9f58aea2e7..5777cde8e8 100644 --- a/selfdrive/controls/lib/latcontrol_lqr.py +++ b/selfdrive/controls/lib/latcontrol_lqr.py @@ -53,7 +53,7 @@ class LatControlLQR(): # Subtract offset. Zero angle should correspond to zero torque steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg - desired_angle = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo)) + desired_angle = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg desired_angle += instant_offset # Only add offset that originates from vehicle model errors diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index ca78d5fa4e..bcb8ccba56 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -21,7 +21,7 @@ class LatControlPID(): pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) - angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo)) + angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg pid_log.steeringAngleDesiredDeg = angle_steers_des diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py new file mode 100755 index 0000000000..f2636027e8 --- /dev/null +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +import math +import unittest + +import numpy as np +from control import StateSpace + +from selfdrive.car.honda.interface import CarInterface +from selfdrive.car.honda.values import CAR +from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices + + +class TestVehicleModel(unittest.TestCase): + def setUp(self): + CP = CarInterface.get_params(CAR.CIVIC) + self.VM = VehicleModel(CP) + + def test_round_trip_yaw_rate(self): + # TODO: fix VM to work at zero speed + for u in np.linspace(1, 30, num=10): + for roll in np.linspace(math.radians(-20), math.radians(20), num=11): + for sa in np.linspace(math.radians(-20), math.radians(20), num=11): + yr = self.VM.yaw_rate(sa, u, roll) + new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll) + + self.assertAlmostEqual(sa, new_sa) + + def test_dyn_ss_sol_against_yaw_rate(self): + """Verify that the yaw_rate helper function matches the results + from the state space model.""" + + for roll in np.linspace(math.radians(-20), math.radians(20), num=11): + for u in np.linspace(1, 30, num=10): + for sa in np.linspace(math.radians(-20), math.radians(20), num=11): + + # Compute yaw rate based on state space model + _, yr1 = dyn_ss_sol(sa, u, roll, self.VM) + + # Compute yaw rate using direct computations + yr2 = self.VM.yaw_rate(sa, u, roll) + self.assertAlmostEqual(float(yr1), yr2) + + def test_syn_ss_sol_simulate(self): + """Verifies that dyn_ss_sol mathes a simulation""" + + for roll in np.linspace(math.radians(-20), math.radians(20), num=11): + for u in np.linspace(1, 30, num=10): + A, B = create_dyn_state_matrices(u, self.VM) + + # Convert to discrete time system + ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2))) + ss = ss.sample(0.01) + + for sa in np.linspace(math.radians(-20), math.radians(20), num=11): + inp = np.array([[sa], [roll]]) + + # Simulate for 1 second + x1 = np.zeros((2, 1)) + for _ in range(100): + x1 = ss.A @ x1 + ss.B @ inp + + # Compute steady state solution directly + x2 = dyn_ss_sol(sa, u, roll, self.VM) + + np.testing.assert_almost_equal(x1, x2, decimal=3) + + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py index a0b1dddfd7..3f180d3252 100755 --- a/selfdrive/controls/lib/vehicle_model.py +++ b/selfdrive/controls/lib/vehicle_model.py @@ -5,7 +5,7 @@ Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani The state is x = [v, r]^T with v lateral speed [m/s], and r rotational speed [rad/s] -The input u is the steering angle [rad] +The input u is the steering angle [rad], and roll [rad] The system is defined by x_dot = A*x + B*u @@ -19,6 +19,9 @@ from numpy.linalg import solve from cereal import car +ACCELERATION_DUE_TO_GRAVITY = 9.8 + + class VehicleModel: def __init__(self, CP: car.CarParams): """ @@ -43,7 +46,7 @@ class VehicleModel: self.cR = stiffness_factor * self.cR_orig self.sR = steer_ratio - def steady_state_sol(self, sa: float, u: float) -> np.ndarray: + def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray: """Returns the steady state solution. If the speed is too low we can't use the dynamic model (tire slip is undefined), @@ -52,26 +55,28 @@ class VehicleModel: Args: sa: Steering wheel angle [rad] u: Speed [m/s] + roll: Road Roll [rad] Returns: 2x1 matrix with steady state solution (lateral speed, rotational speed) """ if u > 0.1: - return dyn_ss_sol(sa, u, self) + return dyn_ss_sol(sa, u, roll, self) else: return kin_ss_sol(sa, u, self) - def calc_curvature(self, sa: float, u: float) -> float: + def calc_curvature(self, sa: float, u: float, roll: float) -> float: """Returns the curvature. Multiplied by the speed this will give the yaw rate. Args: sa: Steering wheel angle [rad] u: Speed [m/s] + roll: Road Roll [rad] Returns: Curvature factor [1/m] """ - return self.curvature_factor(u) * sa / self.sR + return (self.curvature_factor(u) * sa / self.sR) + self.roll_compensation(roll, u) def curvature_factor(self, u: float) -> float: """Returns the curvature factor. @@ -86,43 +91,63 @@ class VehicleModel: sf = calc_slip_factor(self) return (1. - self.chi) / (1. - sf * u**2) / self.l - def get_steer_from_curvature(self, curv: float, u: float) -> float: + def get_steer_from_curvature(self, curv: float, u: float, roll: float) -> float: """Calculates the required steering wheel angle for a given curvature Args: curv: Desired curvature [1/m] u: Speed [m/s] + roll: Road Roll [rad] Returns: Steering wheel angle [rad] """ - return curv * self.sR * 1.0 / self.curvature_factor(u) + return (curv - self.roll_compensation(roll, u)) * self.sR * 1.0 / self.curvature_factor(u) + + def roll_compensation(self, roll: float, u: float) -> float: + """Calculates the roll-compensation to curvature + + Args: + roll: Road Roll [rad] + u: Speed [m/s] - def get_steer_from_yaw_rate(self, yaw_rate: float, u: float) -> float: + Returns: + Roll compensation curvature [rad] + """ + sf = calc_slip_factor(self) + + if abs(sf) < 1e-6: + return 0 + else: + return (ACCELERATION_DUE_TO_GRAVITY * roll) / ((1 / sf) - u**2) + + def get_steer_from_yaw_rate(self, yaw_rate: float, u: float, roll: float) -> float: """Calculates the required steering wheel angle for a given yaw_rate Args: yaw_rate: Desired yaw rate [rad/s] u: Speed [m/s] + roll: Road Roll [rad] Returns: Steering wheel angle [rad] """ curv = yaw_rate / u - return self.get_steer_from_curvature(curv, u) + return self.get_steer_from_curvature(curv, u, roll) - def yaw_rate(self, sa: float, u: float) -> float: + def yaw_rate(self, sa: float, u: float, roll: float) -> float: """Calculate yaw rate Args: sa: Steering wheel angle [rad] u: Speed [m/s] + roll: Road Roll [rad] Returns: Yaw rate [rad/s] """ - return self.calc_curvature(sa, u) * u + return self.calc_curvature(sa, u, roll) * u def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: @@ -152,7 +177,7 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, n VM: Vehicle model Returns: - A tuple with the 2x2 A matrix, and 2x1 B matrix + A tuple with the 2x2 A matrix, and 2x2 B matrix Parameters in the vehicle model: cF: Tire stiffness Front [N/rad] @@ -165,30 +190,38 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, n chi: Steer ratio rear [-] """ A = np.zeros((2, 2)) - B = np.zeros((2, 1)) + B = np.zeros((2, 2)) A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u) A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u) A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u) + + # Steering input B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR + + # Roll input + B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY + return A, B -def dyn_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: +def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray: """Calculate the steady state solution when x_dot = 0, Ax + Bu = 0 => x = -A^{-1} B u Args: sa: Steering angle [rad] u: Speed [m/s] + roll: Road Roll [rad] VM: Vehicle model Returns: 2x1 matrix with steady state solution """ A, B = create_dyn_state_matrices(u, VM) - return -solve(A, B) * sa + inp = np.array([[sa], [roll]]) + return -solve(A, B) @ inp def calc_slip_factor(VM): diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index dac95dcd7b..031c56ceb9 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -5,6 +5,7 @@ from typing import Any, Dict import numpy as np +from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from selfdrive.locationd.models.constants import ObservationKind from selfdrive.swaglog import cloudlog @@ -37,6 +38,7 @@ class States(): VELOCITY = _slice(2) # (x, y) [m/s] YAW_RATE = _slice(1) # [rad/s] STEER_ANGLE = _slice(1) # [rad] + ROAD_ROLL = _slice(1) # [rad] class CarKalman(KalmanFilter): @@ -51,6 +53,7 @@ class CarKalman(KalmanFilter): 10.0, 0.0, 0.0, 0.0, + 0.0 ]) # process noise @@ -63,12 +66,14 @@ class CarKalman(KalmanFilter): .1**2, .01**2, math.radians(0.1)**2, math.radians(0.1)**2, + math.radians(1)**2, ]) P_initial = Q.copy() obs_noise: Dict[int, Any] = { ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.01)**2), ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2), + ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2), ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2), ObservationKind.STIFFNESS: np.atleast_2d(5.0**2), ObservationKind.ROAD_FRAME_X_SPEED: np.atleast_2d(0.1**2), @@ -87,7 +92,7 @@ class CarKalman(KalmanFilter): def generate_code(generated_dir): dim_state = CarKalman.initial_x.shape[0] name = CarKalman.name - + # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars # Model used is in 6.15 with formula from 6.198 @@ -106,6 +111,7 @@ class CarKalman(KalmanFilter): cF, cR = x * cF_orig, x * cR_orig angle_offset = state[States.ANGLE_OFFSET, :][0, 0] angle_offset_fast = state[States.ANGLE_OFFSET_FAST, :][0, 0] + theta = state[States.ROAD_ROLL, :][0, 0] sa = state[States.STEER_ANGLE, :][0, 0] sR = state[States.STEER_RATIO, :][0, 0] @@ -122,8 +128,12 @@ class CarKalman(KalmanFilter): B[0, 0] = cF / m / sR B[1, 0] = (cF * aF) / j / sR + C = sp.Matrix(np.zeros((2, 1))) + C[0, 0] = ACCELERATION_DUE_TO_GRAVITY + C[1, 0] = 0 + x = sp.Matrix([v, r]) # lateral velocity, yaw rate - x_dot = A * x + B * (sa - angle_offset - angle_offset_fast) + x_dot = A * x + B * (sa - angle_offset - angle_offset_fast) - C * theta dt = sp.Symbol('dt') state_dot = sp.Matrix(np.zeros((dim_state, 1))) @@ -145,11 +155,12 @@ class CarKalman(KalmanFilter): [sp.Matrix([angle_offset_fast]), ObservationKind.ANGLE_OFFSET_FAST, None], [sp.Matrix([sR]), ObservationKind.STEER_RATIO, None], [sp.Matrix([x]), ObservationKind.STIFFNESS, None], + [sp.Matrix([theta]), ObservationKind.ROAD_ROLL, None], ] gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars) - def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0): # pylint: disable=super-init-not-called + def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): # pylint: disable=super-init-not-called dim_state = self.initial_x.shape[0] dim_state_err = self.P_initial.shape[0] x_init = self.initial_x @@ -157,6 +168,8 @@ class CarKalman(KalmanFilter): x_init[States.STIFFNESS] = stiffness_factor x_init[States.ANGLE_OFFSET] = angle_offset + if P_initial is not None: + self.P_initial = P_initial # init filter self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) diff --git a/selfdrive/locationd/models/constants.py b/selfdrive/locationd/models/constants.py index 7450f76be7..f22f503ee0 100644 --- a/selfdrive/locationd/models/constants.py +++ b/selfdrive/locationd/models/constants.py @@ -38,6 +38,7 @@ class ObservationKind: STIFFNESS = 28 # [-] STEER_RATIO = 29 # [-] ROAD_FRAME_X_SPEED = 30 # (x) [m/s] + ROAD_ROLL = 31 # [rad] names = [ 'Unknown', @@ -69,6 +70,8 @@ class ObservationKind: 'Fast Angle Offset', 'Stiffness', 'Steer Ratio', + 'Road Frame x speed', + 'Road Roll', ] @classmethod diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 914e0d0223..1542f29d34 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -16,10 +16,12 @@ from selfdrive.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s +ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits +ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) class ParamsLearner: - def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset): - self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset) + def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None): + self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial) self.kf.filter.set_global("mass", CP.mass) self.kf.filter.set_global("rotational_inertia", CP.rotationalInertia) @@ -30,9 +32,10 @@ class ParamsLearner: self.active = False - self.speed = 0 + self.speed = 0.0 + self.roll = 0.0 self.steering_pressed = False - self.steering_angle = 0 + self.steering_angle = 0.0 self.valid = True @@ -41,16 +44,34 @@ class ParamsLearner: yaw_rate = msg.angularVelocityCalibrated.value[2] yaw_rate_std = msg.angularVelocityCalibrated.std[2] + localizer_roll = msg.orientationNED.value[0] + roll_valid = msg.orientationNED.valid and ROLL_MIN < localizer_roll < ROLL_MAX + if roll_valid: + roll = localizer_roll + roll_std = np.radians(1.0) + else: + # This is done to bound the road roll estimate when localizer values are invalid + roll = 0.0 + roll_std = np.radians(10.0) + self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) + yaw_rate_valid = msg.angularVelocityCalibrated.valid yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s if self.active: - if msg.inputsOK and msg.posenetOK and yaw_rate_valid: + if msg.inputsOK and msg.posenetOK: + + if yaw_rate_valid: + self.kf.predict_and_observe(t, + ObservationKind.ROAD_FRAME_YAW_RATE, + np.array([[-yaw_rate]]), + np.array([np.atleast_2d(yaw_rate_std**2)])) + self.kf.predict_and_observe(t, - ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-yaw_rate]]), - np.array([np.atleast_2d(yaw_rate_std**2)])) + ObservationKind.ROAD_ROLL, + np.array([[self.roll]]), + np.array([np.atleast_2d(roll_std**2)])) self.kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, np.array([[0]])) elif which == 'carState': @@ -152,6 +173,7 @@ def main(sm=None, pm=None): msg.liveParameters.sensorValid = True msg.liveParameters.steerRatio = float(x[States.STEER_RATIO]) msg.liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) + msg.liveParameters.roll = float(x[States.ROAD_ROLL]) msg.liveParameters.angleOffsetAverageDeg = angle_offset_average msg.liveParameters.angleOffsetDeg = angle_offset msg.liveParameters.valid = all(( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8415bc8de7..e4a1605d04 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8118420b292f4c67ce7e196fc2121571da330e65 \ No newline at end of file +80430e515ea7ca44f2c73f047692d357856e74c1 \ No newline at end of file From ffc2f64f19b026a488b36a57a139b83716b7bed2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 18 Dec 2021 04:29:59 +0800 Subject: [PATCH 086/239] modeld: update live calibration in main thread (#23235) * update live calibration in main thread * static ground_from_medmodel_frame * more static * cleanup * no lambda * trigger ci --- selfdrive/modeld/modeld.cc | 89 +++++++++++++++----------------------- 1 file changed, 34 insertions(+), 55 deletions(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 03b487bbbf..0facf3fa0b 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -14,64 +14,46 @@ #include "selfdrive/modeld/models/driving.h" ExitHandler do_exit; -// globals -bool live_calib_seen; -mat3 cur_transform; -std::mutex transform_lock; - -void calibration_thread(bool wide_camera) { - util::set_thread_name("calibration"); - util::set_realtime_priority(50); - - SubMaster sm({"liveCalibration"}); +mat3 update_calibration(cereal::LiveCalibrationData::Reader live_calib, bool wide_camera) { /* import numpy as np from common.transformations.model import medmodel_frame_from_road_frame medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)] ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground) */ - Eigen::Matrix ground_from_medmodel_frame; - ground_from_medmodel_frame << + static const auto ground_from_medmodel_frame = (Eigen::Matrix() << 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, -1.09890110e-03, 0.00000000e+00, 2.81318681e-01, - -1.84808520e-20, 9.00738606e-04,-4.28751576e-02; + -1.84808520e-20, 9.00738606e-04, -4.28751576e-02).finished(); - Eigen::Matrix cam_intrinsics = Eigen::Matrix(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v); - const mat3 yuv_transform = get_model_yuv_transform(); + static const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v); + static const mat3 yuv_transform = get_model_yuv_transform(); - while (!do_exit) { - sm.update(100); - if(sm.updated("liveCalibration")) { - auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix(); - Eigen::Matrix extrinsic_matrix_eigen; - for (int i = 0; i < 4*3; i++) { - extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i]; - } - - auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen; - Eigen::Matrix camera_frame_from_ground; - camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0); - camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1); - camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3); - - auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame; - mat3 transform = {}; - for (int i=0; i<3*3; i++) { - transform.v[i] = warp_matrix(i / 3, i % 3); - } - mat3 model_transform = matmul3(yuv_transform, transform); - std::lock_guard lk(transform_lock); - cur_transform = model_transform; - live_calib_seen = true; - } + auto extrinsic_matrix = live_calib.getExtrinsicMatrix(); + Eigen::Matrix extrinsic_matrix_eigen; + for (int i = 0; i < 4*3; i++) { + extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i]; } + + auto camera_frame_from_road_frame = cam_intrinsics * extrinsic_matrix_eigen; + Eigen::Matrix camera_frame_from_ground; + camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0); + camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1); + camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3); + + auto warp_matrix = camera_frame_from_ground * ground_from_medmodel_frame; + mat3 transform = {}; + for (int i=0; i<3*3; i++) { + transform.v[i] = warp_matrix(i / 3, i % 3); + } + return matmul3(yuv_transform, transform); } -void run_model(ModelState &model, VisionIpcClient &vipc_client) { +void run_model(ModelState &model, VisionIpcClient &vipc_client, bool wide_camera) { // messaging PubMaster pm({"modelV2", "cameraOdometry"}); - SubMaster sm({"lateralPlan", "roadCameraState"}); + SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration"}); // setup filter to track dropped frames FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ); @@ -80,20 +62,22 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { double last = 0; uint32_t run_count = 0; + mat3 model_transform = {}; + bool live_calib_seen = false; + while (!do_exit) { VisionIpcBufExtra extra = {}; VisionBuf *buf = vipc_client.recv(&extra); if (buf == nullptr) continue; - transform_lock.lock(); - mat3 model_transform = cur_transform; - bool valid = live_calib_seen; - transform_lock.unlock(); - // TODO: path planner timeout? sm.update(0); int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); + if (sm.updated("liveCalibration")) { + model_transform = update_calibration(sm["liveCalibration"].getLiveCalibration(), wide_camera); + live_calib_seen = true; + } float vec_desire[DESIRE_LEN] = {0}; if (desire >= 0 && desire < DESIRE_LEN) { @@ -118,8 +102,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) { float frame_drop_ratio = frames_dropped / (1 + frames_dropped); model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time, - kj::ArrayPtr(model.output.data(), model.output.size()), valid); - posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, valid); + kj::ArrayPtr(model.output.data(), model.output.size()), live_calib_seen); + posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen); //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); last = mt1; @@ -138,9 +122,6 @@ int main(int argc, char **argv) { bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false; - // start calibration thread - std::thread thread = std::thread(calibration_thread, wide_camera); - // cl init cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); @@ -160,12 +141,10 @@ int main(int argc, char **argv) { if (vipc_client.connected) { const VisionBuf *b = &vipc_client.buffers[0]; LOGW("connected with buffer size: %d (%d x %d)", b->len, b->width, b->height); - run_model(model, vipc_client); + run_model(model, vipc_client, wide_camera); } model_free(&model); - LOG("joining calibration thread"); - thread.join(); CL_CHECK(clReleaseContext(context)); return 0; } From e4de82f90636a551a2490ccda1abc30a9b7f30b1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 18 Dec 2021 13:37:29 +0800 Subject: [PATCH 087/239] ui: remove variable world_objects_visible, use rcv_frame (#23264) --- selfdrive/ui/qt/onroad.cc | 2 +- selfdrive/ui/ui.cc | 3 --- selfdrive/ui/ui.h | 5 +++-- 3 files changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index e9f9bbfa09..98ee279450 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -349,7 +349,7 @@ void NvgWindow::paintGL() { CameraViewWidget::paintGL(); UIState *s = uiState(); - if (s->scene.world_objects_visible) { + if (s->worldObjectsVisible()) { QPainter painter(this); painter.setRenderHint(QPainter::Antialiasing); painter.setPen(Qt::NoPen); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index a8453889cb..8f82250fae 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -118,7 +118,6 @@ static void update_state(UIState *s) { update_leads(s, sm["radarState"].getRadarState(), line); } if (sm.updated("liveCalibration")) { - scene.world_objects_visible = true; auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); Eigen::Vector3d rpy; rpy << rpy_list[0], rpy_list[1], rpy_list[2]; @@ -211,8 +210,6 @@ static void update_status(UIState *s) { s->scene.end_to_end = Params().getBool("EndToEndToggle"); s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false; } - // Invisible until we receive a calibration message. - s->scene.world_objects_visible = false; } started_prev = s->scene.started; } diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 7c16e4ae6f..329da8a881 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -82,8 +82,6 @@ typedef struct { typedef struct UIScene { mat3 view_from_calib; - bool world_objects_visible; - cereal::PandaState::PandaType pandaType; // modelV2 @@ -106,6 +104,9 @@ class UIState : public QObject { public: UIState(QObject* parent = 0); + inline bool worldObjectsVisible() const { + return sm->rcv_frame("liveCalibration") > scene.started_frame; + }; int fb_w = 0, fb_h = 0; From fc7d152dcafe3274aeb35d9c2f7599300ec8489e Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Sat, 18 Dec 2021 16:47:04 -0600 Subject: [PATCH 088/239] Mazda: CX-5 and 3 FW (#23267) * Mazda 3 2017 fw dongle id: f7fec643f5178df8 Signed-off-by: Jafar Al-Gharaibeh * Mazda CX-5 2020 FW dongle id: f4b488f06d3b7711 Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/values.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 58e1dd7033..c60fdb44d6 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -50,6 +50,7 @@ FW_VERSIONS = { b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -78,6 +79,7 @@ FW_VERSIONS = { b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ @@ -87,6 +89,7 @@ FW_VERSIONS = { b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -145,10 +148,12 @@ FW_VERSIONS = { b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], (Ecu.engine, 0x7e0, None): [ b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -163,11 +168,13 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], From 646fe7de4b48901ed1be4998fcd5848997c9740e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Dec 2021 15:10:41 -0800 Subject: [PATCH 089/239] mui --- selfdrive/ui/.gitignore | 1 + selfdrive/ui/SConscript | 3 +++ selfdrive/ui/mui.cc | 51 +++++++++++++++++++++++++++++++++++++++++ 3 files changed, 55 insertions(+) create mode 100644 selfdrive/ui/mui.cc diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index 5d656f889e..5f8a96edf0 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -1,6 +1,7 @@ moc_* *.moc +_mui watch3 installer/installers/* replay/replay diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index d33e576691..62f93c13a9 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -73,6 +73,9 @@ if GetOption('extras'): # buidl updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) + # build mui + qt_env.Program("_mui", ["mui.cc"], LIBS=qt_libs) + # build installers senv = qt_env.Clone() senv['LINKFLAGS'].append('-Wl,-strip-debug') diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc new file mode 100644 index 0000000000..a10ead8e00 --- /dev/null +++ b/selfdrive/ui/mui.cc @@ -0,0 +1,51 @@ +#include +#include +#include + +#include "cereal/messaging/messaging.h" +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/qt_window.h" + +int main(int argc, char *argv[]) { + QApplication a(argc, argv); + QWidget w; + setMainWindow(&w); + + w.setStyleSheet("background-color: black;"); + + // our beautiful UI + QVBoxLayout *layout = new QVBoxLayout(&w); + QLabel *label = new QLabel("〇"); + layout->addWidget(label, 0, Qt::AlignCenter); + + QTimer timer; + QObject::connect(&timer, &QTimer::timeout, [=]() { + static SubMaster sm({"deviceState", "controlsState"}); + + bool onroad_prev = sm.allAliveAndValid({"deviceState"}) && + sm["deviceState"].getDeviceState().getStarted(); + sm.update(0); + + bool onroad = sm.allAliveAndValid({"deviceState"}) && + sm["deviceState"].getDeviceState().getStarted(); + + if (onroad) { + auto cs = sm["controlsState"].getControlsState(); + UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; + if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT) { + status = STATUS_WARNING; + } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) { + status = STATUS_ALERT; + } + label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name())); + } + + if ((onroad != onroad_prev) || sm.frame < 2) { + Hardware::set_brightness(50); + Hardware::set_display_power(onroad); + } + }); + timer.start(50); + + return a.exec(); +} From 16dd7ce1fe2a2b0537fefd5ad131d1494d0d09ad Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Sat, 18 Dec 2021 22:00:09 -0800 Subject: [PATCH 090/239] build for mac (#23048) --- SConstruct | 1 + .../controls/lib/lateral_mpc_lib/SConscript | 5 +++-- .../lib/longitudinal_mpc_lib/SConscript | 5 +++-- selfdrive/ui/qt/widgets/cameraview.cc | 2 +- selfdrive/ui/replay/framereader.cc | 3 ++- third_party/acados/Darwin/lib/libacados.dylib | Bin 0 -> 357804 bytes .../acados/Darwin/lib/libblasfeo.dylib | Bin 0 -> 531149 bytes third_party/acados/Darwin/lib/libhpipm.dylib | Bin 0 -> 1062411 bytes .../acados/Darwin/lib/libqpOASES_e.3.1.dylib | Bin 0 -> 218403 bytes .../acados/Darwin/lib/libqpOASES_e.dylib | 1 + third_party/acados/Darwin/t_renderer | Bin 0 -> 3354796 bytes 11 files changed, 11 insertions(+), 6 deletions(-) create mode 100755 third_party/acados/Darwin/lib/libacados.dylib create mode 100755 third_party/acados/Darwin/lib/libblasfeo.dylib create mode 100755 third_party/acados/Darwin/lib/libhpipm.dylib create mode 100755 third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib create mode 120000 third_party/acados/Darwin/lib/libqpOASES_e.dylib create mode 100755 third_party/acados/Darwin/t_renderer diff --git a/SConstruct b/SConstruct index 14450cec9f..6b45d60f2e 100644 --- a/SConstruct +++ b/SConstruct @@ -127,6 +127,7 @@ else: "/opt/homebrew/lib", "/usr/local/opt/openssl/lib", "/opt/homebrew/opt/openssl/lib", + f"#third_party/acados/{arch}/lib", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] cflags += ["-DGL_SILENCE_DEPRECATION"] diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 148e4e123d..f402e6e15e 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -48,12 +48,13 @@ lenv.Clean(generated_files, Dir(gen)) lenv.Command(generated_files, ["lat_mpc.py"], - f"cd {Dir('.').abspath} && python lat_mpc.py") + f"cd {Dir('.').abspath} && python3 lat_mpc.py") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CCFLAGS"].append("-Wno-unused") -lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") +if arch != "Darwin": + lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat", build_files, LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e']) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 4abe90f8f8..4c43985d1f 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -58,12 +58,13 @@ lenv.Clean(generated_files, Dir(gen)) lenv.Command(generated_files, ["long_mpc.py"], - f"cd {Dir('.').abspath} && python long_mpc.py") + f"cd {Dir('.').abspath} && python3 long_mpc.py") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CCFLAGS"].append("-Wno-unused") -lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") +if arch != "Darwin": + lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags") lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long", build_files, LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e']) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index ff9f7754d1..289f61afe0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -31,8 +31,8 @@ const char frame_fragment_shader[] = "#version 150 core\n" #else "#version 300 es\n" -#endif "precision mediump float;\n" +#endif "uniform sampler2D uTexture;\n" "in vec4 vTexCoord;\n" "out vec4 colorOut;\n" diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc index 5955d1bfcb..59e43cb58f 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/selfdrive/ui/replay/framereader.cc @@ -15,7 +15,8 @@ struct buffer_data { int readPacket(void *opaque, uint8_t *buf, int buf_size) { struct buffer_data *bd = (struct buffer_data *)opaque; - buf_size = std::min((size_t)buf_size, bd->size - bd->offset); + assert(bd->offset <= bd->size); + buf_size = std::min((size_t)buf_size, (size_t)(bd->size - bd->offset)); if (!buf_size) return AVERROR_EOF; 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z1zZ?^9#5}}@zspQW4DyU3IPvAyw13jPn(H!m+|GKxSRf`TX-T4 zz+#oB(QB|9-aWkU(b4ATW3^h$|BF50VqWz<8wPsD(Bom-q_kwF!LYv5*JRh+>4foI z(wqVo#*0;{xKnP?=)*Ia(el`A<{0is!qx@Hz@wc1z%EDMf={^v0wp?3>< zZnX)biu3)Hoe)_-u1P!QmBF4P50A9y{O0qQ@$K~P=K7sSBzM_xd1KBh9UVxWiv9_< z&r3%V-8hpe4wg%Ufvm^WU?8ipi{kV6n)rE#oT0DAZK{?dc2-Gc-AeaC)_Hl05={(4 zwm*o!>W6Z^+(&3PD6*-!%kG10SoDhcVCV-mi#$}Uoal4eS{#}WJ6hV{v-a?B8USeg z*v51UC@eJVRKC*D1N%3B%<-Y2xb_{P4fk(x`73t}z5X+Q+0#Wedl$}9TA1op*qRAs f-w(TAo?dq*nw1)H3NYd#C~hp{A^FT>C&>Q;%UPct literal 0 HcmV?d00001 From cd7db7f48e4ffd045531f42e0f47a6e2ea576523 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Mon, 20 Dec 2021 16:30:54 -0600 Subject: [PATCH 091/239] Mazda CX-5 2021 FW (#23270) dongle id: 661fdb17fa82339c Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index c60fdb44d6..e03b092feb 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -54,6 +54,7 @@ FW_VERSIONS = { b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -66,6 +67,7 @@ FW_VERSIONS = { b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.esp, 0x760, None): [ b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -81,6 +83,7 @@ FW_VERSIONS = { b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -94,6 +97,7 @@ FW_VERSIONS = { b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], From f25121b7364a2babef5022e852cf97570bee6da2 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Mon, 20 Dec 2021 16:58:46 -0600 Subject: [PATCH 092/239] Mazda: alert when LKAS is disabled (#23273) * Mazda: alert when LKAS is disabled Signed-off-by: Jafar Al-Gharaibeh * Update selfdrive/controls/lib/events.py * Update selfdrive/car/mazda/interface.py * bump cereal Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- selfdrive/car/mazda/carstate.py | 6 +++++- selfdrive/car/mazda/interface.py | 4 +++- selfdrive/controls/lib/events.py | 5 +++++ 4 files changed, 14 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index f1c5c8ef7c..e83ec3be7d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit f1c5c8ef7cab05b66892d67b6992f5ac1238ad4f +Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4 diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 7ebf60c96b..7e80e533a4 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -16,6 +16,7 @@ class CarState(CarStateBase): self.acc_active_last = False self.low_speed_alert = False self.lkas_allowed_speed = False + self.lkas_disabled = False def update(self, cp, cp_cam): @@ -91,9 +92,12 @@ class CarState(CarStateBase): self.acc_active_last = ret.cruiseState.enabled + self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] + + # camera signals + self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 self.cam_lkas = cp_cam.vl["CAM_LKAS"] self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] - self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 return ret diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index b4ae938228..9557cbc77b 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -86,7 +86,9 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) - if self.CS.low_speed_alert: + if self.CS.lkas_disabled: + events.add(EventName.lkasDisabled) + elif self.CS.low_speed_alert: events.add(EventName.belowSteerSpeed) ret.events = events.to_msg() diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 0048ca661c..6d84d6fdf2 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -832,4 +832,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, + EventName.lkasDisabled: { + ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"), + ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), + }, + } From c92199ab1a94d2ea565e68e513bf4f9e3e81d489 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Dec 2021 23:02:02 -0800 Subject: [PATCH 093/239] Revert "Mazda: alert when LKAS is disabled (#23273)" This reverts commit f25121b7364a2babef5022e852cf97570bee6da2. --- cereal | 2 +- selfdrive/car/mazda/carstate.py | 6 +----- selfdrive/car/mazda/interface.py | 4 +--- selfdrive/controls/lib/events.py | 5 ----- 4 files changed, 3 insertions(+), 14 deletions(-) diff --git a/cereal b/cereal index e83ec3be7d..f1c5c8ef7c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4 +Subproject commit f1c5c8ef7cab05b66892d67b6992f5ac1238ad4f diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 7e80e533a4..7ebf60c96b 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -16,7 +16,6 @@ class CarState(CarStateBase): self.acc_active_last = False self.low_speed_alert = False self.lkas_allowed_speed = False - self.lkas_disabled = False def update(self, cp, cp_cam): @@ -92,12 +91,9 @@ class CarState(CarStateBase): self.acc_active_last = ret.cruiseState.enabled - self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] - - # camera signals - self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0 self.cam_lkas = cp_cam.vl["CAM_LKAS"] self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] + self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"] ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 return ret diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 9557cbc77b..b4ae938228 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -86,9 +86,7 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) - if self.CS.lkas_disabled: - events.add(EventName.lkasDisabled) - elif self.CS.low_speed_alert: + if self.CS.low_speed_alert: events.add(EventName.belowSteerSpeed) ret.events = events.to_msg() diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 6d84d6fdf2..0048ca661c 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -832,9 +832,4 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, - EventName.lkasDisabled: { - ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"), - ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), - }, - } From 256c51e16afdf4a8fa7089cc9c318c07b15504a7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Dec 2021 23:04:27 -0800 Subject: [PATCH 094/239] bump cereal --- cereal | 2 +- selfdrive/controls/lib/events.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/cereal b/cereal index f1c5c8ef7c..e83ec3be7d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit f1c5c8ef7cab05b66892d67b6992f5ac1238ad4f +Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 0048ca661c..48a257ab4c 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -267,6 +267,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.stockFcw: {}, + EventName.lkasDisabled: {}, + # ********** events only containing alerts displayed in all states ********** EventName.joystickDebug: { From f3e67e0ec211331471830a0ada9eebc2eaea48d3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Dec 2021 23:16:16 -0800 Subject: [PATCH 095/239] repeat immediate warning sound --- selfdrive/ui/soundd/sound.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index b493c3a3d8..82b360fd38 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -16,7 +16,7 @@ const std::tuple sound_list[] = { {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite}, {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", 10}, + {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite}, }; class Sound : public QObject { From ea82af14ca876c158637a234158694bc410803f6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Dec 2021 23:20:02 -0800 Subject: [PATCH 096/239] delete old scripts --- selfdrive/debug/internal/rt/atrace.sh | 4 -- selfdrive/debug/internal/rt/record_trace.sh | 25 -------- selfdrive/debug/internal/rt/waste3.c | 63 ------------------- selfdrive/debug/internal/sounds/set_volume.sh | 6 -- .../internal/sounds/test_sound_stability.py | 45 ------------- .../debug/internal/sounds/test_sounds.py | 23 ------- 6 files changed, 166 deletions(-) delete mode 100755 selfdrive/debug/internal/rt/atrace.sh delete mode 100755 selfdrive/debug/internal/rt/record_trace.sh delete mode 100644 selfdrive/debug/internal/rt/waste3.c delete mode 100755 selfdrive/debug/internal/sounds/set_volume.sh delete mode 100755 selfdrive/debug/internal/sounds/test_sound_stability.py delete mode 100755 selfdrive/debug/internal/sounds/test_sounds.py diff --git a/selfdrive/debug/internal/rt/atrace.sh b/selfdrive/debug/internal/rt/atrace.sh deleted file mode 100755 index 826178c329..0000000000 --- a/selfdrive/debug/internal/rt/atrace.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/bash - -echo 96000 > /d/tracing/buffer_size_kb -atrace -t 10 sched workq -b 96000 > /tmp/trace.txt diff --git a/selfdrive/debug/internal/rt/record_trace.sh b/selfdrive/debug/internal/rt/record_trace.sh deleted file mode 100755 index 00593bfca4..0000000000 --- a/selfdrive/debug/internal/rt/record_trace.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/usr/bin/bash - -cd /d/tracing - -# setup tracer -echo "function" > current_tracer - -echo "start tracing" -echo 1 > tracing_on - -# do stuff -sleep 2 -#/data/openpilot/scripts/restart_modem.sh -#sleep 3 -#/data/openpilot/scripts/restart_modem.sh -sleep 5 - -# disable tracing -echo "done tracing" -echo 0 > tracing_on - -# copy -echo "copy traces" -cp trace /tmp/trace.txt -cp per_cpu/cpu3/trace /tmp/trace_cpu3.txt diff --git a/selfdrive/debug/internal/rt/waste3.c b/selfdrive/debug/internal/rt/waste3.c deleted file mode 100644 index c536ca9c6d..0000000000 --- a/selfdrive/debug/internal/rt/waste3.c +++ /dev/null @@ -1,63 +0,0 @@ -#define _GNU_SOURCE -#include -#include -#include -#include -#include -#include -#include "../../../common/util.h" -#include "../../../common/timing.h" - -#define CORES 3 -double ttime[CORES]; -double oout[CORES]; - -void waste(int core) { - prctl(PR_SET_NAME, (unsigned long)"waste", 0, 0, 0); - - cpu_set_t my_set; - CPU_ZERO(&my_set); - CPU_SET(core, &my_set); - int ret = sched_setaffinity(0, sizeof(cpu_set_t), &my_set); - printf("set affinity to %d: %d\n", core, ret); - - //struct sched_param sa; - //memset(&sa, 0, sizeof(sa)); - //sa.sched_priority = 51; - //sched_setscheduler(syscall(SYS_gettid), SCHED_FIFO, &sa); - - float32x4_t *tmp = (float32x4_t *)malloc(0x1000008*sizeof(float32x4_t)); - float32x4_t out; - - uint64_t i = 0; - double sec = seconds_since_boot(); - while(1) { - int j; - for (j = 0; j < 0x1000000; j++) { - out = vmlaq_f32(out, tmp[j], tmp[j+1]); - } - if (i == 0x8) { - double nsec = seconds_since_boot(); - ttime[core] = nsec-sec; - oout[core] = out[0] + out[1] + out[2] + out[3]; - i = 0; - sec = nsec; - } - i++; - } -} - -int main() { - pthread_t waster[CORES]; - for (int i = 0 ; i < CORES; i++) { - pthread_create(&waster[i], NULL, waste, (void*)i); - } - while (1) { - for (int i = 0 ; i < CORES; i++) { - printf("%.2f ", ttime[i]); - } - printf("\n"); - sleep(1); - } -} - diff --git a/selfdrive/debug/internal/sounds/set_volume.sh b/selfdrive/debug/internal/sounds/set_volume.sh deleted file mode 100755 index b25a421822..0000000000 --- a/selfdrive/debug/internal/sounds/set_volume.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/usr/bin/bash -while true -do - service call audio 3 i32 3 i32 $1 i32 1 - sleep 1 -done diff --git a/selfdrive/debug/internal/sounds/test_sound_stability.py b/selfdrive/debug/internal/sounds/test_sound_stability.py deleted file mode 100755 index ba6c59220b..0000000000 --- a/selfdrive/debug/internal/sounds/test_sound_stability.py +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 -import os -import subprocess -import time -import datetime -import random - -from common.basedir import BASEDIR -import cereal.messaging as messaging - -if __name__ == "__main__": - - sound_dir = os.path.join(BASEDIR, "selfdrive/assets/sounds") - sound_files = [f for f in os.listdir(sound_dir) if f.endswith(".wav")] - play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound") - - print("disabling charging") - os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled') - - os.environ["LD_LIBRARY_PATH"] = "" - - sm = messaging.SubMaster(["deviceState"]) - - FNULL = open(os.devnull, "w") - start_time = time.time() - while True: - volume = 15 - - n = random.randint(5, 10) - procs = [] - for _ in range(n): - sound = random.choice(sound_files) - p = subprocess.Popen([play_sound, os.path.join(sound_dir, sound), str(volume)], stdout=FNULL, stderr=FNULL) - procs.append(p) - time.sleep(random.uniform(0, 0.75)) - - time.sleep(random.randint(0, 5)) - for p in procs: - p.terminate() - - sm.update(0) - s = time.time() - start_time - hhmmss = str(datetime.timedelta(seconds=s)).split(".")[0] - print("test duration:", hhmmss) - print("\tbattery percent", sm["deviceState"].batteryPercent) diff --git a/selfdrive/debug/internal/sounds/test_sounds.py b/selfdrive/debug/internal/sounds/test_sounds.py deleted file mode 100755 index 3ed3a51589..0000000000 --- a/selfdrive/debug/internal/sounds/test_sounds.py +++ /dev/null @@ -1,23 +0,0 @@ -#!/usr/bin/env python3 - -import os -import subprocess -import time - -from common.basedir import BASEDIR - -if __name__ == "__main__": - - sound_dir = os.path.join(BASEDIR, "selfdrive/assets/sounds") - sound_files = [f for f in os.listdir(sound_dir) if f.endswith(".wav")] - - play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound") - - os.environ["LD_LIBRARY_PATH"] = "" - - while True: - for volume in range(10, 16): - for sound in sound_files: - p = subprocess.Popen([play_sound, os.path.join(sound_dir, sound), str(volume)]) - time.sleep(1) - p.terminate() From 2d8578545ffdaa7c40527aaeb68819515f7f2039 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Dec 2021 23:56:25 -0800 Subject: [PATCH 097/239] UI: less harsh controls unresponsive when not engaged --- selfdrive/ui/ui.h | 19 ++++++++++++++----- 1 file changed, 14 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 329da8a881..01e4253024 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -32,29 +32,38 @@ struct Alert { QString type; cereal::ControlsState::AlertSize size; AudibleAlert sound; + bool equal(const Alert &a2) { return text1 == a2.text1 && text2 == a2.text2 && type == a2.type && sound == a2.sound; } static Alert get(const SubMaster &sm, uint64_t started_frame) { + const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); if (sm.updated("controlsState")) { - const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertSound()}; } else if ((sm.frame - started_frame) > 5 * UI_FREQ) { const int CONTROLS_TIMEOUT = 5; + const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9; + // Handle controls timeout if (sm.rcv_frame("controlsState") < started_frame) { // car is started, but controlsState hasn't been seen at all return {"openpilot Unavailable", "Waiting for controls to start", "controlsWaiting", cereal::ControlsState::AlertSize::MID, AudibleAlert::NONE}; - } else if ((nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9 > CONTROLS_TIMEOUT) { + } else if (controls_missing > CONTROLS_TIMEOUT) { // car is started, but controls is lagging or died - return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", - "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, - AudibleAlert::WARNING_IMMEDIATE}; + if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { + return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", + "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, + AudibleAlert::WARNING_IMMEDIATE}; + } else { + return {"Controls Unresponsive", "Reboot Device", + "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID, + AudibleAlert::NONE}; + } } } return {}; From 50cce27e34aaed9ee5029031447b36a8fa328851 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 22 Dec 2021 03:06:45 +0800 Subject: [PATCH 098/239] UI: call map::offroadTransition after creating map (#23283) --- selfdrive/ui/qt/onroad.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 98ee279450..133603cd29 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -79,6 +79,7 @@ void OnroadWindow::offroadTransition(bool offroad) { if (map == nullptr && (uiState()->has_prime || !MAPBOX_TOKEN.isEmpty())) { MapWindow * m = new MapWindow(get_mapbox_settings()); m->setFixedWidth(topWidget(this)->width() / 2); + m->offroadTransition(offroad); QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition); split->addWidget(m, 0, Qt::AlignRight); map = m; From 6aeb54275083cb4b13d3d6f77583797deb0d2678 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Dec 2021 16:37:47 -0800 Subject: [PATCH 099/239] make that consistent with other labels --- selfdrive/ui/qt/offroad/networking.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index dd519dd661..2d5651dcce 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -158,7 +158,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(roamingToggle); // APN settings - ButtonControl *editApnButton = new ButtonControl("APN settings", "EDIT"); + ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT"); connect(editApnButton, &ButtonControl::clicked, [=]() { const bool roamingEnabled = params.getBool("GsmRoaming"); const QString cur_apn = QString::fromStdString(params.get("GsmApn")); From db6c477373913d1ac67ffa863c3b1dc1a93e9611 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Thu, 23 Dec 2021 04:37:33 +1100 Subject: [PATCH 100/239] use km/h in settings.cc (#23290) --- selfdrive/ui/qt/offroad/settings.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 6131e1b995..83802a1d90 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -38,7 +38,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { { "IsLdwEnabled", "Enable Lane Departure Warnings", - "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).", + "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).", "../assets/offroad/icon_warning.png", }, { From bf4d875c5af226224f6d4e826c3d03d6765b89a4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 23 Dec 2021 02:10:24 +0800 Subject: [PATCH 101/239] OnroadHud: use function loadPixmap (#23292) --- selfdrive/ui/qt/onroad.