From 8d8055f00f11fcdf0a8a235de5218d9c2fd2f5ad Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 7 Jun 2022 12:25:58 +0200 Subject: [PATCH 001/226] Laikad: cleanup fetching orbits (#24759) * Seperate prediction orbits from regular observation orbits and download them efficient * Cleanup * clean and update laika * Fix test * Fix test * Fix checking pos fix * space --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 26 ++++++++++--------------- selfdrive/locationd/test/test_laikad.py | 12 ++++++------ 3 files changed, 17 insertions(+), 23 deletions(-) diff --git a/laika_repo b/laika_repo index ba6ed3277c..d871946134 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b +Subproject commit d87194613455b42af19ff2b5a3f7d1cae5852885 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index eee07e7805..d8e32005f8 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -6,11 +6,9 @@ from typing import List import numpy as np from collections import defaultdict -from numpy.linalg import linalg - from cereal import log, messaging from laika import AstroDog -from laika.constants import SECS_IN_HR, SECS_IN_MIN +from laika.constants import SECS_IN_MIN from laika.ephemeris import EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId @@ -26,10 +24,9 @@ MAX_TIME_GAP = 10 class Laikad: - def __init__(self, valid_const=("GPS",), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)): - self.astro_dog = AstroDog(valid_const=valid_const, use_internet=auto_update, valid_ephem_types=valid_ephem_types) + def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)): + self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) self.gnss_kf = GNSSKalman(GENERATED_DIR) - self.latest_epoch_fetched = GPSTime(0, 0) self.latest_time_msg = None def process_ublox_msg(self, ublox_msg, ublox_mono_time: int): @@ -43,7 +40,7 @@ class Laikad: # To get a position fix a minimum of 5 measurements are needed. # Each report can contain less and some measurements can't be processed. corrected_measurements = [] - if len(pos_fix) > 0 and linalg.norm(pos_fix[1]) < 100: + if len(pos_fix) > 0 and abs(np.array(pos_fix[1])).mean() < 1000: corrected_measurements = correct_measurements(measurements, pos_fix[0][:3], self.astro_dog) t = ublox_mono_time * 1e-9 @@ -110,18 +107,15 @@ class Laikad: def orbit_thread(self, end_event: threading.Event): while not end_event.is_set(): if self.latest_time_msg: - self.fetch_orbits(self.latest_time_msg) + self.fetch_orbits(self.latest_time_msg + SECS_IN_MIN) time.sleep(0.1) def fetch_orbits(self, t: GPSTime): - if self.latest_epoch_fetched < t + SECS_IN_MIN: - cloudlog.info("Start to download/parse orbits") - orbit_ephems = self.astro_dog.download_parse_orbit_data(t, skip_before_epoch=t - 2 * SECS_IN_HR) - if len(orbit_ephems) > 0: - cloudlog.info(f"downloaded and parsed correctly new orbits {len(orbit_ephems)}, Constellations:{set([e.prn[0] for e in orbit_ephems])}") - self.astro_dog.add_ephems(orbit_ephems, self.astro_dog.orbits) - latest_orbit = max(orbit_ephems, key=lambda e: e.epoch) # type: ignore - self.latest_epoch_fetched = latest_orbit.epoch + if t not in self.astro_dog.orbit_fetched_times: + cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") + start_time = time.monotonic() + self.astro_dog.get_orbit_data(t, only_predictions=True) + cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s") def create_measurement_msg(meas: GNSSMeasurement): diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index baa17792bd..8cb0773b37 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -53,7 +53,6 @@ class TestLaikad(unittest.TestCase): def test_laika_online_nav_only(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -86,7 +85,7 @@ class TestLaikad(unittest.TestCase): break # Pretend thread has loaded the orbits on startup by using the time of the first gps message. laikad.fetch_orbits(first_gps_time) - self.assertEqual(31, len(laikad.astro_dog.orbits.keys())) + self.assertEqual(29, len(laikad.astro_dog.orbits.keys())) correct_msgs = verify_messages(self.logs, laikad) correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) @@ -96,10 +95,11 @@ class TestLaikad(unittest.TestCase): def test_laika_get_orbits_now(self): laikad = Laikad(auto_update=False) laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow())) - print(laikad.latest_epoch_fetched.as_datetime()) - - print(min(laikad.astro_dog.orbits[list(laikad.astro_dog.orbits.keys())[0]], key=lambda e: e.epoch).epoch.as_datetime()) - + prn = "G01" + self.assertLess(0, len(laikad.astro_dog.orbits[prn])) + prn = "R01" + self.assertLess(0, len(laikad.astro_dog.orbits[prn])) + print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime()) if __name__ == "__main__": unittest.main() From b215d611b1adf5ea2b93e6628936f2e73539f34f Mon Sep 17 00:00:00 2001 From: ClockeNessMnstr Date: Tue, 7 Jun 2022 12:41:03 -0400 Subject: [PATCH 002/226] update DH names + notes for MPC output curvatures (#24701) * update names + notes for MPC outputs "current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state. The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay. inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate. If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct. This was possibly how it was initially set up but the nomenclature here is now confusing. * more notes * match * Clarify #1 --- selfdrive/controls/lib/drive_helpers.py | 23 +++++++++++---------- selfdrive/controls/lib/latcontrol_indi.py | 1 + selfdrive/controls/lib/latcontrol_torque.py | 2 ++ selfdrive/controls/lib/lateral_planner.py | 3 +++ 4 files changed, 18 insertions(+), 11 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 4afa8d89ed..91981259aa 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -97,26 +97,27 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N curvature_rates = [0.0]*CONTROL_N - + v_ego = max(v_ego, 0.1) + # TODO this needs more thought, use .2s extra for now to estimate other delays delay = CP.steerActuatorDelay + .2 - current_curvature = curvatures[0] - psi = interp(delay, T_IDXS[:CONTROL_N], psis) - desired_curvature_rate = curvature_rates[0] - + # MPC can plan to turn the wheel and turn back before t_delay. This means # in high delay cases some corrections never even get commanded. So just use # psi to calculate a simple linearization of desired curvature - curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature - desired_curvature = current_curvature + 2 * curvature_diff_from_psi - - v_ego = max(v_ego, 0.1) + current_curvature_desired = curvatures[0] + psi = interp(delay, T_IDXS[:CONTROL_N], psis) + average_curvature_desired = psi / (v_ego * delay) + desired_curvature = 2 * average_curvature_desired - current_curvature_desired + + # This is the "desired rate of the setpoint" not an actual desired rate + desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) safe_desired_curvature_rate = clip(desired_curvature_rate, -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_desired - max_curvature_rate * DT_MDL, + current_curvature_desired + max_curvature_rate * DT_MDL) return safe_desired_curvature, safe_desired_curvature_rate diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py index b5041eb172..79c881d11b 100644 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -78,6 +78,7 @@ class LatControlINDI(LatControl): steers_des += math.radians(params.angleOffsetDeg) indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0) indi_log.steeringRateDesiredDeg = math.degrees(rate_des) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 8b41dbf402..47f0b69f2b 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -59,6 +59,8 @@ class LatControlTorque(LatControl): actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) desired_lateral_accel = desired_curvature * CS.vEgo ** 2 + + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 6349f05cc2..f3f59ee308 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -79,6 +79,9 @@ class LateralPlanner: y_pts, heading_pts) # init state for next + # mpc.u_sol is the desired curvature rate given x0 curv state. + # with x0[3] = measured_curvature, this would be the actual desired rate. + # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control. self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) # Check for infeasible MPC solution From e7234e22b4d11cc8f349d02855df9b3414096c0d Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 7 Jun 2022 20:55:39 +0200 Subject: [PATCH 003/226] Laikad: Use process for parsing orbits (#24769) * Use Process instead of Thread to fetch orbits * small refactor * Cleanup --- selfdrive/locationd/laikad.py | 66 ++++++++++++++----------- selfdrive/locationd/test/test_laikad.py | 10 ++-- 2 files changed, 39 insertions(+), 37 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index d8e32005f8..f0c52e7e03 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 -import threading import time -from typing import List +from multiprocessing import Process, Queue +from typing import List, Optional import numpy as np from collections import defaultdict @@ -27,14 +27,17 @@ class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) self.gnss_kf = GNSSKalman(GENERATED_DIR) - self.latest_time_msg = None + self.orbit_p: Optional[Process] = None + self.orbit_q = Queue() def process_ublox_msg(self, ublox_msg, ublox_mono_time: int): if ublox_msg.which == 'measurementReport': report = ublox_msg.measurementReport - new_meas = read_raw_ublox(report) if report.gpsWeek > 0: - self.latest_time_msg = GPSTime(report.gpsWeek, report.rcvTow) + latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) + self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block=False) + new_meas = read_raw_ublox(report) + measurements = process_measurements(new_meas, self.astro_dog) pos_fix = calc_pos_fix(measurements, min_measurements=4) # To get a position fix a minimum of 5 measurements are needed. @@ -104,18 +107,28 @@ class Laikad: self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) - def orbit_thread(self, end_event: threading.Event): - while not end_event.is_set(): - if self.latest_time_msg: - self.fetch_orbits(self.latest_time_msg + SECS_IN_MIN) - time.sleep(0.1) + def