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 133603cd29..e978aaf104 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -163,8 +163,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { // OnroadHud OnroadHud::OnroadHud(QWidget *parent) : QWidget(parent) { - engage_img = QPixmap("../assets/img_chffr_wheel.png").scaled(img_size, img_size, Qt::KeepAspectRatio, Qt::SmoothTransformation); - dm_img = QPixmap("../assets/img_driver_face.png").scaled(img_size, img_size, Qt::KeepAspectRatio, Qt::SmoothTransformation); + engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); + dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); connect(this, &OnroadHud::valueChanged, [=] { update(); }); } From a1ac77310b3b3aabbcbc97b390f2609c3a200424 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Wed, 22 Dec 2021 18:31:50 -0600 Subject: [PATCH 102/239] Add missing COROLLA_TSS2 ESP & engine f/w (#23294) `Sebastiaan#0569` 2020 Corolla Hatch 1.2T XR RHD DongleID/route 567e47e503b36408|2021-12-22--20-44-44 --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 692de379b5..a0f40b7bde 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -536,6 +536,7 @@ FW_VERSIONS = { b'\x018966312P9200\x00\x00\x00\x00', b'\x018966312P9300\x00\x00\x00\x00', b'\x018966312Q2300\x00\x00\x00\x00', + b'\x018966312Q8000\x00\x00\x00\x00', b'\x018966312R0000\x00\x00\x00\x00', b'\x018966312R0100\x00\x00\x00\x00', b'\x018966312R1000\x00\x00\x00\x00', @@ -583,6 +584,7 @@ FW_VERSIONS = { b'\x01F152612B60\x00\x00\x00\x00\x00\x00', b'\x01F152612B61\x00\x00\x00\x00\x00\x00', b'\x01F152612B71\x00\x00\x00\x00\x00\x00', + b'\x01F152612B81\x00\x00\x00\x00\x00\x00', b'\x01F152612B90\x00\x00\x00\x00\x00\x00', b'\x01F152612C00\x00\x00\x00\x00\x00\x00', b'F152602191\x00\x00\x00\x00\x00\x00', From 94e435cededb90ff9215e1ecd9d0fa0dcfaf365e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 23 Dec 2021 12:36:16 +0800 Subject: [PATCH 103/239] replay/camera: use existing YUV_BUFFER_COUNT (#23297) --- selfdrive/ui/replay/camera.cc | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/ui/replay/camera.cc b/selfdrive/ui/replay/camera.cc index b37332ae7e..1912c9b581 100644 --- a/selfdrive/ui/replay/camera.cc +++ b/selfdrive/ui/replay/camera.cc @@ -3,8 +3,6 @@ #include #include -const int YUV_BUF_COUNT = 50; - CameraServer::CameraServer(std::pair camera_size[MAX_CAMERAS], bool send_yuv) : send_yuv(send_yuv) { for (int i = 0; i < MAX_CAMERAS; ++i) { std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i]; @@ -29,7 +27,7 @@ void CameraServer::startVipcServer() { std::cout << "camera[" << cam.type << "] frame size " << cam.width << "x" << cam.height << std::endl; vipc_server_->create_buffers(cam.rgb_type, UI_BUF_COUNT, true, cam.width, cam.height); if (send_yuv) { - vipc_server_->create_buffers(cam.yuv_type, YUV_BUF_COUNT, false, cam.width, cam.height); + vipc_server_->create_buffers(cam.yuv_type, YUV_BUFFER_COUNT, false, cam.width, cam.height); } if (!cam.thread.joinable()) { cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam)); From b1dfdca98284164d666336ef4e5cff0f71b1229a Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Thu, 23 Dec 2021 18:24:07 -0600 Subject: [PATCH 104/239] Add missing HIGHLANDER_TSS2 engine f/w (#23301) `@JohnLips#7600` 2022 Highlander Platinum ICE DongleID/route 697a805960f1b2d5|2021-12-23--13-14-37 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a0f40b7bde..6ad58e5636 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -770,6 +770,7 @@ FW_VERSIONS = { b'\x01896630EB2100\x00\x00\x00\x00', b'\x01896630EB2200\x00\x00\x00\x00', b'\x01896630EC4000\x00\x00\x00\x00', + b'\x01896630ED9000\x00\x00\x00\x00', b'\x01896630EE1000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ From 6fd3d50d79f0e75460f7f513657dfa1b47094bfa Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 24 Dec 2021 00:53:58 -0500 Subject: [PATCH 105/239] VW MQB: Add FW for 2018 Volkswagen Arteon (#23303) --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 5 +++++ 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index e4b7b3cac3..adf0c9d9c3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -150,7 +150,7 @@ | Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph | | Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph | | Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph | -| Volkswagen| Arteon 20214 | Driver Assistance | Stock | 0mph | 0mph | +| Volkswagen| Arteon 2018, 20214 | Driver Assistance | Stock | 0mph | 0mph | | Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph | | Volkswagen| California 20214 | Driver Assistance | Stock | 0mph | 32mph | | Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph | diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 0ca7aa512a..56e37841eb 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -101,19 +101,24 @@ class CAR: FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259F \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870GC300011L \xf1\x891401', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572J \xf1\x890654', ], }, CAR.ATLAS_MK1: { From 332f568a8241fba9459cb70c76840b9670e6993a Mon Sep 17 00:00:00 2001 From: Ewout ter Hoeven Date: Fri, 24 Dec 2021 20:18:39 +0100 Subject: [PATCH 106/239] Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305) Updated Python code with Python 3.6+ features: - utf-8 encoding is now the default (PEP 3120) - Replace list comprehensions by Generator Expressions (PEP 289) - Replace yield loop by yield from (PEP 380) - Remove the (object) subclass when defining a class - Replace the IOError alias by OSError (PEP 3151) - Define sets with curly braces {} instead of set() - Remove "r" parameter from open function, which is default Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com> Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com> Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com> --- selfdrive/athena/athenad.py | 8 ++++---- selfdrive/athena/tests/test_athenad.py | 2 +- selfdrive/boardd/tests/test_boardd_loopback.py | 2 +- selfdrive/car/car_helpers.py | 2 +- selfdrive/car/fingerprints.py | 2 +- selfdrive/car/fw_versions.py | 2 +- selfdrive/car/gm/radar_interface.py | 1 - selfdrive/car/honda/values.py | 12 ++++++------ selfdrive/car/hyundai/values.py | 14 +++++++------- selfdrive/car/mazda/values.py | 4 ++-- selfdrive/car/toyota/values.py | 8 ++++---- selfdrive/controls/controlsd.py | 2 +- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/radard.py | 2 +- selfdrive/debug/cpu_usage_stat.py | 2 +- selfdrive/debug/internal/sensor_test_bootloop.py | 2 +- selfdrive/debug/run_process_on_route.py | 2 +- selfdrive/locationd/models/live_kf.py | 2 +- selfdrive/locationd/models/loc_kf.py | 2 +- selfdrive/locationd/test/ublox.py | 5 ++--- selfdrive/loggerd/tests/test_deleter.py | 2 +- selfdrive/loggerd/tests/test_uploader.py | 2 +- selfdrive/manager/helpers.py | 2 +- selfdrive/manager/process.py | 2 +- selfdrive/pandad.py | 2 +- selfdrive/test/process_replay/compare_logs.py | 2 +- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/test_processes.py | 2 +- selfdrive/test/test_fingerprints.py | 2 +- selfdrive/thermald/thermald.py | 2 +- selfdrive/ui/qt/python_helpers.py | 1 - selfdrive/ui/tests/cycle_offroad_alerts.py | 2 +- selfdrive/updated.py | 2 +- tools/lib/auth.py | 2 +- tools/lib/framereader.py | 6 ++---- tools/lib/logreader.py | 4 ++-- tools/lib/route.py | 6 +++--- tools/lib/url_file.py | 4 ++-- tools/sim/bridge.py | 2 +- 39 files changed, 62 insertions(+), 67 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index adfa8673f4..996ac97f8e 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -34,7 +34,7 @@ from selfdrive.version import get_version, get_origin, get_short_branch, get_com ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) -LOCAL_PORT_WHITELIST = set([8022]) +LOCAL_PORT_WHITELIST = {8022} LOG_ATTR_NAME = 'user.upload' LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder) @@ -287,7 +287,7 @@ def listUploadQueue(): @dispatcher.add_method def cancelUpload(upload_id): - upload_ids = set(item.id for item in list(upload_queue.queue)) + upload_ids = {item.id for item in list(upload_queue.queue)} if upload_id not in upload_ids: return 404 @@ -338,7 +338,7 @@ def getPublicKey(): if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'): return None - with open(PERSIST + '/comma/id_rsa.pub', 'r') as f: + with open(PERSIST + '/comma/id_rsa.pub') as f: return f.read() @@ -419,7 +419,7 @@ def log_handler(end_event): curr_time = int(time.time()) log_path = os.path.join(SWAGLOG_DIR, log_entry) setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder)) - with open(log_path, "r") as f: + with open(log_path) as f: jsonrpc = { "method": "forwardLogs", "params": { diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index d96e32abc2..bf6d3940f9 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -30,7 +30,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.ROOT = tempfile.mkdtemp() athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp() athenad.Api = MockApi - athenad.LOCAL_PORT_WHITELIST = set([cls.SOCKET_PORT]) + athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} def setUp(self): MockParams.restore_defaults() diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 24c6f2e300..631b4c987f 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -69,7 +69,7 @@ class TestBoardd(unittest.TestCase): for __ in range(random.randrange(100)): bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) addr = random.randrange(1, 1<<29) - dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))]) + dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) sent_msgs[bus].add((addr, dat)) to_send.append(make_can_msg(addr, dat, bus)) sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 5c4208625e..6cce7e62d9 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -68,7 +68,7 @@ def _get_interface_names(): model_names = __import__(f'selfdrive.car.{brand_name}.values', fromlist=['CAR']).CAR model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")] brand_names[brand_name] = model_names - except (ImportError, IOError): + except (ImportError, OSError): pass return brand_names diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index ed5892a015..9b280f3b45 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -28,7 +28,7 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True): elif isinstance(attr_values, list): result += attr_values - except (ImportError, IOError): + except (ImportError, OSError): pass return result diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 1c04f313e7..af7b715fe3 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -221,7 +221,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): if match_count >= 2: if log: cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") - return set([candidate]) + return {candidate} else: return set() diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 4cb1e0781f..d1ad1c1635 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -from __future__ import print_function import math from cereal import car from opendbc.can.parser import CANParser diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 083a52bb86..cbe2369b14 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1385,9 +1385,9 @@ STEER_THRESHOLD = { CAR.CRV_EU: 400, } -HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY]) -HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, - CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE]) -HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E]) -HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G]) +HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} +HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, + CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE} +HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E} +HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index df2e10dbe7..64e8330928 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -987,19 +987,19 @@ CHECKSUM = { FEATURES = { # which message has the gear - "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]), - "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]), - "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]), + "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, + "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]), + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022}, } -HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]) # these cars use a different gas signal -EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV]) +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022} # these cars use a different gas signal +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = set([CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]) +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index e03b092feb..f18c30176c 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -247,7 +247,7 @@ DBC = { } # Gen 1 hardware: same CAN messages and same camera -GEN1 = set([CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6]) +GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6} # Cars with a steering lockout -STEER_LOCKOUT_CAR = set([CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6]) +STEER_LOCKOUT_CAR = {CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6} diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 6ad58e5636..4605620a24 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1639,11 +1639,11 @@ DBC = { # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, +TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, - CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2]) + CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2} -NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]) +NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH]) +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1933ab5282..e6552d4b63 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -346,7 +346,7 @@ class Controls: self.events.add(EventName.localizerMalfunction) # Check if all manager processes are running - not_running = set(p.name for p in self.sm['managerState'].processes if not p.running) + not_running = {p.name for p in self.sm['managerState'].processes if not p.running} if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES): self.events.add(EventName.processNotRunning) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 3a8234706f..1b0afe1cf7 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -349,7 +349,7 @@ class LongitudinalMpc(): self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) self.accel_limit_arr[:,0] = -10. self.accel_limit_arr[:,1] = 10. - x_obstacle = 1e5*np.ones((N+1)) + x_obstacle = 1e5*np.ones(N+1) self.params = np.concatenate([self.accel_limit_arr, x_obstacle[:,None], self.prev_a[:,None]], axis=1) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 14de2eff32..1ed1a0dbff 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -135,7 +135,7 @@ class RadarD(): self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3]) idens = list(sorted(self.tracks.keys())) - track_pts = list([self.tracks[iden].get_key_for_cluster() for iden in idens]) + track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens] # If we have multiple points, cluster them if len(track_pts) > 1: diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 5f181e0a27..76e809d2c4 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -118,6 +118,6 @@ if __name__ == "__main__": l.sort(key=lambda x: -x[1]) for x in l: print(x[2]) - print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format( + print('avg sum: {:.2%} over {} samples {} seconds\n'.format( sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL )) diff --git a/selfdrive/debug/internal/sensor_test_bootloop.py b/selfdrive/debug/internal/sensor_test_bootloop.py index 9e89add6bb..36eb112e44 100755 --- a/selfdrive/debug/internal/sensor_test_bootloop.py +++ b/selfdrive/debug/internal/sensor_test_bootloop.py @@ -17,7 +17,7 @@ except PermissionError: print("WARNING: failed to make /dev/shm") try: - with open('/tmp/sensor-test-results.json', 'r') as infile: + with open('/tmp/sensor-test-results.json') as infile: data = json.load(infile) except Exception: data = {'sensor-pass': 0, 'sensor-fail': 0} diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index bcb741f54e..bc052bf9be 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -23,7 +23,7 @@ if __name__ == "__main__": outputs = replay_process(cfg, inputs) # Remove message generated by the process under test and merge in the new messages - produces = set(o.which() for o in outputs) + produces = {o.which() for o in outputs} inputs = [i for i in inputs if i.which() not in produces] outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index fa52945932..023479d10e 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -158,7 +158,7 @@ class LiveKalman(): delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) - delta_quat = sp.Matrix(np.ones((4))) + delta_quat = sp.Matrix(np.ones(4)) delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :]) err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :]) err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index adb9098d4d..199cc7e205 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -232,7 +232,7 @@ class LocKalman(): err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): - delta_quat = sp.Matrix(np.ones((4))) + delta_quat = sp.Matrix(np.ones(4)) delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :]) err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): diff --git a/selfdrive/locationd/test/ublox.py b/selfdrive/locationd/test/ublox.py index 04422a81cd..9cffbeac40 100644 --- a/selfdrive/locationd/test/ublox.py +++ b/selfdrive/locationd/test/ublox.py @@ -338,7 +338,7 @@ class UBloxDescriptor: ret += '%s, ' % v[a] ret = ret[:-2] + '], ' elif isinstance(v, str): - ret += '%s="%s", ' % (f, v.rstrip(' \0')) + ret += '{}="{}", '.format(f, v.rstrip(' \0')) else: ret += '%s=%s, ' % (f, v) for r in msg._recs: @@ -774,10 +774,9 @@ class UBlox: def read(self, n): '''read some bytes''' if self.use_sendrecv: - import socket try: return self.dev.recv(n) - except socket.error: + except OSError: return '' return self.dev.read(n) diff --git a/selfdrive/loggerd/tests/test_deleter.py b/selfdrive/loggerd/tests/test_deleter.py index 89904e694a..e0a063bd43 100644 --- a/selfdrive/loggerd/tests/test_deleter.py +++ b/selfdrive/loggerd/tests/test_deleter.py @@ -18,7 +18,7 @@ class TestDeleter(UploaderTestCase): def setUp(self): self.f_type = "fcamera.hevc" - super(TestDeleter, self).setUp() + super().setUp() self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096) deleter.os.statvfs = self.fake_statvfs deleter.ROOT = self.root diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py index 8562f5f21d..54c65db73d 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/selfdrive/loggerd/tests/test_uploader.py @@ -39,7 +39,7 @@ cloudlog.addHandler(log_handler) class TestUploader(UploaderTestCase): def setUp(self): - super(TestUploader, self).setUp() + super().setUp() log_handler.reset() def start_thread(self): diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index fdda0deb9a..7ac71ae379 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -29,7 +29,7 @@ def unblock_stdout(): try: sys.stdout.write(dat.decode('utf8')) - except (OSError, IOError, UnicodeDecodeError): + except (OSError, UnicodeDecodeError): pass # os.wait() returns a tuple with the pid and a 16 bit value diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 2030b35e32..45331a46f2 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -262,7 +262,7 @@ class DaemonProcess(ManagerProcess): cloudlog.info(f"starting daemon {self.name}") proc = subprocess.Popen(['python', '-m', self.module], # pylint: disable=subprocess-popen-preexec-fn - stdin=open('/dev/null', 'r'), + stdin=open('/dev/null'), stdout=open('/dev/null', 'w'), stderr=open('/dev/null', 'w'), preexec_fn=os.setpgrp) diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py index b725ca9dda..7eef5c2a3d 100755 --- a/selfdrive/pandad.py +++ b/selfdrive/pandad.py @@ -30,7 +30,7 @@ def flash_panda(panda_serial : str) -> Panda: panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() - cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % ( + cloudlog.warning("Panda {} connected, version: {}, signature {}, expected {}".format( panda_serial, panda_version, panda_signature.hex()[:16], diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index eb058b354c..72f5e51bb2 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -58,7 +58,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non if ignore_msgs is None: ignore_msgs = [] - log1, log2 = [list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)] + log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)) if len(log1) != len(log2): cnt1 = Counter(m.which() for m in log1) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index ccdbc2754f..8a13e4b18e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -89,7 +89,7 @@ class DumbSocket: class FakeSubMaster(messaging.SubMaster): def __init__(self, services): - super(FakeSubMaster, self).__init__(services, addr=None) + super().__init__(services, addr=None) self.sock = {s: DumbSocket(s) for s in services} self.update_called = threading.Event() self.update_ready = threading.Event() @@ -111,7 +111,7 @@ class FakeSubMaster(messaging.SubMaster): def update_msgs(self, cur_time, msgs): wait_for_event(self.update_called) self.update_called.clear() - super(FakeSubMaster, self).update_msgs(cur_time, msgs) + super().update_msgs(cur_time, msgs) self.update_ready.set() def wait_for_update(self): diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 3283ec8191..6c33b46224 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -143,7 +143,7 @@ if __name__ == "__main__": # check to make sure all car brands are tested if FULL_TEST: - tested_cars = set(c.lower() for c, _ in segments) + tested_cars = {c.lower() for c, _ in segments} untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars assert len(untested) == 0, f"Cars missing routes: {str(untested)}" diff --git a/selfdrive/test/test_fingerprints.py b/selfdrive/test/test_fingerprints.py index 96bb5ffa02..4ea60a76a8 100755 --- a/selfdrive/test/test_fingerprints.py +++ b/selfdrive/test/test_fingerprints.py @@ -19,7 +19,7 @@ def _get_fingerprints(): car_name = car_folder.split('/')[-1] try: fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS - except (ImportError, IOError, AttributeError): + except (ImportError, OSError, AttributeError): pass return fingerprints diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 1b467f9627..28d21620f2 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -81,7 +81,7 @@ def set_eon_fan(val): try: i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val] bus.write_i2c_block_data(0x3d, 0, [i]) - except IOError: + except OSError: # tusb320 if val == 0: bus.write_i2c_block_data(0x67, 0xa, [0]) diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py index 4dd99951bf..905d41a634 100644 --- a/selfdrive/ui/qt/python_helpers.py +++ b/selfdrive/ui/qt/python_helpers.py @@ -1,4 +1,3 @@ - import os from cffi import FFI diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index 6b3453026b..6b6aea4477 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -18,7 +18,7 @@ if __name__ == "__main__": while True: print("setting alert update") params.put_bool("UpdateAvailable", True) - r = open(os.path.join(BASEDIR, "RELEASES.md"), "r").read() + r = open(os.path.join(BASEDIR, "RELEASES.md")).read() r = r[:r.find('\n\n')] # Slice latest release notes params.put("ReleaseNotes", r + "\n") diff --git a/selfdrive/updated.py b/selfdrive/updated.py index eaaed0e8de..695b84e152 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -380,7 +380,7 @@ def main(): ov_lock_fd = open(LOCK_FILE, 'w') try: fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB) - except IOError as e: + except OSError as e: raise RuntimeError("couldn't get overlay lock; is another instance running?") from e # Set low io priority diff --git a/tools/lib/auth.py b/tools/lib/auth.py index d5d2a60bb0..0e9e7705b5 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -109,7 +109,7 @@ def login(method): if 'code' in web_server.query_params: break elif 'error' in web_server.query_params: - print('Authentication Error: "%s". Description: "%s" ' % ( + print('Authentication Error: "{}". Description: "{}" '.format( web_server.query_params['error'], web_server.query_params.get('error_description')), file=sys.stderr) break diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index bd7980f6e0..ac5962462e 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -572,15 +572,13 @@ class StreamFrameReader(StreamGOPReader, GOPFrameReader): def GOPFrameIterator(gop_reader, pix_fmt): dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt) - for frame in dec.read(): - yield frame + yield from dec.read() def FrameIterator(fn, pix_fmt, **kwargs): fr = FrameReader(fn, **kwargs) if isinstance(fr, GOPReader): - for v in GOPFrameIterator(fr, pix_fmt): - yield v + yield from GOPFrameIterator(fr, pix_fmt) else: for i in range(fr.frame_count): yield fr.get(i, pix_fmt=pix_fmt)[0] diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 1c9cc81e32..3e535b56c3 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -12,7 +12,7 @@ except ImportError: from cereal import log as capnp_log # this is an iterator itself, and uses private variables from LogReader -class MultiLogIterator(object): +class MultiLogIterator: def __init__(self, log_paths, wraparound=False): self._log_paths = log_paths self._wraparound = wraparound @@ -74,7 +74,7 @@ class MultiLogIterator(object): return True -class LogReader(object): +class LogReader: def __init__(self, fn, canonicalize=True, only_union_types=False): data_version = None _, ext = os.path.splitext(urllib.parse.urlparse(fn).path) diff --git a/tools/lib/route.py b/tools/lib/route.py index 76ca2bcf54..c3bb94dad4 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -18,7 +18,7 @@ CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc'] DCAMERA_FILENAMES = ['dcamera.hevc'] ECAMERA_FILENAMES = ['ecamera.hevc'] -class Route(object): +class Route: def __init__(self, route_name, data_dir=None): self.files = None self.route_name = route_name.replace('_', '|') @@ -155,7 +155,7 @@ class Route(object): raise ValueError(f'Could not find segments for route {self.route_name} in data directory {data_dir}') return sorted(segments, key=lambda seg: seg.canonical_name.segment_num) -class RouteSegment(object): +class RouteSegment: def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path): self._name = RouteSegmentName(name) self.log_path = log_path @@ -173,7 +173,7 @@ class RouteSegment(object): def canonical_name(self): return self._name -class RouteSegmentName(object): +class RouteSegmentName: def __init__(self, name_str): self._segment_name_str = name_str self._route_name_str, num_str = self._segment_name_str.rsplit("--", 1) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 82f7c971fc..8ad2f96b3a 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -22,7 +22,7 @@ def hash_256(link): return hsh -class URLFile(object): +class URLFile: _tlocal = threading.local() def __init__(self, url, debug=False, cache=None): @@ -70,7 +70,7 @@ class URLFile(object): return self._length file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length") if os.path.exists(file_length_path) and not self._force_download: - with open(file_length_path, "r") as file_length: + with open(file_length_path) as file_length: content = file_length.read() self._length = int(content) return self._length diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 9924a40b11..2e19faefcd 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -93,7 +93,7 @@ class Camerad: rgb_cl = cl_array.to_device(self.queue, rgb) yuv_cl = cl_array.empty_like(rgb_cl) self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait() - yuv = np.resize(yuv_cl.get(), np.int32((rgb.size / 2))) + yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2)) eof = self.frame_id * 0.05 # TODO: remove RGB send once the last RGB vipc subscriber is removed From 13bf30fdc35bec8a2eceed215a95574415639b39 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 24 Dec 2021 15:25:58 -0600 Subject: [PATCH 107/239] VW MQB: Add FW for 2019 Volkswagen Jetta (#23306) * fingerprint 2019 vw jetta sel * remove duplicate, fix sorting Co-authored-by: cyanet01 --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 56e37841eb..d937ecad97 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -297,6 +297,7 @@ FW_VERSIONS = { b'\xf1\x8704E906024AK\xf1\x899937', b'\xf1\x8704E906024AS\xf1\x899912', b'\xf1\x8704E906024B \xf1\x895594', + b'\xf1\x8704E906024C \xf1\x899970', b'\xf1\x8704E906024L \xf1\x895595', b'\xf1\x8704E906024L \xf1\x899970', b'\xf1\x8704E906027MS\xf1\x896223', @@ -311,6 +312,7 @@ FW_VERSIONS = { ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100', + b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100', b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100', @@ -327,6 +329,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907572N \xf1\x890681', + b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], }, From 699b20ed4447e09d9d208f7a04074f48ff0055ec Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 26 Dec 2021 21:02:12 -0800 Subject: [PATCH 108/239] test/profiler: fix setting carParams --- selfdrive/test/profiling/profiler.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 7a01e72122..5f73176fab 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -5,7 +5,6 @@ import cProfile # pylint: disable=import-error import pprofile # pylint: disable=import-error import pyprof2calltree # pylint: disable=import-error -from cereal import car from common.params import Params from tools.lib.logreader import LogReader from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone @@ -35,9 +34,7 @@ def get_inputs(msgs, process, fingerprint): if msg.which() == 'carParams': m = msg.as_builder() m.carParams.carFingerprint = fingerprint - - CP = car.CarParams.from_dict(m.carParams.to_dict()) - Params().put("CarParams", CP.to_bytes()) + Params().put("CarParams", m.carParams.copy().to_bytes()) break sm = SubMaster(msgs, trigger, sub_socks) From c9da1403bcb4491db0fd9ee9e2e921c630ad96a9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Dec 2021 05:02:18 +0800 Subject: [PATCH 109/239] replay: fix segfault or hanging on quit (#23323) --- selfdrive/ui/replay/main.cc | 6 +----- selfdrive/ui/replay/replay.cc | 4 ---- selfdrive/ui/replay/replay.h | 1 - 3 files changed, 1 insertion(+), 10 deletions(-) diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc index 062837885b..ccc85d4b72 100644 --- a/selfdrive/ui/replay/main.cc +++ b/selfdrive/ui/replay/main.cc @@ -11,16 +11,12 @@ const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; struct termios oldt = {}; -Replay *replay = nullptr; void sigHandler(int s) { std::signal(s, SIG_DFL); if (oldt.c_lflag) { tcsetattr(STDIN_FILENO, TCSANOW, &oldt); } - if (replay) { - replay->stop(); - } qApp->quit(); } @@ -134,7 +130,7 @@ int main(int argc, char *argv[]) { replay_flags |= flag; } } - replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); if (!replay->load()) { return 0; } diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index 8155eb3456..d48df96874 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -36,10 +36,6 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s } Replay::~Replay() { - stop(); -} - -void Replay::stop() { if (!stream_thread_ && segments_.empty()) return; qDebug() << "shutdown: in progress..."; diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index a3e6efaadb..e482d8d96b 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -28,7 +28,6 @@ public: ~Replay(); bool load(); void start(int seconds = 0); - void stop(); void pause(bool pause); bool isPaused() const { return paused_; } From 21fc9d537548f7694177f8bb3a1e31cb94995624 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Dec 2021 05:22:42 +0800 Subject: [PATCH 110/239] replay/util: initialize curl at startup (#23314) --- selfdrive/ui/replay/util.cc | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/replay/util.cc b/selfdrive/ui/replay/util.cc index d6791465f2..97e824ea29 100644 --- a/selfdrive/ui/replay/util.cc +++ b/selfdrive/ui/replay/util.cc @@ -17,13 +17,14 @@ namespace { -static std::atomic enable_http_logging = false; - struct CURLGlobalInitializer { CURLGlobalInitializer() { curl_global_init(CURL_GLOBAL_DEFAULT); } ~CURLGlobalInitializer() { curl_global_cleanup(); } }; +static CURLGlobalInitializer curl_initializer; +static std::atomic enable_http_logging = false; + template struct MultiPartWriter { T *buf; @@ -98,8 +99,6 @@ void enableHttpLogging(bool enable) { template bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t content_length, std::atomic *abort) { - static CURLGlobalInitializer curl_initializer; - int parts = 1; if (chunk_size > 0 && content_length > 10 * 1024 * 1024) { parts = std::nearbyint(content_length / (float)chunk_size); From 1fc1382480f2d346762bf91353f9f582b4d7d07e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Dec 2021 05:31:42 +0800 Subject: [PATCH 111/239] posenet_publish: use const references (#23310) --- selfdrive/modeld/models/driving.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 22d0716f67..69aeb91be1 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -327,10 +327,10 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, flo void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid) { MessageBuilder msg; - auto v_mean = net_outputs.pose.velocity_mean; - auto r_mean = net_outputs.pose.rotation_mean; - auto v_std = net_outputs.pose.velocity_std; - auto r_std = net_outputs.pose.rotation_std; + const auto &v_mean = net_outputs.pose.velocity_mean; + const auto &r_mean = net_outputs.pose.rotation_mean; + const auto &v_std = net_outputs.pose.velocity_std; + const auto &r_std = net_outputs.pose.rotation_std; auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); From 4c7c2cc75ddeb92483f95f327a3098cfaa8fc9df Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 27 Dec 2021 15:04:50 -0800 Subject: [PATCH 112/239] palanteer seems pretty cool --- .../debug/profiling/palanteer/.gitignore | 2 ++ selfdrive/debug/profiling/palanteer/setup.sh | 24 +++++++++++++++++++ 2 files changed, 26 insertions(+) create mode 100644 selfdrive/debug/profiling/palanteer/.gitignore create mode 100755 selfdrive/debug/profiling/palanteer/setup.sh diff --git a/selfdrive/debug/profiling/palanteer/.gitignore b/selfdrive/debug/profiling/palanteer/.gitignore new file mode 100644 index 0000000000..158e7b0759 --- /dev/null +++ b/selfdrive/debug/profiling/palanteer/.gitignore @@ -0,0 +1,2 @@ +palanteer/ +viewer diff --git a/selfdrive/debug/profiling/palanteer/setup.sh b/selfdrive/debug/profiling/palanteer/setup.sh new file mode 100755 index 0000000000..e912a9367f --- /dev/null +++ b/selfdrive/debug/profiling/palanteer/setup.sh @@ -0,0 +1,24 @@ +#!/bin/bash + +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +if [ ! -d palanteer ]; then + git clone https://github.com/dfeneyrou/palanteer + pip install wheel + sudo apt install libunwind-dev libdw-dev +fi + +cd palanteer +git pull + +mkdir -p build +cd build +cmake .. -DCMAKE_BUILD_TYPE=Release +make -j$(nproc) + +pip install --force-reinstall python/dist/palanteer*.whl + +cp bin/palanteer $DIR/viewer From 5fe809b34471470b79e436d071d8278297b15a3c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Dec 2021 15:50:24 +0800 Subject: [PATCH 113/239] ui: set the bg color of controllerUnresponsivePermanent to blue (#23308) * fix bg color * blue --- selfdrive/ui/qt/onroad.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index e978aaf104..e394d1248a 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -51,6 +51,8 @@ void OnroadWindow::updateState(const UIState &s) { if (s.sm->updated("controlsState") || !alert.equal({})) { if (alert.type == "controlsUnresponsive") { bgColor = bg_colors[STATUS_ALERT]; + } else if (alert.type == "controlsUnresponsivePermanent") { + bgColor = bg_colors[STATUS_DISENGAGED]; } alerts->updateAlert(alert, bgColor); } From de6126ba06fc27978237a70049e444412ed22fce Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Dec 2021 18:37:33 +0800 Subject: [PATCH 114/239] replay: add flag REPLAY_FLAG_FULL_SPEED to play at full speed (#23324) * add flag REPLAY_FLAG_FULL_SPEED * use hasFlag --- selfdrive/ui/replay/main.cc | 8 ++++++++ selfdrive/ui/replay/replay.cc | 13 ++++++++----- selfdrive/ui/replay/replay.h | 6 +++++- 3 files changed, 21 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc index ccc85d4b72..82f9c4e4af 100644 --- a/selfdrive/ui/replay/main.cc +++ b/selfdrive/ui/replay/main.cc @@ -65,6 +65,14 @@ void keyboardThread(Replay *replay_) { replay_->seekTo(-10, true); } else if (c == 'G') { replay_->seekTo(0, true); + } else if (c == 'x') { + if (replay_->hasFlag(REPLAY_FLAG_FULL_SPEED)) { + replay_->removeFlag(REPLAY_FLAG_FULL_SPEED); + qInfo() << "replay at normal speed"; + } else { + replay_->addFlag(REPLAY_FLAG_FULL_SPEED); + qInfo() << "replay at full speed"; + } } else if (c == ' ') { replay_->pause(!replay_->isPaused()); } diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index d48df96874..5aea11bb2c 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -224,7 +224,7 @@ void Replay::startStream(const Segment *cur_segment) { camera_size[type] = {fr->width, fr->height}; } } - camera_server_ = std::make_unique(camera_size, flags_ & REPLAY_FLAG_SEND_YUV); + camera_server_ = std::make_unique(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV)); // start stream thread stream_thread_ = new QThread(); @@ -252,8 +252,8 @@ void Replay::publishFrame(const Event *e) { {cereal::Event::DRIVER_ENCODE_IDX, DriverCam}, {cereal::Event::WIDE_ROAD_ENCODE_IDX, WideRoadCam}, }; - if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !(flags_ & REPLAY_FLAG_DCAM)) || - (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !(flags_ & REPLAY_FLAG_ECAM))) { + if ((e->which == cereal::Event::DRIVER_ENCODE_IDX && !hasFlag(REPLAY_FLAG_DCAM)) || + (e->which == cereal::Event::WIDE_ROAD_ENCODE_IDX && !hasFlag(REPLAY_FLAG_ECAM))) { return; } auto eidx = capnp::AnyStruct::Reader(e->event).getPointerSection()[0].getAs(); @@ -314,11 +314,14 @@ void Replay::stream() { // reset start times evt_start_ts = cur_mono_time_; loop_start_ts = nanos_since_boot(); - } else if (behind_ns > 0) { + } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) { precise_nano_sleep(behind_ns); } if (evt->frame) { + if (hasFlag(REPLAY_FLAG_FULL_SPEED)) { + camera_server_->waitFinish(); + } publishFrame(evt); } else { publishMessage(evt); @@ -328,7 +331,7 @@ void Replay::stream() { // wait for frame to be sent before unlock.(frameReader may be deleted after unlock) camera_server_->waitFinish(); - if (eit == events_->end() && !(flags_ & REPLAY_FLAG_NO_LOOP)) { + if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { int last_segment = segments_.rbegin()->first; if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) { qInfo() << "reaches the end of route, restart from beginning"; diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index e482d8d96b..4a3fab2981 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -17,6 +17,7 @@ enum REPLAY_FLAGS { REPLAY_FLAG_QCAMERA = 0x0040, REPLAY_FLAG_SEND_YUV = 0x0080, REPLAY_FLAG_NO_CUDA = 0x0100, + REPLAY_FLAG_FULL_SPEED = 0x0200, }; class Replay : public QObject { @@ -30,6 +31,9 @@ public: void start(int seconds = 0); void pause(bool pause); bool isPaused() const { return paused_; } + inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; } + inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; } + inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; } signals: void segmentChanged(); @@ -78,5 +82,5 @@ protected: std::vector sockets_; std::unique_ptr route_; std::unique_ptr camera_server_; - uint32_t flags_ = REPLAY_FLAG_NONE; + std::atomic flags_ = REPLAY_FLAG_NONE; }; From 58a363e07d640938e74f938d14dfc5beb6fa1036 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Dec 2021 18:38:31 +0800 Subject: [PATCH 115/239] replay/segment: pass member function pointer to QtConcurrent::run (#23312) --- selfdrive/ui/replay/route.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc index 23c27073cb..4ed832cd52 100644 --- a/selfdrive/ui/replay/route.cc +++ b/selfdrive/ui/replay/route.cc @@ -91,16 +91,16 @@ void Route::addFileToSegment(int n, const QString &file) { Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog - const QString file_list[] = { + const std::array file_list = { (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, flags & REPLAY_FLAG_DCAM ? files.driver_cam : "", flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "", files.rlog.isEmpty() ? files.qlog : files.rlog, }; - for (int i = 0; i < std::size(file_list); i++) { + for (int i = 0; i < file_list.size(); ++i) { if (!file_list[i].isEmpty()) { - loading_++; - synchronizer_.addFuture(QtConcurrent::run([=] { loadFile(i, file_list[i].toStdString()); })); + ++loading_; + synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i].toStdString())); } } } From 5387806400ff9258e158e0400683a2c9a5e6c043 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Dec 2021 04:05:52 -0700 Subject: [PATCH 116/239] LongitudinalMpc: minor clean up (#23296) * correct order * formatting * Revert "formatting" This reverts commit 481c390f400179f5d0d8f9b5a3066cb68e484d0c. * use np.zeros * typos and formatting * typo * typo --- .../lib/longitudinal_mpc_lib/long_mpc.py | 25 ++++++++++--------- 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 1b0afe1cf7..1bb6716850 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -40,7 +40,7 @@ CRASH_DISTANCE = .5 LIMIT_COST = 1e6 -# Less timestamps doesn't hurt performance and leads to +# Fewer timestamps don't hurt performance and lead to # much better convergence of the MPC with low iterations N = 12 MAX_T = 10.0 @@ -84,9 +84,9 @@ def gen_long_model(): model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot) # live parameters - x_obstacle = SX.sym('x_obstacle') a_min = SX.sym('a_min') a_max = SX.sym('a_max') + x_obstacle = SX.sym('x_obstacle') prev_a = SX.sym('prev_a') model.p = vertcat(a_min, a_max, x_obstacle, prev_a) @@ -143,8 +143,8 @@ def gen_long_mpc_solver(): # Constraints on speed, acceleration and desired distance to # the obstacle, which is treated as a slack constraint so it - # behaves like an assymetrical cost. - constraints = vertcat((v_ego), + # behaves like an asymmetrical cost. + constraints = vertcat(v_ego, (a_ego - a_min), (a_max - a_ego), ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.)) @@ -169,7 +169,7 @@ def gen_long_mpc_solver(): ocp.constraints.idxsh = np.arange(CONSTR_DIM) # The HPIPM solver can give decent solutions even when it is stopped early - # Which is critical for our purpose where the compute time is strictly bounded + # Which is critical for our purpose where compute time is strictly bounded # We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This # does not cause issues since the problem is well bounded. ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM' @@ -190,7 +190,7 @@ def gen_long_mpc_solver(): return ocp -class LongitudinalMpc(): +class LongitudinalMpc: def __init__(self, e2e=False): self.e2e = e2e self.reset() @@ -201,10 +201,10 @@ class LongitudinalMpc(): def reset(self): self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR) - self.v_solution = [0.0 for i in range(N+1)] - self.a_solution = [0.0 for i in range(N+1)] + self.v_solution = np.zeros(N+1) + self.a_solution = np.zeros(N+1) self.prev_a = np.array(self.a_solution) - self.j_solution = [0.0 for i in range(N)] + self.j_solution = np.zeros(N) self.yref = np.zeros((N+1, COST_DIM)) for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) @@ -264,7 +264,8 @@ class LongitudinalMpc(): self.x0[1] = v self.x0[2] = a - def extrapolate_lead(self, x_lead, v_lead, a_lead, a_lead_tau): + @staticmethod + def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau): a_lead_traj = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.) v_lead_traj = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj), 0.0, 1e8) x_lead_traj = x_lead + np.cumsum(T_DIFFS * v_lead_traj) @@ -351,8 +352,8 @@ class LongitudinalMpc(): self.accel_limit_arr[:,1] = 10. x_obstacle = 1e5*np.ones(N+1) self.params = np.concatenate([self.accel_limit_arr, - x_obstacle[:,None], - self.prev_a[:,None]], axis=1) + x_obstacle[:, None], + self.prev_a[:,None]], axis=1) self.run() From dc96d4bee7b898172a6a15de4799af0e2d35605e Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Tue, 28 Dec 2021 12:07:00 -0500 Subject: [PATCH 117/239] Add More Types for mypy (#23268) * mypy passes * a few more * a few in manager * more types, will lint * more * simple types * events type * Update selfdrive/thermald/thermald.py * Apply suggestions from code review Co-authored-by: Adeeb Shihadeh --- common/realtime.py | 2 +- common/spinner.py | 2 +- selfdrive/controls/lib/events.py | 28 ++++++------- selfdrive/hardware/base.py | 3 +- selfdrive/locationd/calibrationd.py | 7 ++-- selfdrive/manager/build.py | 3 +- selfdrive/manager/helpers.py | 2 +- selfdrive/manager/manager.py | 18 ++++----- selfdrive/manager/process.py | 54 +++++++++++++++----------- selfdrive/pandad.py | 4 +- selfdrive/thermald/power_monitoring.py | 9 +++-- selfdrive/thermald/thermald.py | 12 +++--- selfdrive/timezoned.py | 3 +- selfdrive/tombstoned.py | 3 +- selfdrive/updated.py | 4 +- 15 files changed, 84 insertions(+), 70 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 697e816369..d577680aee 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -39,7 +39,7 @@ def set_realtime_priority(level: int) -> None: def set_core_affinity(core: int) -> None: if not PC: - os.sched_setaffinity(0, [core,]) + os.sched_setaffinity(0, [core,]) # type: ignore[attr-defined] def config_realtime_process(core: int, priority: int) -> None: diff --git a/common/spinner.py b/common/spinner.py index 27b765196f..57242d644d 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -24,7 +24,7 @@ class Spinner(): except BrokenPipeError: pass - def update_progress(self, cur: int, total: int): + def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) def close(self): diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 48a257ab4c..f68cd91814 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,5 +1,5 @@ from enum import IntEnum -from typing import Dict, Union, Callable +from typing import Dict, Union, Callable, List, Optional from cereal import log, car import cereal.messaging as messaging @@ -42,33 +42,33 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} class Events: def __init__(self): - self.events = [] - self.static_events = [] + self.events: List[int] = [] + self.static_events: List[int] = [] self.events_prev = dict.fromkeys(EVENTS.keys(), 0) @property - def names(self): + def names(self) -> List[int]: return self.events - def __len__(self): + def __len__(self) -> int: return len(self.events) - def add(self, event_name, static=False): + def add(self, event_name: int, static: bool=False) -> None: if static: self.static_events.append(event_name) self.events.append(event_name) - def clear(self): + def clear(self) -> None: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} self.events = self.static_events.copy() - def any(self, event_type): + def any(self, event_type: str) -> bool: for e in self.events: if event_type in EVENTS.get(e, {}).keys(): return True return False - def create_alerts(self, event_types, callback_args=None): + def create_alerts(self, event_types: List[str], callback_args=None): if callback_args is None: callback_args = [] @@ -129,7 +129,7 @@ class Alert: self.creation_delay = creation_delay self.alert_type = "" - self.event_type = None + self.event_type: Optional[str] = None def __str__(self) -> str: return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}" @@ -139,14 +139,14 @@ class Alert: class NoEntryAlert(Alert): - def __init__(self, alert_text_2, visual_alert=VisualAlert.none): + def __init__(self, alert_text_2: str, visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none): super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal, AlertSize.mid, Priority.LOW, visual_alert, AudibleAlert.refuse, 3.) class SoftDisableAlert(Alert): - def __init__(self, alert_text_2): + def __init__(self, alert_text_2: str): super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, AlertStatus.userPrompt, AlertSize.full, Priority.MID, VisualAlert.steerRequired, @@ -155,13 +155,13 @@ class SoftDisableAlert(Alert): # less harsh version of SoftDisable, where the condition is user-triggered class UserSoftDisableAlert(SoftDisableAlert): - def __init__(self, alert_text_2): + def __init__(self, alert_text_2: str): super().__init__(alert_text_2), self.alert_text_1 = "openpilot will disengage" class ImmediateDisableAlert(Alert): - def __init__(self, alert_text_2): + def __init__(self, alert_text_2: str): super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, AlertStatus.critical, AlertSize.full, Priority.HIGHEST, VisualAlert.steerRequired, diff --git a/selfdrive/hardware/base.py b/selfdrive/hardware/base.py index d2bcce6a1c..77ddcbc2d4 100644 --- a/selfdrive/hardware/base.py +++ b/selfdrive/hardware/base.py @@ -1,11 +1,12 @@ from abc import abstractmethod, ABC from collections import namedtuple +from typing import Dict ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic']) class HardwareBase(ABC): @staticmethod - def get_cmdline(): + def get_cmdline() -> Dict[str, str]: with open('/proc/cmdline') as f: cmdline = f.read() return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2} diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 5ffb17ac56..61bc56b80e 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -8,6 +8,7 @@ and the image input into the neural network is not corrected for roll. import os import copy +from typing import NoReturn import numpy as np import cereal.messaging as messaging from cereal import log @@ -183,11 +184,11 @@ class Calibrator(): msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread] return msg - def send_data(self, pm): + def send_data(self, pm) -> None: pm.send('liveCalibration', self.get_msg()) -def calibrationd_thread(sm=None, pm=None): +def calibrationd_thread(sm=None, pm=None) -> NoReturn: if sm is None: sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry']) @@ -215,7 +216,7 @@ def calibrationd_thread(sm=None, pm=None): calibrator.send_data(pm) -def main(sm=None, pm=None): +def main(sm=None, pm=None) -> NoReturn: calibrationd_thread(sm, pm) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 5bbb4bd976..4b97855f34 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -22,7 +22,7 @@ MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) -def build(spinner, dirty=False): +def build(spinner: Spinner, dirty: bool = False) -> None: env = os.environ.copy() env['SCONS_PROGRESS'] = "1" nproc = os.cpu_count() @@ -30,6 +30,7 @@ def build(spinner, dirty=False): for retry in [True, False]: scons = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None compile_output = [] diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index 7ac71ae379..b07362dd4d 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -5,7 +5,7 @@ import errno import signal -def unblock_stdout(): +def unblock_stdout() -> None: # get a non-blocking stdout child_pid, child_pty = os.forkpty() if child_pid != 0: # parent diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 196673d467..76106e473f 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -5,6 +5,7 @@ import signal import subprocess import sys import traceback +from typing import List, Tuple, Union import cereal.messaging as messaging import selfdrive.crash as crash @@ -25,7 +26,7 @@ from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get sys.path.append(os.path.join(BASEDIR, "pyextra")) -def manager_init(): +def manager_init() -> None: # update system time from panda set_time(cloudlog) @@ -35,7 +36,7 @@ def manager_init(): params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) - default_params = [ + default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("OpenpilotEnabledToggle", "1"), @@ -56,7 +57,7 @@ def manager_init(): # is this dashcam? if os.getenv("PASSIVE") is not None: - params.put_bool("Passive", bool(int(os.getenv("PASSIVE")))) + params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") @@ -99,12 +100,12 @@ def manager_init(): device=HARDWARE.get_device_type()) -def manager_prepare(): +def manager_prepare() -> None: for p in managed_processes.values(): p.prepare() -def manager_cleanup(): +def manager_cleanup() -> None: # send signals to kill all procs for p in managed_processes.values(): p.stop(block=False) @@ -116,7 +117,7 @@ def manager_cleanup(): cloudlog.info("everything is dead") -def manager_thread(): +def manager_thread() -> None: cloudlog.bind(daemon="manager") cloudlog.info("manager start") cloudlog.info({"environ": os.environ}) @@ -128,8 +129,7 @@ def manager_thread(): ignore += ["manage_athenad", "uploader"] if os.getenv("NOBOARD") is not None: ignore.append("pandad") - if os.getenv("BLOCK") is not None: - ignore += os.getenv("BLOCK").split(",") + ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] ensure_running(managed_processes.values(), started=False, not_run=ignore) @@ -176,7 +176,7 @@ def manager_thread(): break -def main(): +def main() -> None: prepare_only = os.getenv("PREPAREONLY") is not None manager_init() diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 45331a46f2..a423b1ff84 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -4,6 +4,7 @@ import signal import struct import time import subprocess +from typing import Optional, List, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process @@ -22,7 +23,7 @@ WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None -def launcher(proc, name): +def launcher(proc: str, name: str) -> None: try: # import the process mod = importlib.import_module(proc) @@ -37,7 +38,7 @@ def launcher(proc, name): cloudlog.bind(daemon=name) # exec the process - mod.main() + getattr(mod, 'main')() except KeyboardInterrupt: cloudlog.warning(f"child {proc} got SIGINT") except Exception: @@ -47,13 +48,13 @@ def launcher(proc, name): raise -def nativelauncher(pargs, cwd): +def nativelauncher(pargs: List[str], cwd: str) -> None: # exec the process os.chdir(cwd) os.execvp(pargs[0], pargs) -def join_process(process, timeout): +def join_process(process: Process, timeout: float) -> None: # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382 # We have to poll the exitcode instead t = time.monotonic() @@ -65,7 +66,8 @@ class ManagerProcess(ABC): unkillable = False daemon = False sigkill = False - proc = None + persistent = False + proc: Optional[Process] = None enabled = True name = "" @@ -75,24 +77,25 @@ class ManagerProcess(ABC): shutting_down = False @abstractmethod - def prepare(self): + def prepare(self) -> None: pass @abstractmethod - def start(self): + def start(self) -> None: pass - def restart(self): + def restart(self) -> None: self.stop() self.start() - def check_watchdog(self, started): + def check_watchdog(self, started: bool) -> None: if self.watchdog_max_dt is None or self.proc is None: return try: fn = WATCHDOG_FN + str(self.proc.pid) - self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] + # TODO: why can't pylint find struct.unpack? + self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member except Exception: pass @@ -106,9 +109,9 @@ class ManagerProcess(ABC): else: self.watchdog_seen = True - def stop(self, retry=True, block=True): + def stop(self, retry: bool=True, block: bool=True) -> Optional[int]: if self.proc is None: - return + return None if self.proc.exitcode is None: if not self.shutting_down: @@ -118,7 +121,7 @@ class ManagerProcess(ABC): self.shutting_down = True if not block: - return + return None join_process(self.proc, 5) @@ -148,7 +151,7 @@ class ManagerProcess(ABC): return ret - def signal(self, sig): + def signal(self, sig: int) -> None: if self.proc is None: return @@ -156,6 +159,10 @@ class ManagerProcess(ABC): if self.proc.exitcode is not None and self.proc.pid is not None: return + # Can't signal if we don't have a pid + if self.proc.pid is None: + return + cloudlog.info(f"sending signal {sig} to {self.name}") os.kill(self.proc.pid, sig) @@ -182,10 +189,10 @@ class NativeProcess(ManagerProcess): self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt - def prepare(self): + def prepare(self) -> None: pass - def start(self): + def start(self) -> None: # In case we only tried a non blocking stop we need to stop it before restarting if self.shutting_down: self.stop() @@ -212,12 +219,12 @@ class PythonProcess(ManagerProcess): self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt - def prepare(self): + def prepare(self) -> None: if self.enabled: cloudlog.info(f"preimporting {self.module}") importlib.import_module(self.module) - def start(self): + def start(self) -> None: # In case we only tried a non blocking stop we need to stop it before restarting if self.shutting_down: self.stop() @@ -242,10 +249,10 @@ class DaemonProcess(ManagerProcess): self.enabled = enabled self.persistent = True - def prepare(self): + def prepare(self) -> None: pass - def start(self): + def start(self) -> None: params = Params() pid = params.get(self.param_name, encoding='utf-8') @@ -269,11 +276,11 @@ class DaemonProcess(ManagerProcess): params.put(self.param_name, str(proc.pid)) - def stop(self, retry=True, block=True): + def stop(self, retry=True, block=True) -> None: pass -def ensure_running(procs, started, driverview=False, not_run=None): +def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, not_run: Optional[List[str]]=None) -> None: if not_run is None: not_run = [] @@ -284,7 +291,8 @@ def ensure_running(procs, started, driverview=False, not_run=None): p.stop(block=False) elif p.persistent: p.start() - elif p.driverview and driverview: + elif getattr(p, 'driverview', False) and driverview: + # TODO: why is driverview an argument here? can this be done with the name? p.start() elif started: p.start() diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py index 7eef5c2a3d..3b1e15f539 100755 --- a/selfdrive/pandad.py +++ b/selfdrive/pandad.py @@ -4,7 +4,7 @@ import os import usb1 import time import subprocess -from typing import List +from typing import List, NoReturn from functools import cmp_to_key from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU @@ -76,7 +76,7 @@ def panda_sort_cmp(a : Panda, b : Panda): # last resort: sort by serial number return a.get_usb_serial() < b.get_usb_serial() -def main() -> None: +def main() -> NoReturn: while True: try: # Flash all Pandas in DFU mode diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 9c07363917..8e24eb3cf1 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -2,6 +2,7 @@ import random import threading import time from statistics import mean +from typing import Optional from cereal import log from common.params import Params, put_nonblocking @@ -135,7 +136,7 @@ class PowerMonitoring: except Exception: cloudlog.exception("Power monitoring calculation failed") - def _perform_integration(self, t, current_power): + def _perform_integration(self, t: float, current_power: float) -> None: with self.integration_lock: try: if self.last_measurement_time: @@ -150,14 +151,14 @@ class PowerMonitoring: cloudlog.exception("Integration failed") # Get the power usage - def get_power_used(self): + def get_power_used(self) -> int: return int(self.power_used_uWh) - def get_car_battery_capacity(self): + def get_car_battery_capacity(self) -> int: return int(self.car_battery_capacity_uWh) # See if we need to disable charging - def should_disable_charging(self, ignition, in_car, offroad_timestamp): + def should_disable_charging(self, ignition: bool, in_car: bool, offroad_timestamp: Optional[float]) -> bool: if offroad_timestamp is None: return False diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 28d21620f2..4ddf37f418 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -3,7 +3,7 @@ import datetime import os import time from pathlib import Path -from typing import Dict, Optional, Tuple +from typing import Dict, NoReturn, Optional, Tuple from collections import namedtuple, OrderedDict import psutil @@ -152,7 +152,7 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex set_offroad_alert(offroad_alert, show_alert, extra_text) -def thermald_thread(): +def thermald_thread() -> NoReturn: pm = messaging.PubMaster(['deviceState']) @@ -163,11 +163,11 @@ def thermald_thread(): fan_speed = 0 count = 0 - onroad_conditions = { + onroad_conditions: Dict[str, bool] = { "ignition": False, } - startup_conditions = {} - startup_conditions_prev = {} + startup_conditions: Dict[str, bool] = {} + startup_conditions_prev: Dict[str, bool] = {} off_ts = None started_ts = None @@ -424,7 +424,7 @@ def thermald_thread(): count += 1 -def main(): +def main() -> NoReturn: thermald_thread() diff --git a/selfdrive/timezoned.py b/selfdrive/timezoned.py index 74da5fe35c..6a7e9122c1 100755 --- a/selfdrive/timezoned.py +++ b/selfdrive/timezoned.py @@ -3,6 +3,7 @@ import json import os import time import subprocess +from typing import NoReturn import requests from timezonefinder import TimezoneFinder @@ -30,7 +31,7 @@ def set_timezone(valid_timezones, timezone): cloudlog.exception(f"Error setting timezone to {timezone}") -def main(): +def main() -> NoReturn: params = Params() tf = TimezoneFinder() diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index e69de00937..df96c222c0 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -7,6 +7,7 @@ import signal import subprocess import time import glob +from typing import NoReturn import sentry_sdk @@ -197,7 +198,7 @@ def report_tombstone_apport(fn): pass -def main(): +def main() -> NoReturn: clear_apport_folder() # Clear apport folder on start, otherwise duplicate crashes won't register initial_tombstones = set(get_tombstones()) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 695b84e152..1a87798619 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -370,7 +370,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: return new_version -def main(): +def main() -> None: params = Params() if params.get_bool("DisableUpdates"): @@ -400,7 +400,7 @@ def main(): overlay_init.unlink(missing_ok=True) first_run = True - last_fetch_time = 0 + last_fetch_time = 0.0 update_failed_count = 0 # Set initial params for offroad alerts From c95202bd1c1882f30dbb153d58de4d875cdbf025 Mon Sep 17 00:00:00 2001 From: Andrew Date: Tue, 28 Dec 2021 09:07:32 -0800 Subject: [PATCH 118/239] docs.comma.ai add sitemap and robots.txt (#23259) * add sitemap generator * update conf for seo * remove cmake var * relock * fix html_baseurl * more fixes * newline Co-authored-by: Willem Melching --- Pipfile | 1 + Pipfile.lock | 789 +++++++++++++++++++++------------------- docs/_static/logo.png | Bin 0 -> 1122 bytes docs/_static/robots.txt | 2 + docs/conf.py | 28 ++ 5 files changed, 439 insertions(+), 381 deletions(-) create mode 100644 docs/_static/logo.png create mode 100644 docs/_static/robots.txt diff --git a/Pipfile b/Pipfile index 2cf24e9cc7..bbc39e7ecf 100644 --- a/Pipfile +++ b/Pipfile @@ -28,6 +28,7 @@ pyprof2calltree = "*" reverse_geocoder = "*" scipy = "*" sphinx = "*" +sphinx-sitemap = "*" sphinx-rtd-theme = "*" subprocess32 = "*" tenacity = "*" diff --git a/Pipfile.lock b/Pipfile.lock index 67ea043bba..03f600569e 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "3b697db3796ed6f0954ee08eda0b01913add0b5aa83f9f0e484182923fdbc3c2" + "sha256": "6ac8b9d2169cc843c46d2e40f9954a9d8416137fb460aa5ef0b67a1d26b5a4af" }, "pipfile-spec": 6, "requires": { @@ -174,72 +174,81 @@ }, "cryptography": { "hashes": [ - "sha256:2049f8b87f449fc6190350de443ee0c1dd631f2ce4fa99efad2984de81031681", - "sha256:231c4a69b11f6af79c1495a0e5a85909686ea8db946935224b7825cfb53827ed", - "sha256:24469d9d33217ffd0ce4582dfcf2a76671af115663a95328f63c99ec7ece61a4", - "sha256:2deab5ec05d83ddcf9b0916319674d3dae88b0e7ee18f8962642d3cde0496568", - "sha256:494106e9cd945c2cadfce5374fa44c94cfadf01d4566a3b13bb487d2e6c7959e", - "sha256:4c702855cd3174666ef0d2d13dcc879090aa9c6c38f5578896407a7028f75b9f", - "sha256:52f769ecb4ef39865719aedc67b4b7eae167bafa48dbc2a26dd36fa56460507f", - "sha256:5c49c9e8fb26a567a2b3fa0343c89f5d325447956cc2fc7231c943b29a973712", - 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--git a/tools/mac_setup.sh b/tools/mac_setup.sh index 1072c1caaf..0e260e715e 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -10,6 +10,7 @@ fi brew bundle --file=- <<-EOS brew "cmake" +brew "git-lfs" brew "zlib" brew "bzip2" brew "rust" From c26f294218a72e4a42d90b6560bde32e1a9cf5cb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 31 Dec 2021 16:44:57 -0800 Subject: [PATCH 121/239] plotjuggler: add mac support (#23344) * plotjuggler: add mac support * fix test? * update readme * oops * fix * cleanup * typo * works * little more * fix test * little faster --- tools/plotjuggler/README.md | 8 +-- tools/plotjuggler/install.sh | 10 ---- tools/plotjuggler/juggle.py | 77 ++++++++++++++++++--------- tools/plotjuggler/test_plotjuggler.py | 23 +++----- 4 files changed, 65 insertions(+), 53 deletions(-) delete mode 100755 tools/plotjuggler/install.sh diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index 8ab150e821..e2370d5a80 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -4,17 +4,16 @@ ## Installation -**NOTE: this is Ubuntu only for now. Pull requests for macOS support are welcome.** - Once you've cloned and are in openpilot, this command will download PlotJuggler and install our plugins: -`cd tools/plotjuggler && ./install.sh` +`cd tools/plotjuggler && ./juggle.py --install` ## Usage ``` $ ./juggle.py -h -usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [route_name] [segment_number] [segment_count] +usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [--install] + [route_name] [segment_number] [segment_count] A helper to run PlotJuggler on openpilot routes @@ -30,6 +29,7 @@ optional arguments: --can Parse CAN data (default: False) --stream Start PlotJuggler in streaming mode (default: False) --layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None) + --install Install or update PlotJuggler + plugins (default: False) ``` Example: diff --git a/tools/plotjuggler/install.sh b/tools/plotjuggler/install.sh deleted file mode 100755 index 27cb0dfb5d..0000000000 --- a/tools/plotjuggler/install.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/bash -e - -mkdir -p bin -cd bin - -for lib_name in libDataLoadRlog.so libDataStreamCereal.so plotjuggler; do - wget https://github.com/commaai/PlotJuggler/releases/download/latest/${lib_name}.tar.gz - tar -xf ${lib_name}.tar.gz - rm ${lib_name}.tar.gz -done diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index d488750701..c9bd1abdd7 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -2,9 +2,13 @@ import os import sys import multiprocessing +import platform +import shutil import subprocess +import tarfile +import tempfile +import requests import argparse -from tempfile import NamedTemporaryFile from common.basedir import BASEDIR from selfdrive.test.process_replay.compare_logs import save_log @@ -17,9 +21,32 @@ from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" +RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest" +INSTALL_DIR = os.path.join(juggle_dir, "bin") + + +def install(): + m = f"{platform.system()}-{platform.machine()}" + supported = ("Linux-x86_64", "Darwin-arm64", "Darwin-x86_64") + if m not in supported: + raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}") + + if os.path.exists(INSTALL_DIR): + shutil.rmtree(INSTALL_DIR) + os.mkdir(INSTALL_DIR) + + url = os.path.join(RELEASES_URL, m + ".tar.gz") + with requests.get(url, stream=True) as r, tempfile.NamedTemporaryFile() as tmp: + r.raise_for_status() + with open(tmp.name, 'wb') as tmpf: + for chunk in r.iter_content(chunk_size=1024*1024): + tmpf.write(chunk) + + with tarfile.open(tmp.name) as tar: + tar.extractall(path=INSTALL_DIR) + def load_segment(segment_name): - print(f"Loading {segment_name}") if segment_name is None: return [] @@ -29,25 +56,26 @@ def load_segment(segment_name): print(f"Error parsing {segment_name}: {e}") return [] + def start_juggler(fn=None, dbc=None, layout=None): env = os.environ.copy() env["BASEDIR"] = BASEDIR - pj = os.getenv("PLOTJUGGLER_PATH", os.path.join(juggle_dir, "bin/plotjuggler")) - + env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}" if dbc: env["DBC_NAME"] = dbc - extra_args = [] + extra_args = "" if fn is not None: - extra_args.append(f'-d {fn}') - + extra_args += f"-d {fn}" if layout is not None: - extra_args.append(f'-l {layout}') + extra_args += f"-l {layout}" + + subprocess.call(f'plotjuggler --plugin_folders {INSTALL_DIR} {extra_args}', + shell=True, env=env, cwd=juggle_dir) - extra_args = " ".join(extra_args) - subprocess.call(f'{pj} --plugin_folders {os.path.join(juggle_dir, "bin")} {extra_args}', shell=True, env=env, cwd=juggle_dir) def juggle_route(route_name, segment_number, segment_count, qlog, can, layout): + # TODO: abstract out the cabana stuff if 'cabana' in route_name: query = parse_qs(urlparse(route_name).query) api = CommaApi(get_token()) @@ -62,8 +90,8 @@ def juggle_route(route_name, segment_number, segment_count, qlog, can, layout): logs = logs[segment_number:segment_number+segment_count] if None in logs: - fallback_answer = input("At least one of the rlogs in this segment does not exist, would you like to use the qlogs? (y/n) : ") - if fallback_answer == 'y': + ans = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") + if ans == 'y': logs = r.qlog_paths() if segment_number is not None: logs = logs[segment_number:segment_number+segment_count] @@ -85,17 +113,17 @@ def juggle_route(route_name, segment_number, segment_count, qlog, can, layout): try: DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC dbc = DBC[cp.carParams.carFingerprint]['pt'] - except (ImportError, KeyError, AttributeError): + except Exception: pass break - tempfile = NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) - save_log(tempfile.name, all_data, compress=False) - del all_data + with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp: + save_log(tmp.name, all_data, compress=False) + del all_data + start_juggler(tmp.name, dbc, layout) - start_juggler(tempfile.name, dbc, layout) -def get_arg_parser(): +if __name__ == "__main__": parser = argparse.ArgumentParser(description="A helper to run PlotJuggler on openpilot routes", formatter_class=argparse.ArgumentDefaultsHelpFormatter) @@ -104,17 +132,18 @@ def get_arg_parser(): parser.add_argument("--can", action="store_true", help="Parse CAN data") parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") + parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins") parser.add_argument("route_name", nargs='?', help="The route name to plot (cabana share URL accepted)") parser.add_argument("segment_number", type=int, nargs='?', help="The index of the segment to plot") parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot", default=1) - return parser - -if __name__ == "__main__": - arg_parser = get_arg_parser() if len(sys.argv) == 1: - arg_parser.print_help() + parser.print_help() + sys.exit() + args = parser.parse_args() + + if args.install: + install() sys.exit() - args = arg_parser.parse_args(sys.argv[1:]) if args.stream: start_juggler(layout=args.layout) diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 3e695c1990..edaec9c80a 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -7,27 +7,20 @@ import unittest from common.basedir import BASEDIR from common.timeout import Timeout -from selfdrive.test.openpilotci import get_url +from tools.plotjuggler.juggle import install class TestPlotJuggler(unittest.TestCase): - def test_install(self): - exit_code = os.system(os.path.join(BASEDIR, "tools/plotjuggler/install.sh")) - self.assertEqual(exit_code, 0) + def test_demo(self): + install() - def test_run(self): + pj = os.path.join(BASEDIR, "tools/plotjuggler/juggle.py") + p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', + stderr=subprocess.PIPE, shell=True, start_new_session=True) - test_url = get_url("ffccc77938ddbc44|2021-01-04--16-55-41", 0) - - # Launch PlotJuggler with the executable in the bin directory - os.environ["PLOTJUGGLER_PATH"] = f'{os.path.join(BASEDIR, "tools/plotjuggler/bin/plotjuggler")}' - p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {os.path.join(BASEDIR, "tools/plotjuggler/juggle.py")} \ - "{test_url}"', stderr=subprocess.PIPE, shell=True, - start_new_session=True) - - # Wait max 60 seconds for the "Done reading Rlog data" signal from the plugin + # Wait for "Done reading Rlog data" signal from the plugin output = "\n" - with Timeout(120, error_msg=output): + with Timeout(180, error_msg=output): while output.splitlines()[-1] != "Done reading Rlog data": output += p.stderr.readline().decode("utf-8") From d85bb967e821bc3aa85796ec6641c6d558d1d3cc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 31 Dec 2021 16:53:54 -0800 Subject: [PATCH 122/239] disable simulator job until LFS is fixed --- .github/workflows/tools_tests.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index b6b45bb24e..dc4046f395 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -40,7 +40,8 @@ jobs: timeout-minutes: 50 env: IMAGE_NAME: openpilot-sim - if: github.repository == 'commaai/openpilot' + if: ${{ false }} # disable until LFS quota is fixed + #if: github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v2 with: From bd399693b6e2239522e06d6c10d5f2938a06f0d2 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 31 Dec 2021 20:28:07 -0500 Subject: [PATCH 123/239] Hyundai: Car Port for 2022 Santa Fe Plug-in Hybrid (#23332) * Add car port: Hyundai Santa Fe Plug-in Hybrid 2022 * Add test route --- RELEASES.md | 1 + docs/CARS.md | 1 + selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/values.py | 30 +++++++++++++++++++++----- selfdrive/test/test_routes.py | 1 + 7 files changed, 31 insertions(+), 8 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index dacfb23c16..5f5689d3ee 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,7 @@ Version 0.8.13 (2022-XX-XX) ======================== * Improved driver monitoring * Improved camera focus on the comma two + * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Subaru Impreza 2020 support thanks to martinl! Version 0.8.12 (2021-12-15) diff --git a/docs/CARS.md b/docs/CARS.md index adf0c9d9c3..7025846b5b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -115,6 +115,7 @@ | Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph | | Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph | | Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph | +| Hyundai | Santa Fe Plug-in Hybrid 2022 | All | Stock | 0mph | 0mph | | Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph | | Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph | diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index a6812754e8..61fb35664b 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -107,7 +107,7 @@ class CarController(): if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020]: + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022]: can_sends.append(create_lfahda_mfc(self.packer, enabled)) # 5 Hz ACC options diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 50031231bc..c038ff4e9e 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -19,7 +19,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]: + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]: values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 091523ac1a..cdfb928855 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalActuatorDelayUpperBound = 1.0 # s - if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]: + if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 64e8330928..bab6ffd3d7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -13,7 +13,8 @@ class CarControllerParams: if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]: + CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, + CAR.SANTA_FE_PHEV_2022]: self.STEER_MAX = 384 else: self.STEER_MAX = 255 @@ -41,6 +42,7 @@ class CAR: SANTA_FE = "HYUNDAI SANTA FE 2019" SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022" + SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" SONATA = "HYUNDAI SONATA 2020" SONATA_LF = "HYUNDAI SONATA 2019" PALISADE = "HYUNDAI PALISADE 2020" @@ -498,6 +500,23 @@ FW_VERSIONS = { b'\xf1\x87391312MTC1', ], }, + CAR.SANTA_FE_PHEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTF0', + ], + }, CAR.KIA_STINGER: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', @@ -981,7 +1000,7 @@ FW_VERSIONS = { } CHECKSUM = { - "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022], + "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022], "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } @@ -989,13 +1008,13 @@ FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER}, - "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022}, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022} # these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022} # these cars use a different gas signal EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV} # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -1034,6 +1053,7 @@ DBC = { CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None), + CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py index 5fa7e30e5d..f064b89f51 100755 --- a/selfdrive/test/test_routes.py +++ b/selfdrive/test/test_routes.py @@ -74,6 +74,7 @@ routes = [ TestRoute("38bfd238edecbcd7|2018-08-29--22-02-15", HYUNDAI.SANTA_FE), TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022), TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), + TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022), TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA), TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), From 7cd6a88638be390e0a7a13210e837afc36e1c18c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 31 Dec 2021 19:29:38 -0800 Subject: [PATCH 124/239] fix setup scripts if git isn't installed --- tools/mac_setup.sh | 9 +++++---- tools/ubuntu_setup.sh | 9 +++++---- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 0e260e715e..be5fc55a9f 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -1,6 +1,7 @@ #!/bin/bash -e -OP_ROOT=$(git rev-parse --show-toplevel) +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +ROOT="$(cd $DIR/../ && pwd)" # Install brew if required if [[ $(command -v brew) == "" ]]; then @@ -54,14 +55,14 @@ export PATH="$PATH:/usr/local/bin" # OpenPilot environment variables if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then echo "export PATH=\"\$PATH:$HOME/.cargo/bin\"" >> $RC_FILE - echo "source $OP_ROOT/tools/openpilot_env.sh" >> $RC_FILE + echo "source $ROOT/tools/openpilot_env.sh" >> $RC_FILE export PATH="$PATH:\"\$HOME/.cargo/bin\"" - source "$OP_ROOT/tools/openpilot_env.sh" + source "$ROOT/tools/openpilot_env.sh" echo "Added openpilot_env to RC file: $RC_FILE" fi # install python -PYENV_PYTHON_VERSION=$(cat $OP_ROOT/.python-version) +PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH pyenv install -s ${PYENV_PYTHON_VERSION} pyenv rehash diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 6ad7931b56..0e1c0bc657 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -1,6 +1,7 @@ #!/bin/bash -e -OP_ROOT=$(git rev-parse --show-toplevel) +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +ROOT="$(cd $DIR/../ && pwd)" # Install packages present in all supported versions of Ubuntu function install_ubuntu_common_requirements() { @@ -123,11 +124,11 @@ if ! command -v "pyenv" > /dev/null 2>&1; then fi # in the openpilot repo -cd $OP_ROOT +cd $ROOT source ~/.bashrc if [ -z "$OPENPILOT_ENV" ]; then - printf "\nsource %s/tools/openpilot_env.sh" "$OP_ROOT" >> ~/.bashrc + printf "\nsource %s/tools/openpilot_env.sh" "$ROOT" >> ~/.bashrc source ~/.bashrc echo "added openpilot_env to bashrc" fi @@ -138,7 +139,7 @@ git submodule init git submodule update # install python -PYENV_PYTHON_VERSION=$(cat $OP_ROOT/.python-version) +PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH pyenv install -s ${PYENV_PYTHON_VERSION} pyenv rehash From fed7cfeef064b12f76b413298ffdf71fec1f537e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 31 Dec 2021 20:34:08 -0700 Subject: [PATCH 125/239] PC: dynamically set PYTHONPATH from real openpilot path (#23322) * dynamic PYTHONPATH setting based on actual openpilot location * right above * fix path * absolute path all the time * Revert "absolute path all the time" This reverts commit c0bc2e08e76bd6c0abd36fa082ee00b4746e62dc. * Update tools/openpilot_env.sh Co-authored-by: Willem Melching Co-authored-by: Willem Melching --- tools/openpilot_env.sh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh index 81ae00d64d..3412c32d68 100755 --- a/tools/openpilot_env.sh +++ b/tools/openpilot_env.sh @@ -1,5 +1,6 @@ if [ -z "$OPENPILOT_ENV" ]; then - export PYTHONPATH="$HOME/openpilot:$PYTHONPATH" + OP_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. && pwd)" + export PYTHONPATH="$OP_ROOT:$PYTHONPATH" export PATH="$HOME/.pyenv/bin:$PATH" # Pyenv suggests we place the below two lines in .profile before we source From 92b553be3ea0c4309961647a796dbdde3da5fdf6 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 1 Jan 2022 17:17:24 -0800 Subject: [PATCH 126/239] plotjuggler: fix layout param (#23348) --- tools/plotjuggler/juggle.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index c9bd1abdd7..3683a6a750 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -66,12 +66,12 @@ def start_juggler(fn=None, dbc=None, layout=None): extra_args = "" if fn is not None: - extra_args += f"-d {fn}" + extra_args += f" -d {fn}" if layout is not None: - extra_args += f"-l {layout}" + extra_args += f" -l {layout}" - subprocess.call(f'plotjuggler --plugin_folders {INSTALL_DIR} {extra_args}', - shell=True, env=env, cwd=juggle_dir) + cmd = f'plotjuggler --plugin_folders {INSTALL_DIR}{extra_args}' + subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) def juggle_route(route_name, segment_number, segment_count, qlog, can, layout): From 1e309a51f53a7678f42f40010fb0371b20c2f213 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 3 Jan 2022 03:54:49 +0800 Subject: [PATCH 127/239] replay: add flag to disable video (#23353) --- selfdrive/ui/replay/main.cc | 1 + selfdrive/ui/replay/replay.cc | 28 +++++++++++++++++----------- selfdrive/ui/replay/replay.h | 1 + selfdrive/ui/replay/route.cc | 2 +- 4 files changed, 20 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc index 82f9c4e4af..f52093bd94 100644 --- a/selfdrive/ui/replay/main.cc +++ b/selfdrive/ui/replay/main.cc @@ -107,6 +107,7 @@ int main(int argc, char *argv[]) { {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"yuv", REPLAY_FLAG_SEND_YUV, "send yuv frame"}, {"no-cuda", REPLAY_FLAG_NO_CUDA, "disable CUDA"}, + {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, }; QCommandLineParser parser; diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index 5aea11bb2c..bd5f4808f8 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -58,8 +58,10 @@ bool Replay::load() { } for (auto &[n, f] : route_->segments()) { - if ((!f.rlog.isEmpty() || !f.qlog.isEmpty()) && (!f.road_cam.isEmpty() || !f.qcamera.isEmpty())) { - segments_[n] = nullptr; + bool has_log = !f.rlog.isEmpty() || !f.qlog.isEmpty(); + bool has_video = !f.road_cam.isEmpty() || !f.qcamera.isEmpty(); + if (has_log && (has_video || hasFlag(REPLAY_FLAG_NO_VIPC))) { + segments_.insert({n, nullptr}); } } if (segments_.empty()) { @@ -218,13 +220,15 @@ void Replay::startStream(const Segment *cur_segment) { } // start camera server - std::pair camera_size[MAX_CAMERAS] = {}; - for (auto type : ALL_CAMERAS) { - if (auto &fr = cur_segment->frames[type]) { - camera_size[type] = {fr->width, fr->height}; + if (!hasFlag(REPLAY_FLAG_NO_VIPC)) { + std::pair camera_size[MAX_CAMERAS] = {}; + for (auto type : ALL_CAMERAS) { + if (auto &fr = cur_segment->frames[type]) { + camera_size[type] = {fr->width, fr->height}; + } } + camera_server_ = std::make_unique(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV)); } - camera_server_ = std::make_unique(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV)); // start stream thread stream_thread_ = new QThread(); @@ -318,18 +322,20 @@ void Replay::stream() { precise_nano_sleep(behind_ns); } - if (evt->frame) { + if (!evt->frame) { + publishMessage(evt); + } else if (camera_server_) { if (hasFlag(REPLAY_FLAG_FULL_SPEED)) { camera_server_->waitFinish(); } publishFrame(evt); - } else { - publishMessage(evt); } } } // wait for frame to be sent before unlock.(frameReader may be deleted after unlock) - camera_server_->waitFinish(); + if (camera_server_) { + camera_server_->waitFinish(); + } if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { int last_segment = segments_.rbegin()->first; diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index 4a3fab2981..e1ec091225 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -18,6 +18,7 @@ enum REPLAY_FLAGS { REPLAY_FLAG_SEND_YUV = 0x0080, REPLAY_FLAG_NO_CUDA = 0x0100, REPLAY_FLAG_FULL_SPEED = 0x0200, + REPLAY_FLAG_NO_VIPC = 0x0400, }; class Replay : public QObject { diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc index 4ed832cd52..fe6e21a91a 100644 --- a/selfdrive/ui/replay/route.cc +++ b/selfdrive/ui/replay/route.cc @@ -98,7 +98,7 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), files.rlog.isEmpty() ? files.qlog : files.rlog, }; for (int i = 0; i < file_list.size(); ++i) { - if (!file_list[i].isEmpty()) { + if (!file_list[i].isEmpty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) { ++loading_; synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i].toStdString())); } From 2ca0925da7fd94a5f12a4ebe14a394a09703a212 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 3 Jan 2022 03:55:24 +0800 Subject: [PATCH 128/239] lateral_planner.py/publish: follow capnp best practices (#23359) --- selfdrive/controls/lib/lateral_planner.py | 32 ++++++++++++----------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 0aa2359ae7..dbe29a12bb 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -204,20 +204,22 @@ class LateralPlanner: plan_solution_valid = self.solution_invalid_cnt < 2 plan_send = messaging.new_message('lateralPlan') plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2']) - plan_send.lateralPlan.laneWidth = float(self.LP.lane_width) - plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts] - plan_send.lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]] - plan_send.lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]] - plan_send.lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] - plan_send.lateralPlan.lProb = float(self.LP.lll_prob) - plan_send.lateralPlan.rProb = float(self.LP.rll_prob) - plan_send.lateralPlan.dProb = float(self.LP.d_prob) - - plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid) - - plan_send.lateralPlan.desire = self.desire - plan_send.lateralPlan.useLaneLines = self.use_lanelines - plan_send.lateralPlan.laneChangeState = self.lane_change_state - plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction + + lateralPlan = plan_send.lateralPlan + lateralPlan.laneWidth = float(self.LP.lane_width) + lateralPlan.dPathPoints = [float(x) for x in self.y_pts] + lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]] + lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]] + lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] + lateralPlan.lProb = float(self.LP.lll_prob) + lateralPlan.rProb = float(self.LP.rll_prob) + lateralPlan.dProb = float(self.LP.d_prob) + + lateralPlan.mpcSolutionValid = bool(plan_solution_valid) + + lateralPlan.desire = self.desire + lateralPlan.useLaneLines = self.use_lanelines + lateralPlan.laneChangeState = self.lane_change_state + lateralPlan.laneChangeDirection = self.lane_change_direction pm.send('lateralPlan', plan_send) From 9992ea1ae82dd02199e7e04bbbb8af54728d6200 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sun, 2 Jan 2022 11:56:53 -0800 Subject: [PATCH 129/239] LogReader: add arg to sort by time (#23346) * logreader optional sort by time * robust logreader sort by time option --- tools/lib/logreader.py | 11 ++++++----- tools/lib/robust_logreader.py | 4 ++-- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 3e535b56c3..55206665b7 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -13,7 +13,7 @@ from cereal import log as capnp_log # this is an iterator itself, and uses private variables from LogReader class MultiLogIterator: - def __init__(self, log_paths, wraparound=False): + def __init__(self, log_paths, wraparound=False, sort_by_time=False): self._log_paths = log_paths self._wraparound = wraparound @@ -22,11 +22,12 @@ class MultiLogIterator: self._idx = 0 self._log_readers = [None]*len(log_paths) self.start_time = self._log_reader(self._first_log_idx)._ts[0] + self.sort_by_time = sort_by_time def _log_reader(self, i): if self._log_readers[i] is None and self._log_paths[i] is not None: log_path = self._log_paths[i] - self._log_readers[i] = LogReader(log_path) + self._log_readers[i] = LogReader(log_path, sort_by_time=self.sort_by_time) return self._log_readers[i] @@ -75,7 +76,7 @@ class MultiLogIterator: class LogReader: - def __init__(self, fn, canonicalize=True, only_union_types=False): + def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False): data_version = None _, ext = os.path.splitext(urllib.parse.urlparse(fn).path) with FileReader(fn) as f: @@ -90,7 +91,7 @@ class LogReader: else: raise Exception(f"unknown extension {ext}") - self._ents = list(ents) + self._ents = list(sorted(ents, key=lambda x: x.logMonoTime) if sort_by_time else ents) self._ts = [x.logMonoTime for x in self._ents] self.data_version = data_version self._only_union_types = only_union_types @@ -112,6 +113,6 @@ if __name__ == "__main__": # below line catches those errors and replaces the bytes with \x__ codecs.register_error("strict", codecs.backslashreplace_errors) log_path = sys.argv[1] - lr = LogReader(log_path) + lr = LogReader(log_path, sort_by_time=True) for msg in lr: print(msg) diff --git a/tools/lib/robust_logreader.py b/tools/lib/robust_logreader.py index e534a7c8f0..c7feb6c3ed 100755 --- a/tools/lib/robust_logreader.py +++ b/tools/lib/robust_logreader.py @@ -13,7 +13,7 @@ from cereal import log as capnp_log class RobustLogReader(LogReader): - def __init__(self, fn, canonicalize=True, only_union_types=False): # pylint: disable=super-init-not-called + def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False): # pylint: disable=super-init-not-called data_version = None _, ext = os.path.splitext(urllib.parse.urlparse(fn).path) with FileReader(fn) as f: @@ -45,7 +45,7 @@ class RobustLogReader(LogReader): while True: try: ents = capnp_log.Event.read_multiple_bytes(dat) - self._ents = list(ents) + self._ents = list(sorted(ents, key=lambda x: x.logMonoTime) if sort_by_time else ents) break except capnp.lib.capnp.KjException: if progress is None: From 066e3e3626f56d8f86c120defe4181eaed0182f4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 2 Jan 2022 14:47:16 -0800 Subject: [PATCH 130/239] CI: use ubuntu_setup.sh (#23349) * CI: use ubuntu_setup.sh * works? * need to fix paths * set paths * no batman for now * pyenv version * rehash after install packages * unify python install * revert that * fix pyenv path * no pipenv * flip that * fix rehash * skip that * revert panda --- Dockerfile.openpilot_base | 74 ++++++++------------------------------- tools/mac_setup.sh | 14 +++----- tools/openpilot_env.sh | 6 ++-- tools/ubuntu_setup.sh | 35 +++++------------- update_requirements.sh | 49 ++++++++++++-------------- 5 files changed, 53 insertions(+), 125 deletions(-) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index f906b8f65d..9229fb1765 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -1,70 +1,26 @@ FROM ubuntu:20.04 + ENV PYTHONUNBUFFERED 1 ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ - bzip2 \ - ca-certificates \ - capnproto \ - clang \ - cmake \ - cppcheck \ - curl \ - ffmpeg \ - gcc-arm-none-eabi \ - git \ - iputils-ping \ - libarchive-dev \ - libbz2-dev \ - libcapnp-dev \ - libcurl4-openssl-dev \ - libeigen3-dev \ - libffi-dev \ - libgles2-mesa-dev \ - libglew-dev \ - libglib2.0-0 \ - liblzma-dev \ - libomp-dev \ - libopencv-dev \ - libqt5sql5-sqlite \ - libqt5svg5-dev \ - libsqlite3-dev \ - libssl-dev \ - libsystemd-dev \ - libusb-1.0-0-dev \ - libzmq3-dev \ - locales \ - ocl-icd-libopencl1 \ - ocl-icd-opencl-dev \ - opencl-headers \ - python-dev \ - qml-module-qtquick2 \ - qt5-default \ - qtlocation5-dev \ - qtmultimedia5-dev \ - qtpositioning5-dev \ - qtwebengine5-dev \ - sudo \ - valgrind \ - wget \ - && rm -rf /var/lib/apt/lists/* +RUN apt-get update && \ + apt-get install -y --no-install-recommends sudo tzdata locales && \ + rm -rf /var/lib/apt/lists/* RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen ENV LANG en_US.UTF-8 ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 -RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash -ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}" - -COPY Pipfile Pipfile.lock /tmp/ -RUN pyenv install 3.8.10 && \ - pyenv global 3.8.10 && \ - pyenv rehash && \ - pip install --no-cache-dir --upgrade pip==21.3.1 && \ - pip install --no-cache-dir pipenv==2021.5.29 && \ - cd /tmp && \ - pipenv install --system --deploy --dev --clear && \ +ENV PIPENV_SYSTEM=1 +COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/ +COPY tools/ubuntu_setup.sh /tmp/tools/ +RUN cd /tmp && \ + tools/ubuntu_setup.sh && \ + rm -rf /tmp/* && \ + rm -rf /var/lib/apt/lists/* && \ pip uninstall -y pipenv + +ENV PYENV_VERSION=3.8.10 +ENV PYENV_ROOT="/root/.pyenv" +ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index be5fc55a9f..71ffe4a92a 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -38,6 +38,7 @@ elif [[ $SHELL == "/bin/bash" ]]; then RC_FILE="$HOME/.bash_profile" fi +# TODO: get rid of this somehow # Build requirements for macOS # https://github.com/pyenv/pyenv/issues/1740 # https://github.com/pyca/cryptography/blob/main/docs/installation.rst @@ -52,7 +53,7 @@ export CPPFLAGS="$CPPFLAGS -I/usr/local/opt/openssl@1.1/include" export PATH="$PATH:/usr/local/opt/openssl@1.1/bin" export PATH="$PATH:/usr/local/bin" -# OpenPilot environment variables +# openpilot environment if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then echo "export PATH=\"\$PATH:$HOME/.cargo/bin\"" >> $RC_FILE echo "source $ROOT/tools/openpilot_env.sh" >> $RC_FILE @@ -61,15 +62,8 @@ if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then echo "Added openpilot_env to RC file: $RC_FILE" fi -# install python -PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) -PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH -pyenv install -s ${PYENV_PYTHON_VERSION} -pyenv rehash -eval "$(pyenv init -)" - -pip install pipenv==2020.8.13 -pipenv install --dev --deploy +# install python dependencies +$ROOT/update_requirements.sh echo echo "---- FINISH OPENPILOT SETUP ----" diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh index 3412c32d68..f8ce6901c2 100755 --- a/tools/openpilot_env.sh +++ b/tools/openpilot_env.sh @@ -10,12 +10,10 @@ if [ -z "$OPENPILOT_ENV" ]; then # https://github.com/pyenv/pyenv/issues/1906 export PYENV_ROOT="$HOME/.pyenv" - unamestr=`uname` - if [[ "$unamestr" == 'Linux' ]]; then + if [[ "$(uname)" == 'Linux' ]]; then eval "$(pyenv init --path)" - eval "$(pyenv virtualenv-init -)" - elif [[ "$unamestr" == 'Darwin' ]]; then + elif [[ "$(uname)" == 'Darwin' ]]; then # msgq doesn't work on mac export ZMQ=1 export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 0e1c0bc657..dd29c995ef 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -1,8 +1,12 @@ -#!/bin/bash -e +#!/bin/bash + +set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" ROOT="$(cd $DIR/../ && pwd)" +# NOTE: this is used in a docker build, so do not run any scripts here. + # Install packages present in all supported versions of Ubuntu function install_ubuntu_common_requirements() { sudo apt-get update @@ -70,7 +74,8 @@ function install_ubuntu_common_requirements() { libqt5svg5-dev \ libqt5x11extras5-dev \ libreadline-dev \ - libdw1 + libdw1 \ + valgrind } # Install Ubuntu 21.10 packages @@ -118,13 +123,8 @@ else fi -# install pyenv -if ! command -v "pyenv" > /dev/null 2>&1; then - curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash -fi - -# in the openpilot repo -cd $ROOT +# install python dependencies +$ROOT/update_requirements.sh source ~/.bashrc if [ -z "$OPENPILOT_ENV" ]; then @@ -133,23 +133,6 @@ if [ -z "$OPENPILOT_ENV" ]; then echo "added openpilot_env to bashrc" fi -# do the rest of the git checkout -git lfs pull -git submodule init -git submodule update - -# install python -PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) -PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH -pyenv install -s ${PYENV_PYTHON_VERSION} -pyenv rehash -eval "$(pyenv init -)" - -# **** in python env **** -pip install pip==21.3.1 -pip install pipenv==2021.5.29 -pipenv install --dev --deploy - echo echo "---- FINISH OPENPILOT SETUP ----" echo "Configure your active shell env by running:" diff --git a/update_requirements.sh b/update_requirements.sh index be7d53f98b..fe35c4eec6 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -1,17 +1,12 @@ #!/bin/bash -e -cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null - -if ! command -v pyenv &> /dev/null; then - echo "please install pyenv ..." - echo "https://github.com/pyenv/pyenv-installer" - echo "example:" - echo "sudo apt-get update; sudo apt-get install --no-install-recommends make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev wget curl llvm libncurses5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev" - echo "curl https://pyenv.run | bash" - echo "echo 'export PYENV_ROOT=\"\$HOME/.pyenv\"' >> ~/.bashrc" - echo "echo 'export PATH=\"\$PYENV_ROOT/bin:\$PYENV_ROOT/shims:\$PATH\"' >> ~/.bashrc" - echo "exec \"\$SHELL\"" - exit 1 +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +if ! command -v "pyenv" > /dev/null 2>&1; then + echo "installing pyenv..." + curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash + export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH fi export MAKEFLAGS="-j$(nproc)" @@ -19,7 +14,7 @@ export MAKEFLAGS="-j$(nproc)" PYENV_PYTHON_VERSION=$(cat .python-version) if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then echo "pyenv ${PYENV_PYTHON_VERSION} install ..." - CONFIGURE_OPTS=--enable-shared pyenv install -f ${PYENV_PYTHON_VERSION} + CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION} fi if ! command -v pipenv &> /dev/null; then @@ -29,24 +24,26 @@ fi echo "update pip" pip install pip==21.3.1 -pip install pipenv==2021.5.29 +pip install pipenv==2021.11.23 -echo "pip packages install ..." if [ -d "./xx" ]; then + export PIPENV_SYSTEM=1 export PIPENV_PIPFILE=./xx/Pipfile - pipenv install --system --dev --deploy - RUN="" -else - pipenv install --dev --deploy +fi + +if [ -z "$PIPENV_SYSTEM" ]; then RUN="pipenv run" +else + RUN="" fi -# update shims for newly installed executables (e.g. scons) +echo "pip packages install ..." +pipenv install --dev --deploy --clear pyenv rehash -echo "precommit install ..." -$RUN pre-commit install - -# for internal comma repos -[ -d "./xx" ] && (cd xx && $RUN pre-commit install) -[ -d "./notebooks" ] && (cd notebooks && $RUN pre-commit install) +if [ -f "$DIR/.pre-commit-config.yaml" ]; then + echo "precommit install ..." + $RUN pre-commit install + [ -d "./xx" ] && (cd xx && $RUN pre-commit install) + [ -d "./notebooks" ] && (cd notebooks && $RUN pre-commit install) +fi From 9d3a821f372140093c079f6e71e68e947abcf049 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 2 Jan 2022 15:14:22 -0800 Subject: [PATCH 131/239] first contribution ideas --- docs/CONTRIBUTING.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index b9da6c576c..7a074f12de 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -11,6 +11,13 @@ Most open source development activity is coordinated through our [GitHub Discuss * Make sure you have a [GitHub account](https://github.com/signup/free) * Fork [our repositories](https://github.com/commaai) on GitHub +### First contribution +Try out some of these first pull requests ideas to dive into the codebase: + +* Increase our [mypy](http://mypy-lang.org/) coverage +* Write some documentation +* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) + ## Pull Requests Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. From 92f194decc2bce39d6dd0dbabf39b2a9b1aa53e5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 2 Jan 2022 15:16:44 -0800 Subject: [PATCH 132/239] MultiLogIterator: remove wraparound mode (#23360) --- panda | 2 +- selfdrive/debug/fingerprint_from_route.py | 2 +- selfdrive/debug/run_process_on_route.py | 2 +- selfdrive/debug/toyota_eps_factor.py | 2 +- tools/lib/logreader.py | 9 ++------- tools/scripts/save_ubloxraw_stream.py | 2 +- 6 files changed, 7 insertions(+), 12 deletions(-) diff --git a/panda b/panda index 6f95a096e6..224736b22a 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6f95a096e6beb254786759003a38e6e5c4f2c10e +Subproject commit 224736b22a7fd7e665b2185a5525d3d15fc6e2de diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index 098e39fbe8..326e68f8e7 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -41,5 +41,5 @@ if __name__ == "__main__": sys.exit(1) route = Route(sys.argv[1]) - lr = MultiLogIterator(route.log_paths()[:5], wraparound=False) + lr = MultiLogIterator(route.log_paths()[:5]) get_fingerprint(lr) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index bc052bf9be..a6e67d2b24 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -17,7 +17,7 @@ if __name__ == "__main__": cfg = [c for c in CONFIGS if c.proc_name == args.process][0] route = Route(args.route) - lr = MultiLogIterator(route.log_paths(), wraparound=False) + lr = MultiLogIterator(route.log_paths()) inputs = list(lr) outputs = replay_process(cfg, inputs) diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index e63122b6a2..0a459bb719 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -59,6 +59,6 @@ def get_eps_factor(lr, plot=False): if __name__ == "__main__": r = Route(sys.argv[1]) - lr = MultiLogIterator(r.log_paths(), wraparound=False) + lr = MultiLogIterator(r.log_paths()) n = get_eps_factor(lr, plot="--plot" in sys.argv) print("EPS torque factor: ", n) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 55206665b7..09d800f468 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -13,9 +13,8 @@ from cereal import log as capnp_log # this is an iterator itself, and uses private variables from LogReader class MultiLogIterator: - def __init__(self, log_paths, wraparound=False, sort_by_time=False): + def __init__(self, log_paths, sort_by_time=False): self._log_paths = log_paths - self._wraparound = wraparound self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None) self._current_log = self._first_log_idx @@ -42,12 +41,8 @@ class MultiLogIterator: self._idx = 0 self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) if i == len(self._log_readers) or self._log_paths[i] is not None) - # wraparound if self._current_log == len(self._log_readers): - if self._wraparound: - self._current_log = self._first_log_idx - else: - raise StopIteration + raise StopIteration def __next__(self): while 1: diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index b04826a5db..3fefd45ba8 100644 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -35,7 +35,7 @@ def main(argv): args.data_dir = os.path.dirname(args.data_dir) route = Route(args.route_name, args.data_dir) - lr = MultiLogIterator(route.log_paths(), wraparound=False) + lr = MultiLogIterator(route.log_paths()) with open(args.out_path, 'wb') as f: try: From 30e8383f303f6d09c65d12821ca32a6310f6d5c3 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Sun, 2 Jan 2022 18:53:52 -0500 Subject: [PATCH 133/239] HKG: blacklist cars with lower steering max (#23255) * HKG: Add Lower Steering Torque Cars to STEER_MAX = 255 Blacklist * add comment Co-authored-by: Adeeb Shihadeh --- selfdrive/car/hyundai/values.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index bab6ffd3d7..a627f18f94 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -10,14 +10,14 @@ class CarControllerParams: ACCEL_MAX = 2.0 # m/s def __init__(self, CP): - if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, - CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022]: - self.STEER_MAX = 384 - else: + # To determine the limit for your car, find the maximum value that the stock LKAS will request. + # If the max stock LKAS request is <384, add your car to this list. + if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, + CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]: self.STEER_MAX = 255 + else: + self.STEER_MAX = 384 self.STEER_DELTA_UP = 3 self.STEER_DELTA_DOWN = 7 self.STEER_DRIVER_ALLOWANCE = 50 From bbb47dc860f37ec6e34287d6696cb45e5637df74 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 2 Jan 2022 20:08:57 -0800 Subject: [PATCH 134/239] MultiLogIterator: fix after adding sort_by_time --- tools/lib/logreader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 09d800f468..fc7a8dcb70 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -15,13 +15,13 @@ from cereal import log as capnp_log class MultiLogIterator: def __init__(self, log_paths, sort_by_time=False): self._log_paths = log_paths + self.sort_by_time = sort_by_time self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None) self._current_log = self._first_log_idx self._idx = 0 self._log_readers = [None]*len(log_paths) self.start_time = self._log_reader(self._first_log_idx)._ts[0] - self.sort_by_time = sort_by_time def _log_reader(self, i): if self._log_readers[i] is None and self._log_paths[i] is not None: From ab2111adb0521c3ebe636bb55075914d29316aaf Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Mon, 3 Jan 2022 09:41:36 -0800 Subject: [PATCH 135/239] Add firmware from 2021 prius in australia (#23271) Discord user khalid.auslink#0024 / shah#3880 FW from: 49708c324cfe37cb%7C2021-12-20--04-14-26 --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 4605620a24..4e05b8aead 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1555,6 +1555,7 @@ FW_VERSIONS = { }, CAR.PRIUS_TSS2: { (Ecu.engine, 0x700, None): [ + b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', @@ -1567,6 +1568,7 @@ FW_VERSIONS = { b'F152647510\x00\x00\x00\x00\x00\x00', b'F152647520\x00\x00\x00\x00\x00\x00', b'F152647521\x00\x00\x00\x00\x00\x00', + b'F152647531\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B47070\x00\x00\x00\x00\x00\x00', From e1805574a86a9680ab8eadb39a74426eccae0d57 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 3 Jan 2022 12:59:23 -0500 Subject: [PATCH 136/239] HKG: Add and Fix FW for 2022 Kia Niro EV (#23253) * Remove non-exist esp FW from Niro_EV * HKG: Add FW for 2022 Kia Niro EV * Add 2022 Kia Niro EV to STEER_MAX = 384 * Update CARS.md * HKG: Add FW for 2022 Kia Niro EV * Remove duplicate FW version * Remove duplicate FW versions from 0.8.3 FW dump (#20702) * Fix FW versions spacing * Fix FW versions spacing * Add additional FW version Co-authored-by: Willem Melching --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 9 +++------ 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 7025846b5b..95b9657b4f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -124,7 +124,7 @@ | Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph | -| Kia | Niro EV 2019-21 | SCC + LKAS | Stock | 0mph | 0mph | +| Kia | Niro EV 2019-22 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph | | Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph | diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index a627f18f94..40c09a626e 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -796,25 +796,22 @@ FW_VERSIONS = { b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', - b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', b'\xf1\x8799110Q4500\xf1\000DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', - ], - (Ecu.esp, 0x7D1, None): [ - b'\xf1\x00OS IEB \r 212 \x11\x13 58520-K4000', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\000DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', ], }, CAR.KIA_NIRO_HEV: { From 7c51b4da677cf25e7a5d5ba6b838363f8ffefb4a Mon Sep 17 00:00:00 2001 From: "Mr. V" <41697569+pathocode@users.noreply.github.com> Date: Mon, 3 Jan 2022 13:52:07 -0500 Subject: [PATCH 137/239] add supported FW version for Palisade 2022 (#23337) --- selfdrive/debug/hyundai_enable_radar_points.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 204d2480c3..e566884a90 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -38,6 +38,11 @@ SUPPORTED_FW_VERSIONS = { "default_config": b"\x00\x00\x00\x01\x00\x00", "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", }, + # 2022 PALISADE + b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": { + "default_config": b"\x00\x00\x00\x01\x00\x00", + "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", + }, # 2020 SANTA FE b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": { "default_config": b"\x00\x00\x00\x01\x00\x00", From 24c741ea3da8efef533c3b7664064bce743d14fd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 14:11:34 -0800 Subject: [PATCH 138/239] Toyota: merge Lexus RX params (#23374) * Toyota: merge Lexus RX params * pick tuning * add those back --- selfdrive/car/toyota/interface.py | 31 +++---------------------------- selfdrive/car/toyota/tunes.py | 8 -------- 2 files changed, 3 insertions(+), 36 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6c1f3e9f41..264f9d2aa0 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -57,40 +57,15 @@ class CarInterface(CarInterfaceBase): ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_A) - elif candidate == CAR.LEXUS_RX: - stop_and_go = True - ret.wheelbase = 2.79 - ret.steerRatio = 14.8 - tire_stiffness_factor = 0.5533 - ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_B) - - elif candidate == CAR.LEXUS_RXH: + elif candidate in [CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2]: stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end - tire_stiffness_factor = 0.444 # not optimized yet + ret.wheelSpeedFactor = 1.035 + tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_C) - elif candidate == CAR.LEXUS_RX_TSS2: - stop_and_go = True - ret.wheelbase = 2.79 - ret.steerRatio = 14.8 - tire_stiffness_factor = 0.5533 # not optimized yet - ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - ret.wheelSpeedFactor = 1.035 - - elif candidate == CAR.LEXUS_RXH_TSS2: - stop_and_go = True - ret.wheelbase = 2.79 - ret.steerRatio = 16.0 # 14.8 is spec end-to-end - tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_E) - ret.wheelSpeedFactor = 1.035 - elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.wheelbase = 2.63906 diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index 15c8bbfcc6..f26fc72a09 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -80,10 +80,6 @@ def set_lat_tune(tune, name): tune.pid.kpV = [0.2] tune.pid.kiV = [0.05] tune.pid.kf = 0.00003 - elif name == LatTunes.PID_B: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00006 elif name == LatTunes.PID_C: tune.pid.kpV = [0.6] tune.pid.kiV = [0.1] @@ -92,10 +88,6 @@ def set_lat_tune(tune, name): tune.pid.kpV = [0.6] tune.pid.kiV = [0.1] tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_E: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.15] - tune.pid.kf = 0.00007818594 elif name == LatTunes.PID_F: tune.pid.kpV = [0.723] tune.pid.kiV = [0.0428] From 162460ebd8003c1f6d697b739dce8851c9527bbd Mon Sep 17 00:00:00 2001 From: Matt Barclay Date: Mon, 3 Jan 2022 14:13:00 -0800 Subject: [PATCH 139/239] Toyota: 2020 Highlander Hybrid Engine fingerprint (#23373) --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 4e05b8aead..a70a6d8163 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -800,6 +800,7 @@ FW_VERSIONS = { b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', From 1e41f4723b539c9c76c1ae0c16f7a0a42cfe5deb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 14:13:45 -0800 Subject: [PATCH 140/239] CAN receive error is a comm issue (#23362) --- selfdrive/controls/controlsd.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e6552d4b63..93cd22708e 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -150,7 +150,7 @@ class Controls: self.v_cruise_kph_last = 0 self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 - self.can_error_counter = 0 + self.can_rcv_error_counter = 0 self.last_blinker_frame = 0 self.saturated_count = 0 self.distance_traveled = 0 @@ -253,7 +253,7 @@ class Controls: LaneChangeState.laneChangeFinishing]: self.events.add(EventName.laneChange) - if self.can_rcv_error or not CS.canValid: + if not CS.canValid: self.events.add(EventName.canError) for i, pandaState in enumerate(self.sm['pandaStates']): @@ -273,7 +273,7 @@ class Controls: self.events.add(EventName.radarFault) elif not self.sm.valid["pandaStates"]: self.events.add(EventName.usbError) - elif not self.sm.all_alive_and_valid(): + elif not self.sm.all_alive_and_valid() or self.can_rcv_error: self.events.add(EventName.commIssue) if not self.logged_comm_issue: invalid = [s for s, valid in self.sm.valid.items() if not valid] @@ -378,7 +378,7 @@ class Controls: # Check for CAN timeout if not can_strs: - self.can_error_counter += 1 + self.can_rcv_error_counter += 1 self.can_rcv_error = True else: self.can_rcv_error = False @@ -663,7 +663,7 @@ class Controls: controlsState.cumLagMs = -self.rk.remaining * 1000. controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) - controlsState.canErrorCounter = self.can_error_counter + controlsState.canErrorCounter = self.can_rcv_error_counter if self.joystick_mode: controlsState.lateralControlState.debugState = lac_log From 760104068b63d32f42564fdbb0193a3724461d11 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 14:34:31 -0800 Subject: [PATCH 141/239] CI: cache LFS objects (#23345) --- .github/workflows/tools_tests.yaml | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index dc4046f395..0b0df4c516 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -40,13 +40,25 @@ jobs: timeout-minutes: 50 env: IMAGE_NAME: openpilot-sim - if: ${{ false }} # disable until LFS quota is fixed - #if: github.repository == 'commaai/openpilot' + if: github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v2 with: submodules: true - lfs: true + + # HACK: cache LFS objects since they count against our quota + # https://github.com/actions/checkout/issues/165#issuecomment-657673315 + - name: Create LFS file list + run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id + - name: Restore LFS cache + uses: actions/cache@v2 + id: lfs-cache + with: + path: .git/lfs + key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }} + - name: Git LFS Pull + run: git lfs pull + - name: Build Docker image run: | eval "$BUILD" From 2a99bc6ddefaa050bf4f82640e3097ef230102e8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 06:37:36 +0800 Subject: [PATCH 142/239] ui: update lead's z position if modelV2 has been updated after startup. (#23355) * model frame >= started_frame * remove optional --- selfdrive/ui/ui.cc | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 8f82250fae..5c67d5f474 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -42,11 +42,11 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line return max_idx; } -static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, std::optional line) { +static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) { for (int i = 0; i < 2; ++i) { auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); if (lead_data.getStatus()) { - float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getDRel())] : 0.0; + float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]); } } @@ -110,12 +110,8 @@ static void update_state(UIState *s) { if (sm.updated("modelV2")) { update_model(s, sm["modelV2"].getModelV2()); } - if (sm.updated("radarState")) { - std::optional line; - if (sm.rcv_frame("modelV2") > 0) { - line = sm["modelV2"].getModelV2().getPosition(); - } - update_leads(s, sm["radarState"].getRadarState(), line); + if (sm.updated("radarState") && sm.rcv_frame("modelV2") >= s->scene.started_frame) { + update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition()); } if (sm.updated("liveCalibration")) { auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); From f2520b6e80125a108108b7acef1a10ab55b51284 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 07:08:24 +0800 Subject: [PATCH 143/239] lane_planner.py/parse_model: follow capnp best practices (#23368) --- selfdrive/controls/lib/lane_planner.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 88a1f6a672..4b5b8a6bfb 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -44,21 +44,23 @@ class LanePlanner: self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET def parse_model(self, md): - if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE: - self.ll_t = (np.array(md.laneLines[1].t) + np.array(md.laneLines[2].t))/2 + lane_lines = md.laneLines + if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE: + self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2 # left and right ll x is the same - self.ll_x = md.laneLines[1].x + self.ll_x = lane_lines[1].x # only offset left and right lane lines; offsetting path does not make sense - self.lll_y = np.array(md.laneLines[1].y) - self.camera_offset - self.rll_y = np.array(md.laneLines[2].y) - self.camera_offset + self.lll_y = np.array(lane_lines[1].y) - self.camera_offset + self.rll_y = np.array(lane_lines[2].y) - self.camera_offset self.lll_prob = md.laneLineProbs[1] self.rll_prob = md.laneLineProbs[2] self.lll_std = md.laneLineStds[1] self.rll_std = md.laneLineStds[2] - if len(md.meta.desireState): - self.l_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeLeft] - self.r_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeRight] + desire_state = md.meta.desireState + if len(desire_state): + self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] + self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] def get_d_path(self, v_ego, path_t, path_xyz): # Reduce reliance on lanelines that are too far apart or From a1a9a0f342bc40540d31d1cfbc10c6263a748ef3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 15:24:34 -0800 Subject: [PATCH 144/239] pre-commit: fix exclude patterns (#23375) --- .pre-commit-config.yaml | 8 ++++---- selfdrive/pandad.py | 11 +++-------- 2 files changed, 7 insertions(+), 12 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d32302e88c..65b60d95ce 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -13,14 +13,14 @@ repos: rev: v0.910-1 hooks: - id: mypy - exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/' + exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/' additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites', 'types-pycurl'] - repo: https://github.com/PyCQA/flake8 rev: 4.0.1 hooks: - id: flake8 - exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/' + exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/' args: - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6 - --statistics @@ -31,7 +31,7 @@ repos: entry: pylint language: system types: [python] - exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/' + exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)/' - repo: local hooks: - id: cppcheck @@ -39,7 +39,7 @@ repos: entry: cppcheck language: system types: [c++] - exclude: '^(third_party)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)' + exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)' args: - --error-exitcode=1 - --language=c++ diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py index 3b1e15f539..e3ebdad637 100755 --- a/selfdrive/pandad.py +++ b/selfdrive/pandad.py @@ -4,7 +4,7 @@ import os import usb1 import time import subprocess -from typing import List, NoReturn +from typing import NoReturn from functools import cmp_to_key from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU @@ -30,12 +30,7 @@ def flash_panda(panda_serial : str) -> Panda: panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() - cloudlog.warning("Panda {} connected, version: {}, signature {}, expected {}".format( - panda_serial, - panda_version, - panda_signature.hex()[:16], - fw_signature.hex()[:16], - )) + cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}") if panda.bootstub or panda_signature != fw_signature: cloudlog.info("Panda firmware out of date, update required") @@ -72,7 +67,7 @@ def panda_sort_cmp(a : Panda, b : Panda): # sort by hardware type if a_type != b_type: return a_type < b_type - + # last resort: sort by serial number return a.get_usb_serial() < b.get_usb_serial() From 231f74cd23b63a4c519431a588209ec20ba05b96 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 16:09:53 -0800 Subject: [PATCH 145/239] GM: Switch to AcceleratorPedal2 (#23376) * GM: Switch to AcceleratorPedal2 * bump panda Co-authored-by: Jason Shuler --- panda | 2 +- selfdrive/car/gm/carstate.py | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 224736b22a..83cf88557c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 224736b22a7fd7e665b2185a5525d3d15fc6e2de +Subproject commit 83cf88557c37a6c46c3754b926cf734481a0b33d diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index e4d6448348..5180d2e511 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -36,7 +36,7 @@ class CarState(CarStateBase): if ret.brake < 10/0xd0: ret.brake = 0. - ret.gas = pt_cp.vl["AcceleratorPedal"]["AcceleratorPedal"] / 254. + ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. ret.gasPressed = ret.gas > 1e-5 ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"] @@ -90,7 +90,7 @@ class CarState(CarStateBase): ("LeftSeatBelt", "BCMDoorBeltStatus", 0), ("RightSeatBelt", "BCMDoorBeltStatus", 0), ("TurnSignals", "BCMTurnSignals", 0), - ("AcceleratorPedal", "AcceleratorPedal", 0), + ("AcceleratorPedal2", "AcceleratorPedal2", 0), ("CruiseState", "AcceleratorPedal2", 0), ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS), ("SteeringWheelAngle", "PSCMSteeringAngle", 0), @@ -117,7 +117,6 @@ class CarState(CarStateBase): ("EPBStatus", 20), ("EBCMWheelSpdFront", 20), ("EBCMWheelSpdRear", 20), - ("AcceleratorPedal", 33), ("AcceleratorPedal2", 33), ("ASCMSteeringButton", 33), ("ECMEngineStatus", 100), From cd42be7777aa7901f1d12ccf0b3d2562dc209a44 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 16:30:14 -0800 Subject: [PATCH 146/239] CI: run car unit tests in parallel (#23379) * CI: run car unit tests in parallel * move that --- .github/workflows/selfdrive_tests.yaml | 7 +- Pipfile | 2 + Pipfile.lock | 526 ++++++++++++------------- 3 files changed, 265 insertions(+), 270 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1210430af2..e7a25e9be0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -351,11 +351,12 @@ jobs: name: longitudinal path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/ - test_car_models: - name: car models + test_cars: + name: cars runs-on: ubuntu-20.04 timeout-minutes: 50 strategy: + fail-fast: false matrix: job: [0, 1, 2, 3] steps: @@ -385,7 +386,7 @@ jobs: - name: Test car models run: | ${{ env.RUN }} "scons -j$(nproc) --test && \ - FILEREADER_CACHE=1 coverage run selfdrive/test/test_models.py && \ + FILEREADER_CACHE=1 pytest -n 4 selfdrive/test/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 4 diff --git a/Pipfile b/Pipfile index bbc39e7ecf..6bb6e0a220 100644 --- a/Pipfile +++ b/Pipfile @@ -25,6 +25,8 @@ pre-commit = "*" pycurl = "*" pygame = "*" pyprof2calltree = "*" +pytest = "*" +pytest-xdist = "*" reverse_geocoder = "*" scipy = "*" sphinx = "*" diff --git a/Pipfile.lock b/Pipfile.lock index 03f600569e..a39be5349d 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "6ac8b9d2169cc843c46d2e40f9954a9d8416137fb460aa5ef0b67a1d26b5a4af" + "sha256": "55c06fdfc0b686b6df23c263474db29b7a3629321b97b626ce81062d5c06e128" }, "pipfile-spec": 6, "requires": { @@ -25,11 +25,11 @@ }, "astroid": { "hashes": [ - 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"sha256:b8e67fe6af78f492b3c4b3e2970c0624cbf08beb1e493b2c99b9fa1b67a20380", - "sha256:f398865f7eb6874156579fdf36bc840a03cab64d1cde9e93d68f46a425ec52c6" + "sha256:59b895e326f0fb0d733fd28c6839bd18ad0687ba20efc26d4277fd1d30b971f4", + "sha256:9135c1af61eec0f650cd1ea1ed8ce298e54d56bcd8cc2ef46edd7702c171337c" ], "markers": "python_version >= '3.5'", - "version": "==2.10.0" + "version": "==2.11.1" }, "pynacl": { "hashes": [ @@ -1986,6 +1954,30 @@ "index": "pypi", "version": "==1.4.5" }, + "pytest": { + "hashes": [ + "sha256:131b36680866a76e6781d13f101efb86cf674ebb9762eb70d3082b6f29889e89", + "sha256:7310f8d27bc79ced999e760ca304d69f6ba6c6649c0b60fb0e04a4a77cacc134" + ], + "index": "pypi", + "version": "==6.2.5" + }, + "pytest-forked": { + "hashes": [ + "sha256:8b67587c8f98cbbadfdd804539ed5455b6ed03802203485dd2f53c1422d7440e", + "sha256:bbbb6717efc886b9d64537b41fb1497cfaf3c9601276be8da2cccfea5a3c8ad8" + ], + "markers": "python_version >= '3.6'", + "version": "==1.4.0" + }, + "pytest-xdist": { + "hashes": [ + "sha256:4580deca3ff04ddb2ac53eba39d76cb5dd5edeac050cb6fbc768b0dd712b4edf", + "sha256:6fe5c74fec98906deb8f2d2b616b5c782022744978e7bd4695d39c8f42d0ce65" + ], + "index": "pypi", + "version": "==2.5.0" + }, "python-dateutil": { "hashes": [ "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86", @@ -2042,11 +2034,11 @@ }, "requests": { "hashes": [ - "sha256:6c1246513ecd5ecd4528a0906f910e8f0f9c6b8ec72030dc9fd154dc1a6efd24", - "sha256:b8aa58f8cf793ffd8782d3d8cb19e66ef36f7aba4353eec859e74678b01b07a7" + "sha256:8e5643905bf20a308e25e4c1dd379117c09000bf8a82ebccc462cfb1b34a16b5", + "sha256:f71a09d7feba4a6b64ffd8e9d9bc60f9bf7d7e19fd0e04362acb1cfc2e3d98df" ], "index": "pypi", - "version": "==2.26.0" + "version": "==2.27.0" }, "reverse-geocoder": { "hashes": [ @@ -2092,11 +2084,11 @@ }, "setuptools": { "hashes": [ - "sha256:a4377723c53721515f72a3dfc1bfacdcd61edfa19a4cccf82e72e4f50d9cecbd", - "sha256:ad0ea3d172404abb14d8f7bd7f54f2ccd4ed9dd00c9da0b1398862e69eb22c03" + "sha256:5c89b1a14a67ac5f0956f1cb0aeb7d1d3f4c8ba4e4e1ab7bf1af4933f9a2f0fe", + "sha256:675fcebecb43c32eb930481abf907619137547f4336206e4d673180242e1a278" ], "markers": "python_version >= '3.7'", - "version": "==60.1.0" + "version": "==60.2.0" }, "six": { "hashes": [ @@ -2229,7 +2221,7 @@ "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e", "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b" ], - "markers": "python_version >= '3.6'", + "markers": "python_version < '3.10'", "version": "==4.0.1" }, "urllib3": { @@ -2242,11 +2234,11 @@ }, "virtualenv": { "hashes": [ - "sha256:4b02e52a624336eece99c96e3ab7111f469c24ba226a53ec474e8e787b365814", - "sha256:576d05b46eace16a9c348085f7d0dc8ef28713a2cabaa1cf0aea41e8f12c9218" + "sha256:339f16c4a86b44240ba7223d0f93a7887c3ca04b5f9c8129da7958447d079b09", + "sha256:d8458cf8d59d0ea495ad9b34c2599487f8a7772d796f9910858376d1600dd2dd" ], "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'", - "version": "==20.10.0" + "version": "==20.13.0" } } } From c70fc7dbe5dd87f949eec7a3482ff73ce3ef3bbe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Jan 2022 16:37:35 -0800 Subject: [PATCH 147/239] Revert "soundd: back to onroad only (#23236)" This reverts commit 3bdb445c84383768d365315abdeab5dad43ccfb5. --- selfdrive/manager/process_config.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 8fc07a06ef..2e3741350e 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -19,7 +19,7 @@ procs = [ NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], persistent=True), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), From 7b612d47b66e09dfecdaebc60671231697592cf5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 09:26:32 +0800 Subject: [PATCH 148/239] radard/update: optimize capnp (#23380) --- selfdrive/controls/radard.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 1ed1a0dbff..d4b0733692 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -172,9 +172,10 @@ class RadarD(): radarState.carStateMonoTime = sm.logMonoTime['carState'] if enable_lead: - if len(sm['modelV2'].leadsV3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[1], low_speed_override=False) + leads_v3 = sm['modelV2'].leadsV3 + if len(leads_v3) > 1: + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) return dat From 21ee6d25c7f84be810a6ed31cc2cf5aa94a89c11 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 09:35:05 +0800 Subject: [PATCH 149/239] ui: emit offroadTransition in UIState::updateStatus (#23265) --- selfdrive/ui/ui.cc | 38 +++++++++++++++++--------------------- selfdrive/ui/ui.h | 1 + 2 files changed, 18 insertions(+), 21 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 5c67d5f474..3d8f50e238 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -184,33 +184,34 @@ void ui_update_params(UIState *s) { s->scene.is_metric = Params().getBool("IsMetric"); } -static void update_status(UIState *s) { - if (s->scene.started && s->sm->updated("controlsState")) { - auto controls_state = (*s->sm)["controlsState"].getControlsState(); +void UIState::updateStatus() { + if (scene.started && sm->updated("controlsState")) { + auto controls_state = (*sm)["controlsState"].getControlsState(); auto alert_status = controls_state.getAlertStatus(); if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) { - s->status = STATUS_WARNING; + status = STATUS_WARNING; } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) { - s->status = STATUS_ALERT; + status = STATUS_ALERT; } else { - s->status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; + status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; } } // Handle onroad/offroad transition - static bool started_prev = false; - if (s->scene.started != started_prev) { - if (s->scene.started) { - s->status = STATUS_DISENGAGED; - s->scene.started_frame = s->sm->frame; - s->scene.end_to_end = Params().getBool("EndToEndToggle"); - s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false; + if (scene.started != started_prev) { + if (scene.started) { + status = STATUS_DISENGAGED; + scene.started_frame = sm->frame; + scene.end_to_end = Params().getBool("EndToEndToggle"); + wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false; } + started_prev = scene.started; + emit offroadTransition(!scene.started); + } else if (sm->frame == 1) { + emit offroadTransition(!scene.started); } - started_prev = s->scene.started; } - UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", @@ -230,12 +231,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { void UIState::update() { update_sockets(this); update_state(this); - update_status(this); - - if (scene.started != started_prev || sm->frame == 1) { - started_prev = scene.started; - emit offroadTransition(!scene.started); - } + updateStatus(); if (sm->frame % UI_FREQ == 0) { watchdog_kick(); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 01e4253024..b215bfa9b5 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -113,6 +113,7 @@ class UIState : public QObject { public: UIState(QObject* parent = 0); + void updateStatus(); inline bool worldObjectsVisible() const { return sm->rcv_frame("liveCalibration") > scene.started_frame; }; From 8dd8b1905bec171995f1eab331e69969bae444df Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 12:10:57 +0800 Subject: [PATCH 150/239] replay tests: retry on network failure (#23383) --- selfdrive/ui/replay/tests/test_replay.cc | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/selfdrive/ui/replay/tests/test_replay.cc index 5b9b7cdeb7..6063dfe7d5 100644 --- a/selfdrive/ui/replay/tests/test_replay.cc +++ b/selfdrive/ui/replay/tests/test_replay.cc @@ -17,11 +17,17 @@ TEST_CASE("httpMultiPartDownload") { const size_t chunk_size = 5 * 1024 * 1024; std::string content; SECTION("download to file") { - REQUIRE(httpDownload(TEST_RLOG_URL, filename, chunk_size)); + bool ret = false; + for (int i = 0; i < 3 && !ret; ++i) { + ret = httpDownload(TEST_RLOG_URL, filename, chunk_size); + } + REQUIRE(ret); content = util::read_file(filename); } SECTION("download to buffer") { - content = httpGet(TEST_RLOG_URL, chunk_size); + for (int i = 0; i < 3 && content.empty(); ++i) { + content = httpGet(TEST_RLOG_URL, chunk_size); + } REQUIRE(!content.empty()); } REQUIRE(content.size() == 9112651); From 3e5a2730227603e06e2b0df657dd7a3e874a6bd1 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 3 Jan 2022 20:15:10 -0800 Subject: [PATCH 151/239] tools: configure PYTHONPATH in pipenv (#23361) * automatically set PYTHONPATH in pipenv * remove other place this was set --- .gitignore | 1 + tools/openpilot_env.sh | 2 -- update_requirements.sh | 1 + 3 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 3e87dcc433..06c6117b18 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ venv/ +.env .clang-format .DS_Store .tags diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh index f8ce6901c2..ac73cc8305 100755 --- a/tools/openpilot_env.sh +++ b/tools/openpilot_env.sh @@ -1,6 +1,4 @@ if [ -z "$OPENPILOT_ENV" ]; then - OP_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")"/.. && pwd)" - export PYTHONPATH="$OP_ROOT:$PYTHONPATH" export PATH="$HOME/.pyenv/bin:$PATH" # Pyenv suggests we place the below two lines in .profile before we source diff --git a/update_requirements.sh b/update_requirements.sh index fe35c4eec6..bece43a51a 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -32,6 +32,7 @@ if [ -d "./xx" ]; then fi if [ -z "$PIPENV_SYSTEM" ]; then + echo "PYTHONPATH=${PWD}" > .env RUN="pipenv run" else RUN="" From 1ca5e1c82bd98a488dbffba32c653327a3d00b51 Mon Sep 17 00:00:00 2001 From: Anthony Foerster Date: Tue, 4 Jan 2022 01:07:49 -0600 Subject: [PATCH 152/239] Fix steering oscillations in 2019 RDX (#22677) Steering wheel would oscillate quickly when going straight, oscillation is gone after this modification. --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 6604f7d106..0724f01ecd 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 11.95 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] tire_stiffness_factor = 0.677 elif candidate == CAR.ODYSSEY: From 6b205347e57eb30a278e1eb9ead6aaba96e30b92 Mon Sep 17 00:00:00 2001 From: martinl Date: Tue, 4 Jan 2022 12:06:29 +0200 Subject: [PATCH 153/239] Subaru FPv2 support (#1878) * Add Subaru FPv2 support * Add Subaru Ascent and Impreza FPv2 values * Remove 10 second delay, use UDS for Subaru FPv2 * before VW * before hyundai Co-authored-by: Willem Melching --- selfdrive/car/fw_versions.py | 13 ++++++++++ selfdrive/car/subaru/values.py | 47 ++++++++++++++++++++++++++++++++++ 2 files changed, 60 insertions(+) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index af7b715fe3..27d697331e 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -84,8 +84,21 @@ NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIF NISSAN_RX_OFFSET = 0x20 +SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) + + # brand, request, response, response offset REQUESTS = [ + # Subaru + ( + "subaru", + [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + DEFAULT_RX_OFFSET, + ), # Hyundai ( "hyundai", diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 4f8761588e..1c72988eee 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -81,6 +81,53 @@ FINGERPRINTS = { }], } +FW_VERSIONS = { + CAR.ASCENT: { + # 2019 Ascent UDM + # Ecu, addr, subaddr: ROM ID + (Ecu.esp, 0x7b0, None): [ + b'\xa5 \x19\x02\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x85\xc0\xd0\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00d\xb9\x1f@ \x10', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbb,\xa0t\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\xfe\xf7\x00\x00', + ], + }, + CAR.IMPREZA: { + # 2018 Crosstrek EDM + # 2018 Impreza ADM + # Ecu, addr, subaddr: ROM ID + (Ecu.esp, 0x7b0, None): [ + b'\x7a\x94\x3f\x90\x00', + b'\xa2 \x185\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x7a\xc0\x0c\x00', + b'z\xc0\b\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', + b'\x00\x00d\xdc\x1f@ \x0e', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xaa\x61\x66\x73\x07', + b'\xbeacr\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe3\xe5\x46\x31\x00', + b'\xe4\xe5\x061\x00', + ], + }, +} + STEER_THRESHOLD = { CAR.ASCENT: 80, CAR.IMPREZA: 80, From 15f88db7269d1bde584bf4ec1fe57a816663c8c5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 4 Jan 2022 11:07:42 +0100 Subject: [PATCH 154/239] add subaru fp2.0 to release notes --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 5f5689d3ee..efbd5bf91c 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,7 @@ Version 0.8.13 (2022-XX-XX) ======================== * Improved driver monitoring * Improved camera focus on the comma two + * Subaru ECU firmware fingerprinting thanks to martinl! * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Subaru Impreza 2020 support thanks to martinl! From 5dc631fa1bf471264fceab67edfe4c3962ac9831 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 18:32:54 +0800 Subject: [PATCH 155/239] longcontrol/update: optimize capnp (#23382) --- selfdrive/controls/lib/longcontrol.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index d6e138abbc..b16fbbeaab 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -65,15 +65,16 @@ class LongControl(): """Update longitudinal control. This updates the state machine and runs a PID loop""" # Interp control trajectory # TODO estimate car specific lag, use .15s for now - if len(long_plan.speeds) == CONTROL_N: - v_target_lower = interp(CP.longitudinalActuatorDelayLowerBound, T_IDXS[:CONTROL_N], long_plan.speeds) - a_target_lower = 2 * (v_target_lower - long_plan.speeds[0])/CP.longitudinalActuatorDelayLowerBound - long_plan.accels[0] + speeds = long_plan.speeds + if len(speeds) == CONTROL_N: + v_target_lower = interp(CP.longitudinalActuatorDelayLowerBound, T_IDXS[:CONTROL_N], speeds) + a_target_lower = 2 * (v_target_lower - speeds[0])/CP.longitudinalActuatorDelayLowerBound - long_plan.accels[0] - v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound, T_IDXS[:CONTROL_N], long_plan.speeds) - a_target_upper = 2 * (v_target_upper - long_plan.speeds[0])/CP.longitudinalActuatorDelayUpperBound - long_plan.accels[0] + v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound, T_IDXS[:CONTROL_N], speeds) + a_target_upper = 2 * (v_target_upper - speeds[0])/CP.longitudinalActuatorDelayUpperBound - long_plan.accels[0] a_target = min(a_target_lower, a_target_upper) - v_target_future = long_plan.speeds[-1] + v_target_future = speeds[-1] else: v_target_future = 0.0 a_target = 0.0 @@ -96,7 +97,7 @@ class LongControl(): # tracking objects and driving elif self.long_control_state == LongCtrlState.pid: - self.v_pid = long_plan.speeds[0] + self.v_pid = speeds[0] # Toyota starts braking more when it thinks you want to stop # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration From 05b905d140cc920f25cf654c81371ede997892d1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 18:34:49 +0800 Subject: [PATCH 156/239] interfaces/apply: follow capnp best practices (#23371) --- selfdrive/car/gm/interface.py | 7 ++++--- selfdrive/car/honda/interface.py | 11 ++++++----- selfdrive/car/hyundai/interface.py | 5 +++-- selfdrive/car/nissan/interface.py | 7 ++++--- selfdrive/car/subaru/interface.py | 5 +++-- selfdrive/car/toyota/interface.py | 7 ++++--- selfdrive/car/volkswagen/interface.py | 11 ++++++----- 7 files changed, 30 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index d9a63d32e3..fb9f90a32f 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -212,7 +212,8 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): - hud_v_cruise = c.hudControl.setSpeed + hud_control = c.hudControl + hud_v_cruise = hud_control.setSpeed if hud_v_cruise > 70: hud_v_cruise = 0 @@ -222,8 +223,8 @@ class CarInterface(CarInterfaceBase): ret = self.CC.update(enabled, self.CS, self.frame, c.actuators, - hud_v_cruise, c.hudControl.lanesVisible, - c.hudControl.leadVisible, c.hudControl.visualAlert) + hud_v_cruise, hud_control.lanesVisible, + hud_control.leadVisible, hud_control.visualAlert) self.frame += 1 return ret diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 0724f01ecd..a1828622c4 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -432,8 +432,9 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c): - if c.hudControl.speedVisible: - hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH + hud_control = c.hudControl + if hud_control.speedVisible: + hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH else: hud_v_cruise = 255 @@ -441,9 +442,9 @@ class CarInterface(CarInterfaceBase): c.actuators, c.cruiseControl.cancel, hud_v_cruise, - c.hudControl.lanesVisible, - hud_show_car=c.hudControl.leadVisible, - hud_alert=c.hudControl.visualAlert) + hud_control.lanesVisible, + hud_show_car=hud_control.leadVisible, + hud_alert=hud_control.visualAlert) self.frame += 1 return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index cdfb928855..9f87081fdb 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -347,8 +347,9 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): + hud_control = c.hudControl ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible, - c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + c.cruiseControl.cancel, hud_control.visualAlert, hud_control.setSpeed, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart) self.frame += 1 return ret diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 004ea8dd0a..86c1630fb6 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -78,9 +78,10 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): + hud_control = c.hudControl ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, c.hudControl.visualAlert, - c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, - c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + c.cruiseControl.cancel, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart) self.frame += 1 return ret diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 9537f293ad..4023e062d2 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -122,8 +122,9 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): + hud_control = c.hudControl ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, c.hudControl.visualAlert, - c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + c.cruiseControl.cancel, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart) self.frame += 1 return ret diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 264f9d2aa0..5c13d2b1b0 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -287,11 +287,12 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c): + hud_control = c.hudControl ret = self.CC.update(c.enabled, c.active, self.CS, self.frame, c.actuators, c.cruiseControl.cancel, - c.hudControl.visualAlert, c.hudControl.leftLaneVisible, - c.hudControl.rightLaneVisible, c.hudControl.leadVisible, - c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) + hud_control.visualAlert, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leadVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart) self.frame += 1 return ret diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index b7346ebeaf..84bfe98771 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -216,11 +216,12 @@ class CarInterface(CarInterfaceBase): return self.CS.out def apply(self, c): + hud_control = c.hudControl ret = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators, - c.hudControl.visualAlert, - c.hudControl.leftLaneVisible, - c.hudControl.rightLaneVisible, - c.hudControl.leftLaneDepart, - c.hudControl.rightLaneDepart) + hud_control.visualAlert, + hud_control.leftLaneVisible, + hud_control.rightLaneVisible, + hud_control.leftLaneDepart, + hud_control.rightLaneDepart) self.frame += 1 return ret From a11bb8157800e4662166260a2884069e382276e4 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 4 Jan 2022 11:35:36 +0100 Subject: [PATCH 157/239] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 83cf88557c..79f5e6fe86 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 83cf88557c37a6c46c3754b926cf734481a0b33d +Subproject commit 79f5e6fe860d4f84876f08ddeea00eb6361cb05d From f561d84c627273537d1e30f66d48fa39ec014950 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 18:39:18 +0800 Subject: [PATCH 158/239] ui/update_model: do not recalculate the max_idx If there is no lead (#23356) --- selfdrive/ui/ui.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 3d8f50e238..3907daf6fa 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -71,11 +71,11 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { auto model_position = model.getPosition(); float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); + int max_idx = get_path_length_idx(model_position, max_distance); // update lane lines const auto lane_lines = model.getLaneLines(); const auto lane_line_probs = model.getLaneLineProbs(); - int max_idx = get_path_length_idx(lane_lines[0], max_distance); for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { scene.lane_line_probs[i] = lane_line_probs[i]; update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); @@ -94,8 +94,8 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { if (lead_one.getStatus()) { const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); + max_idx = get_path_length_idx(model_position, max_distance); } - max_idx = get_path_length_idx(model_position, max_distance); update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx); } From 960e0cf6a70638e5235f569da9391638eb94b513 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 19:04:03 +0800 Subject: [PATCH 159/239] controlsd/publish_logs: follow capnp best practices (#23372) * follow follow capnp best practices * cleanup --- selfdrive/controls/controlsd.py | 51 +++++++++++++++++++-------------- 1 file changed, 29 insertions(+), 22 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 93cd22708e..f70a220499 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -579,46 +579,51 @@ class Controls: CC.active = self.active CC.actuators = actuators - if len(self.sm['liveLocationKalman'].orientationNED.value) > 2: - CC.roll = self.sm['liveLocationKalman'].orientationNED.value[0] - CC.pitch = self.sm['liveLocationKalman'].orientationNED.value[1] + orientation_value = self.sm['liveLocationKalman'].orientationNED.value + if len(orientation_value) > 2: + CC.roll = orientation_value[0] + CC.pitch = orientation_value[1] CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: CC.cruiseControl.cancel = True - CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS) - CC.hudControl.speedVisible = self.enabled - CC.hudControl.lanesVisible = self.enabled - CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead + hudControl = CC.hudControl + hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS) + hudControl.speedVisible = self.enabled + hudControl.lanesVisible = self.enabled + hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead - CC.hudControl.rightLaneVisible = True - CC.hudControl.leftLaneVisible = True + hudControl.rightLaneVisible = True + hudControl.leftLaneVisible = True recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED - meta = self.sm['modelV2'].meta - if len(meta.desirePrediction) and ldw_allowed: + model_v2 = self.sm['modelV2'] + desire_prediction = model_v2.meta.desirePrediction + if len(desire_prediction) and ldw_allowed: right_lane_visible = self.sm['lateralPlan'].rProb > 0.5 left_lane_visible = self.sm['lateralPlan'].lProb > 0.5 - l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1] - r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1] - l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET)) - r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET)) + l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] + r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] - CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close) - CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close) + lane_lines = model_v2.laneLines + l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) + r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET)) - if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart: + hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close) + hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close) + + if hudControl.rightLaneDepart or hudControl.leftLaneDepart: self.events.add(EventName.ldw) clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer]) self.AM.add_many(self.sm.frame, alerts) self.AM.process_alerts(self.sm.frame, clear_event) - CC.hudControl.visualAlert = self.AM.visual_alert + hudControl.visualAlert = self.AM.visual_alert if not self.read_only and self.initialized: # send car controls over can @@ -665,16 +670,18 @@ class Controls: controlsState.forceDecel = bool(force_decel) controlsState.canErrorCounter = self.can_rcv_error_counter + lat_tuning = self.CP.lateralTuning.which() if self.joystick_mode: controlsState.lateralControlState.debugState = lac_log elif self.CP.steerControlType == car.CarParams.SteerControlType.angle: controlsState.lateralControlState.angleState = lac_log - elif self.CP.lateralTuning.which() == 'pid': + elif lat_tuning == 'pid': controlsState.lateralControlState.pidState = lac_log - elif self.CP.lateralTuning.which() == 'lqr': + elif lat_tuning == 'lqr': controlsState.lateralControlState.lqrState = lac_log - elif self.CP.lateralTuning.which() == 'indi': + elif lat_tuning == 'indi': controlsState.lateralControlState.indiState = lac_log + self.pm.send('controlsState', dat) # carState From 9295066dac926c9f804bcb07b535bfec9a06cf11 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 19:04:52 +0800 Subject: [PATCH 160/239] ui/get_path_length_idx: line_x[i] shoud be less than or equal to path_height (#23336) * start loop index from 1 * use islessequal * use build in <= --- selfdrive/ui/ui.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 3907daf6fa..4d795dcfd1 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -36,7 +36,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) { const auto line_x = line.getX(); int max_idx = 0; - for (int i = 0; i < TRAJECTORY_SIZE && line_x[i] < path_height; ++i) { + for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { max_idx = i; } return max_idx; From 0148b233cd44a72ca1aabbb962a36a6b8e671f19 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Jan 2022 04:05:58 -0700 Subject: [PATCH 161/239] Add comment about vEgoStarting to interfaces (#23327) --- selfdrive/car/interfaces.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f0dae2d3f9..80626ebb2a 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -89,7 +89,7 @@ class CarInterfaceBase(ABC): ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop ret.vEgoStopping = 0.5 - ret.vEgoStarting = 0.5 + ret.vEgoStarting = 0.5 # needs to be >= vEgoStopping to avoid state transition oscillation ret.stoppingControl = True ret.longitudinalTuning.deadzoneBP = [0.] ret.longitudinalTuning.deadzoneV = [0.] From 937a0df57bd0469af49b7bb4f44ca5ea3c4ae881 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 19:06:23 +0800 Subject: [PATCH 162/239] replay/logreader: handle abort in load (#23321) * handle abort * handle abort in decompressBZ2 --- selfdrive/ui/replay/logreader.cc | 21 +++++++++++++-------- selfdrive/ui/replay/util.cc | 10 +++++----- selfdrive/ui/replay/util.h | 4 ++-- 3 files changed, 20 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/replay/logreader.cc b/selfdrive/ui/replay/logreader.cc index 8e2836a4ff..d836ef11f8 100644 --- a/selfdrive/ui/replay/logreader.cc +++ b/selfdrive/ui/replay/logreader.cc @@ -56,15 +56,17 @@ bool LogReader::load(const std::string &url, std::atomic *abort, bool loca } bool LogReader::load(const std::byte *data, size_t size, std::atomic *abort) { - raw_ = decompressBZ2(data, size); + raw_ = decompressBZ2(data, size, abort); if (raw_.empty()) { - std::cout << "failed to decompress log" << std::endl; + if (!(abort && *abort)) { + std::cout << "failed to decompress log" << std::endl; + } return false; } try { kj::ArrayPtr words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); - while (words.size() > 0) { + while (words.size() > 0 && !(abort && *abort)) { #ifdef HAS_MEMORY_RESOURCE Event *evt = new (mbr_) Event(words); @@ -91,11 +93,14 @@ bool LogReader::load(const std::byte *data, size_t size, std::atomic *abor } } catch (const kj::Exception &e) { std::cout << "failed to parse log : " << e.getDescription().cStr() << std::endl; - if (events.empty()) return false; - - std::cout << "read " << events.size() << " events from corrupt log" << std::endl; + if (!events.empty()) { + std::cout << "read " << events.size() << " events from corrupt log" << std::endl; + } } - std::sort(events.begin(), events.end(), Event::lessThan()); - return true; + if (!events.empty() && !(abort && *abort)) { + std::sort(events.begin(), events.end(), Event::lessThan()); + return true; + } + return false; } diff --git a/selfdrive/ui/replay/util.cc b/selfdrive/ui/replay/util.cc index 97e824ea29..f1c41fcba0 100644 --- a/selfdrive/ui/replay/util.cc +++ b/selfdrive/ui/replay/util.cc @@ -192,11 +192,11 @@ bool httpDownload(const std::string &url, const std::string &file, size_t chunk_ return httpDownload(url, of, chunk_size, size, abort); } -std::string decompressBZ2(const std::string &in) { - return decompressBZ2((std::byte *)in.data(), in.size()); +std::string decompressBZ2(const std::string &in, std::atomic *abort) { + return decompressBZ2((std::byte *)in.data(), in.size(), abort); } -std::string decompressBZ2(const std::byte *in, size_t in_size) { +std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort) { if (in_size == 0) return {}; bz_stream strm = {}; @@ -222,10 +222,10 @@ std::string decompressBZ2(const std::byte *in, size_t in_size) { if (bzerror == BZ_OK && strm.avail_in > 0 && strm.avail_out == 0) { out.resize(out.size() * 2); } - } while (bzerror == BZ_OK); + } while (bzerror == BZ_OK && !(abort && *abort)); BZ2_bzDecompressEnd(&strm); - if (bzerror == BZ_STREAM_END) { + if (bzerror == BZ_STREAM_END && !(abort && *abort)) { out.resize(strm.total_out_lo32); return out; } diff --git a/selfdrive/ui/replay/util.h b/selfdrive/ui/replay/util.h index 726e65cb94..1a09f2e971 100644 --- a/selfdrive/ui/replay/util.h +++ b/selfdrive/ui/replay/util.h @@ -5,8 +5,8 @@ std::string sha256(const std::string &str); void precise_nano_sleep(long sleep_ns); -std::string decompressBZ2(const std::string &in); -std::string decompressBZ2(const std::byte *in, size_t in_size); +std::string decompressBZ2(const std::string &in, std::atomic *abort = nullptr); +std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); void enableHttpLogging(bool enable); std::string getUrlWithoutQuery(const std::string &url); size_t getRemoteFileSize(const std::string &url); From f2c17bbcde55677b06506f0c21c11d273ee413fc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 19:14:29 +0800 Subject: [PATCH 163/239] logcatd: fix sd_journal_seek_tail doesn't go to end (#23319) * fix sd_journal_seek_tail doesn't go to end * add comment --- selfdrive/logcatd/logcatd_systemd.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/logcatd/logcatd_systemd.cc b/selfdrive/logcatd/logcatd_systemd.cc index 7c7800dfea..dabb11adcb 100644 --- a/selfdrive/logcatd/logcatd_systemd.cc +++ b/selfdrive/logcatd/logcatd_systemd.cc @@ -24,6 +24,10 @@ int main(int argc, char *argv[]) { err = sd_journal_seek_tail(journal); assert(err >= 0); + // workaround for bug https://github.com/systemd/systemd/issues/9934 + // call sd_journal_previous_skip after sd_journal_seek_tail (like journalctl -f does) to makes things work. + sd_journal_previous_skip(journal, 1); + while (!do_exit) { err = sd_journal_next(journal); assert(err >= 0); From a1e201ef5a8f0dec22e75b94c31e5fed1e4d9743 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 4 Jan 2022 12:15:18 +0100 Subject: [PATCH 164/239] MUI should be a status bar (#23287) --- selfdrive/ui/mui.cc | 95 +++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 91 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc index a10ead8e00..55b9a47474 100644 --- a/selfdrive/ui/mui.cc +++ b/selfdrive/ui/mui.cc @@ -1,11 +1,83 @@ #include #include #include +#include #include "cereal/messaging/messaging.h" #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/qt_window.h" +class StatusBar : public QGraphicsRectItem { + private: + QLinearGradient linear_gradient; + QRadialGradient radial_gradient; + QTimer animation_timer; + const int animation_length = 10; + int animation_index = 0; + + public: + StatusBar(double x, double y, double width, double height) : QGraphicsRectItem {x, y, width, height} { + linear_gradient = QLinearGradient(0, 0, 0, height/2); + linear_gradient.setSpread(QGradient::ReflectSpread); + + radial_gradient = QRadialGradient(width/2, height/2, width/8); + QObject::connect(&animation_timer, &QTimer::timeout, [=]() { + animation_index++; + animation_index %= animation_length; + }); + animation_timer.start(50); + } + + void solidColor(QColor color) { + QColor dark_color = QColor(color); + dark_color.setAlphaF(0.5); + + linear_gradient.setColorAt(0, dark_color); + linear_gradient.setColorAt(1, color); + setBrush(QBrush(linear_gradient)); + } + + // these need to be called continuously for the animations to work. + // can probably clean that up with some more abstractions + void blinkingColor(QColor color) { + QColor dark_color = QColor(color); + dark_color.setAlphaF(0.1); + + int radius = (rect().width() / animation_length) * animation_index; + QPoint center = QPoint(rect().width()/2, rect().height()/2); + radial_gradient.setCenter(center); + radial_gradient.setFocalPoint(center); + radial_gradient.setRadius(radius); + + radial_gradient.setColorAt(1, dark_color); + radial_gradient.setColorAt(0, color); + setBrush(QBrush(radial_gradient)); + } + + void laneChange(cereal::LateralPlan::LaneChangeDirection direction) { + QColor dark_color = QColor(bg_colors[STATUS_ENGAGED]); + dark_color.setAlphaF(0.1); + + int x = (rect().width() / animation_length) * animation_index; + QPoint center = QPoint(((direction == cereal::LateralPlan::LaneChangeDirection::RIGHT) ? x : (rect().width() - x)), rect().height()/2); + radial_gradient.setCenter(center); + radial_gradient.setFocalPoint(center); + radial_gradient.setRadius(rect().width()/5); + + radial_gradient.setColorAt(1, dark_color); + radial_gradient.setColorAt(0, bg_colors[STATUS_ENGAGED]); + setBrush(QBrush(radial_gradient)); + } + + void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override { + painter->setPen(QPen()); + painter->setBrush(brush()); + + double rounding_radius = rect().height()/2; + painter->drawRoundedRect(rect(), rounding_radius, rounding_radius); + } +}; + int main(int argc, char *argv[]) { QApplication a(argc, argv); QWidget w; @@ -15,12 +87,18 @@ int main(int argc, char *argv[]) { // our beautiful UI QVBoxLayout *layout = new QVBoxLayout(&w); - QLabel *label = new QLabel("〇"); - layout->addWidget(label, 0, Qt::AlignCenter); + + QGraphicsScene *scene = new QGraphicsScene(); + StatusBar *status_bar = new StatusBar(0, 0, 1000, 50); + scene->addItem(status_bar); + + QGraphicsView *graphics_view = new QGraphicsView(scene); + layout->insertSpacing(0, 400); + layout->addWidget(graphics_view, 0, Qt::AlignCenter); QTimer timer; QObject::connect(&timer, &QTimer::timeout, [=]() { - static SubMaster sm({"deviceState", "controlsState"}); + static SubMaster sm({"deviceState", "controlsState", "lateralPlan"}); bool onroad_prev = sm.allAliveAndValid({"deviceState"}) && sm["deviceState"].getDeviceState().getStarted(); @@ -37,7 +115,16 @@ int main(int argc, char *argv[]) { } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) { status = STATUS_ALERT; } - label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name())); + + auto lp = sm["lateralPlan"].getLateralPlan(); + if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE || status == STATUS_ALERT) { + status_bar->blinkingColor(bg_colors[status]); + } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING || + lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) { + status_bar->laneChange(lp.getLaneChangeDirection()); + } else { + status_bar->solidColor(bg_colors[status]); + } } if ((onroad != onroad_prev) || sm.frame < 2) { From 9f88ba188a19cd90e8fee48353668dda7b47b2ba Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Jan 2022 04:17:33 -0700 Subject: [PATCH 165/239] Longitudinal planner: make v_desired a FirstOrderFilter (#23341) * make v_desired a FirstOrderFilter * forgot one * one more ref * Add a new object for the filter * fix * fix tests * update ref Co-authored-by: Willem Melching --- selfdrive/controls/lib/longitudinal_planner.py | 13 ++++++------- selfdrive/test/longitudinal_maneuvers/plant.