get_orbit_data(self, t: GPSTime, queue): + cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") + start_time = time.monotonic() + self.astro_dog.get_orbit_data(t, only_predictions=True) + cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s") + queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times)) - def fetch_orbits(self, t: GPSTime): + def fetch_orbits(self, t: GPSTime, block): if t not in self.astro_dog.orbit_fetched_times: - cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") - start_time = time.monotonic() - self.astro_dog.get_orbit_data(t, only_predictions=True) - cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s") + if self.orbit_p is None: + self.orbit_p = Process(target=self.get_orbit_data, args=(t, self.orbit_q)) + self.orbit_p.start() + ret = None + if block: + ret = self.orbit_q.get(block=True) + elif not self.orbit_q.empty(): + ret = self.orbit_q.get() + + if ret: + self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret + self.orbit_p.join() + self.orbit_p = None def create_measurement_msg(meas: GNSSMeasurement): @@ -162,21 +175,14 @@ def main(): pm = messaging.PubMaster(['gnssMeasurements']) laikad = Laikad() - - end_event = threading.Event() - threading.Thread(target=laikad.orbit_thread, args=(end_event,)).start() - try: - while not end_event.is_set(): - sm.update() - - if sm.updated['ubloxGnss']: - ublox_msg = sm['ubloxGnss'] - msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) - if msg is not None: - pm.send('gnssMeasurements', msg) - except (KeyboardInterrupt, SystemExit): - end_event.set() - raise + while True: + sm.update() + + if sm.updated['ubloxGnss']: + ublox_msg = sm['ubloxGnss'] + msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) + if msg is not None: + pm.send('gnssMeasurements', msg) if __name__ == "__main__": diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 8cb0773b37..630a7525eb 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -83,18 +83,14 @@ class TestLaikad(unittest.TestCase): if len(new_meas) != 0: first_gps_time = new_meas[0].recv_time break - # Pretend thread has loaded the orbits on startup by using the time of the first gps message. - laikad.fetch_orbits(first_gps_time) + # Pretend process has loaded the orbits on startup by using the time of the first gps message. + laikad.fetch_orbits(first_gps_time, block=True) self.assertEqual(29, len(laikad.astro_dog.orbits.keys())) - correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 560 - self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @unittest.skip("Use to debug live data") def test_laika_get_orbits_now(self): laikad = Laikad(auto_update=False) - laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow())) + laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True) prn = "G01" self.assertLess(0, len(laikad.astro_dog.orbits[prn])) prn = "R01" From 4d836c6edd6e0f2639a3e2500794990da339eddc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Jun 2022 13:59:48 -0700 Subject: [PATCH 004/226] UI: remove DM icon (#24771) --- selfdrive/ui/qt/onroad.cc | 10 +--------- selfdrive/ui/qt/onroad.h | 5 ----- selfdrive/ui/ui.cc | 2 +- 3 files changed, 2 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ce61c094bd..e549f62a23 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -166,7 +166,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); - dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } void NvgWindow::updateState(const UIState &s) { @@ -186,13 +185,11 @@ void NvgWindow::updateState(const UIState &s) { setProperty("speed", QString::number(std::nearbyint(cur_speed))); setProperty("maxSpeed", maxspeed_str); setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); - setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); - // update engageability and DM icons at 2Hz + // update engageability at 2Hz if (sm.frame % (UI_FREQ / 2) == 0) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); - setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); } } @@ -234,11 +231,6 @@ void NvgWindow::drawHud(QPainter &p) { engage_img, bg_colors[status], 1.0); } - // dm icon - if (!hideDM) { - drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2, - dm_img, QColor(0, 0, 0, 70), dmActive ? 1.0 : 0.2); - } p.restore(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 6ca2b3c738..e1f665149e 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -32,8 +32,6 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(QString maxSpeed MEMBER maxSpeed); Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); Q_PROPERTY(bool engageable MEMBER engageable); - Q_PROPERTY(bool dmActive MEMBER dmActive); - Q_PROPERTY(bool hideDM MEMBER hideDM); Q_PROPERTY(int status MEMBER status); public: @@ -45,7 +43,6 @@ private: void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); QPixmap engage_img; - QPixmap dm_img; const int radius = 192; const int img_size = (radius / 2) * 1.5; QString speed; @@ -53,8 +50,6 @@ private: QString maxSpeed; bool is_cruise_set = false; bool engageable = false; - bool dmActive = false; - bool hideDM = false; int status = STATUS_DISENGAGED; protected: diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c1af4ed6f4..f7c2c90437 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -231,7 +231,7 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", - "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", + "pandaStates", "carParams", "sensorEvents", "carState", "liveLocationKalman", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", }); From 6a58dd808f3e168fe72129b09ca5f829a4c146db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 7 Jun 2022 15:01:19 -0700 Subject: [PATCH 005/226] PlotJuggler: add torque control layout (#24726) * add torque control PJ layout * less custom transformation * Use curvature, less noisy * remove that --- .../plotjuggler/layouts/torque-controller.xml | 88 +++++++++++++++++++ 1 file changed, 88 insertions(+) create mode 100644 tools/plotjuggler/layouts/torque-controller.xml diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml new file mode 100644 index 0000000000..661bfe094d --- /dev/null +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -0,0 +1,88 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/curvature + + /carState/vEgo + /liveParameters/roll + + + + + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/desiredCurvature + + /carState/vEgo + /liveParameters/roll + + + + + + From bdc05fd13cdbdb4879fbadf5d5262bd8236b3243 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 7 Jun 2022 17:18:03 -0700 Subject: [PATCH 006/226] Honda: rename Bosch harness to Bosch A --- selfdrive/car/docs_definitions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 381bcfa7f8..95561872ac 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -120,7 +120,7 @@ class CarInfo: class Harness(Enum): nidec = "Honda Nidec" - bosch = "Honda Bosch" + bosch = "Honda Bosch A" toyota = "Toyota" subaru = "Subaru" fca = "FCA" From b95c449847da37809ab3cd9a582cd910a612a1cf Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Tue, 7 Jun 2022 20:23:08 -0400 Subject: [PATCH 007/226] GM: interface cleanup (#24774) * Move all defaults above models * Remove reduntant/defaults * make minEnableSpeed common * Update selfdrive/car/gm/interface.py Co-authored-by: Adeeb Shihadeh Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- selfdrive/car/gm/interface.py | 36 +++++++++++++---------------------- 1 file changed, 13 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index ce14faec5e..bc43086586 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -58,7 +58,7 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = True tire_stiffness_factor = 0.444 # not optimized yet - # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below. + # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 7 * CV.MPH_TO_MS ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] @@ -66,14 +66,22 @@ class CarInterface(CarInterfaceBase): ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet + ret.longitudinalTuning.kpBP = [5., 35.] + ret.longitudinalTuning.kpV = [2.4, 1.5] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.36] + + ret.steerLimitTimer = 0.4 + ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz + + # supports stop and go, but initial engage must (conservatively) be above 18mph + ret.minEnableSpeed = 18 * CV.MPH_TO_MS + if candidate == CAR.VOLT: - # supports stop and go, but initial engage must be above 18mph (which include conservatism) - ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 17.7 # Stock 15.7, LiveParameters tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters - ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.maxLateralAccel = 1.6 @@ -85,12 +93,9 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 elif candidate == CAR.MALIBU: - # supports stop and go, but initial engage must be above 18mph (which include conservatism) - ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1496. + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.8 - ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: @@ -98,34 +103,27 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 - ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.steerRatio = 15.7 - ret.steerRatioRear = 0. elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 - ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 ret.maxLateralAccel = 1.4 - ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() + ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() elif candidate == CAR.BUICK_REGAL: - ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters ret.steerRatio = 14.4 # guess for tourx - ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx elif candidate == CAR.CADILLAC_ATS: - ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 - ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.49 elif candidate == CAR.ESCALADE_ESV: @@ -148,14 +146,6 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) - ret.longitudinalTuning.kpBP = [5., 35.] - ret.longitudinalTuning.kpV = [2.4, 1.5] - ret.longitudinalTuning.kiBP = [0.] - ret.longitudinalTuning.kiV = [0.36] - - ret.steerLimitTimer = 0.4 - ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz - return ret # returns a car.CarState From 30e1f282134f7693a451e783b1d2d8ee68a79c06 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 7 Jun 2022 17:49:07 -0700 Subject: [PATCH 008/226] IsoTpParallelQuery: handle response pending (#24724) * handle response pending * match commit * remove total timeout, just keep track of individual response timeouts * fix * add back total timeout * this isn't reliable enough * keep track of pending responses to print warning * tx_addr is (addr, subaddr) * debug only query hyundai import time reponse pending no cache all cars no timeout to test before * Revert "debug" This reverts commit abe9cfc1b668034d7fa5ca5cbe9efe8834db3e7b. * always print pending always debug * Only debug * Update selfdrive/car/isotp_parallel_query.py * remove variable only for debugging --- selfdrive/car/isotp_parallel_query.