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 8 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 41bae4c475..f6b949316a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -4,6 +4,7 @@ import numpy as np from common.numpy_fast import interp import cereal.messaging as messaging +from common.filter_simple import FirstOrderFilter from common.realtime import DT_MDL from selfdrive.modeld.constants import T_IDXS from selfdrive.config import Conversions as CV @@ -48,9 +49,8 @@ class Planner: self.fcw = False - self.v_desired = init_v self.a_desired = init_a - self.alpha = np.exp(-DT_MDL / 2.0) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) @@ -69,14 +69,13 @@ class Planner: prev_accel_constraint = True if long_control_state == LongCtrlState.off or sm['carState'].gasPressed: - self.v_desired = v_ego + self.v_desired_filter.x = v_ego self.a_desired = a_ego # Smoothly changing between accel trajectory is only relevant when OP is driving prev_accel_constraint = False # Prevent divergence, smooth in current v_ego - self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego - self.v_desired = max(0.0, self.v_desired) + self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) @@ -88,7 +87,7 @@ class Planner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) - self.mpc.set_cur_state(self.v_desired, self.a_desired) + self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) self.mpc.update(sm['carState'], sm['radarState'], v_cruise, prev_accel_constraint=prev_accel_constraint) self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) @@ -102,7 +101,7 @@ class Planner: # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory)) - self.v_desired = self.v_desired + DT_MDL * (self.a_desired + a_prev) / 2.0 + self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index cefc2166ec..beb544b1b1 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -97,7 +97,7 @@ class Plant(): 'carState': car_state.carState, 'controlsState': control.controlsState} self.planner.update(sm) - self.speed = self.planner.v_desired + self.speed = self.planner.v_desired_filter.x self.acceleration = self.planner.a_desired fcw = self.planner.fcw self.distance_lead = self.distance_lead + v_lead * self.ts diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e4a1605d04..9ccca04cce 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -80430e515ea7ca44f2c73f047692d357856e74c1 \ No newline at end of file +67534ae58a87b6993a0a9653d255e629785a07c3 \ No newline at end of file From cd9813ab6a160d7da2e86ce2bb6daa69e7e2adad Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 21:03:27 +0800 Subject: [PATCH 166/239] UI: run set_brightness in QtConcurrent (#23326) * use QFuture * update at 10 hz * don't change frequency --- selfdrive/ui/ui.cc | 8 ++++++-- selfdrive/ui/ui.h | 2 ++ 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4d795dcfd1..e0e74d5442 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -3,6 +3,8 @@ #include #include +#include + #include "common/transformations/orientation.hpp" #include "selfdrive/common/params.h" #include "selfdrive/common/swaglog.h" @@ -290,9 +292,11 @@ void Device::updateBrightness(const UIState &s) { } if (brightness != last_brightness) { - std::thread{Hardware::set_brightness, brightness}.detach(); + if (!brightness_future.isRunning()) { + brightness_future = QtConcurrent::run(Hardware::set_brightness, brightness); + last_brightness = brightness; + } } - last_brightness = brightness; } bool Device::motionTriggered(const UIState &s) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index b215bfa9b5..bc15257a08 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -7,6 +7,7 @@ #include #include #include +#include #include #include "cereal/messaging/messaging.h" @@ -162,6 +163,7 @@ private: bool ignition_on = false; int last_brightness = 0; FirstOrderFilter brightness_filter; + QFuture brightness_future; void updateBrightness(const UIState &s); void updateWakefulness(const UIState &s); From 5dbdad3276cef90b2466bea8e857ff4918b84717 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 21:14:38 +0800 Subject: [PATCH 167/239] CameraView: sync pbo with glFence instead of calling glFinish (#23293) * Sync pbo with fence * use std::unique_ptr --- selfdrive/ui/qt/widgets/cameraview.cc | 35 +++++++++++++++++---------- selfdrive/ui/qt/widgets/cameraview.h | 12 +++++++-- 2 files changed, 32 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 289f61afe0..b390f5cdb2 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -202,9 +202,15 @@ void CameraViewWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); + std::lock_guard lk(lock); + if (latest_texture_id == -1) return; glViewport(0, 0, width(), height()); + // sync with the PBO + if (wait_fence) { + wait_fence->wait(); + } glBindVertexArray(frame_vao); glActiveTexture(GL_TEXTURE0); @@ -289,20 +295,23 @@ void CameraViewWidget::vipcThread() { } if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) { - if (!Hardware::EON()) { - void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); - memcpy(texture_buffer, buf->addr, buf->len); - gl_buffer->unmap(); - - // copy pixels from PBO to texture object - glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); - glBindTexture(GL_TEXTURE_2D, 0); - assert(glGetError() == GL_NO_ERROR); - // use glFinish to ensure that the texture has been uploaded. - glFinish(); + { + std::lock_guard lk(lock); + if (!Hardware::EON()) { + void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); + memcpy(texture_buffer, buf->addr, buf->len); + gl_buffer->unmap(); + + // copy pixels from PBO to texture object + glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); + glBindTexture(GL_TEXTURE_2D, 0); + assert(glGetError() == GL_NO_ERROR); + + wait_fence.reset(new WaitFence()); + } + latest_texture_id = buf->idx; } - latest_texture_id = buf->idx; // Schedule update. update() will be invoked on the gui thread. QMetaObject::invokeMethod(this, "update"); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 4cfba3c6fb..03709cbdd8 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -36,11 +36,20 @@ protected: virtual void updateFrameMat(int w, int h); void vipcThread(); + struct WaitFence { + WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); } + ~WaitFence() { glDeleteSync(sync); } + void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); } + GLsync sync = 0; + }; + bool zoomed_view; - std::atomic latest_texture_id = -1; + std::mutex lock; + int latest_texture_id = -1; GLuint frame_vao, frame_vbo, frame_ibo; mat4 frame_mat; std::unique_ptr texture[UI_BUF_COUNT]; + std::unique_ptr wait_fence; std::unique_ptr program; QColor bg = QColor("#000000"); @@ -50,7 +59,6 @@ protected: std::atomic stream_type; QThread *vipc_thread = nullptr; - protected slots: void vipcConnected(VisionIpcClient *vipc_client); }; From 5a77157ea435260b3e7ecacb83f13d3753ede859 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 4 Jan 2022 13:17:30 +0000 Subject: [PATCH 168/239] Joystick: learn axis min/max (#23377) * Joystick: learn axis min/max * clean up updating max/min Co-authored-by: Willem Melching --- tools/joystick/joystickd.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index ba7b29df54..0e3269556a 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -34,7 +34,8 @@ class Keyboard: class Joystick: def __init__(self): - self.max_axis_value = 255 # tune based on your joystick, 0 to this + self.min_axis_value = 0 + self.max_axis_value = 255 self.cancel_button = 'BTN_TRIGGER' self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.} # gb, steer @@ -45,7 +46,10 @@ class Joystick: if event[0] == self.cancel_button and event[1] == 0: # state 0 is falling edge self.cancel = True elif event[0] in self.axes_values: - norm = -interp(event[1], [0, self.max_axis_value], [-1., 1.]) + self.max_axis_value = max(event[1], self.max_axis_value) + self.min_axis_value = min(event[1], self.min_axis_value) + + norm = -interp(event[1], [self.min_axis_value, self.max_axis_value], [-1., 1.]) self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0. # center can be noisy, deadzone of 5% else: return False From 526448563c287910cefb2f7f3d40731dfbdf103c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 4 Jan 2022 14:29:44 +0100 Subject: [PATCH 169/239] disable pytest concurrency for test_models --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e7a25e9be0..1bee59e458 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -386,7 +386,7 @@ jobs: - name: Test car models run: | ${{ env.RUN }} "scons -j$(nproc) --test && \ - FILEREADER_CACHE=1 pytest -n 4 selfdrive/test/test_models.py && \ + FILEREADER_CACHE=1 pytest selfdrive/test/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 4 From 8655f6df6bd9eff27bb6600aa0e19bba8af0198c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 4 Jan 2022 15:55:28 +0100 Subject: [PATCH 170/239] cameraview.cc: call glFlush after creating fence --- selfdrive/ui/qt/widgets/cameraview.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index b390f5cdb2..51553bcc8f 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -309,6 +309,10 @@ void CameraViewWidget::vipcThread() { assert(glGetError() == GL_NO_ERROR); wait_fence.reset(new WaitFence()); + + // Ensure the fence is in the GPU command queue, or waiting on it might block + // https://www.khronos.org/opengl/wiki/Sync_Object#Flushing_and_contexts + glFlush(); } latest_texture_id = buf->idx; } From 71132edf17a78b629e3fa244caa21bebdc488929 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 4 Jan 2022 06:55:46 -0800 Subject: [PATCH 171/239] plotjuggler: support segment names (#23263) * plotjuggler: support segment names * update docs * generic parser * convert segment number to int when parsing * add SegmentName Co-authored-by: Willem Melching --- tools/lib/route.py | 118 ++++++++++++++++++++++++------------ tools/plotjuggler/README.md | 14 +++-- tools/plotjuggler/juggle.py | 42 +++++++------ 3 files changed, 111 insertions(+), 63 deletions(-) diff --git a/tools/lib/route.py b/tools/lib/route.py index c3bb94dad4..c87bd04b9e 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -7,9 +7,10 @@ from itertools import chain from tools.lib.auth_config import get_token from tools.lib.api import CommaApi -SEGMENT_NAME_RE = r'[a-z0-9]{16}[|_][0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2}--[0-9]+' -EXPLORER_FILE_RE = r'^({})--([a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME_RE) -OP_SEGMENT_DIR_RE = r'^({})$'.format(SEGMENT_NAME_RE) +ROUTE_NAME_RE = r'(?P[a-z0-9]{16})[|_/](?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' +SEGMENT_NAME_RE = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME_RE) +EXPLORER_FILE_RE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME_RE) +OP_SEGMENT_DIR_RE = r'^(?P{})$'.format(SEGMENT_NAME_RE) QLOG_FILENAMES = ['qlog.bz2'] QCAMERA_FILENAMES = ['qcamera.ts'] @@ -19,47 +20,51 @@ DCAMERA_FILENAMES = ['dcamera.hevc'] ECAMERA_FILENAMES = ['ecamera.hevc'] class Route: - def __init__(self, route_name, data_dir=None): + def __init__(self, name, data_dir=None): + self._name = RouteName(name) self.files = None - self.route_name = route_name.replace('_', '|') if data_dir is not None: self._segments = self._get_segments_local(data_dir) else: self._segments = self._get_segments_remote() - self.max_seg_number = self._segments[-1].canonical_name.segment_num + self.max_seg_number = self._segments[-1].name.segment_num + + @property + def name(self): + return self._name @property def segments(self): return self._segments def log_paths(self): - log_path_by_seg_num = {s.canonical_name.segment_num: s.log_path for s in self._segments} + log_path_by_seg_num = {s.name.segment_num: s.log_path for s in self._segments} return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] def qlog_paths(self): - qlog_path_by_seg_num = {s.canonical_name.segment_num: s.qlog_path for s in self._segments} + qlog_path_by_seg_num = {s.name.segment_num: s.qlog_path for s in self._segments} return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] def camera_paths(self): - camera_path_by_seg_num = {s.canonical_name.segment_num: s.camera_path for s in self._segments} + camera_path_by_seg_num = {s.name.segment_num: s.camera_path for s in self._segments} return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] def dcamera_paths(self): - dcamera_path_by_seg_num = {s.canonical_name.segment_num: s.dcamera_path for s in self._segments} + dcamera_path_by_seg_num = {s.name.segment_num: s.dcamera_path for s in self._segments} return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] def ecamera_paths(self): - ecamera_path_by_seg_num = {s.canonical_name.segment_num: s.ecamera_path for s in self._segments} + ecamera_path_by_seg_num = {s.name.segment_num: s.ecamera_path for s in self._segments} return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] def qcamera_paths(self): - qcamera_path_by_seg_num = {s.canonical_name.segment_num: s.qcamera_path for s in self._segments} + qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments} return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)] # TODO: refactor this, it's super repetitive def _get_segments_remote(self): api = CommaApi(get_token()) - route_files = api.get('v1/route/' + self.route_name + '/files') + route_files = api.get('v1/route/' + self.name.canonical_name + '/files') self.files = list(chain.from_iterable(route_files.values())) segments = {} @@ -67,7 +72,7 @@ class Route: _, dongle_id, time_str, segment_num, fn = urlparse(url).path.rsplit('/', maxsplit=4) segment_name = f'{dongle_id}|{time_str}--{segment_num}' if segments.get(segment_name): - segments[segment_name] = RouteSegment( + segments[segment_name] = Segment( segment_name, url if fn in LOG_FILENAMES else segments[segment_name].log_path, url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path, @@ -77,7 +82,7 @@ class Route: url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path, ) else: - segments[segment_name] = RouteSegment( + segments[segment_name] = Segment( segment_name, url if fn in LOG_FILENAMES else None, url if fn in QLOG_FILENAMES else None, @@ -87,7 +92,7 @@ class Route: url if fn in QCAMERA_FILENAMES else None, ) - return sorted(segments.values(), key=lambda seg: seg.canonical_name.segment_num) + return sorted(segments.values(), key=lambda seg: seg.name.segment_num) def _get_segments_local(self, data_dir): files = os.listdir(data_dir) @@ -99,20 +104,21 @@ class Route: op_match = re.match(OP_SEGMENT_DIR_RE, f) if explorer_match: - segment_name, fn = explorer_match.groups() - if segment_name.replace('_', '|').startswith(self.route_name): + segment_name = explorer_match.group('segment_name') + fn = explorer_match.group('file_name') + if segment_name.replace('_', '|').startswith(self.name.canonical_name): segment_files[segment_name].append((fullpath, fn)) elif op_match and os.path.isdir(fullpath): - segment_name, = op_match.groups() - if segment_name.startswith(self.route_name): + segment_name = op_match.group('segment_name') + if segment_name.startswith(self.name.canonical_name): for seg_f in os.listdir(fullpath): segment_files[segment_name].append((os.path.join(fullpath, seg_f), seg_f)) - elif f == self.route_name: + elif f == self.name.canonical_name: for seg_num in os.listdir(fullpath): if not seg_num.isdigit(): continue - segment_name = f'{self.route_name}--{seg_num}' + segment_name = f'{self.name.canonical_name}--{seg_num}' for seg_f in os.listdir(os.path.join(fullpath, seg_num)): segment_files[segment_name].append((os.path.join(fullpath, seg_num, seg_f), seg_f)) @@ -149,15 +155,15 @@ class Route: except StopIteration: qcamera_path = None - segments.append(RouteSegment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) + segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path)) if len(segments) == 0: - raise ValueError(f'Could not find segments for route {self.route_name} in data directory {data_dir}') - return sorted(segments, key=lambda seg: seg.canonical_name.segment_num) + raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}') + return sorted(segments, key=lambda seg: seg.name.segment_num) -class RouteSegment: +class Segment: def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path): - self._name = RouteSegmentName(name) + self._name = SegmentName(name) self.log_path = log_path self.qlog_path = qlog_path self.camera_path = camera_path @@ -167,21 +173,55 @@ class RouteSegment: @property def name(self): - return str(self._name) + return self._name + +class RouteName: + def __init__(self, name_str: str): + self._name_str = name_str + delim = next(c for c in self._name_str if c in ("|", "/")) + self._dongle_id, self._time_str = self._name_str.split(delim) + + assert len(self._dongle_id) == 16, self._name_str + assert len(self._time_str) == 20, self._name_str + self._canonical_name = f"{self._dongle_id}|{self._time_str}" @property - def canonical_name(self): - return self._name + def canonical_name(self) -> str: return self._canonical_name + + @property + def dongle_id(self) -> str: return self._dongle_id -class RouteSegmentName: - def __init__(self, name_str): - self._segment_name_str = name_str - self._route_name_str, num_str = self._segment_name_str.rsplit("--", 1) - self._num = int(num_str) + @property + def time_str(self) -> str: return self._time_str + + 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) + def __init__(self, name_str: str, allow_route_name=False): + self._name_str = name_str + seg_num_delim = "--" if self._name_str.count("--") == 2 else "/" + name_parts = self._name_str.rsplit(seg_num_delim, 1) + if allow_route_name and len(name_parts) == 1: + name_parts.append("-1") # no segment number + self._route_name = RouteName(name_parts[0]) + self._num = int(name_parts[1]) + self._canonical_name = f"{self._route_name._dongle_id}|{self._route_name._time_str}--{self._num}" + + @property + def canonical_name(self) -> str: return self._canonical_name + + @property + def dongle_id(self) -> str: return self._route_name.dongle_id + + @property + def time_str(self) -> str: return self._route_name.time_str + + @property + def segment_num(self) -> int: return self._num @property - def segment_num(self): - return self._num + def route_name(self) -> RouteName: return self._route_name - def __str__(self): - return self._segment_name_str + def __str__(self) -> str: return self._canonical_name diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index e2370d5a80..2e79aecbca 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -13,14 +13,14 @@ Once you've cloned and are in openpilot, this command will download PlotJuggler ``` $ ./juggle.py -h usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [--install] - [route_name] [segment_number] [segment_count] + [route_or_segment_name] [segment_count] A helper to run PlotJuggler on openpilot routes positional arguments: - route_name The route name to plot (cabana share URL accepted) (default: None) - segment_number The index of the segment to plot (default: None) - segment_count The number of segments to plot (default: 1) + route_or_segment_name + The route or segment name to plot (cabana share URL accepted) (default: None) + segment_count The number of segments to plot (default: None) optional arguments: -h, --help show this help message and exit @@ -32,10 +32,14 @@ optional arguments: --install Install or update PlotJuggler + plugins (default: False) ``` -Example: +Examples using route name: `./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"` +Examples using segment name: + +`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36--1"` + ## Streaming Explore live data from your car! Follow these steps to stream from your comma device to your laptop: diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 3683a6a750..7cafaf60ac 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -15,7 +15,7 @@ from selfdrive.test.process_replay.compare_logs import save_log from tools.lib.api import CommaApi from tools.lib.auth_config import get_token from tools.lib.robust_logreader import RobustLogReader -from tools.lib.route import Route +from tools.lib.route import Route, SegmentName from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -74,29 +74,33 @@ def start_juggler(fn=None, dbc=None, layout=None): subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) -def juggle_route(route_name, segment_number, segment_count, qlog, can, layout): - # TODO: abstract out the cabana stuff - if 'cabana' in route_name: - query = parse_qs(urlparse(route_name).query) +def juggle_route(route_or_segment_name, segment_count, qlog, can, layout): + segment_start = 0 + if 'cabana' in route_or_segment_name: + query = parse_qs(urlparse(route_or_segment_name).query) api = CommaApi(get_token()) logs = api.get(f'v1/route/{query["route"][0]}/log_urls?sig={query["sig"][0]}&exp={query["exp"][0]}') - elif route_name.startswith("http://") or route_name.startswith("https://") or os.path.isfile(route_name): - logs = [route_name] + elif route_or_segment_name.startswith("http://") or route_or_segment_name.startswith("https://") or os.path.isfile(route_or_segment_name): + logs = [route_or_segment_name] else: - r = Route(route_name) + route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) + segment_start = max(route_or_segment_name.segment_num, 0) + + if route_or_segment_name.segment_num != -1 and segment_count is None: + segment_count = 1 + + r = Route(route_or_segment_name.route_name.canonical_name) logs = r.qlog_paths() if qlog else r.log_paths() - if segment_number is not None: - logs = logs[segment_number:segment_number+segment_count] + segment_end = segment_start + segment_count if segment_count else -1 + logs = logs[segment_start:segment_end] if None in logs: ans = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") if ans == 'y': - logs = r.qlog_paths() - if segment_number is not None: - logs = logs[segment_number:segment_number+segment_count] + logs = r.qlog_paths()[segment_start:segment_end] else: - print(f"Please try a different {'segment' if segment_number is not None else 'route'}") + print("Please try a different route or segment") return all_data = [] @@ -133,9 +137,9 @@ if __name__ == "__main__": parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins") - parser.add_argument("route_name", nargs='?', help="The route name to plot (cabana share URL accepted)") - parser.add_argument("segment_number", type=int, nargs='?', help="The index of the segment to plot") - parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot", default=1) + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)") + parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot") + if len(sys.argv) == 1: parser.print_help() sys.exit() @@ -148,5 +152,5 @@ if __name__ == "__main__": if args.stream: start_juggler(layout=args.layout) else: - route = DEMO_ROUTE if args.demo else args.route_name.strip() - juggle_route(route, args.segment_number, args.segment_count, args.qlog, args.can, args.layout) + route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() + juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout) From 9cb0ebe37d234b292e5f2a482924a6f23ab77ba9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Jan 2022 08:00:29 -0700 Subject: [PATCH 172/239] LongitudinalMpc: Remove class accel_limit_arr (#23295) * remove class accel_limit_arr remove class accel_limit_arr * make it static * only set static parameters once * just use existing function style * Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py * Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py Co-authored-by: Willem Melching --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 1bb6716850..c07110eefa 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -194,9 +194,6 @@ class LongitudinalMpc: def __init__(self, e2e=False): self.e2e = e2e self.reset() - self.accel_limit_arr = np.zeros((N+1, 2)) - self.accel_limit_arr[:,0] = -1.2 - self.accel_limit_arr[:,1] = 1.2 self.source = SOURCES[2] def reset(self): @@ -224,6 +221,9 @@ class LongitudinalMpc: def set_weights(self): if self.e2e: self.set_weights_for_xva_policy() + self.params[:,0] = -10. + self.params[:,1] = 10. + self.params[:,2] = 1e5 else: self.set_weights_for_lead_policy() @@ -348,15 +348,9 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) - self.accel_limit_arr[:,0] = -10. - self.accel_limit_arr[:,1] = 10. - x_obstacle = 1e5*np.ones(N+1) - self.params = np.concatenate([self.accel_limit_arr, - x_obstacle[:, None], - self.prev_a[:,None]], axis=1) + self.params[:,3] = np.copy(self.prev_a) self.run() - def run(self): for i in range(N+1): self.solver.set(i, 'p', self.params[i]) From d2948f250b0c62e22f23e4067f460ce7108da2df Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 23:02:04 +0800 Subject: [PATCH 173/239] replay: Add next engagement / disengagement jump capabilities (#23248) * seek engament/disengament in qlogs * cleanup * cleanup * little more * add output * remove qinfo * fix typo * do nothing if tm less than current mono time * const * short variable name * lgtm --- selfdrive/ui/replay/main.cc | 4 +++ selfdrive/ui/replay/replay.cc | 51 +++++++++++++++++++++++++++++++++++ selfdrive/ui/replay/replay.h | 8 ++++++ 3 files changed, 63 insertions(+) diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc index f52093bd94..78e4403d7e 100644 --- a/selfdrive/ui/replay/main.cc +++ b/selfdrive/ui/replay/main.cc @@ -55,6 +55,10 @@ void keyboardThread(Replay *replay_) { qDebug() << "invalid argument"; } getch(); // remove \n from entering seek + } else if (c == 'e') { + replay_->seekToFlag(FindFlag::nextEngagement); + } else if (c == 'd') { + replay_->seekToFlag(FindFlag::nextDisEngagement); } else if (c == 'm') { replay_->seekTo(+60, true); } else if (c == 'M') { diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index bd5f4808f8..122a5e3ebb 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -31,7 +31,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s events_ = std::make_unique>(); new_events_ = std::make_unique>(); + qRegisterMetaType("FindFlag"); connect(this, &Replay::seekTo, this, &Replay::doSeek); + connect(this, &Replay::seekToFlag, this, &Replay::doSeekToFlag); connect(this, &Replay::segmentChanged, this, &Replay::queueSegment); } @@ -109,6 +111,55 @@ void Replay::doSeek(int seconds, bool relative) { queueSegment(); } +void Replay::doSeekToFlag(FindFlag flag) { + if (flag == FindFlag::nextEngagement) { + qInfo() << "seeking to the next engagement..."; + } else if (flag == FindFlag::nextDisEngagement) { + qInfo() << "seeking to the disengagement..."; + } + + updateEvents([&]() { + if (auto next = find(flag)) { + uint64_t tm = *next - 2 * 1e9; // seek to 2 seconds before next + if (tm <= cur_mono_time_) { + return true; + } + + cur_mono_time_ = tm; + current_segment_ = currentSeconds() / 60; + return isSegmentMerged(current_segment_); + } else { + qWarning() << "seeking failed"; + return true; + } + }); + + queueSegment(); +} + +std::optional Replay::find(FindFlag flag) { + // Search in all segments + for (const auto &[n, _] : segments_) { + if (n < current_segment_) continue; + + LogReader log; + bool cache_to_local = true; // cache qlog to local for fast seek + if (!log.load(route_->at(n).qlog.toStdString(), nullptr, cache_to_local, 0, 3)) continue; + + for (const Event *e : log.events) { + if (e->mono_time > cur_mono_time_ && e->which == cereal::Event::Which::CONTROLS_STATE) { + const auto cs = e->event.getControlsState(); + if (flag == FindFlag::nextEngagement && cs.getEnabled()) { + return e->mono_time; + } else if (flag == FindFlag::nextDisEngagement && !cs.getEnabled()) { + return e->mono_time; + } + } + } + } + return std::nullopt; +} + void Replay::pause(bool pause) { updateEvents([=]() { qInfo() << (pause ? "paused..." : "resuming"); diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index e1ec091225..ed024eba18 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -21,6 +21,11 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_VIPC = 0x0400, }; +enum class FindFlag { + nextEngagement, + nextDisEngagement +}; + class Replay : public QObject { Q_OBJECT @@ -39,14 +44,17 @@ public: signals: void segmentChanged(); void seekTo(int seconds, bool relative); + void seekToFlag(FindFlag flag); protected slots: void queueSegment(); void doSeek(int seconds, bool relative); + void doSeekToFlag(FindFlag flag); void segmentLoadFinished(bool sucess); protected: typedef std::map> SegmentMap; + std::optional find(FindFlag flag); void startStream(const Segment *cur_segment); void stream(); void setCurrentSegment(int n); From a6aa09446176e11364f0244e87757e27e992ffbd Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Wed, 5 Jan 2022 02:02:53 +1100 Subject: [PATCH 174/239] Toyota: only send gas interceptor message when openpilot controls longitudinal (#23357) * Toyota: gate enableGasInterceptor behind openpilotLongitudinalControl * fix carcontroller typo * Revert "Toyota: gate enableGasInterceptor behind openpilotLongitudinalControl" This reverts commit a974e8f8cfb4040d0fe12e285154c6fff4cb9825. * put condition in carcontroller * gate building can messages Co-authored-by: Willem Melching --- selfdrive/car/toyota/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 506d754729..2be745df4f 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -89,7 +89,7 @@ class CarController(): # we can spam can to cancel the system even if we are using lat only control if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: - lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged + lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged # Lexus IS uses a different cancellation message if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]: @@ -100,7 +100,7 @@ class CarController(): else: can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type)) - if frame % 2 == 0 and CS.CP.enableGasInterceptor: + if frame % 2 == 0 and CS.CP.enableGasInterceptor and CS.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. # This prevents unexpected pedal range rescaling can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, frame // 2)) From aad7ebdc2a0c8c6eb8b4511280191eb422354000 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 4 Jan 2022 16:26:59 +0100 Subject: [PATCH 175/239] bump CPU usage slightly after adding glFlush --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index bc44aa3ea1..36e8c5499f 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,7 @@ if TICI: "./loggerd": 70.0, "selfdrive.controls.controlsd": 28.0, "./camerad": 31.0, - "./_ui": 30.2, + "./_ui": 33.0, "selfdrive.controls.plannerd": 11.7, "./_dmonitoringmodeld": 10.0, "selfdrive.locationd.paramsd": 5.0, From 47bb62b875fe2099a7a99482767bbd99b478f9e5 Mon Sep 17 00:00:00 2001 From: Joost Wooning Date: Tue, 4 Jan 2022 17:01:33 +0100 Subject: [PATCH 176/239] athena: methods for adding and cancelling multiple upload requests (#23366) * multiple upload cancel * multiple uploads athena method * cleanup * cleanup * more cleanup * isnt used * fix test * actually fix test --- selfdrive/athena/athenad.py | 39 +++++++++++++++++--------- selfdrive/athena/tests/test_athenad.py | 4 +-- 2 files changed, 28 insertions(+), 15 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 996ac97f8e..f58013a15d 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -263,20 +263,29 @@ def reboot(): @dispatcher.add_method def uploadFileToUrl(fn, url, headers): - if len(fn) == 0 or fn[0] == '/' or '..' in fn: - return 500 - path = os.path.join(ROOT, fn) - if not os.path.exists(path): - return 404 + return uploadFilesToUrls([[fn, url, headers]]) + - item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None) - upload_id = hashlib.sha1(str(item).encode()).hexdigest() - item = item._replace(id=upload_id) +@dispatcher.add_method +def uploadFilesToUrls(files_data): + items = [] + for fn, url, headers in files_data: + if len(fn) == 0 or fn[0] == '/' or '..' in fn: + return 500 + path = os.path.join(ROOT, fn) + if not os.path.exists(path): + return 404 + + item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None) + upload_id = hashlib.sha1(str(item).encode()).hexdigest() + items.append(item._replace(id=upload_id)) + + for item in items: + upload_queue.put_nowait(item) - upload_queue.put_nowait(item) UploadQueueCache.cache(upload_queue) - return {"enqueued": 1, "item": item._asdict()} + return {"enqueued": len(items), "items": [i._asdict() for i in items]} @dispatcher.add_method @@ -287,11 +296,15 @@ def listUploadQueue(): @dispatcher.add_method def cancelUpload(upload_id): - upload_ids = {item.id for item in list(upload_queue.queue)} - if upload_id not in upload_ids: + if not isinstance(upload_id, list): + upload_id = [upload_id] + + uploading_ids = {item.id for item in list(upload_queue.queue)} + cancelled_ids = uploading_ids.intersection(upload_id) + if len(cancelled_ids) == 0: return 404 - cancelled_uploads.add(upload_id) + cancelled_uploads.update(cancelled_ids) return {"success": 1} diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index bf6d3940f9..ae8d2334d3 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -141,8 +141,8 @@ class TestAthenadMethods(unittest.TestCase): resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) self.assertEqual(resp['enqueued'], 1) - self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['item']) - self.assertIsNotNone(resp['item'].get('id')) + self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0]) + self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) @with_http_server From 9f70bea964e2037c550678581eb1363e4c99b763 Mon Sep 17 00:00:00 2001 From: Andrew Date: Tue, 4 Jan 2022 08:26:07 -0800 Subject: [PATCH 177/239] docs: setup docs for C code (#23262) * add breathe and doxygen * add sphinx-breathe c docs generation * add c docs to site * built in docker * build base image first * namespace cleanup * Revert "build base image first" This reverts commit 4c44c02ffb93b3f0bc3968f2ee1fdc64faa25608. * its in the dockerfile Co-authored-by: Willem Melching --- Pipfile | 1 + Pipfile.lock | 38 ++++++--------- docs/c_docs.rst | 105 +++++++++++++++++++++++++++++++++++++++++ docs/conf.py | 103 ++++++++++++++++++++++++++++------------ docs/docker/Dockerfile | 1 + docs/index.md | 9 +++- 6 files changed, 203 insertions(+), 54 deletions(-) create mode 100644 docs/c_docs.rst diff --git a/Pipfile b/Pipfile index 6bb6e0a220..0ec00008b3 100644 --- a/Pipfile +++ b/Pipfile @@ -32,6 +32,7 @@ scipy = "*" sphinx = "*" sphinx-sitemap = "*" sphinx-rtd-theme = "*" +breathe = "*" subprocess32 = "*" tenacity = "*" diff --git a/Pipfile.lock b/Pipfile.lock index a39be5349d..15463e3e71 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "55c06fdfc0b686b6df23c263474db29b7a3629321b97b626ce81062d5c06e128" + "sha256": "658c6ab1fd200a6c84b1dec7a3b15b3d01ce911a76b1201bd4495b3031eac119" }, "pipfile-spec": 6, "requires": { @@ -309,7 +309,7 @@ "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7", "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951" ], - "markers": "python_version < '4.0' and python_full_version >= '3.6.1'", + "markers": "python_full_version >= '3.6.1' and python_version < '4.0'", "version": "==5.10.1" }, "itsdangerous": { @@ -701,7 +701,6 @@ "sha256:8ee45429555515e1f6b185e78100aea234072576aa43ab53aefcae078162fca9", "sha256:e644fdec12f7872f86c58ff790da456218b10f863970249516d60a5eaca77206" ], - "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'", "version": "==2.21" }, "pycryptodome": { @@ -943,14 +942,6 @@ "index": "pypi", "version": "==1.2.2" }, - "setuptools": { - "hashes": [ - "sha256:5c89b1a14a67ac5f0956f1cb0aeb7d1d3f4c8ba4e4e1ab7bf1af4933f9a2f0fe", - "sha256:675fcebecb43c32eb930481abf907619137547f4336206e4d673180242e1a278" - ], - "markers": "python_version >= '3.7'", - "version": "==60.2.0" - }, "six": { "hashes": [ "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926", @@ -988,7 +979,7 @@ "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b", "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f" ], - "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'", + "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2'", "version": "==0.10.2" }, "tqdm": { @@ -1004,7 +995,7 @@ "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e", "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b" ], - "markers": "python_version < '3.10'", + "markers": "python_version < '3.10' and python_version < '3.10'", "version": "==4.0.1" }, "urllib3": { @@ -1136,6 +1127,14 @@ "markers": "python_version >= '3.6'", "version": "==3.2.0" }, + "breathe": { + "hashes": [ + "sha256:19faef9d63c39acb3026eeaf6e6fdc5edb95334ed36fe0c627b358d6a2d5e0da", + "sha256:925eeff96c6640cd857e4ddeae6f75464a1d5e2e08ee56dccce4043583ae2050" + ], + "index": "pypi", + "version": "==4.31.0" + }, "certifi": { "hashes": [ "sha256:78884e7c1d4b00ce3cea67b44566851c4343c120abd683433ce934a68ea58872", @@ -1833,7 +1832,6 @@ "sha256:8ee45429555515e1f6b185e78100aea234072576aa43ab53aefcae078162fca9", "sha256:e644fdec12f7872f86c58ff790da456218b10f863970249516d60a5eaca77206" ], - "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'", "version": "==2.21" }, "pycurl": { @@ -2082,14 +2080,6 @@ "index": "pypi", "version": "==1.7.3" }, - "setuptools": { - "hashes": [ - "sha256:5c89b1a14a67ac5f0956f1cb0aeb7d1d3f4c8ba4e4e1ab7bf1af4933f9a2f0fe", - "sha256:675fcebecb43c32eb930481abf907619137547f4336206e4d673180242e1a278" - ], - "markers": "python_version >= '3.7'", - "version": "==60.2.0" - }, "six": { "hashes": [ "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926", @@ -2205,7 +2195,7 @@ "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b", "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f" ], - "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'", + "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2'", "version": "==0.10.2" }, "tomli": { @@ -2221,7 +2211,7 @@ "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e", "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b" ], - "markers": "python_version < '3.10'", + "markers": "python_version < '3.10' and python_version < '3.10'", "version": "==4.0.1" }, "urllib3": { diff --git a/docs/c_docs.rst b/docs/c_docs.rst new file mode 100644 index 0000000000..6cf5f268c5 --- /dev/null +++ b/docs/c_docs.rst @@ -0,0 +1,105 @@ +openpilot +========== + + +opendbc +------ +.. autodoxygenindex:: + :project: opendbc_can + + +cereal +------ + +messaging +^^^^^^^^^ +.. autodoxygenindex:: + :project: cereal_messaging + +visionipc +^^^^^^^^^ +.. autodoxygenindex:: + :project: cereal_visionipc + + +selfdrive +--------- + +camerad +^^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_camerad_cameras +.. autodoxygenindex:: + :project: selfdrive_camerad_transforms +.. autodoxygenindex:: + :project: selfdrive_camerad_imgproc + +locationd +^^^^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_locationd + +ui +^^ + +.. autodoxygenindex:: + :project: selfdrive_ui + +soundd +"""""" +.. autodoxygenindex:: + :project: selfdrive_ui_soundd + +navd +"""" +.. autodoxygenindex:: + :project: selfdrive_ui_navd + +replay +"""""" +.. autodoxygenindex:: + :project: selfdrive_ui_replay + +qt +"" +.. autodoxygenindex:: + :project: selfdrive_ui_qt_offroad +.. autodoxygenindex:: + :project: selfdrive_ui_qt_maps + +proclogd +^^^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_proclogd + +modeld +^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_modeld_transforms +.. autodoxygenindex:: + :project: selfdrive_modeld_models +.. autodoxygenindex:: + :project: selfdrive_modeld_thneed +.. autodoxygenindex:: + :project: selfdrive_modeld_runners + +common +^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_common + +sensorsd +^^^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_sensord_sensors + +boardd +^^^^^^ +.. autodoxygenindex:: + :project: selfdrive_boardd + + +rednose +------- +.. autodoxygenindex:: + :project: rednose_repo_rednose_helpers diff --git a/docs/conf.py b/docs/conf.py index dfab59988f..36bfe0142a 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -14,10 +14,13 @@ # documentation root, use os.path.abspath to make it absolute, like shown here. # import os +from os.path import exists import sys -from selfdrive.version import get_version +from selfdrive.version import get_version +from common.basedir import BASEDIR sys.path.insert(0, os.path.abspath('.')) sys.path.insert(0, os.path.abspath('..')) + VERSION = get_version() @@ -37,33 +40,34 @@ language = 'en' # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom # ones. extensions = [ - 'sphinx.ext.autodoc', # Auto-generate docs - 'sphinx.ext.viewcode', # Add view code link to modules - 'sphinx_rtd_theme', # Read The Docs theme - 'myst_parser', # Markdown parsing - 'sphinx_sitemap', # sitemap generation for SEO + 'sphinx.ext.autodoc', # Auto-generate docs + 'sphinx.ext.viewcode', # Add view code link to modules + 'sphinx_rtd_theme', # Read The Docs theme + 'myst_parser', # Markdown parsing + 'breathe', # Doxygen C/C++ integration + 'sphinx_sitemap', # sitemap generation for SEO ] myst_html_meta = { - "description": "openpilot docs", - "keywords": "op, openpilot, docs, documentation", - "robots": "all,follow", - "googlebot": "index,follow,snippet,archive", - "property=og:locale": "en_US", - "property=og:site_name": "docs.comma.ai", - "property=og:url": "https://docs.comma.ai", - "property=og:title": "openpilot Docuemntation", - "property=og:type": "website", - "property=og:image:type": "image/jpeg", - "property=og:image:width": "400", - "property=og:image": "https://docs.comma.ai/_static/logo.png", - "property=og:image:url": "https://docs.comma.ai/_static/logo.png", - "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png", - "property=og:description": "openpilot Documentation", - "property=twitter:card": "summary_large_image", - "property=twitter:logo": "https://docs.comma.ai/_static/logo.png", - "property=twitter:title": "openpilot Documentation", - "property=twitter:description": "openpilot Documentation" + "description": "openpilot docs", + "keywords": "op, openpilot, docs, documentation", + "robots": "all,follow", + "googlebot": "index,follow,snippet,archive", + "property=og:locale": "en_US", + "property=og:site_name": "docs.comma.ai", + "property=og:url": "https://docs.comma.ai", + "property=og:title": "openpilot Docuemntation", + "property=og:type": "website", + "property=og:image:type": "image/jpeg", + "property=og:image:width": "400", + "property=og:image": "https://docs.comma.ai/_static/logo.png", + "property=og:image:url": "https://docs.comma.ai/_static/logo.png", + "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png", + "property=og:description": "openpilot Documentation", + "property=twitter:card": "summary_large_image", + "property=twitter:logo": "https://docs.comma.ai/_static/logo.png", + "property=twitter:title": "openpilot Documentation", + "property=twitter:description": "openpilot Documentation" } html_baseurl = 'https://docs.comma.ai/' @@ -78,6 +82,47 @@ templates_path = ['_templates'] exclude_patterns = [] +# -- c docs configuration --------------------------------------------------- + +# Breathe Configuration +# breathe_default_project = "c_docs" +breathe_build_directory = f"{BASEDIR}/build/docs/html/xml" +breathe_separate_member_pages = True +breathe_default_members = ('members', 'private-members', 'undoc-members') +breathe_domain_by_extension = { + "h": "cc", +} +breathe_implementation_filename_extensions = ['.c', '.cc'] +breathe_doxygen_config_options = {} +breathe_projects_source = {} + +# only document files that have accompanying .cc files next to them +print("searching for c_docs...") +for root, dirs, files in os.walk(BASEDIR): + found = False + breath_src = {} + breathe_srcs_list = [] + + for file in files: + ccFile = os.path.join(root, file)[:-2] + ".cc" + + if file.endswith(".h") and exists(ccFile): + f = os.path.join(root, file) + + parent_dir_abs = os.path.dirname(f) + parent_dir = parent_dir_abs[len(BASEDIR) + 1:] + project = parent_dir.replace('/', '_') + print(f"\tFOUND: {f} in {project}") + + breathe_srcs_list.append(file) + found = True + + if found: + breath_src[project] = (parent_dir_abs, breathe_srcs_list) + breathe_projects_source.update(breath_src) + +print(f"breathe_projects_source: {breathe_projects_source.keys()}") + # -- Options for HTML output ------------------------------------------------- # The theme to use for HTML and HTML Help pages. See the documentation for @@ -93,9 +138,9 @@ html_static_path = ['_static'] html_logo = '_static/logo.png' html_favicon = '_static/favicon.ico' html_theme_options = { - 'logo_only': False, - 'display_version': True, - 'vcs_pageview_mode': 'blob', - 'style_nav_header_background': '#000000', + 'logo_only': False, + 'display_version': True, + 'vcs_pageview_mode': 'blob', + 'style_nav_header_background': '#000000', } html_extra_path = ['_static'] diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 3444e31a61..124feb1bfc 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -34,6 +34,7 @@ COPY ./*.md ${OPENPILOT_PATH}/ RUN scons -j$(nproc) +RUN apt update && apt install doxygen -y COPY ./docs ${OPENPILOT_PATH}/docs RUN git init . WORKDIR ${OPENPILOT_PATH}/docs diff --git a/docs/index.md b/docs/index.md index 5a171ae91d..0fb2617a5b 100644 --- a/docs/index.md +++ b/docs/index.md @@ -28,8 +28,15 @@ overview.rst - {ref}`search` ```{toctree} -:caption: 'Modules' +:caption: 'Python API' :maxdepth: 2 modules.rst ``` + +```{toctree} +:caption: 'C/C++ API' +:maxdepth: 4 + +c_docs.rst +``` \ No newline at end of file From 9720dbe9b94a409d1540ec624b1deb29a5f37c8b Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 4 Jan 2022 17:40:00 +0100 Subject: [PATCH 178/239] docs: conf.py dont shadow project variable --- docs/conf.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/conf.py b/docs/conf.py index 36bfe0142a..5715a40b8b 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -111,14 +111,14 @@ for root, dirs, files in os.walk(BASEDIR): parent_dir_abs = os.path.dirname(f) parent_dir = parent_dir_abs[len(BASEDIR) + 1:] - project = parent_dir.replace('/', '_') - print(f"\tFOUND: {f} in {project}") + parent_project = parent_dir.replace('/', '_') + print(f"\tFOUND: {f} in {parent_project}") breathe_srcs_list.append(file) found = True if found: - breath_src[project] = (parent_dir_abs, breathe_srcs_list) + breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list) breathe_projects_source.update(breath_src) print(f"breathe_projects_source: {breathe_projects_source.keys()}") From 15be8a8c1f9a15f08b09bd137e661974c77c3616 Mon Sep 17 00:00:00 2001 From: martinl Date: Tue, 4 Jan 2022 23:07:11 +0200 Subject: [PATCH 179/239] Subaru: initial FPv2 dump (#23389) * Add FPv2 for Ascent, Forester, Impreza, Legacy, Outback * remove comments --- selfdrive/car/subaru/values.py | 279 ++++++++++++++++++++++++++++++++- 1 file changed, 274 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 1c72988eee..89986b9540 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -83,47 +83,316 @@ FINGERPRINTS = { FW_VERSIONS = { CAR.ASCENT: { - # 2019 Ascent UDM - # Ecu, addr, subaddr: ROM ID (Ecu.esp, 0x7b0, None): [ b'\xa5 \x19\x02\x00', + b'\xa5 !\002\000', + b'\xf1\x82\xa5 \x19\x02\x00', ], (Ecu.eps, 0x746, None): [ b'\x85\xc0\xd0\x00', + b'\005\xc0\xd0\000', + b'\x95\xc0\xd0\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00d\xb9\x1f@ \x10', + b'\000\000e~\037@ \'', + b'\x00\x00e@\x1f@ $', ], (Ecu.engine, 0x7e0, None): [ b'\xbb,\xa0t\a', + b'\xf1\x82\xbb,\xa0t\x87', + b'\xf1\x82\xbb,\xa0t\a', + b'\xf1\x82\xd9,\xa0@\a', + b'\xf1\x82\xd1,\xa0q\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\x00\xfe\xf7\x00\x00', + b'\001\xfe\xf9\000\000', + b'\x01\xfe\xf7\x00\x00', ], }, CAR.IMPREZA: { - # 2018 Crosstrek EDM - # 2018 Impreza ADM - # Ecu, addr, subaddr: ROM ID (Ecu.esp, 0x7b0, None): [ b'\x7a\x94\x3f\x90\x00', b'\xa2 \x185\x00', + b'\xa2 \x193\x00', + b'z\x94.\x90\x00', + b'z\x94\b\x90\x01', + b'\xa2 \x19`\x00', + b'z\x94\f\x90\001', + b'z\x9c\x19\x80\x01', + b'z\x94\x08\x90\x00', ], (Ecu.eps, 0x746, None): [ b'\x7a\xc0\x0c\x00', b'z\xc0\b\x00', + b'\x8a\xc0\x00\x00', + b'z\xc0\x04\x00', + b'z\xc0\x00\x00', + b'\x8a\xc0\x10\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x1c\x1f@ \x14', + b'\x00\x00d)\x1f@ \a', + b'\x00\x00e+\x1f@ \x14', + b'\000\000e+\000\000\000\000', + b'\000\000dd\037@ \016', + b'\000\000e\002\037@ \024', + b'\x00\x00d)\x00\x00\x00\x00', + b'\x00\x00c\xf4\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xaa\x61\x66\x73\x07', b'\xbeacr\a', + b'\xc5!`r\a', + b'\xaa!ds\a', + b'\xaa!`u\a', + b'\xaa!dq\a', + b'\xaa!dt\a', + b'\xf1\x00\xa2\x10\t' + b'\xc5!dr\a', + b'\xc5!ar\a', + b'\xbe!as\a', + b'\xc5!ds\a', + b'\xc5!`s\a', + b'\xaa!au\a', + b'\xbe!at\a', + b'\xaa\x00Bu\x07', + b'\xc5!dr\x07', + b'\xaa!aw\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe3\xe5\x46\x31\x00', b'\xe4\xe5\x061\x00', + b'\xe5\xf5\x04\x00\x00', + b'\xe3\xf5G\x00\x00', + b'\xe3\xf5\a\x00\x00', + b'\xe3\xf5C\x00\x00', + b'\xf1\x00\xa4\x10@' + b'\xe5\xf5B\x00\x00', + b'\xe5\xf5$\000\000', + b'\xe4\xf5\a\000\000', + b'\xe3\xf5F\000\000', + b'\xe4\xf5\002\000\000', + b'\xe3\xd0\x081\x00', + b'\xe3\xf5\x06\x00\x00', + ], + }, + CAR.IMPREZA_2020: { + (Ecu.esp, 0x7b0, None): [ + b'\xa2 \0314\000', + b'\xa2 \0313\000', + b'\xa2 !i\000', + b'\xa2 !`\000', + ], + (Ecu.eps, 0x746, None): [ + b'\x9a\xc0\000\000', + b'\n\xc0\004\000', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\000\000eb\037@ \"', + b'\000\000e\x8f\037@ )', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xca!ap\a', + b'\xca!`p\a', + b'\xca!`0\a', + b'\xcc\"f0\a', + b'\xcc!fp\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe6\xf5\004\000\000', + b'\xe6\xf5$\000\000', + b'\xe7\xf6B0\000', + b'\xe7\xf5D0\000', + ], + }, + CAR.FORESTER: { + (Ecu.esp, 0x7b0, None): [ + b'\xa3 \030\024\000', + b'\xa3 \024\000', + b'\xa3 \031\024\000', + b'\xa3 \024\001', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc0\004\000', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\000\000e!\037@ \021', + b'\000\000e\x97\037@ 0', + b'\000\000e`\037@ ', + b'\xf1\x00\xac\x02\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb6\"`A\a', + b'\xcf"`0\a', + b'\xcb\"`@\a', + b'\xcb\"`p\a', + b'\xf1\x00\xa2\x10\n', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\032\xf6B0\000', + b'\032\xf6F`\000', + b'\032\xf6b`\000', + b'\032\xf6B`\000' + b'\xf1\x00\xa4\x10@', + ], + }, + CAR.FORESTER_PREGLOBAL: { + (Ecu.esp, 0x7b0, None): [ + b'\x7d\x97\x14\x40', + b'\xf1\x00\xbb\x0c\x04', + ], + (Ecu.eps, 0x746, None): [ + b'}\xc0\x10\x00', + b'm\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00\x64\x35\x1f\x40\x20\x09', + b'\x00\x00c\xe9\x1f@ \x03', + b'\x00\x00d\xd3\x1f@ \t' + ], + (Ecu.engine, 0x7e0, None): [ + b'\xba"@p\a', + b'\xa7)\xa0q\a', + b'\xf1\x82\xa7)\xa0q\a', + b'\xba"@@\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xdc\xf2\x60\x60\x00', + b'\xdc\xf2@`\x00', + b'\xda\xfd\xe0\x80\x00', + b'\xdc\xf2`\x81\000', + b'\xdc\xf2`\x80\x00', + ], + }, + CAR.LEGACY_PREGLOBAL: { + (Ecu.esp, 0x7b0, None): [ + b'k\x97D\x00', + b'[\xba\xc4\x03', + b'{\x97D\x00', + b'[\x97D\000', + ], + (Ecu.eps, 0x746, None): [ + b'[\xb0\x00\x01', + b'K\xb0\x00\x01', + b'k\xb0\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xab*@r\a', + b'\xa0+@p\x07', + b'\xb4"@0\x07', + b'\xa0"@q\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbe\xf2\x00p\x00', + b'\xbf\xfb\xc0\x80\x00', + b'\xbd\xf2\x00`\x00', + b'\xbf\xf2\000\x80\000', + ], + }, + CAR.OUTBACK_PREGLOBAL: { + (Ecu.esp, 0x7b0, None): [ + b'{\x9a\xac\x00', + b'k\x97\xac\x00', + b'\x5b\xf7\xbc\x03', + b'[\xf7\xac\x03', + b'{\x97\xac\x00', + b'k\x9a\xac\000', + b'[\xba\xac\x03', + b'[\xf7\xac\000', + ], + (Ecu.eps, 0x746, None): [ + b'k\xb0\x00\x00', + b'[\xb0\x00\x00', + b'\x4b\xb0\x00\x02', + b'K\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xec\x1f@ \x04', + b'\x00\x00c\xd1\x1f@\x10\x17', + b'\xf1\x00\xf0\xe0\x0e', + b'\x00\x00c\x94\x00\x00\x00\x00', + b'\x00\x00c\x94\x1f@\x10\b', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\000\000c\x90\037@\020\016', + b'\x00\x00c\xec\x37@\x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb4+@p\a', + b'\xab\"@@\a', + b'\xa0\x62\x41\x71\x07', + b'\xa0*@q\a', + b'\xab*@@\a', + b'\xb4"@0\a', + b'\xb4"@p\a', + b'\xab"@s\a', + b'\xab+@@\a', + b'\xb4"@r\a', + b'\xa0+@@\x07' + b'\xa0\"@\x80\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xfb\xe0\x80\x00', + b'\xbe\xf2@\x80\x00', + b'\xbf\xe2\x40\x80\x00', + b'\xbf\xf2@\x80\x00', + b'\xbe\xf2@p\x00', + b'\xbd\xf2@`\x00', + b'\xbd\xf2@\x81\000', + b'\xbe\xfb\xe0p\000', + b'\xbf\xfb\xe0b\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL_2018: { + (Ecu.esp, 0x7b0, None): [ + b'\x8b\x97\xac\x00', + b'\x8b\x9a\xac\x00', + b'\x9b\x97\xac\x00', + b'\x8b\x97\xbc\x00', + b'\x8b\x99\xac\x00', + b'\x9b\x9a\xac\000', + b'\x9b\x97\xbe\x10', + ], + (Ecu.eps, 0x746, None): [ + b'{\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00df\x1f@ \n', + b'\x00\x00d\xfe\x1f@ \x15', + b'\x00\x00d\x95\x00\x00\x00\x00', + b'\x00\x00d\x95\x1f@ \x0f', + b'\x00\x00d\xfe\x00\x00\x00\x00', + b'\x00\x00e\x19\x1f@ \x15', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb5"@p\a', + b'\xb5+@@\a', + b'\xb5"@P\a', + b'\xc4"@0\a', + b'\xb5b@1\x07', + b'\xb5q\xe0@\a', + b'\xc4+@0\a', + b'\xc4b@p\a', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbc\xf2@\x81\x00', + b'\xbc\xfb\xe0\x80\x00', + b'\xbc\xf2@\x80\x00', + b'\xbb\xf2@`\x00', + b'\xbc\xe2@\x80\x00', + b'\xbc\xfb\xe0`\x00', + b'\xbc\xaf\xe0`\x00', + b'\xbb\xfb\xe0`\000', ], }, } From d3f064f5ca2563ab139687550eb5d3139b6b8fea Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 4 Jan 2022 13:21:56 -0800 Subject: [PATCH 180/239] Controlsd: fix bug in curv rate limit (#23250) * Controlsd: fix bug in curv rate limit * update ref --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index f173f5fd98..14be3d5ed8 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -119,6 +119,6 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): -max_curvature_rate, max_curvature_rate) safe_desired_curvature = clip(desired_curvature, - current_curvature - max_curvature_rate/DT_MDL, - current_curvature + max_curvature_rate/DT_MDL) + current_curvature - max_curvature_rate * DT_MDL, + current_curvature + max_curvature_rate * DT_MDL) return safe_desired_curvature, safe_desired_curvature_rate diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 9ccca04cce..72e2a54860 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -67534ae58a87b6993a0a9653d255e629785a07c3 \ No newline at end of file +e0ac3ca09baaf0d791d0e7734799bb297ad91f79 \ No newline at end of file From 7257f717397ba98b5fa2c298f40fe04f692fd8e6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 4 Jan 2022 13:51:05 -0800 Subject: [PATCH 181/239] Move over all tss2 long tunes (#23108) * add all rest * just commit to all TSS2 * forgot this line --- selfdrive/car/toyota/interface.