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index becd66ba1f..dc79babb13 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -10,7 +10,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a class IsoTpParallelQuery: - def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False): + def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10): self.sendcan = sendcan self.logcan = logcan self.bus = bus @@ -18,6 +18,7 @@ class IsoTpParallelQuery: self.response = response self.debug = debug self.functional_addr = functional_addr + self.response_pending_timeout = response_pending_timeout self.real_addrs = [] for a in addrs: @@ -71,10 +72,7 @@ class IsoTpParallelQuery: messaging.drain_sock(self.logcan) self.msg_buffer = defaultdict(list) - def get_data(self, timeout, total_timeout=None): - if total_timeout is None: - total_timeout = 10 * timeout - + def get_data(self, timeout, total_timeout=60.): self._drain_rx() # Create message objects @@ -100,7 +98,7 @@ class IsoTpParallelQuery: results = {} start_time = time.monotonic() - last_response_time = start_time + response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} while True: self.rx() @@ -123,7 +121,7 @@ class IsoTpParallelQuery: response_valid = dat[:len(expected_response)] == expected_response if response_valid: - last_response_time = time.monotonic() + response_timeouts[tx_addr] = time.monotonic() + timeout if counter + 1 < len(self.request): msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 @@ -131,13 +129,19 @@ class IsoTpParallelQuery: results[tx_addr] = dat[len(expected_response):] request_done[tx_addr] = True else: - request_done[tx_addr] = True - cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + error_code = dat[2] if len(dat) > 2 else -1 + if error_code == 0x78: + response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout + if self.debug: + cloudlog.warning(f"iso-tp query response pending: {tx_addr}") + else: + request_done[tx_addr] = True + cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") cur_time = time.monotonic() - if cur_time - last_response_time > timeout: + if cur_time - max(response_timeouts.values()) > 0: for tx_addr in msgs: - if (request_counter[tx_addr] > 0) and (not request_done[tx_addr]): + if request_counter[tx_addr] > 0 and not request_done[tx_addr]: cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}") break From afe208ecb996d10cda598fe2f2fade7353d420cf Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 7 Jun 2022 19:16:36 -0700 Subject: [PATCH 009/226] Install readme (#24776) README: better install on device instructions --- README.md | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 9d279fb84d..c426b839d5 100755 --- a/README.md +++ b/README.md @@ -35,16 +35,17 @@ What is openpilot? -Running in a car +Running on a dedicated device in a car ------ To use openpilot in a car, you need four things -* This software. It's free and available right here. +* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three). +* This software. The setup procedure of the comma three allows the user to enter a url for custom software. +The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork. * One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot. -* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam). -* A way to connect to your car. With a comma three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda). +* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. -We have detailed instructions for [how to install the device in a car](https://comma.ai/setup). +We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). Running on PC ------ @@ -55,6 +56,7 @@ With openpilot's tools you can plot logs, replay drives and watch the full-res c You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU. +A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness). Community and Contributing ------ From ce6b8f6a461d864d52ef8c6a00466d951aecbdd6 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 8 Jun 2022 00:57:15 -0400 Subject: [PATCH 010/226] VW MQB: Add FW for 2020 Volkswagen Tiguan (#24777) --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 44743c948e..8cba9988bd 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -533,6 +533,7 @@ FW_VERSIONS = { }, CAR.TIGUAN_MK2: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027NB\xf1\x899504', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906027G \xf1\x899893', b'\xf1\x875N0906259 \xf1\x890002', @@ -544,6 +545,7 @@ FW_VERSIONS = { b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158GC\xf1\x893821', b'\xf1\x8709G927158GD\xf1\x893820', + b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892012', b'\xf1\x870DL300013A \xf1\x893005', @@ -555,11 +557,13 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1', b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', From abef7ca32cac34fd15cb17e1fafb96e961486ba3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 7 Jun 2022 22:43:09 -0700 Subject: [PATCH 011/226] Kia Ceed: fix eps ECU type (#24767) should be eps --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1cd2acabeb..54bbd80475 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -845,7 +845,7 @@ FW_VERSIONS = { }, CAR.KIA_CEED: { (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', ], - (Ecu.esp, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], + (Ecu.eps, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ], (Ecu.transmission, 0x7E1, None): [ From c8db61a3c7aba6f96c9f282f4984c84fd6550f62 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Wed, 8 Jun 2022 00:47:10 -0500 Subject: [PATCH 012/226] Add missing MIRAI ESP f/w (#24779) * Add missing ESP f/w `@JaySheikh#7759` 2021 Mirai DongleID/route b2c2b20082938bed|2022-06-08--05-04-03 [confirmed working] * formatting Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/values.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 3204d36b5a..a9517d26bf 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1825,7 +1825,10 @@ FW_VERSIONS = { }, CAR.MIRAI: { (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], - (Ecu.esp, 0x7B0, None): [b'\x01F15266203200\x00\x00\x00\x00',], # a second ESP ECU + (Ecu.esp, 0x7B0, None): [ # a second ESP ECU + b'\x01F15266203200\x00\x00\x00\x00', + b'\x01F15266203500\x00\x00\x00\x00', + ], (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',], (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',], (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',], From 45c43f9c8719efc300a0cb373f1dc57e0abe3ece Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 8 Jun 2022 12:32:22 +0200 Subject: [PATCH 013/226] Laikad: kill process correctly. Fixes CI (#24780) Kill process correctly --- selfdrive/locationd/laikad.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index f0c52e7e03..a55302458e 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -130,6 +130,10 @@ class Laikad: self.orbit_p.join() self.orbit_p = None + def __del__(self): + if self.orbit_p is not None: + self.orbit_p.kill() + def create_measurement_msg(meas: GNSSMeasurement): c = log.GnssMeasurements.CorrectedMeasurement.new_message() From a9bdc792a184d191824d2ec089658eb3a96f1e45 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 8 Jun 2022 16:33:05 +0200 Subject: [PATCH 014/226] LaikaD: Fix offline handling (#24781) * Test handling no internet correctly. * Clean * Comment * remove del --- selfdrive/locationd/laikad.py | 30 ++++++++++++++----------- selfdrive/locationd/test/test_laikad.py | 22 ++++++++---------- 2 files changed, 26 insertions(+), 26 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index a55302458e..4ec159cd25 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -30,12 +30,12 @@ class Laikad: self.orbit_p: Optional[Process] = None self.orbit_q = Queue() - def process_ublox_msg(self, ublox_msg, ublox_mono_time: int): + def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': report = ublox_msg.measurementReport if report.gpsWeek > 0: latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) - self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block=False) + self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) new_meas = read_raw_ublox(report) measurements = process_measurements(new_meas, self.astro_dog) @@ -110,25 +110,29 @@ class Laikad: def get_orbit_data(self, t: GPSTime, queue): cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") start_time = time.monotonic() - self.astro_dog.get_orbit_data(t, only_predictions=True) + try: + self.astro_dog.get_orbit_data(t, only_predictions=True) + except RuntimeError as e: + cloudlog.info(f"No orbit data found. {e}") + return cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s") - queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times)) + if queue is not None: + queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times)) def fetch_orbits(self, t: GPSTime, block): if t not in self.astro_dog.orbit_fetched_times: + if block: + self.get_orbit_data(t, None) + return if self.orbit_p is None: self.orbit_p = Process(target=self.get_orbit_data, args=(t, self.orbit_q)) self.orbit_p.start() - ret = None - if block: - ret = self.orbit_q.get(block=True) - elif not self.orbit_q.empty(): + if not self.orbit_q.empty(): ret = self.orbit_q.get() - - if ret: - self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret - self.orbit_p.join() - self.orbit_p = None + if ret: + self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret + self.orbit_p.join() + self.orbit_p = None def __del__(self): if self.orbit_p is not None: diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 630a7525eb..7a8c1ecb13 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,6 +1,8 @@ #!/usr/bin/env python3 import unittest from datetime import datetime +from unittest import mock +from unittest.mock import Mock from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime @@ -21,7 +23,7 @@ def get_log(segs=range(0)): def verify_messages(lr, laikad): good_msgs = [] for m in lr: - msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime) + msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) return good_msgs @@ -52,28 +54,21 @@ class TestLaikad(unittest.TestCase): def test_laika_online_nav_only(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) + # Disable fetch_orbits to test NAV only + laikad.fetch_orbits = Mock() correct_msgs = verify_messages(self.logs, laikad) correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - def test_laika_offline(self): - # Set auto_update to false forces to use ephemeris messages + @mock.patch('laika.downloader.download_and_cache_file') + def test_laika_offline(self, downloader_mock): + downloader_mock.side_effect = IOError laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(256, len(correct_msgs)) self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - def test_laika_offline_ephem_at_start(self): - # Test offline but process ephemeris msgs of segment first - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV) - ephemeris_logs = [m for m in self.logs if m.ubloxGnss.which() == 'ephemeris'] - correct_msgs = verify_messages(ephemeris_logs+self.logs, laikad) - - self.assertEqual(554, len(correct_msgs)) - self.assertGreaterEqual(554, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) first_gps_time = None @@ -97,5 +92,6 @@ class TestLaikad(unittest.TestCase): self.assertLess(0, len(laikad.astro_dog.orbits[prn])) print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime()) + if __name__ == "__main__": unittest.main() From d6c07a6b158595c1ab10256dc6eee4fbdf902379 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 8 Jun 2022 20:13:46 -0700 Subject: [PATCH 015/226] fullframe DM model (#24762) * get log * simplify two nonsense * not needed * libyuv is a joke * clean up * try small * fast but not bad * working * clean up driverview * simplified * thats mirrored * smol * tweak * ref is screen * w/ ee * update camera model * no if TICI * start * update pose thresh * less cpu more dsp * new libyuv * new snpe * add files * test * should be fast * update out len * trigger test * use master snpe * add cereal * update cereal * refactor parsing * missing ; * get * wrong type * test model * use driver data * 10829278-72fe-4283-a118-2cef959ce174/1550 * no pf * adapt driverview * ; * rhd learner * update libyuv buildi x64 * ad4337ea * remove blink slack * test * no * use toggle * b16 * fix for nv12 * 5b02cff5 both * update test * update cereal * update cereal * update cereal * v2 packets * revert libyuv * no / * update snpemodel * ; * memcpy * fix test * use toggle in driverview * update power * update replay * Revert "update replay" This reverts commit 1d0979ca59dbc89bc5890656e9501e83f0556d50. * update model ref * halve cpu * fake 8bit onnx runner * same thresh as report * cereal master Co-authored-by: Comma Device --- cereal | 2 +- common/modeldata.h | 6 - selfdrive/camerad/cameras/camera_common.cc | 2 +- selfdrive/camerad/cameras/camera_qcom2.cc | 2 +- selfdrive/hardware/tici/test_power_draw.py | 2 +- selfdrive/modeld/dmonitoringmodeld.cc | 6 +- selfdrive/modeld/models/dmonitoring.cc | 234 ++++++------------ selfdrive/modeld/models/dmonitoring.h | 33 ++- .../modeld/models/dmonitoring_model.current | 4 +- .../modeld/models/dmonitoring_model.onnx | 4 +- .../modeld/models/dmonitoring_model_q.dlc | 4 +- selfdrive/modeld/runners/onnx_runner.py | 21 +- selfdrive/modeld/runners/onnxmodel.cc | 6 +- selfdrive/modeld/runners/onnxmodel.h | 3 +- selfdrive/modeld/runners/snpemodel.cc | 12 +- selfdrive/modeld/runners/snpemodel.h | 3 +- selfdrive/monitoring/dmonitoringd.py | 7 +- selfdrive/monitoring/driver_monitor.py | 88 +++---- selfdrive/monitoring/test_monitoring.py | 24 +- selfdrive/test/process_replay/model_replay.py | 8 +- .../process_replay/model_replay_ref_commit | 2 +- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/test_onroad.py | 6 +- selfdrive/ui/qt/offroad/driverview.cc | 43 ++-- selfdrive/ui/qt/widgets/cameraview.cc | 9 +- 25 files changed, 225 insertions(+), 308 deletions(-) diff --git a/cereal b/cereal index 7cbb4f1c8c..96cbed052a 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52 +Subproject commit 96cbed052ab1d69ea15da94dc2b882d59a786347 diff --git a/common/modeldata.h b/common/modeldata.h index 06d9398031..410a69ea65 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -24,12 +24,6 @@ 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); -namespace tici_dm_crop { - const int x_offset = -72; - const int y_offset = -144; - const int width = 954; -}; - const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2, 0.0, 2648.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index 049324f085..21e225d538 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -239,7 +239,7 @@ static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w int in_stride = b->cur_yuv_buf->stride; // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. - std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); + std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); uint8_t *y_plane = buf.get(); uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index d43beb0921..b949dfb80f 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -837,7 +837,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road); s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); - s->sm = new SubMaster({"driverState"}); + s->sm = new SubMaster({"driverStateV2"}); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } diff --git a/selfdrive/hardware/tici/test_power_draw.py b/selfdrive/hardware/tici/test_power_draw.py index ab2d691a09..5eb84514e5 100755 --- a/selfdrive/hardware/tici/test_power_draw.py +++ b/selfdrive/hardware/tici/test_power_draw.py @@ -21,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), Proc('modeld', 1.0), - Proc('dmonitoringmodeld', 0.25), + Proc('dmonitoringmodeld', 0.35), Proc('encoderd', 0.23), ] diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc index 68c49572e6..cde13a9bee 100644 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ b/selfdrive/modeld/dmonitoringmodeld.cc @@ -12,7 +12,7 @@ ExitHandler do_exit; void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { - PubMaster pm({"driverState"}); + PubMaster pm({"driverStateV2"}); SubMaster sm({"liveCalibration"}); float calib[CALIB_LEN] = {0}; double last = 0; @@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { } double t1 = millis_since_boot(); - DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); + DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); double t2 = millis_since_boot(); // send dm packet - dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output); + dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output); //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); last = t1; diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index e134ad3a5a..20294c3f3c 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -10,8 +10,8 @@ #include "selfdrive/modeld/models/dmonitoring.h" -constexpr int MODEL_WIDTH = 320; -constexpr int MODEL_HEIGHT = 640; +constexpr int MODEL_WIDTH = 1440; +constexpr int MODEL_HEIGHT = 960; template static inline T *get_buffer(std::vector &buf, const size_t size) { @@ -19,199 +19,115 @@ static inline T *get_buffer(std::vector &buf, const size_t size) { return buf.data(); } -static inline void init_yuv_buf(std::vector &buf, const int width, int height) { - uint8_t *y = get_buffer(buf, width * height * 3 / 2); - uint8_t *u = y + width * height; - uint8_t *v = u + (width / 2) * (height / 2); - - // needed on comma two to make the padded border black - // equivalent to RGB(0,0,0) in YUV space - memset(y, 16, width * height); - memset(u, 128, (width / 2) * (height / 2)); - memset(v, 128, (width / 2) * (height / 2)); -} - void dmonitoring_init(DMonitoringModelState* s) { s->is_rhd = Params().getBool("IsRHD"); - for (int x = 0; x < std::size(s->tensor); ++x) { - s->tensor[x] = (x - 128.f) * 0.0078125f; - } - init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT); #ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME); + s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); #else - s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME); + s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); #endif s->m->addCalib(s->calib, CALIB_LEN); } -static inline auto get_yuv_buf(std::vector &buf, const int width, int height) { - uint8_t *y = get_buffer(buf, width * height * 3 / 2); - uint8_t *u = y + width * height; - uint8_t *v = u + (width /2) * (height / 2); - return std::make_tuple(y, u, v); +void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) { + for (int i = 0; i < 3; ++i) { + ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE; + ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]); + } + for (int i = 0; i < 2; ++i) { + ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE; + ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]); + } + for (int i = 0; i < 4; ++i) { + ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]); + } + for (int i = 0; i < 2; ++i) { + ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]); + } + ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]); + ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]); + ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]); + ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]); + ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]); + ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]); + ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]); } -struct Rect {int