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 5c13d2b1b0..82e7523c7b 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -244,8 +244,7 @@ class CarInterface(CarInterfaceBase): if ret.enableGasInterceptor: set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) - elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, - CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2]: + elif candidate in TSS2_CAR: set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) ret.stoppingDecelRate = 0.3 # reach stopping target smoothly ret.startingAccelRate = 6.0 # release brakes fast From 0357cf2af0bc7449e7aefff5b0f0881f1ae2adb3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 5 Jan 2022 06:07:36 +0800 Subject: [PATCH 182/239] controlsd: remove duplicate event relayMalfunction (#23392) --- selfdrive/controls/controlsd.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f70a220499..a64ac9ecfc 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -294,9 +294,6 @@ class Controls: self.events.add(EventName.posenetInvalid) if not self.sm['liveLocationKalman'].deviceStable: self.events.add(EventName.deviceFalling) - for pandaState in self.sm['pandaStates']: - if log.PandaState.FaultType.relayMalfunction in pandaState.faults: - self.events.add(EventName.relayMalfunction) if not REPLAY: # Check for mismatch between openpilot and car's PCM From cf9792dc536db343447cfa64edecc72565c4eefd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Jan 2022 16:40:39 -0700 Subject: [PATCH 183/239] Longcontrol: remove starting state (#23328) * remove starting state * new ref * ready for merge * try this * cereal now on master Co-authored-by: Harald Schafer --- cereal | 2 +- selfdrive/car/honda/carcontroller.py | 3 +-- selfdrive/car/honda/hondacan.py | 4 ++-- selfdrive/car/hyundai/interface.py | 1 - selfdrive/car/interfaces.py | 2 -- selfdrive/car/tesla/interface.py | 1 - selfdrive/car/toyota/interface.py | 1 - selfdrive/controls/lib/longcontrol.py | 18 +++--------------- selfdrive/test/process_replay/ref_commit | 2 +- 9 files changed, 8 insertions(+), 26 deletions(-) diff --git a/cereal b/cereal index e83ec3be7d..70aeecf093 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4 +Subproject commit 70aeecf0930376a9da236b6f274941488e593063 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 9a424a1e68..a09f418af5 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -168,7 +168,6 @@ class CarController(): lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl)) stopping = actuators.longControlState == LongCtrlState.stopping - starting = actuators.longControlState == LongCtrlState.starting # wind brake from air resistance decel at high speed wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) @@ -218,7 +217,7 @@ class CarController(): if CS.CP.carFingerprint in HONDA_BOSCH: self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX) self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V) - can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, starting, CS.CP.carFingerprint)) + can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint)) else: apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1)) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 7fcafe67f8..db7104cd4f 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -43,7 +43,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx) -def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint): +def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint): commands = [] bus = get_pt_bus(car_fingerprint) min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] @@ -53,7 +53,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, star accel_command = accel if active else 0 braking = 1 if active and accel < min_gas_accel else 0 standstill = 1 if active and stopping else 0 - standstill_release = 1 if active and starting else 0 + standstill_release = 1 if active and not stopping else 0 acc_control_values = { # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 9f87081fdb..1a5f36baf1 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -41,7 +41,6 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] ret.stopAccel = 0.0 - ret.startAccel = 0.0 ret.longitudinalActuatorDelayUpperBound = 1.0 # s diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 80626ebb2a..089dc2045d 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -84,9 +84,7 @@ class CarInterfaceBase(ABC): ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA ret.openpilotLongitudinalControl = False - ret.startAccel = -0.8 ret.stopAccel = -2.0 - ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop ret.vEgoStopping = 0.5 ret.vEgoStarting = 0.5 # needs to be >= vEgoStopping to avoid state transition oscillation diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 4b5b211787..0a5067d1ce 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiBP = [0] ret.longitudinalTuning.kiV = [0] ret.stopAccel = 0.0 - ret.startAccel = 0.0 ret.longitudinalActuatorDelayUpperBound = 0.5 # s ret.radarTimeStep = (1.0 / 8) # 8Hz diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 82e7523c7b..3a98c19b0a 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -247,7 +247,6 @@ class CarInterface(CarInterfaceBase): elif candidate in TSS2_CAR: set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - ret.startingAccelRate = 6.0 # release brakes fast else: set_long_tune(ret.longitudinalTuning, LongTunes.TSS) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index b16fbbeaab..646b40c26b 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -13,7 +13,7 @@ ACCEL_MAX_ISO = 2.0 # m/s^2 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future, - output_accel, brake_pressed, cruise_standstill): + brake_pressed, cruise_standstill): """Update longitudinal control state machine""" stopping_condition = (v_ego < 2.0 and cruise_standstill) or \ (v_ego < CP.vEgoStopping and @@ -35,12 +35,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_fut elif long_control_state == LongCtrlState.stopping: if starting_condition: - long_control_state = LongCtrlState.starting - - elif long_control_state == LongCtrlState.starting: - if stopping_condition: - long_control_state = LongCtrlState.stopping - elif output_accel >= CP.startAccel: long_control_state = LongCtrlState.pid return long_control_state @@ -88,8 +82,8 @@ class LongControl(): # Update state machine output_accel = self.last_output_accel self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo, - v_target_future, output_accel, - CS.brakePressed, CS.cruiseState.standstill) + v_target_future, CS.brakePressed, + CS.cruiseState.standstill) if self.long_control_state == LongCtrlState.off or CS.gasPressed: self.reset(CS.vEgo) @@ -118,12 +112,6 @@ class LongControl(): output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) self.reset(CS.vEgo) - # Intention is to move again, release brake fast before handing control to PID - elif self.long_control_state == LongCtrlState.starting: - if output_accel < CP.startAccel: - output_accel += CP.startingAccelRate * DT_CTRL - self.reset(CS.vEgo) - self.last_output_accel = output_accel final_accel = clip(output_accel, accel_limits[0], accel_limits[1]) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 72e2a54860..6ebdb327b3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e0ac3ca09baaf0d791d0e7734799bb297ad91f79 \ No newline at end of file +05ebb83207d2c949ee70702e4ec4568f872c6054 \ No newline at end of file From df7126b982d6663d7016b6ad28c10af94dc00b19 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 5 Jan 2022 07:57:38 +0800 Subject: [PATCH 184/239] paramsd: follow capnp best practices (#23399) --- selfdrive/locationd/paramsd.py | 39 +++++++++++++++++----------------- 1 file changed, 20 insertions(+), 19 deletions(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 1542f29d34..03de2d6462 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -169,30 +169,31 @@ def main(sm=None, pm=None): msg = messaging.new_message('liveParameters') msg.logMonoTime = sm.logMonoTime['carState'] - msg.liveParameters.posenetValid = True - msg.liveParameters.sensorValid = True - msg.liveParameters.steerRatio = float(x[States.STEER_RATIO]) - msg.liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) - msg.liveParameters.roll = float(x[States.ROAD_ROLL]) - msg.liveParameters.angleOffsetAverageDeg = angle_offset_average - msg.liveParameters.angleOffsetDeg = angle_offset - msg.liveParameters.valid = all(( - abs(msg.liveParameters.angleOffsetAverageDeg) < 10.0, - abs(msg.liveParameters.angleOffsetDeg) < 10.0, - 0.2 <= msg.liveParameters.stiffnessFactor <= 5.0, - min_sr <= msg.liveParameters.steerRatio <= max_sr, + liveParameters = msg.liveParameters + liveParameters.posenetValid = True + liveParameters.sensorValid = True + liveParameters.steerRatio = float(x[States.STEER_RATIO]) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) + liveParameters.roll = float(x[States.ROAD_ROLL]) + liveParameters.angleOffsetAverageDeg = angle_offset_average + liveParameters.angleOffsetDeg = angle_offset + liveParameters.valid = all(( + abs(liveParameters.angleOffsetAverageDeg) < 10.0, + abs(liveParameters.angleOffsetDeg) < 10.0, + 0.2 <= liveParameters.stiffnessFactor <= 5.0, + min_sr <= liveParameters.steerRatio <= max_sr, )) - msg.liveParameters.steerRatioStd = float(P[States.STEER_RATIO]) - msg.liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS]) - msg.liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET]) - msg.liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST]) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO]) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS]) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET]) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST]) if sm.frame % 1200 == 0: # once a minute params = { 'carFingerprint': CP.carFingerprint, - 'steerRatio': msg.liveParameters.steerRatio, - 'stiffnessFactor': msg.liveParameters.stiffnessFactor, - 'angleOffsetAverageDeg': msg.liveParameters.angleOffsetAverageDeg, + 'steerRatio': liveParameters.steerRatio, + 'stiffnessFactor': liveParameters.stiffnessFactor, + 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, } put_nonblocking("LiveParameters", json.dumps(params)) From f30a702414b75e97ab905797350522f8a12932ab Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 4 Jan 2022 19:59:49 -0800 Subject: [PATCH 185/239] fix up tools readme --- tools/README.md | 116 +++++++++++++++--------------------------------- 1 file changed, 35 insertions(+), 81 deletions(-) diff --git a/tools/README.md b/tools/README.md index 81bff69e1d..bd40c239c9 100644 --- a/tools/README.md +++ b/tools/README.md @@ -1,68 +1,43 @@ -openpilot tools -============ +# openpilot tools -CTF -============ - -Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md). - -SSH -============ - -Connect to your comma device using [SSH](ssh/README.md) +## System Requirements +openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embdedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. -System requirements -============ +## Setup your PC -openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embdedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. -Setup your PC -============ -1. Clone openpilot into your home directory: +First, clone openpilot: ``` bash cd ~ -git clone --recurse-submodules https://github.com/commaai/openpilot.git +git clone https://github.com/commaai/openpilot.git + +cd openpilot +git submodule update --init ``` -2. Run the setup script: +Then, run the setup script: -Ubuntu 20.04 LTS: ``` bash +# for Ubuntu 20.04 LTS openpilot/tools/ubuntu_setup.sh -``` -MacOS: -``` bash + +# for macOS openpilot/tools/mac_setup.sh ``` -3. Ensure you have a working OpenCL runtime: - -You can verify your OpenCL installation with the `clinfo` command. - -If you do not have any working platforms, you can download drivers from your GPU vendor's site. -On Ubuntu you can just install one of the packages returned by `apt search opencl-icd`. +Activate a shell with the install Python dependencies: -4. Activate the Python environment: - -Execute the following command in root openpilot directory: -```bash -pipenv shell +``` bash +cd openpilot && pipenv shell ``` -Your shell prompt should change to something similar to `(openpilot) user@machine:~/openpilot$ `. - -5. Build openpilot by running SCons in the root of the openpilot directory +Build openpilot with this command: ``` bash -cd openpilot && scons -j$(nproc) +scons -u -j$(nproc) ``` -6. Try out some tools! - -NOTE: you can always run `update_requirements.sh` to pull in new python dependencies. - -Windows ------------- +### Windows Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similiar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. @@ -70,43 +45,22 @@ Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242). -Tools -============ - -[Plot logs](plotjuggler) -------------- - -Easily plot openpilot logs with [PlotJuggler](https://github.com/facontidavide/PlotJuggler), an open source tool for visualizing time series data. - - -[Run openpilot in a simulator](sim) -------------- - -Test openpilots performance in a simulated environment. The [CARLA simulator](https://github.com/carla-simulator/carla) allows you to set a variety of features like: -* Weather -* Environment physics -* Cars -* Traffic and pedestrians - - -[Replay a drive](replay) -------------- -Review video and log data from routes and stream CAN messages to your device. - - -[Debug car controls](joystick) -------------- - -Use a joystick to control your car. - - -Welcomed contributions -============= +## CTF +Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md). -* Documentation: code comments, better tutorials, etc -* Support for platforms other than Ubuntu 20.04 -* Performance improvements -* More tools: anything that you think might be helpful to others. +## Directory Structure -![Imgur](https://i.imgur.com/IdfBgwK.jpg) +``` +├── ubuntu_setup.sh # Setup script for Ubuntu +├── mac_setup.sh # Setup script for macOS +├── joystick/ # Control your car with a joystick +├── lib/ # Libraries to support the tools and reading openpilot logs +├── plotjuggler/ # A tool to plot openpilot logs +├── replay/ # Replay drives and mock openpilot services +├── scripts/ # Miscellaneous scripts +├── serial/ # Tools for using the comma serial +├── sim/ # Run openpilot in a simulator +├── ssh/ # SSH into a comma device +└── webcam/ # Run openpilot on a PC with webcams +``` From 34926dfab58b6119cd2bf6cbf4fb83a937b22d18 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 4 Jan 2022 20:16:42 -0800 Subject: [PATCH 186/239] Revert "cameraview.cc: call glFlush after creating fence" This reverts commit 8655f6df6bd9eff27bb6600aa0e19bba8af0198c. --- selfdrive/ui/qt/widgets/cameraview.cc | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 51553bcc8f..b390f5cdb2 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -309,10 +309,6 @@ void CameraViewWidget::vipcThread() { assert(glGetError() == GL_NO_ERROR); wait_fence.reset(new WaitFence()); - - // Ensure the fence is in the GPU command queue, or waiting on it might block - // https://www.khronos.org/opengl/wiki/Sync_Object#Flushing_and_contexts - glFlush(); } latest_texture_id = buf->idx; } From 25f51470fc66f741a2448910ad57e17f9a643a8d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 4 Jan 2022 20:16:52 -0800 Subject: [PATCH 187/239] Revert "CameraView: sync pbo with glFence instead of calling glFinish (#23293)" This reverts commit 5dbdad3276cef90b2466bea8e857ff4918b84717. --- selfdrive/ui/qt/widgets/cameraview.cc | 35 ++++++++++----------------- selfdrive/ui/qt/widgets/cameraview.h | 12 ++------- 2 files changed, 15 insertions(+), 32 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index b390f5cdb2..289f61afe0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -202,15 +202,9 @@ void CameraViewWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - std::lock_guard lk(lock); - if (latest_texture_id == -1) return; glViewport(0, 0, width(), height()); - // sync with the PBO - if (wait_fence) { - wait_fence->wait(); - } glBindVertexArray(frame_vao); glActiveTexture(GL_TEXTURE0); @@ -295,23 +289,20 @@ void CameraViewWidget::vipcThread() { } if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) { - { - std::lock_guard lk(lock); - if (!Hardware::EON()) { - void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); - memcpy(texture_buffer, buf->addr, buf->len); - gl_buffer->unmap(); - - // copy pixels from PBO to texture object - glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); - glBindTexture(GL_TEXTURE_2D, 0); - assert(glGetError() == GL_NO_ERROR); - - wait_fence.reset(new WaitFence()); - } - latest_texture_id = buf->idx; + if (!Hardware::EON()) { + void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); + memcpy(texture_buffer, buf->addr, buf->len); + gl_buffer->unmap(); + + // copy pixels from PBO to texture object + glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); + glBindTexture(GL_TEXTURE_2D, 0); + assert(glGetError() == GL_NO_ERROR); + // use glFinish to ensure that the texture has been uploaded. + glFinish(); } + latest_texture_id = buf->idx; // Schedule update. update() will be invoked on the gui thread. QMetaObject::invokeMethod(this, "update"); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 03709cbdd8..4cfba3c6fb 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -36,20 +36,11 @@ protected: virtual void updateFrameMat(int w, int h); void vipcThread(); - struct WaitFence { - WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); } - ~WaitFence() { glDeleteSync(sync); } - void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); } - GLsync sync = 0; - }; - bool zoomed_view; - std::mutex lock; - int latest_texture_id = -1; + std::atomic latest_texture_id = -1; GLuint frame_vao, frame_vbo, frame_ibo; mat4 frame_mat; std::unique_ptr texture[UI_BUF_COUNT]; - std::unique_ptr wait_fence; std::unique_ptr program; QColor bg = QColor("#000000"); @@ -59,6 +50,7 @@ protected: std::atomic stream_type; QThread *vipc_thread = nullptr; + protected slots: void vipcConnected(VisionIpcClient *vipc_client); }; From 23346ae63c38073b87e1ea0ddb3cd19771e45262 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Wed, 5 Jan 2022 00:25:34 -0800 Subject: [PATCH 188/239] setup: update pyenv before installing python (#23405) --- update_requirements.sh | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/update_requirements.sh b/update_requirements.sh index bece43a51a..40508efd6b 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -4,7 +4,7 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" cd $DIR if ! command -v "pyenv" > /dev/null 2>&1; then - echo "installing pyenv..." + echo "pyenv install ..." curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH fi @@ -13,7 +13,9 @@ export MAKEFLAGS="-j$(nproc)" PYENV_PYTHON_VERSION=$(cat .python-version) if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then - echo "pyenv ${PYENV_PYTHON_VERSION} install ..." + echo "pyenv update ..." + pyenv update + echo "python ${PYENV_PYTHON_VERSION} install ..." CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION} fi From bafdb20eb1288cc6ca94a109301701e997989b4c Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Wed, 5 Jan 2022 04:25:41 -0800 Subject: [PATCH 189/239] setup: remove duplicate pipenv install (#23406) --- update_requirements.sh | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/update_requirements.sh b/update_requirements.sh index 40508efd6b..ebf99312b0 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -19,13 +19,9 @@ if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION} fi -if ! command -v pipenv &> /dev/null; then - echo "pipenv install ..." - pip install pipenv -fi - -echo "update pip" +echo "pip install ..." pip install pip==21.3.1 +echo "pipenv install ..." pip install pipenv==2021.11.23 if [ -d "./xx" ]; then From a2e762e0b96c7ff271dcfd41c0ca7c12018444f0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 5 Jan 2022 21:23:08 +0800 Subject: [PATCH 190/239] longcontrol: check if speeds is empty (#23410) * check if speeds is empty * move into existing check Co-authored-by: Willem Melching --- selfdrive/controls/lib/longcontrol.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 646b40c26b..f49a4e6f3b 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -68,8 +68,10 @@ class LongControl(): a_target_upper = 2 * (v_target_upper - speeds[0])/CP.longitudinalActuatorDelayUpperBound - long_plan.accels[0] a_target = min(a_target_lower, a_target_upper) + v_target = speeds[0] v_target_future = speeds[-1] else: + v_target = 0.0 v_target_future = 0.0 a_target = 0.0 @@ -91,7 +93,7 @@ class LongControl(): # tracking objects and driving elif self.long_control_state == LongCtrlState.pid: - self.v_pid = speeds[0] + self.v_pid = v_target # Toyota starts braking more when it thinks you want to stop # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration From 8d80c0107f5d1cd2ba2b5a37f297d3ae8e3b02f3 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 5 Jan 2022 14:23:57 +0100 Subject: [PATCH 191/239] catch gl_buffer->map() returning nullptr (#23411) --- selfdrive/ui/qt/widgets/cameraview.cc | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 289f61afe0..9050122765 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -291,6 +291,12 @@ void CameraViewWidget::vipcThread() { if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) { if (!Hardware::EON()) { void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); + + if (texture_buffer == nullptr) { + LOGE("gl_buffer->map returned nullptr"); + continue; + } + memcpy(texture_buffer, buf->addr, buf->len); gl_buffer->unmap(); From 3ffebf4df5063e926ce530453f202cd7de4a6f99 Mon Sep 17 00:00:00 2001 From: Joost Wooning Date: Wed, 5 Jan 2022 18:18:11 +0100 Subject: [PATCH 192/239] athena: uploads, show which items fail on error (#23412) * athena: uploads, show which items fail on error * fix upload-id * no more 404 * Update selfdrive/athena/athenad.py Co-authored-by: Willem Melching --- selfdrive/athena/athenad.py | 18 ++++++++++++------ selfdrive/athena/tests/test_athenad.py | 3 ++- 2 files changed, 14 insertions(+), 7 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index f58013a15d..a0f17397a4 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -269,23 +269,29 @@ def uploadFileToUrl(fn, url, headers): @dispatcher.add_method def uploadFilesToUrls(files_data): items = [] + failed = [] for fn, url, headers in files_data: if len(fn) == 0 or fn[0] == '/' or '..' in fn: - return 500 + failed.append(fn) + continue path = os.path.join(ROOT, fn) if not os.path.exists(path): - return 404 + failed.append(fn) + continue item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None) upload_id = hashlib.sha1(str(item).encode()).hexdigest() - items.append(item._replace(id=upload_id)) - - for item in items: + item = item._replace(id=upload_id) upload_queue.put_nowait(item) + items.append(item._asdict()) UploadQueueCache.cache(upload_queue) - return {"enqueued": len(items), "items": [i._asdict() for i in items]} + resp = {"enqueued": len(items), "items": items} + if failed: + resp["failed"] = failed + + return resp @dispatcher.add_method diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index ae8d2334d3..06d762c180 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -134,13 +134,14 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_uploadFileToUrl(self, host): not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) - self.assertEqual(not_exists_resp, 404) + self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) fn = os.path.join(athenad.ROOT, 'qlog.bz2') Path(fn).touch() resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) self.assertEqual(resp['enqueued'], 1) + self.assertNotIn('failed', resp) self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0]) self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) From 64caee88ebf3d3fe99a2baf7021a93e4ecd79a66 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 5 Jan 2022 17:19:51 +0000 Subject: [PATCH 193/239] replay: add missing import for std::optional (#23416) --- selfdrive/ui/replay/replay.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index ed024eba18..a855befe46 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include "selfdrive/ui/replay/camera.h" From 13d011c176012c530df3d282179622b82957cb4e Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Wed, 5 Jan 2022 12:16:02 -0800 Subject: [PATCH 194/239] Add Prius 2022 to CARS.md (#23417) Anecdote that this is working: https://discord.com/channels/469524606043160576/524327905937850394/928164186326982686 --- docs/CARS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 95b9657b4f..18d906208f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -62,7 +62,7 @@ | Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph | | Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph | | Toyota | Prius 2016-20 | TSS-P | Stock3| 0mph | 0mph | -| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph | +| Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph | | Toyota | Prius Prime 2017-20 | All | Stock3| 0mph | 0mph | | Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph | | Toyota | Rav4 2016-18 | TSS-P | Stock3| 20mph1 | 0mph | From e499ebc711d15f4222b6ad77aa20049475a739f4 Mon Sep 17 00:00:00 2001 From: Chris McCammon Date: Wed, 5 Jan 2022 14:14:22 -0800 Subject: [PATCH 195/239] Hyundai: Add Niro EV to 384 STEER_MAX (#23420) * Niro EV confirmed working with 384 * SCC + LKAS is standard --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 18d906208f..1f641a0109 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -124,7 +124,7 @@ | Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph | -| Kia | Niro EV 2019-22 | SCC + LKAS | Stock | 0mph | 0mph | +| Kia | Niro EV 2019-22 | All | Stock | 0mph | 0mph | | Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph | | Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph | diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 40c09a626e..97d273d943 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -13,8 +13,8 @@ class CarControllerParams: # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, - CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, - CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]: + CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, + CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]: self.STEER_MAX = 255 else: self.STEER_MAX = 384 From 7faad75a44d05a972d614e78ddb1a1fcc63be735 Mon Sep 17 00:00:00 2001 From: martinl Date: Thu, 6 Jan 2022 00:16:32 +0200 Subject: [PATCH 196/239] Subaru: remove Ascent FPv1 (#23407) * Remove Ascent FPv1 * bump cereal --- selfdrive/car/subaru/values.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 89986b9540..93affa678e 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -28,10 +28,6 @@ class CAR: OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019" FINGERPRINTS = { - CAR.ASCENT: [{ - # SUBARU ASCENT LIMITED 2019 - 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8 - }], CAR.IMPREZA: [{ 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 }], From a12649564c9b4c3abb0cee8c97631b2698a82019 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Jan 2022 14:18:38 -0800 Subject: [PATCH 197/239] Subaru: remove all Pre-Global CAN fingerprints (#23422) --- selfdrive/car/subaru/values.py | 35 ---------------------------------- 1 file changed, 35 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 93affa678e..5ec95b0076 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -32,49 +32,14 @@ FINGERPRINTS = { 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 }], CAR.IMPREZA_2020: [{ - # SUBARU CROSSTREK SPORT 2020 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8 }, - # IMPREZA 2020 { 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 }], CAR.FORESTER: [{ - # Forester 2019-2020 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 }], - CAR.OUTBACK_PREGLOBAL: [{ - # OUTBACK PREMIUM 2.5i 2015 - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5, 1882: 8, 2015: 8, 2016: 8, 2024: 8, 604: 8, 885: 8, 1788: 8, 316: 8, 1614: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1743: 8, 1785: 5, 1787: 5 - }, - # OUTBACK PREMIUM 3.6i 2015 - { - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1779: 8, 1786: 5 - }, - # OUTBACK LIMITED 2.5i 2018 - { - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8 - }], - CAR.OUTBACK_PREGLOBAL_2018: [{ - # OUTBACK LIMITED 3.6R 2019 - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 2, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1862: 8, 1870: 8, 1920: 8, 1927: 8, 1928: 8, 1935: 8, 1968: 8, 1976: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], - CAR.FORESTER_PREGLOBAL: [{ - # FORESTER PREMIUM 2.5i 2017 - 2: 8, 112: 8, 117: 8, 128: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 340: 7, 342: 8, 352: 8, 353: 8, 354: 8, 355: 8, 356: 8, 554: 8, 604: 8, 640: 8, 641: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 1, 888: 8, 977: 8, 1398: 8, 1632: 8, 1743: 8, 1744: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1882: 8, 1895: 8, 1903: 8, 1986: 8, 1994: 8, 2015: 8, 2016: 8, 2024: 8, 644:8, 890:8, 1736:8 - }], - CAR.LEGACY_PREGLOBAL: [{ - # LEGACY 2.5i 2017 - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8 - }, - # LEGACY 2018 - { - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8 - }, - # LEGACY 2018 - { - 2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8 - }], } FW_VERSIONS = { From eb0cd9ca8497e91a44cb5966f7f8c275ff562a11 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Jan 2022 16:51:15 -0800 Subject: [PATCH 198/239] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 79f5e6fe86..f5857bc8fd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 79f5e6fe860d4f84876f08ddeea00eb6361cb05d +Subproject commit f5857bc8fd3e1d2c27df342df85e202c7e844911 From 450656e2a70623b5ae0d93b37091d15429222970 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Jan 2022 19:48:06 -0800 Subject: [PATCH 199/239] GM: move abandoned cars into dashcam only (#23423) --- selfdrive/car/gm/interface.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index fb9f90a32f..7928fe31dc 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -44,6 +44,11 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.pcmCruise = False # stock cruise control is kept off + # These cars have been put into dashcam only due to both a lack of users and test coverage. + # These cars likely still work fine. Once a user confirms each car works and a test route is + # added to selfdrive/test/test_routes, we canr remove it from this list. + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU} + # Presence of a camera on the object bus is ok. # Have to go to read_only if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). From c7fb8f4e32330174cc156d70c99db94688cd165f Mon Sep 17 00:00:00 2001 From: kevinharbin <76784413+kevinharbin@users.noreply.github.com> Date: Thu, 6 Jan 2022 09:53:48 -0500 Subject: [PATCH 200/239] selfdrive/car/gm/interface.py: fix typo in comment (#23429) spelling --- selfdrive/car/gm/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 7928fe31dc..7b86589de3 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -46,7 +46,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is - # added to selfdrive/test/test_routes, we canr remove it from this list. + # added to selfdrive/test/test_routes, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU} # Presence of a camera on the object bus is ok. From e0338fd77b98073673f48213336965349e7194a9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 6 Jan 2022 22:54:19 +0800 Subject: [PATCH 201/239] controlsd/state_transition: remove redundant check in elif (#23428) --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a64ac9ecfc..c4f71294f1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -404,7 +404,7 @@ class Controls: # if stock cruise is completely disabled, then we can use our own set speed logic if not self.CP.pcmCruise: self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.button_timers, self.enabled, self.is_metric) - elif self.CP.pcmCruise and CS.cruiseState.enabled: + elif CS.cruiseState.enabled: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH # decrement the soft disable timer at every step, as it's reset on From 86d730774de0b18ba2541490df4733d922d6291d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 6 Jan 2022 22:56:14 +0800 Subject: [PATCH 202/239] replay: handle abort in getRemoteFileSize (#23427) --- selfdrive/ui/replay/filereader.cc | 2 +- selfdrive/ui/replay/main.cc | 4 +++- selfdrive/ui/replay/replay.cc | 5 +++++ selfdrive/ui/replay/replay.h | 2 ++ selfdrive/ui/replay/util.cc | 24 +++++++++++++++--------- selfdrive/ui/replay/util.h | 2 +- 6 files changed, 27 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/replay/filereader.cc b/selfdrive/ui/replay/filereader.cc index 84dc76694b..1585bb42d2 100644 --- a/selfdrive/ui/replay/filereader.cc +++ b/selfdrive/ui/replay/filereader.cc @@ -39,7 +39,7 @@ std::string FileReader::download(const std::string &url, std::atomic *abor if (!result.empty()) { return result; } - if (i != max_retries_) { + if (i != max_retries_ && !(abort && *abort)) { std::cout << "download failed, retrying " << i + 1 << std::endl; } } diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc index 78e4403d7e..180aecc7e1 100644 --- a/selfdrive/ui/replay/main.cc +++ b/selfdrive/ui/replay/main.cc @@ -11,12 +11,14 @@ const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; struct termios oldt = {}; +Replay *replay = nullptr; void sigHandler(int s) { std::signal(s, SIG_DFL); if (oldt.c_lflag) { tcsetattr(STDIN_FILENO, TCSANOW, &oldt); } + replay->stop(); qApp->quit(); } @@ -143,7 +145,7 @@ int main(int argc, char *argv[]) { replay_flags |= flag; } } - Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); if (!replay->load()) { return 0; } diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index 122a5e3ebb..98e211fb53 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -34,10 +34,15 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s qRegisterMetaType("FindFlag"); connect(this, &Replay::seekTo, this, &Replay::doSeek); connect(this, &Replay::seekToFlag, this, &Replay::doSeekToFlag); + connect(this, &Replay::stop, this, &Replay::doStop); connect(this, &Replay::segmentChanged, this, &Replay::queueSegment); } Replay::~Replay() { + doStop(); +} + +void Replay::doStop() { if (!stream_thread_ && segments_.empty()) return; qDebug() << "shutdown: in progress..."; diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index a855befe46..4f97990506 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -47,9 +47,11 @@ signals: void segmentChanged(); void seekTo(int seconds, bool relative); void seekToFlag(FindFlag flag); + void stop(); protected slots: void queueSegment(); + void doStop(); void doSeek(int seconds, bool relative); void doSeekToFlag(FindFlag flag); void segmentLoadFinished(bool sucess); diff --git a/selfdrive/ui/replay/util.cc b/selfdrive/ui/replay/util.cc index f1c41fcba0..d6eba2e2a8 100644 --- a/selfdrive/ui/replay/util.cc +++ b/selfdrive/ui/replay/util.cc @@ -69,7 +69,7 @@ std::string formattedDataSize(size_t size) { } // namespace -size_t getRemoteFileSize(const std::string &url) { +size_t getRemoteFileSize(const std::string &url, std::atomic *abort) { CURL *curl = curl_easy_init(); if (!curl) return -1; @@ -77,14 +77,20 @@ size_t getRemoteFileSize(const std::string &url) { curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb); curl_easy_setopt(curl, CURLOPT_HEADER, 1); curl_easy_setopt(curl, CURLOPT_NOBODY, 1); - CURLcode res = curl_easy_perform(curl); - double content_length = -1; - if (res == CURLE_OK) { - curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length); - } else { - std::cout << "Download failed: error code: " << res << std::endl; + + CURLM *cm = curl_multi_init(); + curl_multi_add_handle(cm, curl); + int still_running = 1; + while (still_running > 0 && !(abort && *abort)) { + CURLMcode mc = curl_multi_perform(cm, &still_running); + if (!mc) curl_multi_wait(cm, nullptr, 0, 1000, nullptr); } + + double content_length = -1; + curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length); + curl_multi_remove_handle(cm, curl); curl_easy_cleanup(curl); + curl_multi_cleanup(cm); return content_length > 0 ? (size_t)content_length : 0; } @@ -176,7 +182,7 @@ bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t cont } std::string httpGet(const std::string &url, size_t chunk_size, std::atomic *abort) { - size_t size = getRemoteFileSize(url); + size_t size = getRemoteFileSize(url, abort); if (size == 0) return {}; std::string result(size, '\0'); @@ -184,7 +190,7 @@ std::string httpGet(const std::string &url, size_t chunk_size, std::atomic } bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size, std::atomic *abort) { - size_t size = getRemoteFileSize(url); + size_t size = getRemoteFileSize(url, abort); if (size == 0) return false; std::ofstream of(file, std::ios::binary | std::ios::out); diff --git a/selfdrive/ui/replay/util.h b/selfdrive/ui/replay/util.h index 1a09f2e971..cd4b179cdc 100644 --- a/selfdrive/ui/replay/util.h +++ b/selfdrive/ui/replay/util.h @@ -9,6 +9,6 @@ std::string decompressBZ2(const std::string &in, std::atomic *abort = null std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); void enableHttpLogging(bool enable); std::string getUrlWithoutQuery(const std::string &url); -size_t getRemoteFileSize(const std::string &url); +size_t getRemoteFileSize(const std::string &url, std::atomic *abort = nullptr); std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic *abort = nullptr); bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic *abort = nullptr); From ef225e3e3515c449ba9f69d6e28c02912f1579c3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Jan 2022 12:01:14 -0800 Subject: [PATCH 203/239] locationd: disable falling device detector (#23431) --- selfdrive/locationd/locationd.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 0350625a91..35fbd90e56 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -232,9 +232,10 @@ void Localizer::handle_sensors(double current_time, const capnp::Listdevice_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; + //this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; auto meas = Vector3d(-v[2], -v[1], -v[0]); if (meas.norm() < ACCEL_SANITY_CHECK) { From 1a6881edc6318bf30d2ba451d75eeb7d1b53389d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Jan 2022 14:05:13 -0800 Subject: [PATCH 204/239] skip falling device test --- selfdrive/locationd/test/test_locationd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 5194ce4441..76f82efc10 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -51,6 +51,7 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t liveloc = self.localizer_get_msg() self.assertTrue(liveloc is not None) + @unittest.skip("temporarily disabled due to false positives") def test_device_fell(self): msg = messaging.new_message('sensorEvents', 1) msg.sensorEvents[0].sensor = 1 From 45280754d662f4ba441a29f35dd52dd7031bf284 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 7 Jan 2022 00:30:04 +0100 Subject: [PATCH 205/239] log ERROR messages in qlogs too (#23425) * log ERROR messages in qlogs too * own event * bump cereal Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- selfdrive/logmessaged.py | 10 ++++++++-- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 70aeecf093..42542ee96c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 70aeecf0930376a9da236b6f274941488e593063 +Subproject commit 42542ee96ca00744e6117d57533defe6f01ba14d diff --git a/selfdrive/logmessaged.py b/selfdrive/logmessaged.py index 9c40976562..1d1fab5162 100755 --- a/selfdrive/logmessaged.py +++ b/selfdrive/logmessaged.py @@ -17,7 +17,8 @@ def main() -> NoReturn: sock.bind("ipc:///tmp/logmessage") # and we publish them - pub_sock = messaging.pub_sock('logMessage') + log_message_sock = messaging.pub_sock('logMessage') + error_log_message_sock = messaging.pub_sock('errorLogMessage') while True: dat = b''.join(sock.recv_multipart()) @@ -29,7 +30,12 @@ def main() -> NoReturn: # then we publish them msg = messaging.new_message() msg.logMessage = record - pub_sock.send(msg.to_bytes()) + log_message_sock.send(msg.to_bytes()) + + if level >= 40: # logging.ERROR + msg = messaging.new_message() + msg.errorLogMessage = record + error_log_message_sock.send(msg.to_bytes()) if __name__ == "__main__": From 1de0757c5e7dba1ea9696cbed80f871c8965c1c4 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 7 Jan 2022 00:11:32 +0000 Subject: [PATCH 206/239] fix typo in athena/registration.py (#23434) --- selfdrive/athena/registration.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index e06bae5060..f19540eb87 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -1,4 +1,4 @@ -#/!/usr/bin/env python3 +#!/usr/bin/env python3 import time import json import jwt From ce998be706e30280e1b6f31eb410e84446d37368 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Thu, 6 Jan 2022 16:37:34 -0800 Subject: [PATCH 207/239] Camera transforms: denormalize with no bounds --- common/transformations/camera.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/transformations/camera.py b/common/transformations/camera.py index d71f865ca9..623e026a2e 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -125,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics): return img_pts_normalized[:, :2].reshape(input_shape) -def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H): +def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf): # denormalizes image coordinates # accepts single pt or array of pts img_pts = np.array(img_pts) From dbef0a1cd4b474753b157e38a60f7b43cd9578ae Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Thu, 6 Jan 2022 18:23:40 -0800 Subject: [PATCH 208/239] Camera transforms: denormalize with no bounds at all --- common/transformations/camera.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 623e026a2e..7573877a3e 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -133,10 +133,12 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf img_pts = np.atleast_2d(img_pts) img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype))) img_pts_denormalized = img_pts.dot(intrinsics.T) - img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan - img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan - img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan - img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan + if np.isfinite(width): + img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan + if np.isfinite(height): + img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan + img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan return img_pts_denormalized[:, :2].reshape(input_shape) From 09a835916b0c10175c5658a92cf5ca23a337cb19 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 7 Jan 2022 14:15:32 +0800 Subject: [PATCH 209/239] optimize alertmanager (#23433) --- selfdrive/controls/controlsd.py | 21 +++++----- selfdrive/controls/lib/alertmanager.py | 38 +++---------------- .../controls/lib/tests/test_alertmanager.py | 4 +- 3 files changed, 20 insertions(+), 43 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c4f71294f1..d193d27288 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -619,8 +619,9 @@ class Controls: clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer]) self.AM.add_many(self.sm.frame, alerts) - self.AM.process_alerts(self.sm.frame, clear_event) - hudControl.visualAlert = self.AM.visual_alert + current_alert = self.AM.process_alerts(self.sm.frame, clear_event) + if current_alert: + hudControl.visualAlert = current_alert.visual_alert if not self.read_only and self.initialized: # send car controls over can @@ -641,13 +642,15 @@ class Controls: dat = messaging.new_message('controlsState') dat.valid = CS.canValid controlsState = dat.controlsState - controlsState.alertText1 = self.AM.alert_text_1 - controlsState.alertText2 = self.AM.alert_text_2 - controlsState.alertSize = self.AM.alert_size - controlsState.alertStatus = self.AM.alert_status - controlsState.alertBlinkingRate = self.AM.alert_rate - controlsState.alertType = self.AM.alert_type - controlsState.alertSound = self.AM.audible_alert + if current_alert: + controlsState.alertText1 = current_alert.alert_text_1 + controlsState.alertText2 = current_alert.alert_text_2 + controlsState.alertSize = current_alert.alert_size + controlsState.alertStatus = current_alert.alert_status + controlsState.alertBlinkingRate = current_alert.alert_rate + controlsState.alertType = current_alert.alert_type + controlsState.alertSound = current_alert.audible_alert + controlsState.canMonoTimes = list(CS.canMonoTimes) controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index c8e702c5c7..bf93b5f47e 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -5,7 +5,6 @@ from collections import defaultdict from dataclasses import dataclass from typing import List, Dict, Optional -from cereal import car, log from common.basedir import BASEDIR from common.params import Params from selfdrive.controls.lib.events import Alert @@ -36,22 +35,9 @@ class AlertEntry: return frame <= self.end_frame class AlertManager: - def __init__(self): - self.reset() self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry) - def reset(self) -> None: - self.alert: Optional[Alert] = None - self.alert_type: str = "" - self.alert_text_1: str = "" - self.alert_text_2: str = "" - self.alert_status = log.ControlsState.AlertStatus.normal - self.alert_size = log.ControlsState.AlertSize.none - self.visual_alert = car.CarControl.HUDControl.VisualAlert.none - self.audible_alert = car.CarControl.HUDControl.AudibleAlert.none - self.alert_rate: float = 0. - def add_many(self, frame: int, alerts: List[Alert]) -> None: for alert in alerts: key = alert.alert_type @@ -61,30 +47,18 @@ class AlertManager: min_end_frame = self.alerts[key].start_frame + alert.duration self.alerts[key].end_frame = max(frame + 1, min_end_frame) - def process_alerts(self, frame: int, clear_event_type=None) -> None: + def process_alerts(self, frame: int, clear_event_type=None) -> Optional[Alert]: current_alert = AlertEntry() - for k, v in self.alerts.items(): - if v.alert is None: + for v in self.alerts.values(): + if not v.alert: continue - if clear_event_type is not None and v.alert.event_type == clear_event_type: - self.alerts[k].end_frame = -1 + if clear_event_type and v.alert.event_type == clear_event_type: + v.end_frame = -1 # sort by priority first and then by start_frame greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame) if v.active(frame) and greater: current_alert = v - # clear current alert - self.reset() - - self.alert = current_alert.alert - if self.alert is not None: - self.alert_type = self.alert.alert_type - self.audible_alert = self.alert.audible_alert - self.visual_alert = self.alert.visual_alert - self.alert_text_1 = self.alert.alert_text_1 - self.alert_text_2 = self.alert.alert_text_2 - self.alert_status = self.alert.alert_status - self.alert_size = self.alert.alert_size - self.alert_rate = self.alert.alert_rate + return current_alert.alert diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py index bb6664303b..2b606390c7 100755 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -34,9 +34,9 @@ class TestAlertManager(unittest.TestCase): for frame in range(duration+10): if frame < add_duration: AM.add_many(frame, [alert, ]) - AM.process_alerts(frame) + current_alert = AM.process_alerts(frame) - shown = AM.alert is not None + shown = current_alert is not None should_show = frame <= show_duration self.assertEqual(shown, should_show, msg=f"{frame=} {add_duration=} {duration=}") From c4b36ce11ed3a4559d5e59d51bf8b744f0d3bf5d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 7 Jan 2022 14:31:23 +0100 Subject: [PATCH 210/239] Revert "ui/update_model: do not recalculate the max_idx If there is no lead (#23356)" This reverts commit f561d84c627273537d1e30f66d48fa39ec014950. --- selfdrive/ui/ui.