x, y, w, h;}; -void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) { - uint8_t *raw_y = raw; - uint8_t *raw_uv = raw_y + uv_offset; - for (int r = 0; r < rect.h / 2; r++) { - memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w); - memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w); - for (int h = 0; h < rect.w / 2; h++) { - u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2]; - v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1]; - } - } +void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) { + ddata.setFaceOrientation(ds_res.face_orientation); + ddata.setFaceOrientationStd(ds_res.face_orientation_std); + ddata.setFacePosition(ds_res.face_position); + ddata.setFacePositionStd(ds_res.face_position_std); + ddata.setFaceProb(ds_res.face_prob); + ddata.setLeftEyeProb(ds_res.left_eye_prob); + ddata.setRightEyeProb(ds_res.right_eye_prob); + ddata.setLeftBlinkProb(ds_res.left_blink_prob); + ddata.setRightBlinkProb(ds_res.right_blink_prob); + ddata.setSunglassesProb(ds_res.sunglasses_prob); + ddata.setOccludedProb(ds_res.occluded_prob); + ddata.setReadyProb(ds_res.ready_prob); + ddata.setNotReadyProb(ds_res.not_ready_prob); } -DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { - const int cropped_height = tici_dm_crop::width / 1.33; - Rect 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 += tici_dm_crop::width - crop_rect.w; - } +DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { + int v_off = height - MODEL_HEIGHT; + int h_off = (width - MODEL_WIDTH) / 2; + int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT; - int resized_width = MODEL_WIDTH; - int resized_height = MODEL_HEIGHT; - - auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h); - if (!s->is_rhd) { - crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect); - } else { - auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h); - crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect); - libyuv::I420Mirror(mirror_y, crop_rect.w, - mirror_u, crop_rect.w / 2, - mirror_v, crop_rect.w / 2, - cropped_y, crop_rect.w, - cropped_u, crop_rect.w / 2, - cropped_v, crop_rect.w / 2, - crop_rect.w, crop_rect.h); - } + uint8_t *raw_buf = (uint8_t *) stream_buf; + // vertical crop free + uint8_t *raw_y_start = raw_buf + stride * v_off; - auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height); - uint8_t *resized_y = resized_buf; - libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear; - libyuv::I420Scale(cropped_y, crop_rect.w, - cropped_u, crop_rect.w / 2, - cropped_v, crop_rect.w / 2, - crop_rect.w, crop_rect.h, - resized_y, resized_width, - resized_u, resized_width / 2, - resized_v, resized_width / 2, - resized_width, resized_height, - mode); - - - int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v - float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); - // one shot conversion, O(n) anyway - // yuvframe2tensor, normalize - for (int r = 0; r < MODEL_HEIGHT/2; r++) { - for (int c = 0; c < MODEL_WIDTH/2; c++) { - // Y_ul - net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]]; - // Y_dl - net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]]; - // Y_ur - net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]]; - // Y_dr - net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]]; - // U - net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]]; - // V - net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]]; - } - } - - //printf("preprocess completed. %d \n", yuv_buf_len); - //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); - //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); - //fclose(dump_yuv_file); + uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); - // *** testing *** - // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320) - // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420)) + // here makes a uint8 copy + for (int r = 0; r < MODEL_HEIGHT; ++r) { + memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH); + } - //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb"); - //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2); - //fclose(dump_yuv_file2); + // printf("preprocess completed. %d \n", yuv_buf_len); + // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); + // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); + // fclose(dump_yuv_file); double t1 = millis_since_boot(); - s->m->addImage(net_input_buf, yuv_buf_len); + s->m->addImage((float*)net_input_buf, yuv_buf_len / 4); for (int i = 0; i < CALIB_LEN; i++) { s->calib[i] = calib[i]; } s->m->execute(); double t2 = millis_since_boot(); - DMonitoringResult ret = {0}; - for (int i = 0; i < 3; ++i) { - ret.face_orientation[i] = s->output[i] * REG_SCALE; - ret.face_orientation_meta[i] = exp(s->output[6 + i]); - } - for (int i = 0; i < 2; ++i) { - ret.face_position[i] = s->output[3 + i] * REG_SCALE; - ret.face_position_meta[i] = exp(s->output[9 + i]); - } - for (int i = 0; i < 4; ++i) { - ret.ready_prob[i] = sigmoid(s->output[39 + i]); - } - for (int i = 0; i < 2; ++i) { - ret.not_ready_prob[i] = sigmoid(s->output[43 + i]); - } - ret.face_prob = sigmoid(s->output[12]); - ret.left_eye_prob = sigmoid(s->output[21]); - ret.right_eye_prob = sigmoid(s->output[30]); - ret.left_blink_prob = sigmoid(s->output[31]); - ret.right_blink_prob = sigmoid(s->output[32]); - ret.sg_prob = sigmoid(s->output[33]); - ret.poor_vision = sigmoid(s->output[34]); - ret.partial_face = sigmoid(s->output[35]); - ret.distracted_pose = sigmoid(s->output[36]); - ret.distracted_eyes = sigmoid(s->output[37]); - ret.occluded_prob = sigmoid(s->output[38]); - ret.dsp_execution_time = (t2 - t1) / 1000.; - return ret; + DMonitoringModelResult model_res = {0}; + parse_driver_data(model_res.driver_state_lhd, s, 0); + parse_driver_data(model_res.driver_state_rhd, s, 41); + model_res.poor_vision_prob = sigmoid(s->output[82]); + model_res.wheel_on_right_prob = sigmoid(s->output[83]); + model_res.dsp_execution_time = (t2 - t1) / 1000.; + + return model_res; } -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr raw_pred) { +void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred) { // make msg MessageBuilder msg; - auto framed = msg.initEvent().initDriverState(); + auto framed = msg.initEvent().initDriverStateV2(); framed.setFrameId(frame_id); framed.setModelExecutionTime(execution_time); - framed.setDspExecutionTime(res.dsp_execution_time); - - framed.setFaceOrientation(res.face_orientation); - framed.setFaceOrientationStd(res.face_orientation_meta); - framed.setFacePosition(res.face_position); - framed.setFacePositionStd(res.face_position_meta); - framed.setFaceProb(res.face_prob); - framed.setLeftEyeProb(res.left_eye_prob); - framed.setRightEyeProb(res.right_eye_prob); - framed.setLeftBlinkProb(res.left_blink_prob); - framed.setRightBlinkProb(res.right_blink_prob); - framed.setSunglassesProb(res.sg_prob); - framed.setPoorVision(res.poor_vision); - framed.setPartialFace(res.partial_face); - framed.setDistractedPose(res.distracted_pose); - framed.setDistractedEyes(res.distracted_eyes); - framed.setOccludedProb(res.occluded_prob); - framed.setReadyProb(res.ready_prob); - framed.setNotReadyProb(res.not_ready_prob); + framed.setDspExecutionTime(model_res.dsp_execution_time); + + framed.setPoorVisionProb(model_res.poor_vision_prob); + framed.setWheelOnRightProb(model_res.wheel_on_right_prob); + fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd); + fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd); + if (send_raw_pred) { framed.setRawPredictions(raw_pred.asBytes()); } - pm.send("driverState", msg); + pm.send("driverStateV2", msg); } void dmonitoring_free(DMonitoringModelState* s) { diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h index a1be91e3bb..874722cd93 100644 --- a/selfdrive/modeld/models/dmonitoring.h +++ b/selfdrive/modeld/models/dmonitoring.h @@ -9,44 +9,43 @@ #define CALIB_LEN 3 -#define OUTPUT_SIZE 45 +#define OUTPUT_SIZE 84 #define REG_SCALE 0.25f -typedef struct DMonitoringResult { +typedef struct DriverStateResult { float face_orientation[3]; - float face_orientation_meta[3]; + float face_orientation_std[3]; float face_position[2]; - float face_position_meta[2]; + float face_position_std[2]; float face_prob; float left_eye_prob; float right_eye_prob; float left_blink_prob; float right_blink_prob; - float sg_prob; - float poor_vision; - float partial_face; - float distracted_pose; - float distracted_eyes; + float sunglasses_prob; float occluded_prob; float ready_prob[4]; float not_ready_prob[2]; +} DriverStateResult; + +typedef struct DMonitoringModelResult { + DriverStateResult driver_state_lhd; + DriverStateResult driver_state_rhd; + float poor_vision_prob; + float wheel_on_right_prob; float dsp_execution_time; -} DMonitoringResult; +} DMonitoringModelResult; typedef struct DMonitoringModelState { RunModel *m; bool is_rhd; float output[OUTPUT_SIZE]; - std::vector resized_buf; - std::vector cropped_buf; - std::vector premirror_cropped_buf; - std::vector net_input_buf; + std::vector net_input_buf; float calib[CALIB_LEN]; - float tensor[UINT8_MAX + 1]; } DMonitoringModelState; void dmonitoring_init(DMonitoringModelState* s); -DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr raw_pred); +DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); +void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred); void dmonitoring_free(DMonitoringModelState* s); diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index 74bcfe17a4..ba2865429e 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -a8236e30-5bee-4689-8ea0-fc102e2770e5 -d508c79bae1c1c451f3af3e2bc231ce33678cb43 \ No newline at end of file +5b02cff5-2b29-431d-b186-372e9c6fd0c7 +bf33cc569076984626ac7e027f927aa593261fa7 \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 51b0d1ed76..1fca1317d5 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308 -size 3679940 +oid sha256:aca1dd411b5f488bea605dc360656e631fc4301968a589ea072e2220c8092600 +size 9157561 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 2e54f7ee4b..c1cba15176 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6 -size 1145921 +oid sha256:d146b1d1fd9d40d57d058e51d285f83676866e26d9e5aff9fa27623ce343b58a +size 2636941 diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index e282a66b66..ac7cc68814 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -9,20 +9,24 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE" import onnxruntime as ort # pylint: disable=import-error -def read(sz): +def read(sz, tf8=False): dd = [] gt = 0 - while gt < sz * 4: - st = os.read(0, sz * 4 - gt) + szof = 1 if tf8 else 4 + while gt < sz * szof: + st = os.read(0, sz * szof - gt) assert(len(st) > 0) dd.append(st) gt += len(st) - return np.frombuffer(b''.join(dd), dtype=np.float32) + r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32) + if tf8: + r = r / 255. + return r def write(d): os.write(1, d.tobytes()) -def run_loop(m): +def run_loop(m, tf8_input=False): ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] keys = [x.name for x in m.get_inputs()] @@ -33,10 +37,10 @@ def run_loop(m): print("ready to run onnx model", keys, ishapes, file=sys.stderr) while 1: inputs = [] - for shp in ishapes: + for k, shp in zip(keys, ishapes): ts = np.product(shp) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) - inputs.append(read(ts).reshape(shp)) + inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp)) ret = m.run(None, dict(zip(keys, inputs))) #print(ret, file=sys.stderr) for r in ret: @@ -44,6 +48,7 @@ def run_loop(m): if __name__ == "__main__": + print(sys.argv, file=sys.stderr) print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) options = ort.SessionOptions() options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL @@ -63,6 +68,6 @@ if __name__ == "__main__": print("Onnx selected provider: ", [provider], file=sys.stderr) ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) print("Onnx using ", ort_session.get_providers(), file=sys.stderr) - run_loop(ort_session) + run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv)) except KeyboardInterrupt: pass diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 9b4d6fd015..1f9f551abc 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -14,12 +14,13 @@ #include "common/swaglog.h" #include "common/util.h" -ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) { +ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) { LOGD("loading model %s", path); output = _output; output_size = _output_size; use_extra = _use_extra; + use_tf8 = _use_tf8; int err = pipe(pipein); assert(err == 0); @@ -28,11 +29,12 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; + std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; proc_pid = fork(); if (proc_pid == 0) { LOGD("spawning onnx process %s", onnx_runner.c_str()); - char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr}; + char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr}; dup2(pipein[0], 0); dup2(pipeout[1], 1); close(pipein[0]); diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 567d81d29e..4ac599e2af 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -6,7 +6,7 @@ class ONNXModel : public RunModel { public: - ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false); + ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false); ~ONNXModel(); void addRecurrent(float *state, int state_size); void addDesire(float *state, int state_size); @@ -31,6 +31,7 @@ private: int calib_size; float *image_input_buf = NULL; int image_buf_size; + bool use_tf8; float *extra_input_buf = NULL; int extra_buf_size; bool use_extra; diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 1861494d59..4d6917e894 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -14,10 +14,11 @@ void PrintErrorStringAndExit() { std::exit(EXIT_FAILURE); } -SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) { +SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) { output = loutput; output_size = loutput_size; use_extra = luse_extra; + use_tf8 = luse_tf8; #ifdef QCOM2 if (runtime==USE_GPU_RUNTIME) { Runtime = zdl::DlSystem::Runtime_t::GPU; @@ -70,14 +71,16 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int printf("model: %s -> %s\n", input_tensor_name, output_tensor_name); zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat; + zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1 zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); + size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float); // create input buffer { const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name); const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt; std::vector strides(bufferShape.rank()); - strides[strides.size() - 1] = sizeof(float); + strides[strides.size() - 1] = size_of_input; size_t product = 1; for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i]; size_t stride = strides[strides.size() - 1]; @@ -86,7 +89,10 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int strides[i-1] = stride; } printf("input product is %lu\n", product); - inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat); + inputBuffer = ubFactory.createUserBuffer(NULL, + product*size_of_input, + strides, + use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat); inputMap.add(input_tensor_name, inputBuffer.get()); } diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index ba51fdced0..ed9d58d1e1 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -23,7 +23,7 @@ class SNPEModel : public RunModel { public: - SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false); + SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false); void addRecurrent(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addCalib(float *state, int state_size); @@ -52,6 +52,7 @@ private: std::unique_ptr inputBuffer; float *input; size_t input_size; + bool use_tf8; // snpe output stuff zdl::DlSystem::UserBufferMap outputMap; diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 9a3196030b..c31e9da43b 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None): pm = messaging.PubMaster(['driverMonitoringState']) if sm is None: - sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState']) + sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) driver_status = DriverStatus(rhd=Params().get_bool("IsRHD")) @@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None): while True: sm.update() - if not sm.updated['driverState']: + if not sm.updated['driverStateV2']: continue # Get interaction @@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None): # Get data from dmonitoringmodeld events = Events() - driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) + driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) # Block engaging after max number of distrations if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ @@ -79,6 +79,7 @@ def dmonitoringd_thread(sm=None, pm=None): "isLowStd": driver_status.pose.low_std, "hiStdCount": driver_status.hi_stds, "isActiveMode": driver_status.active_monitoring_mode, + "isRHD": driver_status.wheel_on_right, } pm.send('driverMonitoringState', dat) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 662e0d76ce..4affa1e796 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -5,6 +5,7 @@ from common.numpy_fast import interp from common.realtime import DT_DMON from common.filter_simple import FirstOrderFilter from common.stat_live import RunningStatFilter +from common.transformations.camera import tici_d_frame_size EventName = car.CarEvent.EventName @@ -26,32 +27,29 @@ class DRIVER_MONITOR_SETTINGS(): self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. self._FACE_THRESHOLD = 0.5 - self._PARTIAL_FACE_THRESHOLD = 0.8 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.925 - self._BLINK_THRESHOLD = 0.8 - self._BLINK_THRESHOLD_SLACK = 0.9 - self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD + self._BLINK_THRESHOLD = 0.861 self._EE_THRESH11 = 0.75 self._EE_THRESH12 = 3.25 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 - self._POSE_PITCH_THRESHOLD = 0.3237 - self._POSE_PITCH_THRESHOLD_SLACK = 0.3657 + self._POSE_PITCH_THRESHOLD = 0.3133 + self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 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 = 0.4020 + self._POSE_YAW_THRESHOLD_SLACK = 0.5042 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_NATURAL_OFFSET = 0.029 # initial value before offset is learned + self._YAW_NATURAL_OFFSET = 0.097 # 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 = 0.315 + self._POSESTD_THRESHOLD = 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 @@ -59,6 +57,9 @@ class DRIVER_MONITOR_SETTINGS(): self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory" + self._WHEELPOS_THRESHOLD = 0.5 + self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON) + self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change @@ -66,9 +67,9 @@ class DRIVER_MONITOR_SETTINGS(): self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts -# model output refers to center of cropped image, so need to apply the x displacement offset -RESIZED_FOCAL = 320.0 -H, W, FULL_W = 320, 160, 426 +# model output refers to center of undistorted+leveled image +EFL = 598.0 # focal length in K +W, H = tici_d_frame_size # corrected image has same size as raw class DistractedType: NOT_DISTRACTED = 0 @@ -76,22 +77,22 @@ class DistractedType: DISTRACTED_BLINK = 2 DISTRACTED_E2E = 4 -def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd): +def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): # the output of these angles are in device frame # so from driver's perspective, pitch is up and yaw is right pitch_net, yaw_net, roll_net = angles_desc - face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H) - yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL) - pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL) + face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H) + yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL) + pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL) pitch = pitch_net + pitch_focal_angle yaw = -yaw_net + yaw_focal_angle # no calib for roll pitch -= rpy_calib[1] - yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> += + yaw -= rpy_calib[2] return roll_net, pitch, yaw class DriverPose(): @@ -112,7 +113,6 @@ class DriverBlink(): def __init__(self): self.left_blink = 0. self.right_blink = 0. - self.cfactor = 1. class DriverStatus(): def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): @@ -120,7 +120,7 @@ class DriverStatus(): self.settings = settings # init driver status - self.is_rhd_region = rhd + # self.wheelpos_learner = RunningStatFilter() self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose_calibrated = False self.blink = DriverBlink() @@ -137,8 +137,8 @@ class DriverStatus(): self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) + self.wheel_on_right = rhd self.face_detected = False - self.face_partial = False self.terminal_alert_cnt = 0 self.terminal_time = 0 self.step_change = 0. @@ -197,7 +197,7 @@ class DriverStatus(): yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: distracted_types.append(DistractedType.DISTRACTED_POSE) - if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor: + if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: @@ -214,13 +214,7 @@ class DriverStatus(): return distracted_types 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], @@ -231,28 +225,34 @@ class DriverStatus(): self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD def update_states(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, - driver_state.readyProb, driver_state.notReadyProb)): + # rhd_pred = driver_state.wheelOnRightProb + # if car_speed > 0.01: + # self.wheelpos_learner.push_and_update(rhd_pred) + # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: + # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD + # else: + # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD + driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData + if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, + driver_data.faceOrientationStd, driver_data.facePositionStd, + driver_data.readyProb, driver_data.notReadyProb)): return - self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD - self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial - self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region) - self.pose.pitch_std = driver_state.faceOrientationStd[0] - self.pose.yaw_std = driver_state.faceOrientationStd[1] - # self.pose.roll_std = driver_state.faceOrientationStd[2] + self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD + self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) + self.pose.pitch_std = driver_data.faceOrientationStd[0] + self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) - self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial - self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD) - self.eev1 = driver_state.notReadyProb[1] - self.eev2 = driver_state.readyProb[0] + self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD + self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.eev1 = driver_data.notReadyProb[1] + self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ - driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std + driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) # update offseter diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index a84ed242ba..43b5e7747e 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1 def make_msg(face_detected, distracted=False, model_uncertain=False): - ds = log.DriverState.new_message() - ds.faceOrientation = [0., 0., 0.] - ds.facePosition = [0., 0.] - ds.faceProb = 1. * face_detected - ds.leftEyeProb = 1. - ds.rightEyeProb = 1. - ds.leftBlinkProb = 1. * distracted - ds.rightBlinkProb = 1. * distracted - ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] - ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] + ds = log.DriverStateV2.new_message() + ds.leftDriverData.faceOrientation = [0., 0., 0.] + ds.leftDriverData.facePosition = [0., 0.] + ds.leftDriverData.faceProb = 1. * face_detected + ds.leftDriverData.leftEyeProb = 1. + ds.leftDriverData.rightEyeProb = 1. + ds.leftDriverData.leftBlinkProb = 1. * distracted + ds.leftDriverData.rightBlinkProb = 1. * distracted + ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] + ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] # TODO: test both separately when e2e is used - ds.readyProb = [0., 0., 0., 0.] - ds.notReadyProb = [0., 0.] + ds.leftDriverData.readyProb = [0., 0., 0., 0.] + ds.leftDriverData.notReadyProb = [0., 0.] return ds diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index b83629c76a..032b504879 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -52,7 +52,7 @@ def model_replay(lr, frs): vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size)) vipc_server.start_listener() - sm = messaging.SubMaster(['modelV2', 'driverState']) + sm = messaging.SubMaster(['modelV2', 'driverStateV2']) pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) try: @@ -112,7 +112,7 @@ def model_replay(lr, frs): if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: recv = "modelV2" elif msg.which() == 'driverCameraState': - recv = "driverState" + recv = "driverStateV2" # wait for a response with Timeout(15, f"timed out waiting for {recv}"): @@ -170,8 +170,8 @@ if __name__ == "__main__": 'logMonoTime', 'modelV2.frameDropPerc', 'modelV2.modelExecutionTime', - 'driverState.modelExecutionTime', - 'driverState.dspExecutionTime' + 'driverStateV2.modelExecutionTime', + 'driverStateV2.dspExecutionTime' ] # TODO this tolerence is absurdly large tolerance = 5e-1 if PC else None diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 90520f2619..626d54a8f0 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -f74ab97371be93fdc28333e5ea12bbb78c3a32d0 +1d0979ca59dbc89bc5890656e9501e83f0556d50 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1eda9bc7f5..89885ef397 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -293,7 +293,7 @@ CONFIGS = [ ProcessConfig( proc_name="dmonitoringd", pub_sub={ - "driverState": ["driverMonitoringState"], + "driverStateV2": ["driverMonitoringState"], "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [], }, ignore=["logMonoTime", "valid"], diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 6cf53a046e..3beeaff3b2 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -33,7 +33,7 @@ PROCS = { "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, "./boardd": 3.63, - "./_dmonitoringmodeld": 10.0, + "./_dmonitoringmodeld": 5.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "./_soundd": 1.0, @@ -60,7 +60,7 @@ TIMINGS = { "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], "modelV2": [2.5, 0.35], - "driverState": [2.5, 0.40], + "driverStateV2": [2.5, 0.40], "liveLocationKalman": [2.5, 0.35], "wideRoadCameraState": [1.5, 0.35], } @@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase): # TODO: this went up when plannerd cpu usage increased, why? cfgs = [ ("modelV2", 0.050, 0.036), - ("driverState", 0.050, 0.026), + ("driverStateV2", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 06578b455a..868a97f604 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { emit done(); } -DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) { +DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } @@ -57,43 +57,36 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { return; } - const int width = 4 * height() / 3; - const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()}; - const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()}; + cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); + cereal::DriverStateV2::DriverData::Reader driver_data; - // blackout - const QColor bg(0, 0, 0, 140); - const QRect& blackout_rect = rect(); - p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg); - p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg); - p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz + // is_rhd = driver_state.getWheelOnRightProb() > 0.5; + driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); - // face bounding box - cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState(); - bool face_detected = driver_state.getFaceProb() > 0.5; + bool face_detected = driver_data.getFaceProb() > 0.5; if (face_detected) { - auto fxy_list = driver_state.getFacePosition(); - auto std_list = driver_state.getFaceOrientationStd(); + auto fxy_list = driver_data.getFacePosition(); + auto std_list = driver_data.getFaceOrientationStd(); float face_x = fxy_list[0]; float face_y = fxy_list[1]; float face_std = std::max(std_list[0], std_list[1]); float alpha = 0.7; - if (face_std > 0.08) { - alpha = std::max(0.7 - (face_std-0.08)*7, 0.0); + if (face_std > 0.15) { + alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0); } - const int box_size = 0.6 * rect2.height() / 2; - const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored - int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width(); - int fbox_y = valid_rect.center().y() + face_y * valid_rect.height(); + const int box_size = 220; + // use approx instead of distort_points + int fbox_x = 1080.0 - 1714.0 * face_x; + int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y; p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10)); p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0); } // icon - const int img_offset = 30; - 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); + const int img_offset = 60; + const int img_x = rect().left() + img_offset; + const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; + p.setOpacity(face_detected ? 