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index e0e74d5442..c33b61c19e 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -73,11 +73,11 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { auto model_position = model.getPosition(); float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); - int max_idx = get_path_length_idx(model_position, max_distance); // update lane lines const auto lane_lines = model.getLaneLines(); const auto lane_line_probs = model.getLaneLineProbs(); + int max_idx = get_path_length_idx(lane_lines[0], max_distance); for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { scene.lane_line_probs[i] = lane_line_probs[i]; update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); @@ -96,8 +96,8 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { if (lead_one.getStatus()) { const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); - max_idx = get_path_length_idx(model_position, max_distance); } + max_idx = get_path_length_idx(model_position, max_distance); update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx); } From d77782ea931b9fa3e7e2a31628f6ec1d35a47884 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 7 Jan 2022 15:24:20 +0100 Subject: [PATCH 211/239] CameraView: sync pbo with glFence instead of calling glFinish (#23409) * CameraView: sync pbo with glFence instead of calling glFinish (#23293) * Sync pbo with fence * use std::unique_ptr * cameraview.cc: call glFlush after creating fence Co-authored-by: Dean Lee --- selfdrive/ui/qt/widgets/cameraview.cc | 49 +++++++++++++++++---------- selfdrive/ui/qt/widgets/cameraview.h | 12 +++++-- 2 files changed, 41 insertions(+), 20 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 9050122765..a16923894d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -202,9 +202,15 @@ void CameraViewWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); + std::lock_guard lk(lock); + if (latest_texture_id == -1) return; glViewport(0, 0, width(), height()); + // sync with the PBO + if (wait_fence) { + wait_fence->wait(); + } glBindVertexArray(frame_vao); glActiveTexture(GL_TEXTURE0); @@ -289,26 +295,33 @@ void CameraViewWidget::vipcThread() { } if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) { - if (!Hardware::EON()) { - void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); - - if (texture_buffer == nullptr) { - LOGE("gl_buffer->map returned nullptr"); - continue; + { + std::lock_guard lk(lock); + if (!Hardware::EON()) { + void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); + + if (texture_buffer == nullptr) { + LOGE("gl_buffer->map returned nullptr"); + continue; + } + + memcpy(texture_buffer, buf->addr, buf->len); + gl_buffer->unmap(); + + // copy pixels from PBO to texture object + glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); + glBindTexture(GL_TEXTURE_2D, 0); + assert(glGetError() == GL_NO_ERROR); + + wait_fence.reset(new WaitFence()); + + // Ensure the fence is in the GPU command queue, or waiting on it might block + // https://www.khronos.org/opengl/wiki/Sync_Object#Flushing_and_contexts + glFlush(); } - - memcpy(texture_buffer, buf->addr, buf->len); - gl_buffer->unmap(); - - // copy pixels from PBO to texture object - glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); - glBindTexture(GL_TEXTURE_2D, 0); - assert(glGetError() == GL_NO_ERROR); - // use glFinish to ensure that the texture has been uploaded. - glFinish(); + latest_texture_id = buf->idx; } - latest_texture_id = buf->idx; // Schedule update. update() will be invoked on the gui thread. QMetaObject::invokeMethod(this, "update"); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 4cfba3c6fb..03709cbdd8 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -36,11 +36,20 @@ protected: virtual void updateFrameMat(int w, int h); void vipcThread(); + struct WaitFence { + WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); } + ~WaitFence() { glDeleteSync(sync); } + void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); } + GLsync sync = 0; + }; + bool zoomed_view; - std::atomic latest_texture_id = -1; + std::mutex lock; + int latest_texture_id = -1; GLuint frame_vao, frame_vbo, frame_ibo; mat4 frame_mat; std::unique_ptr texture[UI_BUF_COUNT]; + std::unique_ptr wait_fence; std::unique_ptr program; QColor bg = QColor("#000000"); @@ -50,7 +59,6 @@ protected: std::atomic stream_type; QThread *vipc_thread = nullptr; - protected slots: void vipcConnected(VisionIpcClient *vipc_client); }; From 207ce410b4de8d5a85448e8edc59c5596f84cf53 Mon Sep 17 00:00:00 2001 From: rzeydelis Date: Fri, 7 Jan 2022 17:03:27 -0500 Subject: [PATCH 212/239] tools: update README.md (#23447) --- tools/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/README.md b/tools/README.md index bd40c239c9..a61d9268d2 100644 --- a/tools/README.md +++ b/tools/README.md @@ -20,10 +20,10 @@ Then, run the setup script: ``` bash # for Ubuntu 20.04 LTS -openpilot/tools/ubuntu_setup.sh +tools/ubuntu_setup.sh # for macOS -openpilot/tools/mac_setup.sh +tools/mac_setup.sh ``` Activate a shell with the install Python dependencies: From 66644217100f17e0a0c4f95f86aed2fd8c09c28c Mon Sep 17 00:00:00 2001 From: Andrew Date: Fri, 7 Jan 2022 15:15:18 -0800 Subject: [PATCH 213/239] mac: fix setup and re-enable CI (#23365) * rework mac_setup.sh * ignore casadi and onnx runtime in pipfile for Darwin * remove rust stuff * build and install casadi * add wget * explicit python3. dont do onnx just yet * resource compiler * replace acados Darwin lib w universal2 libs * relock Pipfile using linux machine * Update update_requirements.sh brackets * Update update_requirements.sh oops * ci: re-enable mac build * attempt to fix ci build: * pip stuff? * move rcc bin path to env script * oops * only mac * k im lazy. does ci like this?? * huh?? * * use curl * avoid casadi rebuilds * add comment to remove protobuf * host detect typo * python version * how did the builds not use swig? * better reinstall check * sometimes mac clang complain abt error limit * ci: build OP in venv * ci: bump to Big Sur * retry? idk why it failed @ acados link * * use macos-latest * move rcc path to scons * add extra paths for odd homebrew installs * acados source change * update macOS README * uh, maybe? * k nvm * ci: ok this is strange. might be scons bug? * fix conflicts: bump * just add cppcheck for pre-commit stuff * agane * cleanup * try that * fix path * no pyenv update on mac * source * fix rpath prefix? * no examples * fix exit * let's get this cached * add virtualenvs to cache * why did we cache that * let's see what's big * more * always ruyn * cache scons cache * better cache key * fix for partial hit * why so long Co-authored-by: Andrew Tec Co-authored-by: Adeeb Shihadeh Co-authored-by: Bruce Wayne --- .github/workflows/selfdrive_tests.yaml | 102 ++++++++++-------- Pipfile | 4 +- Pipfile.lock | 60 +++++++---- SConstruct | 9 +- third_party/acados/Darwin/lib/libacados.dylib | Bin 357804 -> 816552 bytes .../acados/Darwin/lib/libblasfeo.dylib | Bin 531149 -> 2217032 bytes third_party/acados/Darwin/lib/libhpipm.dylib | Bin 1062411 -> 2291256 bytes .../acados/Darwin/lib/libqpOASES_e.3.1.dylib | Bin 218403 -> 513304 bytes tools/mac_setup.sh | 51 ++++++--- tools/openpilot_env.sh | 2 +- tools/ubuntu_setup.sh | 4 +- update_requirements.sh | 18 ++-- 12 files changed, 158 insertions(+), 92 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1bee59e458..f04eaad86f 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -69,52 +69,62 @@ jobs: rm -rf /tmp/scons_cache/* && \ scons -j$(nproc) --cache-populate" - #build_mac: - # name: build macos - # runs-on: macos-10.15 - # timeout-minutes: 60 - # steps: - # - uses: actions/checkout@v2 - # with: - # submodules: true - # - name: Determine pre-existing Homebrew packages - # if: steps.dependency-cache.outputs.cache-hit != 'true' - # run: | - # echo 'EXISTING_CELLAR<> $GITHUB_ENV - # ls -1 /usr/local/Cellar >> $GITHUB_ENV - # echo 'EOF' >> $GITHUB_ENV - # - name: Cache dependencies - # id: dependency-cache - # uses: actions/cache@v2 - # with: - # path: | - # ~/.pyenv - # ~/Library/Caches/pip - # ~/Library/Caches/pipenv - # /usr/local/Cellar - # ~/github_brew_cache_entries.txt - # key: macos-cache-${{ hashFiles('tools/mac_setup.sh') }} - # - name: Brew link restored dependencies - # if: steps.dependency-cache.outputs.cache-hit == 'true' - # run: | - # while read pkg; do - # brew link --force "$pkg" # `--force` for keg-only packages - # done < ~/github_brew_cache_entries.txt - # - name: Install dependencies - # run: ./tools/mac_setup.sh - # - name: Build openpilot - # run: eval "$(pyenv init -)" && scons -j$(nproc) - # - name: Remove pre-existing Homebrew packages for caching - # if: steps.dependency-cache.outputs.cache-hit != 'true' - # run: | - # cd /usr/local/Cellar - # new_cellar=$(ls -1) - # comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do - # if [[ $pkg != "zstd" ]]; then # caching step needs zstd - # rm -rf "$pkg" - # fi - # done - # comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt + build_mac: + name: build macos + runs-on: macos-latest + timeout-minutes: 60 + steps: + - uses: actions/checkout@v2 + with: + submodules: true + - name: Determine pre-existing Homebrew packages + if: steps.dependency-cache.outputs.cache-hit != 'true' + run: | + echo 'EXISTING_CELLAR<> $GITHUB_ENV + ls -1 /usr/local/Cellar >> $GITHUB_ENV + echo 'EOF' >> $GITHUB_ENV + - name: Cache dependencies + id: dependency-cache + uses: actions/cache@v2 + with: + path: | + ~/.pyenv + ~/.local/share/virtualenvs/ + /usr/local/Cellar + ~/github_brew_cache_entries.txt + /tmp/scons_cache + key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }} + restore-keys: macos- + - name: Brew link restored dependencies + run: | + if [ -f ~/github_brew_cache_entries.txt ]; then + while read pkg; do + brew link --force "$pkg" # `--force` for keg-only packages + done < ~/github_brew_cache_entries.txt + else + echo "Cache entries not found" + fi + - name: Install dependencies + run: ./tools/mac_setup.sh + - name: Build openpilot + run: | + source tools/openpilot_env.sh + pipenv run selfdrive/manager/build.py + + # cleanup scons cache + rm -rf /tmp/scons_cache/ + pipenv run scons -j$(nproc) --cache-populate + - name: Remove pre-existing Homebrew packages for caching + if: steps.dependency-cache.outputs.cache-hit != 'true' + run: | + cd /usr/local/Cellar + new_cellar=$(ls -1) + comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do + if [[ $pkg != "zstd" ]]; then # caching step needs zstd + rm -rf "$pkg" + fi + done + comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt build_webcam: name: build webcam diff --git a/Pipfile b/Pipfile index 0ec00008b3..bed4cdab73 100644 --- a/Pipfile +++ b/Pipfile @@ -38,7 +38,7 @@ tenacity = "*" [packages] atomicwrites = "*" -casadi = "*" +casadi = {version = "*", markers="platform_system != 'Darwin'"} cffi = "*" crcmod = "*" cryptography = "*" @@ -54,7 +54,7 @@ libusb1 = "*" nose = "*" numpy = "*" onnx = "*" -onnxruntime-gpu = "*" +onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"} pillow = "*" psutil = "*" pycapnp = "==1.1.0" diff --git a/Pipfile.lock b/Pipfile.lock index 15463e3e71..25cc81cbb2 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "658c6ab1fd200a6c84b1dec7a3b15b3d01ce911a76b1201bd4495b3031eac119" + "sha256": "40d9fa44e5b593786d40aa8a0276a1fbdfac46fbb78734687e6ef5b870813ed8" }, "pipfile-spec": 6, "requires": { @@ -81,6 +81,7 @@ "sha256:fbf39dcd63f1d3b63c300fce59b7ea678bd5ea1d014e1e090a5226600a4132cb" ], "index": "pypi", + "markers": "platform_system != 'Darwin'", "version": "==3.5.5" }, "certifi": { @@ -148,11 +149,11 @@ }, "charset-normalizer": { "hashes": [ - "sha256:1eecaa09422db5be9e29d7fc65664e6c33bd06f9ced7838578ba40d58bdf3721", - "sha256:b0b883e8e874edfdece9c28f314e3dd5badf067342e42fb162203335ae61aa2c" + "sha256:876d180e9d7432c5d1dfd4c5d26b72f099d503e8fcc0feb7532c9289be60fcbd", + "sha256:cb957888737fc0bbcd78e3df769addb41fd1ff8cf950dc9e7ad7793f1bf44455" ], "markers": "python_version >= '3'", - "version": "==2.0.9" + "version": "==2.0.10" }, "click": { "hashes": [ @@ -309,7 +310,7 @@ "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7", "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951" ], - "markers": "python_full_version >= '3.6.1' and python_version < '4.0'", + "markers": "python_version < '4.0' and python_full_version >= '3.6.1'", "version": "==5.10.1" }, "itsdangerous": { @@ -558,6 +559,7 @@ "sha256:f6e056cd38265e1a158b72da234546291bb3cad663d81dcd66cbcbbce028e3a8" ], "index": "pypi", + "markers": "platform_system != 'Darwin'", "version": "==1.10.0" }, "pillow": { @@ -893,11 +895,11 @@ }, "requests": { "hashes": [ - "sha256:8e5643905bf20a308e25e4c1dd379117c09000bf8a82ebccc462cfb1b34a16b5", - "sha256:f71a09d7feba4a6b64ffd8e9d9bc60f9bf7d7e19fd0e04362acb1cfc2e3d98df" + "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61", + "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d" ], "index": "pypi", - "version": "==2.27.0" + "version": "==2.27.1" }, "scons": { "hashes": [ @@ -942,6 +944,14 @@ "index": "pypi", "version": "==1.2.2" }, + "setuptools": { + "hashes": [ + "sha256:5c89b1a14a67ac5f0956f1cb0aeb7d1d3f4c8ba4e4e1ab7bf1af4933f9a2f0fe", + "sha256:675fcebecb43c32eb930481abf907619137547f4336206e4d673180242e1a278" + ], + "markers": "python_version >= '3.7'", + "version": "==60.2.0" + }, "six": { "hashes": [ "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926", @@ -979,7 +989,7 @@ "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b", "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f" ], - "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2'", + "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'", "version": "==0.10.2" }, "tqdm": { @@ -995,7 +1005,7 @@ "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e", "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b" ], - "markers": "python_version < '3.10' and python_version < '3.10'", + "markers": "python_version < '3.10'", "version": "==4.0.1" }, "urllib3": { @@ -1208,11 +1218,11 @@ }, "charset-normalizer": { "hashes": [ - "sha256:1eecaa09422db5be9e29d7fc65664e6c33bd06f9ced7838578ba40d58bdf3721", - "sha256:b0b883e8e874edfdece9c28f314e3dd5badf067342e42fb162203335ae61aa2c" + "sha256:876d180e9d7432c5d1dfd4c5d26b72f099d503e8fcc0feb7532c9289be60fcbd", + "sha256:cb957888737fc0bbcd78e3df769addb41fd1ff8cf950dc9e7ad7793f1bf44455" ], "markers": "python_version >= '3'", - "version": "==2.0.9" + "version": "==2.0.10" }, "control": { "hashes": [ @@ -1387,11 +1397,11 @@ }, "hypothesis": { "hashes": [ - "sha256:3cae408a92917fe288b0932eb3bb758f1585bf8b6e1d4ca4a666a2835c707db3", - "sha256:5002ce1f27fd94b53b0046ac7d20dab17fd74ebc6c90d401979588eadc46f84e" + "sha256:317f8d2f670fa69e258ab43e21c2befd413c559e386581f7e9641a80460b1063", + "sha256:803792d416ff71307d775fe760e2b2f07ca302a2c941b576629668092b9f3e3d" ], "index": "pypi", - "version": "==6.34.1" + "version": "==6.34.2" }, "identify": { "hashes": [ @@ -2032,11 +2042,11 @@ }, "requests": { "hashes": [ - "sha256:8e5643905bf20a308e25e4c1dd379117c09000bf8a82ebccc462cfb1b34a16b5", - "sha256:f71a09d7feba4a6b64ffd8e9d9bc60f9bf7d7e19fd0e04362acb1cfc2e3d98df" + "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61", + "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d" ], "index": "pypi", - "version": "==2.27.0" + "version": "==2.27.1" }, "reverse-geocoder": { "hashes": [ @@ -2080,6 +2090,14 @@ "index": "pypi", "version": "==1.7.3" }, + "setuptools": { + "hashes": [ + "sha256:5c89b1a14a67ac5f0956f1cb0aeb7d1d3f4c8ba4e4e1ab7bf1af4933f9a2f0fe", + "sha256:675fcebecb43c32eb930481abf907619137547f4336206e4d673180242e1a278" + ], + "markers": "python_version >= '3.7'", + "version": "==60.2.0" + }, "six": { "hashes": [ "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926", @@ -2195,7 +2213,7 @@ "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b", "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f" ], - "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2'", + "markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'", "version": "==0.10.2" }, "tomli": { @@ -2211,7 +2229,7 @@ "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e", "sha256:7f001e5ac290a0c0401508864c7ec868be4e701886d5b573a9528ed3973d9d3b" ], - "markers": "python_version < '3.10' and python_version < '3.10'", + "markers": "python_version < '3.10'", "version": "==4.0.1" }, "urllib3": { diff --git a/SConstruct b/SConstruct index 6b45d60f2e..832550b14b 100644 --- a/SConstruct +++ b/SConstruct @@ -66,7 +66,7 @@ lenv = { "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath], "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath, - "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath, + "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath, "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath, "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer", } @@ -125,8 +125,10 @@ else: f"#third_party/libyuv/{yuv_dir}/lib", "/usr/local/lib", "/opt/homebrew/lib", + "/usr/local/Homebrew/Library", "/usr/local/opt/openssl/lib", "/opt/homebrew/opt/openssl/lib", + "/usr/local/Cellar", f"#third_party/acados/{arch}/lib", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] @@ -134,6 +136,7 @@ else: cxxflags += ["-DGL_SILENCE_DEPRECATION"] cpppath += [ "/opt/homebrew/include", + "/usr/local/include", "/usr/local/opt/openssl/include", "/opt/homebrew/opt/openssl/include" ] @@ -235,6 +238,9 @@ env = Environment( tools=["default", "cython", "compilation_db"], ) +if arch == "Darwin": + env['RPATHPREFIX'] = "-rpath " + if GetOption('compile_db'): env.CompilationDatabase('compile_commands.json') @@ -299,6 +305,7 @@ if arch == "Darwin": qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules] qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")] qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"] + qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin")) elif arch == "aarch64": qt_env['QTDIR'] = "/system/comma/usr" qt_dirs = [ diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib index 36dc230f71a42c0049ef7a92d6b3672879a1880b..056074e1684cd4d9e23ceaf8d516768972f8efc0 100755 GIT binary patch literal 816552 zcmeFadwkqQ)%c%nwk2p}w-O+a7Ks=&cq7pQ4MfSdyX|M`ZW|?~K?yB{*5U)Dl58nT zO6n$%4J_%SM zPaQKh(k(Fcp8LsBAV+~51#%R~Q6NWw90hU|$Wb6ifgA;L6v$B^M}Zs#aumo>AV+~5 z1#%R~Q6NWw90hU|$Wb6ifgA;L6v$B^M}Zs#aumo>AV+~51#%R~Q6NWw90hU|$Wb6i zfgA;L6v$B^M}Zs#aumo>AV+~51#%R~Q6NWw90hU|$Wb6ifgA;L6v$B^M}hyV6xek5 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z2?q~Zt#8VYkM_BI{y?br)ZISq)q{Dn8%%8Y!A~PrzKp)QJbqGU=+l6tut{#W#ss8_ zznrLCyEuGI7sIohy(3?D>heeAne#V8ovJg04j;T*ID2pM=z!&ZZ}mw^yfUEU+9/dev/null && pwd )" ROOT="$(cd $DIR/../ && pwd)" @@ -7,15 +9,16 @@ ROOT="$(cd $DIR/../ && pwd)" if [[ $(command -v brew) == "" ]]; then echo "Installing Hombrew" /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" + echo "[ ] installed brew t=$SECONDS" fi +# TODO: remove protobuf,protobuf-c,swig when casadi can be pip installed brew bundle --file=- <<-EOS brew "cmake" +brew "cppcheck" brew "git-lfs" brew "zlib" brew "bzip2" -brew "rust" -brew "rustup-init" brew "capnp" brew "coreutils" brew "eigen" @@ -29,21 +32,20 @@ brew "openssl" brew "pyenv" brew "qt@5" brew "zeromq" +brew "protobuf" +brew "protobuf-c" +brew "swig" cask "gcc-arm-embedded" EOS +echo "[ ] finished brew install t=$SECONDS" + if [[ $SHELL == "/bin/zsh" ]]; then RC_FILE="$HOME/.zshrc" elif [[ $SHELL == "/bin/bash" ]]; then RC_FILE="$HOME/.bash_profile" fi -# TODO: get rid of this somehow -# Build requirements for macOS -# https://github.com/pyenv/pyenv/issues/1740 -# https://github.com/pyca/cryptography/blob/main/docs/installation.rst -rustup-init -y - export LDFLAGS="$LDFLAGS -L/usr/local/opt/zlib/lib" export LDFLAGS="$LDFLAGS -L/usr/local/opt/bzip2/lib" export LDFLAGS="$LDFLAGS -L/usr/local/opt/openssl@1.1/lib" @@ -55,17 +57,40 @@ export PATH="$PATH:/usr/local/bin" # openpilot environment if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then - echo "export PATH=\"\$PATH:$HOME/.cargo/bin\"" >> $RC_FILE echo "source $ROOT/tools/openpilot_env.sh" >> $RC_FILE - export PATH="$PATH:\"\$HOME/.cargo/bin\"" source "$ROOT/tools/openpilot_env.sh" echo "Added openpilot_env to RC file: $RC_FILE" fi # install python dependencies $ROOT/update_requirements.sh +eval "$(pyenv init --path)" +echo "[ ] installed python dependencies t=$SECONDS" + +# install casadi +VENV=`pipenv --venv` +PYTHON_VER=3.8 +PYTHON_VERSION=$(cat $ROOT/.python-version) +if [ ! -f "$VENV/include/casadi/casadi.hpp" ]; then + echo "-- casadi manual install" + cd /tmp/ && curl -L https://github.com/casadi/casadi/archive/refs/tags/ge6.tar.gz --output casadi.tar.gz + tar -xzf casadi.tar.gz + cd casadi-ge6/ && mkdir -p build && cd build + cmake .. \ + -DWITH_PYTHON=ON \ + -DWITH_EXAMPLES=OFF \ + -DCMAKE_INSTALL_PREFIX:PATH=$VENV \ + -DPYTHON_PREFIX:PATH=$VENV/lib/python$PYTHON_VER/site-packages \ + -DPYTHON_LIBRARY:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/lib/libpython$PYTHON_VER.dylib \ + -DPYTHON_EXECUTABLE:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/bin/python \ + -DPYTHON_INCLUDE_DIR:PATH=$HOME/.pyenv/versions/$PYTHON_VERSION/include/python$PYTHON_VER \ + -DCMAKE_CXX_FLAGS="-ferror-limit=0" -DCMAKE_C_FLAGS="-ferror-limit=0" + CFLAGS="-ferror-limit=0" make -j$(nproc) && make install +else + echo "---- casadi found in venv. skipping build ----" +fi echo -echo "---- FINISH OPENPILOT SETUP ----" -echo "Configure your active shell env by running:" +echo "---- OPENPILOT SETUP DONE ----" +echo "Open a new shell or configure your active shell env by running:" echo "source $RC_FILE" diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh index ac73cc8305..59108312ac 100755 --- a/tools/openpilot_env.sh +++ b/tools/openpilot_env.sh @@ -9,13 +9,13 @@ if [ -z "$OPENPILOT_ENV" ]; then export PYENV_ROOT="$HOME/.pyenv" if [[ "$(uname)" == 'Linux' ]]; then - eval "$(pyenv init --path)" eval "$(pyenv virtualenv-init -)" elif [[ "$(uname)" == 'Darwin' ]]; then # msgq doesn't work on mac export ZMQ=1 export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES fi + eval "$(pyenv init --path)" eval "$(pyenv init -)" export OPENPILOT_ENV=1 diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index dd29c995ef..44ddb4f014 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -134,6 +134,6 @@ if [ -z "$OPENPILOT_ENV" ]; then fi echo -echo "---- FINISH OPENPILOT SETUP ----" -echo "Configure your active shell env by running:" +echo "---- OPENPILOT SETUP DONE ----" +echo "Open a new shell or configure your active shell env by running:" echo "source ~/.bashrc" diff --git a/update_requirements.sh b/update_requirements.sh index ebf99312b0..ac9472dca2 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -1,4 +1,6 @@ -#!/bin/bash -e +#!/bin/bash + +set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" cd $DIR @@ -13,15 +15,18 @@ export MAKEFLAGS="-j$(nproc)" PYENV_PYTHON_VERSION=$(cat .python-version) if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then - echo "pyenv update ..." - pyenv update + # no pyenv update on mac + if [ "$(uname)" == "Linux" ]; then + echo "pyenv update ..." + pyenv update + fi echo "python ${PYENV_PYTHON_VERSION} install ..." CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION} fi +eval "$(pyenv init --path)" -echo "pip install ..." +echo "update pip" pip install pip==21.3.1 -echo "pipenv install ..." pip install pipenv==2021.11.23 if [ -d "./xx" ]; then @@ -36,7 +41,7 @@ else RUN="" fi -echo "pip packages install ..." +echo "pip packages install..." pipenv install --dev --deploy --clear pyenv rehash @@ -45,4 +50,5 @@ if [ -f "$DIR/.pre-commit-config.yaml" ]; then $RUN pre-commit install [ -d "./xx" ] && (cd xx && $RUN pre-commit install) [ -d "./notebooks" ] && (cd notebooks && $RUN pre-commit install) + echo "pre-commit hooks installed" fi From 89f2f1c4ecff9cd213f66b0c97ffe2f1d2ac9e0c Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Fri, 7 Jan 2022 18:39:09 -0800 Subject: [PATCH 214/239] LFS migration (#23448) * lfs url in .lfsconfig * lfs push script --- .lfsconfig | 3 +++ lfs-push.sh | 2 ++ 2 files changed, 5 insertions(+) create mode 100644 .lfsconfig create mode 100755 lfs-push.sh diff --git a/.lfsconfig b/.lfsconfig new file mode 100644 index 0000000000..460dd4b0b4 --- /dev/null +++ b/.lfsconfig @@ -0,0 +1,3 @@ +[lfs] + url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs + pushurl = diff --git a/lfs-push.sh b/lfs-push.sh new file mode 100755 index 0000000000..7e3c713b0c --- /dev/null +++ b/lfs-push.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +git -c lfs.pushurl=ssh://git@gitlab.com/commaai/openpilot-lfs.git push From a0eed0cdd23598fd8dcc34805cc83ed0fe515348 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 8 Jan 2022 07:55:48 -0800 Subject: [PATCH 215/239] hyundai enable radar points script cleanup (#23451) --- .../debug/hyundai_enable_radar_points.py | 53 +++++++++---------- 1 file changed, 26 insertions(+), 27 deletions(-) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index e566884a90..8132a46552 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -13,47 +13,45 @@ USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by th import sys import argparse +from typing import NamedTuple from subprocess import check_output, CalledProcessError from panda.python import Panda from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE +class ConfigValues(NamedTuple): + default_config: bytes + tracks_enabled: bytes + # If your radar supports changing data identifier 0x0142 as well make a PR to # this file to add your firmware version. Make sure to post a drive as proof! # NOTE: these firmware versions do not match what openpilot uses # because this script uses a different diagnostic session type SUPPORTED_FW_VERSIONS = { # 2020 SONATA - b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": { - "default_config": b"\x00\x00\x00\x01\x00\x00", - "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", - }, + b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2021 SONATA HYBRID - b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": { - "default_config": b"\x00\x00\x00\x01\x00\x00", - "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", - }, + b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2020 PALISADE - b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100\x19\x05\x02\x16V ": { - "default_config": b"\x00\x00\x00\x01\x00\x00", - "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", - }, + b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100\x19\x05\x02\x16V ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2022 PALISADE - b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": { - "default_config": b"\x00\x00\x00\x01\x00\x00", - "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", - }, + b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2020 SANTA FE - b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": { - "default_config": b"\x00\x00\x00\x01\x00\x00", - "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", - }, - + b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2020 GENESIS G70 - b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': { - "default config": b"\x00\x00\x00\x01\x00\x00", - "tracks_enabled": b"\x00\x00\x00\x01\x00\x01", - }, + b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), } if __name__ == "__main__": @@ -95,13 +93,14 @@ if __name__ == "__main__": print("[GET CONFIGURATION]") config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore current_config = uds_client.read_data_by_identifier(config_data_id) - new_config = SUPPORTED_FW_VERSIONS[fw_version]["default_config" if args.default else "tracks_enabled"] + config_values = SUPPORTED_FW_VERSIONS[fw_version] + new_config = config_values.default_config if args.default else config_values.tracks_enabled print(f"current config: 0x{current_config.hex()}") if current_config != new_config: print("[CHANGE CONFIGURATION]") print(f"new config: 0x{new_config.hex()}") uds_client.write_data_by_identifier(config_data_id, new_config) - if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version]["default_config"]: + if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version].default_config: print("\ncurrent config does not match expected default! (aborted)") sys.exit(1) From 0c075a66dbcaef13737aa974f7363be4a0cc94df Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 8 Jan 2022 19:41:05 -0700 Subject: [PATCH 216/239] Toyota: use common DBC for TSSP Camry Hybrid (#23453) * bump dbc * use nodsu_hybrid dbc * remove from files_common * bump opendbc Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- release/files_common | 1 - selfdrive/car/toyota/values.py | 2 +- 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index 2bab99fd86..e286083a49 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 2bab99fd861786312bde676823e21d80eeeb01fa +Subproject commit e286083a49d9e386e778dcbcd41de4829a958735 diff --git a/release/files_common b/release/files_common index 3fc354396a..4f8a149b80 100644 --- a/release/files_common +++ b/release/files_common @@ -596,7 +596,6 @@ opendbc/lexus_rx_350_2016_pt_generated.dbc opendbc/lexus_rx_hybrid_2017_pt_generated.dbc opendbc/toyota_nodsu_pt_generated.dbc opendbc/toyota_nodsu_hybrid_pt_generated.dbc -opendbc/toyota_camry_hybrid_2018_pt_generated.dbc opendbc/toyota_highlander_2017_pt_generated.dbc opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc opendbc/toyota_avalon_2017_pt_generated.dbc diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a70a6d8163..f7e862c829 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1612,7 +1612,7 @@ DBC = { CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CHRH: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'), CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_adas'), + CAR.CAMRYH: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'), CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_adas'), From f6c6e34ea34f61b2e8d32523a6414dc58b6419e4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jan 2022 06:32:33 +0800 Subject: [PATCH 217/239] calibrationd: remove extra comma (#23472) --- selfdrive/locationd/calibrationd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 61bc56b80e..2637350643 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -100,7 +100,7 @@ class Calibrator(): self.old_rpy = smooth_from self.old_rpy_weight = 1.0 - def get_valid_idxs(self, ): + def get_valid_idxs(self): # exclude current block_idx from validity window before_current = list(range(self.block_idx)) after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) From b2beb5e6ba6eda6354e93649a5b5829c9c4537bc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jan 2022 18:26:58 +0800 Subject: [PATCH 218/239] controls: check contents in tuple instead of list (#23463) --- selfdrive/controls/controlsd.py | 8 ++++---- selfdrive/controls/lib/lane_planner.py | 2 +- selfdrive/controls/lib/lateral_planner.py | 6 +++--- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d193d27288..83907910d6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -223,7 +223,7 @@ class Controls: # self.events.add(EventName.highCpuUsage) # Alert if fan isn't spinning for 5 seconds - if self.sm['peripheralState'].pandaType in [PandaType.uno, PandaType.dos]: + if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos): if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: self.events.add(EventName.fanMalfunction) @@ -249,8 +249,8 @@ class Controls: self.events.add(EventName.preLaneChangeLeft) else: self.events.add(EventName.preLaneChangeRight) - elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting, - LaneChangeState.laneChangeFinishing]: + elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting, + LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) if not CS.canValid: @@ -318,7 +318,7 @@ class Controls: except UnicodeDecodeError: pass - for err in ["ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"]: + for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED"): for m in messages: if err not in m: continue diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 4b5b8a6bfb..660ec3e965 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -69,7 +69,7 @@ class LanePlanner: l_prob, r_prob = self.lll_prob, self.rll_prob width_pts = self.rll_y - self.lll_y prob_mods = [] - for t_check in [0.0, 1.5, 3.0]: + for t_check in (0.0, 1.5, 3.0): width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts) prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0])) mod = min(prob_mods) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index dbe29a12bb..a885200e52 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -138,7 +138,7 @@ class LateralPlanner: else: self.lane_change_state = LaneChangeState.off - if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]: + if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange): self.lane_change_timer = 0.0 else: self.lane_change_timer += DT_MDL @@ -148,13 +148,13 @@ class LateralPlanner: self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] # Send keep pulse once per second during LaneChangeStart.preLaneChange - if self.lane_change_state in [LaneChangeState.off, LaneChangeState.laneChangeStarting]: + if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting): self.keep_pulse_timer = 0.0 elif self.lane_change_state == LaneChangeState.preLaneChange: self.keep_pulse_timer += DT_MDL if self.keep_pulse_timer > 1.0: self.keep_pulse_timer = 0.0 - elif self.desire in [log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight]: + elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): self.desire = log.LateralPlan.Desire.none # Turn off lanes during lane change From 2d08f8b318641ee4e6d53ca736358c7a2d533b5d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jan 2022 18:27:31 +0800 Subject: [PATCH 219/239] controlsd: save lat_plan.dPathPoints to local variable (#23462) --- selfdrive/controls/controlsd.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 83907910d6..e3f85d3e39 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -537,11 +537,12 @@ class Controls: if (lac_log.saturated and not CS.steeringPressed) or \ (self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT): - if len(lat_plan.dPathPoints): + dpath_points = lat_plan.dPathPoints + if len(dpath_points): # Check if we deviated from the path # TODO use desired vs actual curvature - left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.20 - right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.20 + left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20 + right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20 if left_deviation or right_deviation: self.events.add(EventName.steerSaturated) From 67af0956923558059d1feea9a9e263d37d09e865 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jan 2022 19:13:58 +0800 Subject: [PATCH 220/239] controlsd: check all_valid only if not initialized (#23437) * check all valid in if statement * apply review --- selfdrive/controls/controlsd.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e3f85d3e39..49e9b42d1f 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -366,12 +366,13 @@ class Controls: self.sm.update(0) - all_valid = CS.canValid and self.sm.all_alive_and_valid() - if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION): - if not self.read_only: - self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - self.initialized = True - Params().put_bool("ControlsReady", True) + if not self.initialized: + all_valid = CS.canValid and self.sm.all_alive_and_valid() + if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION: + if not self.read_only: + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + self.initialized = True + Params().put_bool("ControlsReady", True) # Check for CAN timeout if not can_strs: From 842ba8e5e6253d17d82a02d3d9994efbbbf2133e Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 10 Jan 2022 13:13:52 +0100 Subject: [PATCH 221/239] C2 detection (#23439) * two detection * fix CI * catch all * gotta catch em all --- selfdrive/boardd/boardd.cc | 2 ++ selfdrive/common/params.cc | 1 + selfdrive/hardware/eon/hardware.py | 11 +++++++++++ 3 files changed, 14 insertions(+) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0ca943de2e..1178b4cafa 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -658,6 +658,8 @@ int main(int argc, char *argv[]) { Panda *peripheral_panda = pandas[0]; std::vector threads; + Params().put("LastPeripheralPandaType", std::to_string((int) peripheral_panda->get_hw_type())); + threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr); threads.emplace_back(peripheral_control_thread, peripheral_panda); threads.emplace_back(pigeon_thread, peripheral_panda); diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc index f0508cace0..39cb4fcfae 100644 --- a/selfdrive/common/params.cc +++ b/selfdrive/common/params.cc @@ -131,6 +131,7 @@ std::unordered_map keys = { {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, + {"LastPeripheralPandaType", PERSISTENT}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastUpdateException", PERSISTENT}, {"LastUpdateTime", PERSISTENT}, diff --git a/selfdrive/hardware/eon/hardware.py b/selfdrive/hardware/eon/hardware.py index fa275c5a9c..4ab9f81fcf 100644 --- a/selfdrive/hardware/eon/hardware.py +++ b/selfdrive/hardware/eon/hardware.py @@ -10,6 +10,12 @@ from typing import List, Union from cereal import log from selfdrive.hardware.base import HardwareBase, ThermalConfig +try: + from common.params import Params +except Exception: + # openpilot is not built yet + Params = None + NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength @@ -70,6 +76,11 @@ class Android(HardwareBase): return f.read().strip() def get_device_type(self): + try: + if int(Params().get("LastPeripheralPandaType")) == log.PandaState.PandaType.uno: + return "two" + except Exception: + pass return "eon" def get_sound_card_online(self): From 8eec818ae625fd2311bd3d5f9976d034674cb13e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jan 2022 21:32:07 +0800 Subject: [PATCH 222/239] events: cleanup function any (#23479) --- selfdrive/controls/lib/events.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index f68cd91814..85b3876f40 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -63,10 +63,7 @@ class Events: self.events = self.static_events.copy() def any(self, event_type: str) -> bool: - for e in self.events: - if event_type in EVENTS.get(e, {}).keys(): - return True - return False + return any(event_type in EVENTS.get(e, {}) for e in self.events) def create_alerts(self, event_types: List[str], callback_args=None): if callback_args is None: From 1b49ce6ec401966b0c56f62ea2b71209e9d4075b Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 10 Jan 2022 15:21:48 +0100 Subject: [PATCH 223/239] Statsd (#23413) * device side of statsd * need to start it * enable in manager * add sleep * cleanup * remove aggregates for now and standardize on industry terms * manager needs main * need to have a try/except * atomic_write_on_fs_tmp does not work * cleaner * use dump Co-authored-by: Willem Melching * one file at a time * limit amount of files * move to influx line protocol and cleanup * needs to be a list * fix timezone bug * actually rate limit * add to release * normalized origin * also log deviceType * more stats Co-authored-by: Willem Melching --- release/files_common | 1 + selfdrive/athena/athenad.py | 35 ++++++- selfdrive/loggerd/config.py | 7 ++ selfdrive/manager/process_config.py | 1 + selfdrive/statsd.py | 122 +++++++++++++++++++++++++ selfdrive/thermald/power_monitoring.py | 2 + selfdrive/thermald/thermald.py | 22 +++++ selfdrive/version.py | 14 +++ 8 files changed, 201 insertions(+), 3 deletions(-) create mode 100755 selfdrive/statsd.py diff --git a/release/files_common b/release/files_common index 4f8a149b80..f2b10004b9 100644 --- a/release/files_common +++ b/release/files_common @@ -77,6 +77,7 @@ selfdrive/tombstoned.py selfdrive/pandad.py selfdrive/updated.py selfdrive/rtshield.py +selfdrive/statsd.py selfdrive/athena/__init__.py selfdrive/athena/athenad.py diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index a0f17397a4..a0c6a0c844 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -11,6 +11,7 @@ import select import socket import threading import time +import tempfile from collections import namedtuple from functools import partial from typing import Any @@ -31,6 +32,7 @@ from selfdrive.loggerd.config import ROOT from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.swaglog import cloudlog, SWAGLOG_DIR from selfdrive.version import get_version, get_origin, get_short_branch, get_commit +from selfdrive.statsd import STATS_DIR ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) @@ -48,7 +50,7 @@ dispatcher["echo"] = lambda s: s recv_queue: Any = queue.Queue() send_queue: Any = queue.Queue() upload_queue: Any = queue.Queue() -log_send_queue: Any = queue.Queue() +low_priority_send_queue: Any = queue.Queue() log_recv_queue: Any = queue.Queue() cancelled_uploads: Any = set() UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress'], defaults=(0, False, 0)) @@ -86,6 +88,7 @@ def handle_long_poll(ws): threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'), threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), threading.Thread(target=log_handler, args=(end_event,), name='log_handler'), + threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'), ] + [ threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}') for x in range(HANDLER_THREADS) @@ -447,7 +450,7 @@ def log_handler(end_event): "jsonrpc": "2.0", "id": log_entry } - log_send_queue.put_nowait(json.dumps(jsonrpc)) + low_priority_send_queue.put_nowait(json.dumps(jsonrpc)) curr_log = log_entry except OSError: pass # file could be deleted by log rotation @@ -478,6 +481,32 @@ def log_handler(end_event): cloudlog.exception("athena.log_handler.exception") +def stat_handler(end_event): + while not end_event.is_set(): + last_scan = 0 + curr_scan = sec_since_boot() + try: + if curr_scan - last_scan > 10: + stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR))) + if len(stat_filenames) > 0: + stat_path = os.path.join(STATS_DIR, stat_filenames[0]) + with open(stat_path) as f: + jsonrpc = { + "method": "storeStats", + "params": { + "stats": f.read() + }, + "jsonrpc": "2.0", + "id": stat_filenames[0] + } + low_priority_send_queue.put_nowait(json.dumps(jsonrpc)) + os.remove(stat_path) + last_scan = curr_scan + except Exception: + cloudlog.exception("athena.stat_handler.exception") + time.sleep(0.1) + + def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event): while not (end_event.is_set() or global_end_event.is_set()): try: @@ -550,7 +579,7 @@ def ws_send(ws, end_event): try: data = send_queue.get_nowait() except queue.Empty: - data = log_send_queue.get(timeout=1) + data = low_priority_send_queue.get(timeout=1) for i in range(0, len(data), WS_FRAME_SIZE): frame = data[i:i+WS_FRAME_SIZE] last = i + WS_FRAME_SIZE >= len(data) diff --git a/selfdrive/loggerd/config.py b/selfdrive/loggerd/config.py index b626073ce4..6cd20a68ab 100644 --- a/selfdrive/loggerd/config.py +++ b/selfdrive/loggerd/config.py @@ -13,6 +13,13 @@ else: CAMERA_FPS = 20 SEGMENT_LENGTH = 60 +STATS_DIR_FILE_LIMIT = 10000 +STATS_SOCKET = "ipc:///tmp/stats" +if PC: + STATS_DIR = os.path.join(str(Path.home()), ".comma", "stats") +else: + STATS_DIR = "/data/stats/" +STATS_FLUSH_TIME_S = 60 def get_available_percent(default=None): try: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 2e3741350e..b5fc01364e 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -36,6 +36,7 @@ procs = [ PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True), PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True), + PythonProcess("statsd", "selfdrive.statsd", persistent=True), # EON only PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON), diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py new file mode 100755 index 0000000000..8fd1f60ca1 --- /dev/null +++ b/selfdrive/statsd.py @@ -0,0 +1,122 @@ +#!/usr/bin/env python3 +import os +import zmq +import time +from pathlib import Path +from datetime import datetime, timezone +from common.params import Params +from cereal.messaging import SubMaster +from selfdrive.swaglog import cloudlog +from selfdrive.hardware import HARDWARE +from common.file_helpers import atomic_write_in_dir +from selfdrive.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty +from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S + + +class METRIC_TYPE: + GAUGE = 'g' + +class StatLog: + def __init__(self): + self.pid = None + + def connect(self): + self.zctx = zmq.Context() + self.sock = self.zctx.socket(zmq.PUSH) + self.sock.setsockopt(zmq.LINGER, 10) + self.sock.connect(STATS_SOCKET) + self.pid = os.getpid() + + def _send(self, metric: str): + if os.getpid() != self.pid: + self.connect() + + try: + self.sock.send_string(metric, zmq.NOBLOCK) + except zmq.error.Again: + # drop :/ + pass + + def gauge(self, name: str, value: float): + self._send(f"{name}:{value}|{METRIC_TYPE.GAUGE}") + + +def main(): + def get_influxdb_line(measurement: str, value: float, timestamp: datetime, tags: dict): + res = f"{measurement}" + for tag_key in tags.keys(): + res += f",{tag_key}={str(tags[tag_key])}" + res += f" value={value} {int(timestamp.timestamp() * 1e9)}\n" + return res + + # open statistics socket + ctx = zmq.Context().instance() + sock = ctx.socket(zmq.PULL) + sock.bind(STATS_SOCKET) + + # initialize stats directory + Path(STATS_DIR).mkdir(parents=True, exist_ok=True) + + # initialize tags + tags = { + 'dongleId': Params().get("DongleId", encoding='utf-8'), + 'started': False, + 'version': get_short_version(), + 'branch': get_short_branch(), + 'dirty': is_dirty(), + 'origin': get_normalized_origin(), + 'deviceType': HARDWARE.get_device_type(), + } + + # subscribe to deviceState for started state + sm = SubMaster(['deviceState']) + + last_flush_time = time.monotonic() + gauges = {} + while True: + try: + metric = sock.recv_string(zmq.NOBLOCK) + try: + metric_type = metric.split('|')[1] + metric_name = metric.split(':')[0] + metric_value = metric.split('|')[0].split(':')[1] + + if metric_type == METRIC_TYPE.GAUGE: + gauges[metric_name] = metric_value + else: + cloudlog.event("unknown metric type", metric_type=metric_type) + except Exception: + cloudlog.event("malformed metric", metric=metric) + except zmq.error.Again: + time.sleep(1e-3) + + started_prev = sm['deviceState'].started + sm.update(0) + + # flush when started state changes or after FLUSH_TIME_S + if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): + result = "" + current_time = datetime.utcnow().replace(tzinfo=timezone.utc) + tags['started'] = sm['deviceState'].started + + for gauge_key in gauges.keys(): + result += get_influxdb_line(f"gauge.{gauge_key}", gauges[gauge_key], current_time, tags) + + # clear intermediate data + gauges = {} + last_flush_time = time.monotonic() + + # check that we aren't filling up the drive + if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: + if len(result) > 0: + stats_path = os.path.join(STATS_DIR, str(int(current_time.timestamp()))) + with atomic_write_in_dir(stats_path) as f: + f.write(result) + else: + cloudlog.error("stats dir full") + + +if __name__ == "__main__": + main() +else: + statlog = StatLog() diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 8e24eb3cf1..0dc4c5a1d3 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -9,6 +9,7 @@ from common.params import Params, put_nonblocking from common.realtime import sec_since_boot from selfdrive.hardware import HARDWARE from selfdrive.swaglog import cloudlog +from selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1)) @@ -56,6 +57,7 @@ class PowerMonitoring: # Low-pass battery voltage self.car_voltage_instant_mV = peripheralState.voltage self.car_voltage_mV = ((peripheralState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K))) + statlog.gauge("car_voltage", self.car_voltage_mV / 1e3) # Cap the car battery power and save it in a param every 10-ish seconds self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 4ddf37f418..dd106d4ccb 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -23,6 +23,7 @@ from selfdrive.loggerd.config import get_available_percent from selfdrive.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring from selfdrive.version import terms_version, training_version +from selfdrive.statsd import statlog ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType @@ -291,8 +292,12 @@ def thermald_thread() -> NoReturn: msg.deviceState.networkInfo = network_info if nvme_temps is not None: msg.deviceState.nvmeTempC = nvme_temps + for i, temp in enumerate(nvme_temps): + statlog.gauge(f"nvme_temperature{i}", temp) if modem_temps is not None: msg.deviceState.modemTempC = modem_temps + for i, temp in enumerate(modem_temps): + statlog.gauge(f"modem_temperature{i}", temp) msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity() @@ -409,6 +414,23 @@ def thermald_thread() -> NoReturn: should_start_prev = should_start startup_conditions_prev = startup_conditions.copy() + # log more stats + statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent) + statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent) + statlog.gauge("memory_usage_percent", msg.deviceState.memoryUsagePercent) + for i, usage in enumerate(msg.deviceState.cpuUsagePercent): + statlog.gauge(f"cpu{i}_usage_percent", usage) + for i, temp in enumerate(msg.deviceState.cpuTempC): + statlog.gauge(f"cpu{i}_temperature", temp) + for i, temp in enumerate(msg.deviceState.gpuTempC): + statlog.gauge(f"gpu{i}_temperature", temp) + statlog.gauge("memory_temperature", msg.deviceState.memoryTempC) + statlog.gauge("ambient_temperature", msg.deviceState.ambientTempC) + for i, temp in enumerate(msg.deviceState.pmicTempC): + statlog.gauge(f"pmic{i}_temperature", temp) + statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired) + statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent) + # report to server once every 10 minutes if (count % int(600. / DT_TRML)) == 0: if EON and started_ts is None and msg.deviceState.memoryUsagePercent > 40: diff --git a/selfdrive/version.py b/selfdrive/version.py index a0cb61875e..0c1a44f236 100644 --- a/selfdrive/version.py +++ b/selfdrive/version.py @@ -53,12 +53,24 @@ def get_origin(default: Optional[str] = None) -> Optional[str]: return run_cmd_default(["git", "config", "--get", "remote.origin.url"], default=default) +@cache +def get_normalized_origin(default: Optional[str] = None) -> Optional[str]: + return get_origin()\ + .replace("git@", "", 1)\ + .replace(".git", "", 1)\ + .replace("https://", "", 1)\ + .replace(":", "/", 1) + + @cache def get_version() -> str: with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "version.h")) as _versionf: version = _versionf.read().split('"')[1] return version +@cache +def get_short_version() -> str: + return get_version().split('-')[0] @cache def is_prebuilt() -> bool: @@ -117,7 +129,9 @@ if __name__ == "__main__": print(f"Dirty: {is_dirty()}") print(f"Version: {get_version()}") + print(f"Short version: {get_short_version()}") print(f"Origin: {get_origin()}") + print(f"Normalized origin: {get_normalized_origin()}") print(f"Branch: {get_branch()}") print(f"Short branch: {get_short_branch()}") print(f"Prebuilt: {is_prebuilt()}") From a653461dec18b1313148905172ba54bac9f5fdfd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Jan 2022 23:36:51 +0800 Subject: [PATCH 224/239] check in tuple instead of list (#23477) * check in tuple instead of list * Update selfdrive/car/toyota/carcontroller.py Co-authored-by: Willem Melching * Update selfdrive/car/mazda/interface.py Co-authored-by: Willem Melching Co-authored-by: Willem Melching --- selfdrive/car/car_helpers.py | 2 +- selfdrive/car/chrysler/carstate.py | 2 +- selfdrive/car/chrysler/chryslercan.py | 2 +- selfdrive/car/ford/carcontroller.py | 2 +- selfdrive/car/ford/carstate.py | 2 +- selfdrive/car/ford/fordcan.py | 2 +- selfdrive/car/ford/interface.py | 2 +- selfdrive/car/fw_versions.py | 4 ++-- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/gm/interface.py | 2 +- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/honda/carstate.py | 6 +++--- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 10 +++++----- selfdrive/car/hyundai/hyundaican.py | 4 ++-- selfdrive/car/hyundai/interface.py | 18 +++++++++--------- selfdrive/car/hyundai/radar_interface.py | 2 +- selfdrive/car/hyundai/values.py | 4 ++-- selfdrive/car/mazda/interface.py | 4 ++-- selfdrive/car/nissan/carcontroller.py | 6 +++--- selfdrive/car/nissan/carstate.py | 22 +++++++++++----------- selfdrive/car/nissan/interface.py | 4 ++-- selfdrive/car/subaru/carstate.py | 2 +- selfdrive/car/subaru/interface.py | 2 +- selfdrive/car/tesla/carcontroller.py | 2 +- selfdrive/car/tesla/carstate.py | 2 +- selfdrive/car/tesla/interface.py | 2 +- selfdrive/car/toyota/carcontroller.py | 10 +++++----- selfdrive/car/toyota/carstate.py | 10 +++++----- selfdrive/car/toyota/interface.py | 22 +++++++++++----------- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/car/volkswagen/carstate.py | 6 +++--- selfdrive/car/volkswagen/interface.py | 4 ++-- selfdrive/controls/lib/events.py | 2 +- selfdrive/controls/tests/test_alerts.py | 2 +- selfdrive/monitoring/driver_monitor.py | 4 ++-- 36 files changed, 89 insertions(+), 89 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 6cce7e62d9..0704bc8950 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -131,7 +131,7 @@ def fingerprint(logcan, sendcan): for b in candidate_cars: # Ignore extended messages and VIN query response. - if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]: + if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8): candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b]) # if we only have one car choice and the time since we got our first diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index ab3125b011..66cd178f88 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -52,7 +52,7 @@ class CarState(CarStateBase): ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too - ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2] + ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index c72f155298..4d5226570c 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -8,7 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model): # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed. - if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]: + if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): msg = b'\x00\x00\x00\x03\x00\x00\x00\x00' return make_can_msg(0x2a6, msg, 0) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 6257cfd209..389d3d8d8b 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -22,7 +22,7 @@ class CarController(): def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel): can_sends = [] - steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw] + steer_alert = visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw) apply_steer = actuators.steer diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index a621ab16ab..d71e65352f 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -25,7 +25,7 @@ class CarState(CarStateBase): ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"] ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1 ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS - ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3]) + ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3)) ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0 ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100. ret.gasPressed = ret.gas > 1e-6 diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index e98dec584b..5a8b0b2dec 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c """Creates a CAN message for the Ford Steer Command.""" #if enabled and lkas available: - if enabled and lkas_state in [2, 3]: # and (frame % 500) >= 3: + if enabled and lkas_state in (2, 3): # and (frame % 500) >= 3: action = lkas_action else: action = 0xf diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7155b3ea82..12cf6367e3 100755 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) - if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled: + if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled: events.add(car.CarEvent.EventName.steerTempUnavailable) ret.events = events.to_msg() diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 27d697331e..59fd4fe8a5 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -253,11 +253,11 @@ def match_fw_to_car_exact(fw_versions_dict): addr = ecu[1:] found_version = fw_versions_dict.get(addr, None) ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] - if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS] and found_version is None: + if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None: continue # On some Toyota models, the engine can show on two different addresses - if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None: + if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None: continue # Ignore non essential ecus diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 71587b17d9..56c7c2a3ca 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -105,7 +105,7 @@ class CarController(): lka_critical = lka_active and abs(actuators.steer) > 0.9 lka_icon_status = (lka_active, lka_critical) if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last: - steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] + steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) self.lka_icon_status_last = lka_icon_status diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 7b86589de3..45fb55098e 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -203,7 +203,7 @@ class CarInterface(CarInterfaceBase): # handle button presses for b in ret.buttonEvents: # do enable on both accel and decel buttons - if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed: + if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: events.add(EventName.buttonEnable) # do disable on button down if b.type == ButtonType.cancel and b.pressed: diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index a09f418af5..33d01f61b6 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -83,7 +83,7 @@ def process_hud_alert(hud_alert): # priority is: FCW, steer required, all others if hud_alert == VisualAlert.fcw: fcw_display = VISUAL_HUD[hud_alert.raw] - elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]: + elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): steer_required = VISUAL_HUD[hud_alert.raw] else: acc_alert = VISUAL_HUD[hud_alert.raw] diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 12a4ae4c29..029413ad72 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -201,11 +201,11 @@ class CarState(CarStateBase): ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"]) steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]] - ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"] + ret.steerError = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT") # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver - self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"] + self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2") # LOW_SPEED_LOCKOUT is not worth a warning - ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"] + ret.steerWarning = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") if not self.CP.openpilotLongitudinalControl: self.brake_error = 0 diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a1828622c4..62dbb24c34 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -416,7 +416,7 @@ class CarInterface(CarInterfaceBase): for b in ret.buttonEvents: # do enable on both accel and decel buttons - if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed: + if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: if not self.CP.pcmCruise: events.add(EventName.buttonEnable) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 61fb35664b..6adefd26c6 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState def process_hud_alert(enabled, fingerprint, visual_alert, left_lane, right_lane, left_lane_depart, right_lane_depart): - sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]) + sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw)) # initialize to no line visible sys_state = 1 @@ -28,9 +28,9 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane, left_lane_warning = 0 right_lane_warning = 0 if left_lane_depart: - left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2 + left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 if right_lane_depart: - right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2 + right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 return sys_warning, sys_state, left_lane_warning, right_lane_warning @@ -104,10 +104,10 @@ class CarController(): self.accel = accel # 20 Hz LFA MFA message - if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, + if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022]: + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022): can_sends.append(create_lfahda_mfc(self.packer, enabled)) # 5 Hz ACC options diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index c038ff4e9e..fd3fc78e88 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -16,10 +16,10 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_ActToi"] = steer_req values["CF_Lkas_MsgCount"] = frame % 0x10 - if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, + if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]: + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 1a5f36baf1..89e1934cdf 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -44,7 +44,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalActuatorDelayUpperBound = 1.0 # s - if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]: + if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 @@ -53,7 +53,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] - elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]: + elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 @@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.63 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] - elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: + elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 @@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS - elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]: + elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): ret.lateralTuning.pid.kf = 0.00005 ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.7 @@ -124,7 +124,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]: + elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 @@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]: + if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: ret.lateralTuning.pid.kf = 0.00005 @@ -151,7 +151,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]: + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 @@ -175,7 +175,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] - elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: + elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 @@ -326,7 +326,7 @@ class CarInterface(CarInterfaceBase): for b in ret.buttonEvents: # do enable on both accel and decel buttons - if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed: + if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: events.add(EventName.buttonEnable) # do disable on button down if b.type == ButtonType.cancel and b.pressed: diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 6022069a2d..a7269e9283 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -74,7 +74,7 @@ class RadarInterface(RadarInterfaceBase): self.pts[addr].trackId = self.track_id self.track_id += 1 - valid = msg['STATE'] in [3, 4] + valid = msg['STATE'] in (3, 4) if valid: azimuth = math.radians(msg['AZIMUTH']) self.pts[addr].measured = True diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 97d273d943..5b63888b6b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -12,9 +12,9 @@ class CarControllerParams: def __init__(self, CP): # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. - if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, - CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]: + CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER): self.STEER_MAX = 255 else: self.STEER_MAX = 384 diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index b4ae938228..a4c0ce705d 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarOffCan = True - ret.dashcamOnly = candidate not in [CAR.CX9_2021] + ret.dashcamOnly = candidate not in (CAR.CX9_2021,) ret.steerActuatorDelay = 0.1 ret.steerRateCost = 1.0 @@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 - elif candidate in [CAR.CX9, CAR.CX9_2021]: + elif candidate in (CAR.CX9, CAR.CX9_2021): ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.1 ret.steerRatio = 17.6 diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 8b40a050c1..40dd5da42a 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -31,7 +31,7 @@ class CarController(): lkas_hud_info_msg = CS.lkas_hud_info_msg apply_angle = actuators.steeringAngleDeg - steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0 + steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if enabled: # # windup slower @@ -64,14 +64,14 @@ class CarController(): # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated cruise_cancel = 1 - if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel: + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel: can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame)) # TODO: Find better way to cancel! # For some reason spamming the cancel button is unreliable on the Leaf # We now cancel by making propilot think the seatbelt is unlatched, # this generates a beep and a warning message every time you disengage - if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0: + if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0: can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel)) can_sends.append(nissancan.create_steering_control( diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index 05191feedf..4c605395d4 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -23,16 +23,16 @@ class CarState(CarStateBase): def update(self, cp, cp_adas, cp_cam): ret = car.CarState.new_message() - if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]: + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"] - elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: + elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"] ret.gasPressed = bool(ret.gas > 3) - if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]: + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"]) - elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: + elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"]) ret.wheelSpeeds = self.get_wheel_speeds( @@ -51,10 +51,10 @@ class CarState(CarStateBase): else: ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"]) - if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]: + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL): ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0 ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"]) - elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: + elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): if self.CP.carFingerprint == CAR.LEAF: ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0 elif self.CP.carFingerprint == CAR.LEAF_IC: @@ -70,7 +70,7 @@ class CarState(CarStateBase): speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"] if speed != 255: - if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: + if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS else: conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS @@ -108,7 +108,7 @@ class CarState(CarStateBase): self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"]) - if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: + if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"]) if self.CP.carFingerprint != CAR.ALTIMA: @@ -153,7 +153,7 @@ class CarState(CarStateBase): ("LIGHTS", 10), ] - if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]: + if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): signals += [ ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1), @@ -183,7 +183,7 @@ class CarState(CarStateBase): ("HUD", 25), ] - elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]: + elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): signals += [ ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1), ("GAS_PEDAL", "CRUISE_THROTTLE", 0), @@ -344,7 +344,7 @@ class CarState(CarStateBase): signals = [] checks = [] - if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]: + if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL): signals += [ ("CRUISE_ON", "PRO_PILOT", 0), ] diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 86c1630fb6..4350fb5447 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -21,12 +21,12 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 - if candidate in [CAR.ROGUE, CAR.XTRAIL]: + if candidate in (CAR.ROGUE, CAR.XTRAIL): ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 17 - elif candidate in [CAR.LEAF, CAR.LEAF_IC]: + elif candidate in (CAR.LEAF, CAR.LEAF_IC): ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index e9728e557b..b6eb54287f 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -152,7 +152,7 @@ class CarState(CarStateBase): ("CruiseControl", 50), ] - if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]: + if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): checks += [ ("Dashlights", 10), ("CruiseControl", 50), diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 4023e062d2..6c8659b4c0 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -65,7 +65,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] - if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]: + if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index 4efd1c1fe7..0b58632f0a 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -37,7 +37,7 @@ class CarController(): can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame)) # Longitudinal control (40Hz) - if self.CP.openpilotLongitudinalControl and ((frame % 5) in [0, 2]): + if self.CP.openpilotLongitudinalControl and ((frame % 5) in (0, 2)): target_accel = actuators.accel target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0) max_accel = 0 if target_accel < 0 else target_accel diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 0a45b6f2bb..39869baeae 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -50,7 +50,7 @@ class CarState(CarStateBase): cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None) speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None) - acc_enabled = (cruise_state in ["ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"]) + acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")) ret.cruiseState.enabled = acc_enabled if speed_units == "KPH": diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 0a5067d1ce..e8d6ab6854 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerRateCost = 0.5 - if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]: + if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS): ret.mass = 2100. + STD_CARGO_KG ret.wheelbase = 2.959 ret.centerToFront = ret.wheelbase * 0.5 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 2be745df4f..73ea2f350f 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -29,9 +29,9 @@ class CarController(): if CS.CP.enableGasInterceptor and enabled: MAX_INTERCEPTOR_GAS = 0.5 # RAV4 has very sensitive gas pedal - if CS.CP.carFingerprint in [CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH]: + if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) - elif CS.CP.carFingerprint in [CAR.COROLLA]: + elif CS.CP.carFingerprint in (CAR.COROLLA,): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) else: PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0]) @@ -49,7 +49,7 @@ class CarController(): self.steer_rate_limited = new_steer != apply_steer # Cut steering while we're in a known fault state (2s) - if not enabled or CS.steer_state in [9, 25]: + if not enabled or CS.steer_state in (9, 25): apply_steer = 0 apply_steer_req = 0 else: @@ -92,7 +92,7 @@ class CarController(): lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged # Lexus IS uses a different cancellation message - if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]: + if pcm_cancel_cmd and CS.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): can_sends.append(create_acc_cancel_command(self.packer)) elif CS.CP.openpilotLongitudinalControl: can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type)) @@ -110,7 +110,7 @@ class CarController(): # - there is something to display # - there is something to stop displaying fcw_alert = hud_alert == VisualAlert.fcw - steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] + steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) send_ui = False if ((fcw_alert or steer_alert) and not self.alert_active) or \ diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 7ce5907b9b..f7d353e691 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -79,9 +79,9 @@ class CarState(CarStateBase): ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] # we could use the override bit from dbc, but it's triggered at too high torque values ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5] + ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5) - if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]: + if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS else: @@ -95,7 +95,7 @@ class CarState(CarStateBase): # these cars are identified by an ACC_TYPE value of 2. # TODO: it is possible to avoid the lockout and gain stop and go if you # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1 - if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in [CAR.LEXUS_IS, CAR.LEXUS_RC]) or \ + if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \ (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1): self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 @@ -107,7 +107,7 @@ class CarState(CarStateBase): else: ret.cruiseState.standstill = self.pcm_acc_status == 7 ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) - ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in [1, 2, 3, 4, 5, 6] + ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6) ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5) @@ -170,7 +170,7 @@ class CarState(CarStateBase): ("STEER_TORQUE_SENSOR", 50), ] - if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]: + if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): signals.append(("MAIN_ON", "DSU_CRUISE", 0)) signals.append(("SET_SPEED", "DSU_CRUISE", 0)) checks.append(("DSU_CRUISE", 5)) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3a98c19b0a..22080985db 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -40,7 +40,7 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS) ret.steerActuatorDelay = 0.3 - elif candidate in [CAR.RAV4, CAR.RAV4H]: + elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False ret.wheelbase = 2.65 ret.steerRatio = 16.88 # 14.5 is spec end-to-end @@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_A) - elif candidate in [CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2]: + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end @@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_C) - elif candidate in [CAR.CHR, CAR.CHRH]: + elif candidate in (CAR.CHR, CAR.CHRH): stop_and_go = True ret.wheelbase = 2.63906 ret.steerRatio = 13.6 @@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_F) - elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]: + elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): stop_and_go = True ret.wheelbase = 2.82448 ret.steerRatio = 13.7 @@ -82,7 +82,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_C) - elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]: + elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 @@ -90,7 +90,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people set_lat_tune(ret.lateralTuning, LatTunes.PID_G) - elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): stop_and_go = True ret.wheelbase = 2.78 ret.steerRatio = 16.0 @@ -98,7 +98,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited set_lat_tune(ret.lateralTuning, LatTunes.PID_G) - elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]: + elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019): stop_and_go = False ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download @@ -106,7 +106,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_H) - elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]: + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2): stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 @@ -121,7 +121,7 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.PID_I) break - elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: + elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): stop_and_go = True ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.steerRatio = 13.9 @@ -129,7 +129,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]: + elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized @@ -180,7 +180,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_M) - elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]: + elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2): stop_and_go = True ret.wheelbase = 2.66 ret.steerRatio = 14.7 diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index a0119e2a52..d271ecf1ea 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -72,7 +72,7 @@ class CarController(): # **** HUD Controls ***************************************************** # if frame % P.LDW_STEP == 0: - if visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]: + if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw): hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"] else: hud_alert = MQB_LDW_MESSAGES["none"] diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 97e3094fa5..0e0b0dfc07 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -41,8 +41,8 @@ class CarState(CarStateBase): # Verify EPS readiness to accept steering commands hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]) - ret.steerError = hca_status in ["DISABLED", "FAULT"] - ret.steerWarning = hca_status in ["INITIALIZING", "REJECTED"] + ret.steerError = hca_status in ("DISABLED", "FAULT") + ret.steerWarning = hca_status in ("INITIALIZING", "REJECTED") # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 @@ -102,7 +102,7 @@ class CarState(CarStateBase): # ACC okay and enabled, but not currently engaged ret.cruiseState.available = True ret.cruiseState.enabled = False - elif self.tsk_status in [3, 4, 5]: + elif self.tsk_status in (3, 4, 5): # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5) ret.cruiseState.available = True ret.cruiseState.enabled = True diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 84bfe98771..bb67a27262 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -38,7 +38,7 @@ class CarInterface(CarInterfaceBase): else: ret.transmissionType = TransmissionType.manual - if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]): # Airbag_01, LWI_01, ESP_19, ESP_21 + if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21 ret.networkLocation = NetworkLocation.gateway else: ret.networkLocation = NetworkLocation.fwdCamera @@ -194,7 +194,7 @@ class CarInterface(CarInterfaceBase): # Vehicle health and operation safety checks if self.CS.parkingBrakeSet: events.add(EventName.parkBrake) - if self.CS.tsk_status in [6, 7]: + if self.CS.tsk_status in (6, 7): events.add(EventName.accFaulted) # Low speed steer alert hysteresis logic diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 85b3876f40..cd139c062a 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -236,7 +236,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - gps_integrated = sm['peripheralState'].pandaType in [log.PandaState.PandaType.uno, log.PandaState.PandaType.dos] + gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos) return Alert( "Poor GPS reception", "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement", diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 98767d6e2f..2502bed06b 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -61,7 +61,7 @@ class TestAlerts(unittest.TestCase): for alert in ALERTS: # for full size alerts, both text fields wrap the text, # so it's unlikely that they would go past the max width - if alert.alert_size in [AlertSize.none, AlertSize.full]: + if alert.alert_size in (AlertSize.none, AlertSize.full): continue for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]): diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index c470612dc0..efb00ecb77 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -205,8 +205,8 @@ class DriverStatus(): self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged): - if not all(len(x) > 0 for x in [driver_state.faceOrientation, driver_state.facePosition, - driver_state.faceOrientationStd, driver_state.facePositionStd]): + if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition, + driver_state.faceOrientationStd, driver_state.facePositionStd)): return self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD From 4ff9ee8902529714487ef3b35b4f6562b4ce1dd6 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 10 Jan 2022 16:57:05 +0100 Subject: [PATCH 225/239] monkeypatch os.link (#23480) --- common/file_helpers.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/common/file_helpers.py b/common/file_helpers.py index 3373d82a03..592b2a199a 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -81,6 +81,17 @@ def _get_fileobject_func(writer, temp_dir): return writer.get_fileobject(dir=temp_dir) return _get_fileobject +def monkeypatch_os_link(): + # This is neccesary on EON/C2, where os.link is patched out of python + if not hasattr(os, 'link'): + from cffi import FFI + ffi = FFI() + ffi.cdef("int link(const char *oldpath, const char *newpath);") + libc = ffi.dlopen(None) + + def link(src, dest): + return libc.link(src.encode(), dest.encode()) + os.link = link def atomic_write_on_fs_tmp(path, **kwargs): """Creates an atomic writer using a temporary file in a temporary directory @@ -88,6 +99,7 @@ def atomic_write_on_fs_tmp(path, **kwargs): """ # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp # directory. + monkeypatch_os_link() writer = AtomicWriter(path, **kwargs) return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path))) @@ -96,5 +108,6 @@ def atomic_write_in_dir(path, **kwargs): """Creates an atomic writer using a temporary file in the same directory as the destination file. """ + monkeypatch_os_link() writer = AtomicWriter(path, **kwargs) return writer._open(_get_fileobject_func(writer, os.path.dirname(path))) From 4208fe018e898d9f3cde1b2ac8feb29d9bb11ce6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 11 Jan 2022 01:46:02 +0800 Subject: [PATCH 226/239] LongControl: remove redundant check on active (#23481) --- selfdrive/controls/lib/longcontrol.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index f49a4e6f3b..b14ffdc6c8 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -26,8 +26,7 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_fut else: if long_control_state == LongCtrlState.off: - if active: - long_control_state = LongCtrlState.pid + long_control_state = LongCtrlState.pid elif long_control_state == LongCtrlState.pid: if stopping_condition: From 779e602de20c894669f98b99b3d3f0ed8fc3c2a6 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 10 Jan 2022 14:47:51 -0300 Subject: [PATCH 227/239] add missing toyota fw engine (#23272) 541c7e27e413735c|2021-12-17--14-21-53 Adding fingerprint of a corolla gr here from Brazil --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f7e862c829..c8f48c9768 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -526,6 +526,7 @@ FW_VERSIONS = { b'\x01896630ZG5100\x00\x00\x00\x00', b'\x01896630ZG5200\x00\x00\x00\x00', b'\x01896630ZG5300\x00\x00\x00\x00', + b'\x01896630ZP1000\x00\x00\x00\x00', b'\x01896630ZP2000\x00\x00\x00\x00', b'\x01896630ZQ5000\x00\x00\x00\x00', b'\x018966312L8000\x00\x00\x00\x00', From 3ce4976db79fde95264f114b61d6be025aec9a71 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 10 Jan 2022 19:54:07 +0100 Subject: [PATCH 228/239] thermald: track engaged state in param and kmsg (#23478) * thermald: track engaged state in param * write in kmsg * format string * move to python --- selfdrive/common/params.cc | 2 +- selfdrive/hardware/tici/hardware.py | 3 +++ selfdrive/thermald/thermald.py | 22 +++++++++++++++++----- 3 files changed, 21 insertions(+), 6 deletions(-) diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc index 39cb4fcfae..29dc17be90 100644 --- a/selfdrive/common/params.cc +++ b/selfdrive/common/params.cc @@ -86,7 +86,6 @@ std::unordered_map keys = { {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, - {"BootedOnroad", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"CalibrationParams", PERSISTENT}, {"CarBatteryCapacity", PERSISTENT}, {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON}, @@ -121,6 +120,7 @@ std::unordered_map keys = { {"IMEI", PERSISTENT}, {"InstallDate", PERSISTENT}, {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START}, + {"IsEngaged", PERSISTENT}, {"IsLdwEnabled", PERSISTENT}, {"IsMetric", PERSISTENT}, {"IsOffroad", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/hardware/tici/hardware.py b/selfdrive/hardware/tici/hardware.py index 855eee908e..31bfa736c0 100644 --- a/selfdrive/hardware/tici/hardware.py +++ b/selfdrive/hardware/tici/hardware.py @@ -320,6 +320,9 @@ class Tici(HardwareBase): def initialize_hardware(self): self.amplifier.initialize_configuration() + # Allow thermald to write engagement status to kmsg + os.system("sudo chmod a+w /dev/kmsg") + def get_networks(self): r = {} diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index dd106d4ccb..7982afff23 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -159,7 +159,7 @@ def thermald_thread() -> NoReturn: pandaState_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected pandaState frequency pandaState_sock = messaging.sub_sock('pandaStates', timeout=pandaState_timeout) - sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState"]) + sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState", "controlsState"]) fan_speed = 0 count = 0 @@ -192,6 +192,7 @@ def thermald_thread() -> NoReturn: handle_fan = None is_uno = False ui_running_prev = False + engaged_prev = False params = Params() power_monitor = PowerMonitoring() @@ -203,10 +204,6 @@ def thermald_thread() -> NoReturn: # TODO: use PI controller for UNO controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) - # Leave flag for loggerd to indicate device was left onroad - if params.get_bool("IsOnroad"): - params.put_bool("BootedOnroad", True) - while True: pandaStates = messaging.recv_sock(pandaState_sock, wait=True) @@ -359,8 +356,23 @@ def thermald_thread() -> NoReturn: if should_start != should_start_prev or (count == 0): params.put_bool("IsOnroad", should_start) params.put_bool("IsOffroad", not should_start) + + params.put_bool("IsEngaged", False) + engaged_prev = False HARDWARE.set_power_save(not should_start) + if sm.updated['controlsState']: + engaged = sm['controlsState'].enabled + if engaged != engaged_prev: + params.put_bool("IsEngaged", engaged) + engaged_prev = engaged + + try: + with open('/dev/kmsg', 'w') as kmsg: + kmsg.write(f"[thermald] engaged: {engaged}") + except Exception: + pass + if should_start: off_ts = None if started_ts is None: From 1a54d7f6aee817cc3217041bc085f9b83faafce0 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 10 Jan 2022 19:54:41 +0100 Subject: [PATCH 229/239] Ignore statsd for running process check (#23483) --- selfdrive/controls/controlsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 49e9b42d1f..0469d50be2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -38,7 +38,8 @@ REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ NOSENSOR = "NOSENSOR" in os.environ IGNORE_PROCESSES = {"rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", - "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \ + "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", + "statsd"} | \ {k for k, v in managed_processes.items() if not v.enabled} ACTUATOR_FIELDS = set(car.CarControl.Actuators.schema.fields.keys()) From fa3055f280ca56ce4563108a85e6ca6e121310c5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jan 2022 11:43:18 -0800 Subject: [PATCH 230/239] smaller docker image (#23469) * save 2gb * not used * more cleanup * little more * wget too big * follow * needed for sim --- Dockerfile.openpilot_base | 16 +++++++++++----- tools/sim/Dockerfile.sim | 2 +- tools/ubuntu_setup.sh | 12 +----------- tools/webcam/Dockerfile | 4 ++-- 4 files changed, 15 insertions(+), 19 deletions(-) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 9229fb1765..2ea26b854f 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -13,14 +13,20 @@ ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 ENV PIPENV_SYSTEM=1 +ENV PYENV_VERSION=3.8.10 +ENV PYENV_ROOT="/root/.pyenv" +ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" + COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/ COPY tools/ubuntu_setup.sh /tmp/tools/ RUN cd /tmp && \ tools/ubuntu_setup.sh && \ - rm -rf /tmp/* && \ rm -rf /var/lib/apt/lists/* && \ - pip uninstall -y pipenv + rm -rf /tmp/* && \ + rm -rf /root/.cache && \ + pip uninstall -y pipenv && \ -ENV PYENV_VERSION=3.8.10 -ENV PYENV_ROOT="/root/.pyenv" -ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" + # remove unused architectures from gcc for panda + cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ + rm -rf arm/ && \ + rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index f6cf0d9b0b..4ffd5bea14 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -42,7 +42,7 @@ RUN pip install --upgrade pip && \ # get same tmux config used on NEOS for debugging RUN cd $HOME && \ - wget https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf + curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH} RUN mkdir -p $HOME/openpilot diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 44ddb4f014..e688c79c12 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -13,12 +13,12 @@ function install_ubuntu_common_requirements() { sudo apt-get install -y --no-install-recommends \ autoconf \ build-essential \ + ca-certificates \ clang \ cmake \ make \ cppcheck \ libtool \ - libstdc++-arm-none-eabi-newlib \ gcc-arm-none-eabi \ bzip2 \ liblzma-dev \ @@ -28,7 +28,6 @@ function install_ubuntu_common_requirements() { libcapnp-dev \ curl \ libcurl4-openssl-dev \ - wget \ git \ git-lfs \ ffmpeg \ @@ -50,13 +49,6 @@ function install_ubuntu_common_requirements() { libsqlite3-dev \ libusb-1.0-0-dev \ libzmq3-dev \ - libsdl1.2-dev \ - libsdl-image1.2-dev \ - libsdl-mixer1.2-dev \ - libsdl-ttf2.0-dev \ - libsmpeg-dev \ - libportmidi-dev \ - libfreetype6-dev \ libsystemd-dev \ locales \ opencl-headers \ @@ -64,10 +56,8 @@ function install_ubuntu_common_requirements() { ocl-icd-opencl-dev \ clinfo \ python-dev \ - python3-pip \ qml-module-qtquick2 \ qtmultimedia5-dev \ - qtwebengine5-dev \ qtlocation5-dev \ qtpositioning5-dev \ libqt5sql5-sqlite \ diff --git a/tools/webcam/Dockerfile b/tools/webcam/Dockerfile index 7de86a4a7b..70317cd924 100644 --- a/tools/webcam/Dockerfile +++ b/tools/webcam/Dockerfile @@ -27,7 +27,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ mkdir /tmp/opencv_build && \ cd /tmp/opencv_build && \ - wget https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.tar.gz && \ + curl -L -O https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.tar.gz && \ tar -xvf ${OPENCV_VERSION}.tar.gz && \ mv opencv-${OPENCV_VERSION} OpenCV && \ cd OpenCV && mkdir build && cd build && \ @@ -37,4 +37,4 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ make install && \ ldconfig && \ - cd /tmp && rm -rf /tmp/opencv_build + cd / && rm -rf /tmp/* From 7eca4d62078b14de62c5f2ce08e382eb31cc7076 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jan 2022 12:03:27 -0800 Subject: [PATCH 231/239] tools: better joystick instructions --- tools/joystick/README.md | 34 +++++++++++++++++++++------------- tools/joystick/joystickd.py | 20 +++++++++++++------- 2 files changed, 34 insertions(+), 20 deletions(-) diff --git a/tools/joystick/README.md b/tools/joystick/README.md index 33366d1efd..5a45785db6 100644 --- a/tools/joystick/README.md +++ b/tools/joystick/README.md @@ -1,13 +1,17 @@ # Joystick -**Hardware needed**: [comma two devkit](https://comma.ai/shop/products/comma-two-devkit), laptop, joystick (optional) +**Hardware needed**: device running openpilot, laptop, joystick (optional) -With joystickd, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard, however a joystick is recommended for more precise control. +With joystickd, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard. +joystickd uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks. -Using a keyboard ---- +## Usage + +The car must be off, and openpilot must be offroad before starting `joystickd`. + +### Using a keyboard -To get started, ssh into your comma device and start joystickd with the following command: +SSH into your comma device and start joystickd with the following command: ```shell tools/joystick/joystickd.py --keyboard @@ -15,22 +19,26 @@ tools/joystick/joystickd.py --keyboard The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments. -Using a joystick ---- +### Joystick on your comma three + +Plug the joystick into your comma three aux USB-C port. Then, SSH into the device and start `joystickd.py`. + +### Joystick on your laptop -In order to use a joystick over the network, we need to run joystickd locally from your laptop and have it send `testJoystick` ZMQ packets over the network to the comma device. First connect a compatible joystick to your PC; joystickd uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks. +In order to use a joystick over the network, we need to run joystickd locally from your laptop and have it send `testJoystick` packets over the network to the comma device. -1. Connect your laptop to your comma device's hotspot and open a new ssh shell. Since joystickd is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode: +1. Connect a joystick to your PC. +2. Connect your laptop to your comma device's hotspot and open a new SSH shell. Since joystickd is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode: ```shell # on your comma device echo -n "1" > /data/params/d/JoystickDebugMode ``` -2. Run bridge with your laptop's IP address. This republishes the `testJoystick` packets sent from your laptop so that openpilot can receive them: +3. Run bridge with your laptop's IP address. This republishes the `testJoystick` packets sent from your laptop so that openpilot can receive them: ```shell # on your comma device cereal/messaging/bridge {LAPTOP_IP} testJoystick ``` -3. Finally, start joystickd on your laptop and tell it to publish ZMQ packets over the network: +4. Start joystickd on your laptop in ZMQ mode. ```shell # on your laptop export ZMQ=1 @@ -38,8 +46,8 @@ In order to use a joystick over the network, we need to run joystickd locally fr ``` --- -Now start your car and openpilot should go into debug mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell. +Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell. Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls. -![Imgur](steer.gif) +![](steer.gif) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index 0e3269556a..2b138b9c17 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -1,10 +1,11 @@ #!/usr/bin/env python +import os import argparse +from inputs import get_gamepad import cereal.messaging as messaging from common.numpy_fast import interp, clip from common.params import Params -from inputs import get_gamepad from tools.lib.kbhit import KBHit @@ -62,7 +63,7 @@ def joystick_thread(use_keyboard): joystick = Keyboard() if use_keyboard else Joystick() while True: - ret = joystick.update() # processes joystick/key events and handles state of axes + ret = joystick.update() if ret: dat = messaging.new_message('testJoystick') dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_values] @@ -72,19 +73,24 @@ def joystick_thread(use_keyboard): if __name__ == '__main__': - parser = argparse.ArgumentParser( - description='Publishes events from your joystick to control your car', - formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' + 'openpilot must be offroad before starting joysticked.', + formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick') args = parser.parse_args() + if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ: + print("The car must be off before running joystickd.") + exit() + + print() if args.keyboard: - print('\nGas/brake control: `W` and `S` keys\n' + print('Gas/brake control: `W` and `S` keys\n' 'Steering control: `A` and `D` keys') print('Buttons:\n' '- `R`: Resets axes\n' '- `C`: Cancel cruise control') else: - print('\nUsing joystick, make sure to run bridge on your device if running over the network!') + print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!') joystick_thread(args.keyboard) From ed5e58c48a5fa770526402c773d1c6ebda416726 Mon Sep 17 00:00:00 2001 From: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Mon, 10 Jan 2022 14:01:58 -0700 Subject: [PATCH 232/239] Hyundai: use regular Hyundai safety mode and add radar DBC (#23461) --- selfdrive/car/hyundai/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5b63888b6b..1b55bde3dd 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1015,7 +1015,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NI EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py @@ -1036,7 +1036,7 @@ DBC = { CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), From 233a6e4a625a8ef145904522e4663177bcd3d65d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Jan 2022 14:08:45 -0700 Subject: [PATCH 233/239] LanePlanner: offsets cleanup (#23459) * update comments * model y axis was flipped so flip the offsets as well * fix --- selfdrive/controls/lib/lane_planner.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 660ec3e965..160808cff0 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -9,12 +9,14 @@ from selfdrive.swaglog import cloudlog TRAJECTORY_SIZE = 33 # camera offset is meters from center car to camera +# model path is in the frame of EON's camera. TICI is 0.1 m away, +# however the average measured path difference is 0.04 m if EON: - CAMERA_OFFSET = 0.06 + CAMERA_OFFSET = -0.06 PATH_OFFSET = 0.0 elif TICI: - CAMERA_OFFSET = -0.04 - PATH_OFFSET = -0.04 + CAMERA_OFFSET = 0.04 + PATH_OFFSET = 0.04 else: CAMERA_OFFSET = 0.0 PATH_OFFSET = 0.0 @@ -49,9 +51,8 @@ class LanePlanner: self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2 # left and right ll x is the same self.ll_x = lane_lines[1].x - # only offset left and right lane lines; offsetting path does not make sense - self.lll_y = np.array(lane_lines[1].y) - self.camera_offset - self.rll_y = np.array(lane_lines[2].y) - self.camera_offset + self.lll_y = np.array(lane_lines[1].y) + self.camera_offset + self.rll_y = np.array(lane_lines[2].y) + self.camera_offset self.lll_prob = md.laneLineProbs[1] self.rll_prob = md.laneLineProbs[2] self.lll_std = md.laneLineStds[1] @@ -65,7 +66,7 @@ class LanePlanner: def get_d_path(self, v_ego, path_t, path_xyz): # Reduce reliance on lanelines that are too far apart or # will be in a few seconds - path_xyz[:, 1] -= self.path_offset + path_xyz[:, 1] += self.path_offset l_prob, r_prob = self.lll_prob, self.rll_prob width_pts = self.rll_y - self.lll_y prob_mods = [] From 24213ac76b6f6a2cc328c19d47eb26ed0f0f7b83 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 10 Jan 2022 23:14:30 -0800 Subject: [PATCH 234/239] lfs: easier to use config (#23490) --- .lfsconfig | 3 ++- lfs-push.sh | 2 -- 2 files changed, 2 insertions(+), 3 deletions(-) delete mode 100755 lfs-push.sh diff --git a/.lfsconfig b/.lfsconfig index 460dd4b0b4..42dfa2d944 100644 --- a/.lfsconfig +++ b/.lfsconfig @@ -1,3 +1,4 @@ [lfs] url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs - pushurl = + pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git + locksverify = false diff --git a/lfs-push.sh b/lfs-push.sh deleted file mode 100755 index 7e3c713b0c..0000000000 --- a/lfs-push.sh +++ /dev/null @@ -1,2 +0,0 @@ -#!/usr/bin/env bash -git -c lfs.pushurl=ssh://git@gitlab.com/commaai/openpilot-lfs.git push From 6e817f9eb5d85d5f27b72c1abc16a85673ae3d01 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Jan 2022 06:07:35 -0700 Subject: [PATCH 235/239] manager: default driverview to False (#23492) --- selfdrive/manager/process.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index a423b1ff84..2dcb42f339 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -67,6 +67,7 @@ class ManagerProcess(ABC): daemon = False sigkill = False persistent = False + driverview = False proc: Optional[Process] = None enabled = True name = "" @@ -291,8 +292,7 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: p.stop(block=False) elif p.persistent: p.start() - elif getattr(p, 'driverview', False) and driverview: - # TODO: why is driverview an argument here? can this be done with the name? + elif p.driverview and driverview: p.start() elif started: p.start() From 44592f4b0efabb358e598e428ca3405a72005043 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 11 Jan 2022 14:24:18 +0100 Subject: [PATCH 236/239] statsd: run at 2Hz (#23493) --- selfdrive/statsd.py | 36 +++++++++++++++++++----------------- 1 file changed, 19 insertions(+), 17 deletions(-) diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 8fd1f60ca1..33f35032ff 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -74,24 +74,26 @@ def main(): last_flush_time = time.monotonic() gauges = {} while True: - try: - metric = sock.recv_string(zmq.NOBLOCK) - try: - metric_type = metric.split('|')[1] - metric_name = metric.split(':')[0] - metric_value = metric.split('|')[0].split(':')[1] - - if metric_type == METRIC_TYPE.GAUGE: - gauges[metric_name] = metric_value - else: - cloudlog.event("unknown metric type", metric_type=metric_type) - except Exception: - cloudlog.event("malformed metric", metric=metric) - except zmq.error.Again: - time.sleep(1e-3) - started_prev = sm['deviceState'].started - sm.update(0) + sm.update() + + # Update metrics + while True: + try: + metric = sock.recv_string(zmq.NOBLOCK) + try: + metric_type = metric.split('|')[1] + metric_name = metric.split(':')[0] + metric_value = metric.split('|')[0].split(':')[1] + + if metric_type == METRIC_TYPE.GAUGE: + gauges[metric_name] = metric_value + else: + cloudlog.event("unknown metric type", metric_type=metric_type) + except Exception: + cloudlog.event("malformed metric", metric=metric) + except zmq.error.Again: + break # flush when started state changes or after FLUSH_TIME_S if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): From 35ec6ac1cb98f7d671edcb928a2b97d749a1edde Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 11 Jan 2022 21:34:47 +0800 Subject: [PATCH 237/239] use ndarray.tolist to convert numpy array to float (#23485) --- selfdrive/controls/lib/lateral_planner.py | 6 +++--- selfdrive/controls/lib/longitudinal_planner.py | 6 +++--- selfdrive/locationd/calibrationd.py | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index a885200e52..1d7684e827 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -207,9 +207,9 @@ class LateralPlanner: lateralPlan = plan_send.lateralPlan lateralPlan.laneWidth = float(self.LP.lane_width) - lateralPlan.dPathPoints = [float(x) for x in self.y_pts] - lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]] - lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]] + lateralPlan.dPathPoints = self.y_pts.tolist() + lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() + lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist() lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] lateralPlan.lProb = float(self.LP.lll_prob) lateralPlan.rProb = float(self.LP.rll_prob) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index f6b949316a..9dc6ab9ee5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -112,9 +112,9 @@ class Planner: longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] - longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory] - longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory] - longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory] + longitudinalPlan.speeds = self.v_desired_trajectory.tolist() + longitudinalPlan.accels = self.a_desired_trajectory.tolist() + longitudinalPlan.jerks = self.j_desired_trajectory.tolist() longitudinalPlan.hasLead = sm['radarState'].leadOne.status longitudinalPlan.longitudinalPlanSource = self.mpc.source diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 2637350643..1333180ec6 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -179,9 +179,9 @@ class Calibrator(): msg.liveCalibration.validBlocks = self.valid_blocks msg.liveCalibration.calStatus = self.cal_status msg.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) - msg.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()] - msg.liveCalibration.rpyCalib = [float(x) for x in smooth_rpy] - msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread] + msg.liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist() + msg.liveCalibration.rpyCalib = smooth_rpy.tolist() + msg.liveCalibration.rpyCalibSpread = self.calib_spread.tolist() return msg def send_data(self, pm) -> None: From 8444f8267da10aaf52789d03f6d46d6b90be13ab Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 11 Jan 2022 15:25:01 +0100 Subject: [PATCH 238/239] calibrationd: convert existing calibration to numpy (#23494) * calibrationd: convert existing calibration to numpy * use numpy functions --- selfdrive/locationd/calibrationd.py | 9 +++++---- selfdrive/locationd/test/test_calibrationd.py | 4 +++- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 1333180ec6..f2a534d370 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -7,7 +7,6 @@ and the image input into the neural network is not corrected for roll. ''' import os -import copy from typing import NoReturn import numpy as np import cereal.messaging as messaging @@ -70,7 +69,7 @@ class Calibrator(): if param_put and calibration_params: try: msg = log.Event.from_bytes(calibration_params) - rpy_init = list(msg.liveCalibration.rpyCalib) + rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks except Exception: cloudlog.exception("Error reading cached CalibrationParams") @@ -80,13 +79,15 @@ class Calibrator(): def reset(self, rpy_init=RPY_INIT, valid_blocks=0, smooth_from=None): if not np.isfinite(rpy_init).all(): - self.rpy = copy.copy(RPY_INIT) + self.rpy = RPY_INIT.copy() else: - self.rpy = rpy_init + self.rpy = rpy_init.copy() + if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks + self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) self.idx = 0 diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index 030636dcd5..3612f48276 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -2,6 +2,8 @@ import random import unittest +import numpy as np + import cereal.messaging as messaging from common.params import Params from selfdrive.locationd.calibrationd import Calibrator @@ -16,7 +18,7 @@ class TestCalibrationd(unittest.TestCase): Params().put("CalibrationParams", msg.to_bytes()) c = Calibrator(param_put=True) - self.assertEqual(list(msg.liveCalibration.rpyCalib), c.rpy) + np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) From 5fb9c6aa683e8a4ecd7591ecc76c9f29e30b060e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 11 Jan 2022 15:40:18 +0100 Subject: [PATCH 239/239] thermald has slowly started to use more CPU --- selfdrive/test/test_onroad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 36e8c5499f..2f85605b83 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,7 +34,7 @@ PROCS = { "./_modeld": 4.48, "./boardd": 3.63, "./_dmonitoringmodeld": 2.67, - "selfdrive.thermald.thermald": 2.41, + "selfdrive.thermald.thermald": 7.73, "selfdrive.locationd.calibrationd": 2.0, "./_soundd": 1.0, "selfdrive.monitoring.dmonitoringd": 1.90, @@ -61,7 +61,7 @@ if TICI: "./_dmonitoringmodeld": 10.0, "selfdrive.locationd.paramsd": 5.0, "selfdrive.controls.radard": 3.6, - "selfdrive.thermald.thermald": 1.5, + "selfdrive.thermald.thermald": 4.75, })

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