1.0 : 0.2); p.drawPixmap(img_x, img_y, face_img); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index f16e8e4e0d..0a3b9762e5 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -54,16 +54,15 @@ const mat4 device_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; - const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width; + const float driver_view_ratio = 2.0; + const float yscale = stream_height * driver_view_ratio / stream_width; const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; mat4 transform = (mat4){{ - 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, + xscale, 0.0, 0.0, 0.0, + 0.0, yscale, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; - return transform; } From 19af336f89807a3a621132c5054f68de2b49d43c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 8 Jun 2022 21:07:49 -0700 Subject: [PATCH 016/226] bump opendbc (#24790) --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 7701277d26..30aacafa10 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 7701277d2666119bc7fcaca9f8cfefd50cd5b071 +Subproject commit 30aacafa10e72db33ecf5e3b7a6eacffa9390b8b From 384e08e2ee299e8e0bc558024361ab92bedb1bbd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 8 Jun 2022 22:38:07 -0700 Subject: [PATCH 017/226] Honda Bosch: fix openpilot longitudinal controls mismatch (#24788) * fix bosch controls mismatch * bump * bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 475a9a3124..42772b49e3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f +Subproject commit 42772b49e313688f8f96114806a72784f978e990 From b0f6a8bdf78e3be3bd698ccda3477c6adb2cd270 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 9 Jun 2022 12:08:23 -0500 Subject: [PATCH 018/226] VW MQB: Add FW for 2020 Volkswagen Tiguan (#24795) --- selfdrive/car/volkswagen/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8cba9988bd..9b6f6a16c3 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -564,6 +564,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1', b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', From 5bb1554ec49f4c3e0e29d614c6e8de2b5f71e163 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 Jun 2022 10:55:05 -0700 Subject: [PATCH 019/226] build checks do not rely on each other (#24783) --- .github/workflows/prebuilt.yaml | 3 ++- .github/workflows/release.yaml | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index a6808a0276..7acc8a2254 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -25,11 +25,12 @@ jobs: IMAGE_NAME: openpilot-prebuilt steps: - name: Wait for green check mark - uses: lewagon/wait-on-check-action@v0.2 + uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc with: ref: master wait-interval: 30 running-workflow-name: 'build prebuilt' + check-regexp: ^((?!.*(build master-ci).*).)*$ - uses: actions/checkout@v3 with: submodules: true diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 14555f1e7d..fb5a37eeef 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -12,11 +12,12 @@ jobs: if: github.repository == 'commaai/openpilot' steps: - name: Wait for green check mark - uses: lewagon/wait-on-check-action@v0.2 + uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc with: ref: master wait-interval: 30 running-workflow-name: 'build master-ci' + check-regexp: ^((?!.*(build prebuilt).*).)*$ - uses: actions/checkout@v3 with: submodules: true From 2d0a72a0e837457e5e93dda143e5909889cb03f5 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Thu, 9 Jun 2022 13:07:17 -0500 Subject: [PATCH 020/226] Add missing CHR engine f/w (#24797) `@papifrio#5178` 2019 Toyota C-HR ICE ("nodsu" TSS-P) DongleID/route ade67da77ee74b16|2022-06-09--00-36-15 --- 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 a9517d26bf..70a94be167 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -558,6 +558,7 @@ FW_VERSIONS = { b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00', b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', + b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F0W01000 ', From 074f614f880fa85a56596cd2917c07d8f39961f1 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 9 Jun 2022 16:01:31 -0300 Subject: [PATCH 021/226] Lexus: NX Hybrid 2020 support (#24796) * LEXUS: Missing esp and engine FW versions in values.py DongleId: 09ae96064ed85a14 | testRoute: 09ae96064ed85a14|2022-01-10--01-57-37 | * Make a new platform for NX Hybrid TSS2 * Update releases Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 1 + selfdrive/car/tests/routes.py | 1 + selfdrive/car/toyota/interface.py | 2 +- selfdrive/car/toyota/values.py | 24 ++++++++++++++++++++++-- 5 files changed, 26 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index de57d520d3..87e5adb584 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,6 +6,7 @@ Version 0.8.15 (2022-XX-XX) * Effective feedforward that uses road roll * Simplified tuning, all car-specific parameters can be derived from data * AGNOS 5 +* Lexus NX Hybrid 2020 support thanks to AlexandreSato! Version 0.8.14 (2022-06-01) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 2aa624d849..9a0788d875 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -51,6 +51,7 @@ How We Rate The Cars |Lexus|ES 2019-21|All|||||| |Lexus|ES Hybrid 2019-22|All|||||| |Lexus|NX 2020|All|||||| +|Lexus|NX Hybrid 2020|All|||||| |Lexus|UX Hybrid 2019-21|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index d2ec6b68d7..e7942f517c 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -144,6 +144,7 @@ routes = [ TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH), TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), + TestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2), TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2), TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a1ce8c4980..9440c73f5d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -186,7 +186,7 @@ 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_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): stop_and_go = True ret.wheelbase = 2.66 ret.steerRatio = 14.7 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 70a94be167..412a9c9390 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -77,6 +77,7 @@ class CAR: LEXUS_NX = "LEXUS NX 2018" LEXUS_NXH = "LEXUS NX HYBRID 2018" LEXUS_NX_TSS2 = "LEXUS NX 2020" + LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020" LEXUS_RC = "LEXUS RC 2020" LEXUS_RX = "LEXUS RX 2016" LEXUS_RXH = "LEXUS RX HYBRID 2017" @@ -158,6 +159,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"), + CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"), CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"), CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]), CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]), @@ -1584,6 +1586,23 @@ FW_VERSIONS = { b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', ], }, + CAR.LEXUS_NXH_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.esp, 0x7b0, None): [ + b'F152678210\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B78120\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + ], + }, CAR.LEXUS_NXH: { (Ecu.engine, 0x7e0, None): [ b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1914,6 +1933,7 @@ DBC = { CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_NXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -1926,7 +1946,7 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I # Toyota/Lexus Safety Sense 2.0 and 2.5 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, 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.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2} + CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -1935,7 +1955,7 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, - CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} + CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} From ab8a6352b02b4240f9888af9f3b430c6d6bc4be8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Jun 2022 15:02:41 -0700 Subject: [PATCH 022/226] some release notes --- RELEASES.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index 87e5adb584..f6d40e6c76 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -5,6 +5,12 @@ Version 0.8.15 (2022-XX-XX) * Much smoother control, consistent across the speed range * Effective feedforward that uses road roll * Simplified tuning, all car-specific parameters can be derived from data + * Significantly improved control on TSS-P Prius +* New driver monitoring model + * takes a larger input frame + * outputs a driver state for both driver and passenger + * automatically determines which side the driver is on (soon) +* Reduced power usage: device runs cooler and fan spins less * AGNOS 5 * Lexus NX Hybrid 2020 support thanks to AlexandreSato! From 8c101c61a82f4b72939bcae7cc7a651ac8fc6fed Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Thu, 9 Jun 2022 15:11:32 -0700 Subject: [PATCH 023/226] EyeSight standard on all 2019+ Ascent and Forester (#24799) * on all 2019+ Ascent Forester * update docs Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 4 ++-- selfdrive/car/subaru/values.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9a0788d875..20c29e3cb5 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -104,7 +104,7 @@ How We Rate The Cars |Mazda|CX-5 2022|All|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| -|Subaru|Forester 2019-21|EyeSight|||||| +|Subaru|Forester 2019-21|All|||||| |Å koda|Kamiq 2021[6](#footnotes)|Driver Assistance|||||| |Å koda|Karoq 2019|Driver Assistance|||||| |Å koda|Kodiaq 2018-19|Driver Assistance|||||| @@ -187,7 +187,7 @@ How We Rate The Cars |Nissan|Leaf 2018-22|ProPILOT|||||| |Nissan|Rogue 2018-20|ProPILOT|||||| |Nissan|X-Trail 2017|ProPILOT|||||| -|Subaru|Ascent 2019-20|EyeSight|||||| +|Subaru|Ascent 2019-20|All|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 412333edcd..45358eb3a4 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { - CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"), + CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -50,7 +50,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { SubaruCarInfo("Subaru Impreza 2020-21"), SubaruCarInfo("Subaru Crosstrek 2020-21"), ], - CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"), + CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), From 2ac693100359d9df34d5b2b450a0058f2dd6b7c4 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 9 Jun 2022 15:23:29 -0700 Subject: [PATCH 024/226] fullframe DM: flip RHD yaw to use matching thresholds --- selfdrive/monitoring/driver_monitor.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 4affa1e796..e7ed175846 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -240,6 +240,8 @@ class DriverStatus(): self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) + if self.wheel_on_right: + self.pose.yaw *= -1 self.pose.pitch_std = driver_data.faceOrientationStd[0] self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) From 1fe582686f5446631fa2c87a1c45dcb8f24fdc5e Mon Sep 17 00:00:00 2001 From: Griffin Christenson <36981741+griff12@users.noreply.github.com> Date: Thu, 9 Jun 2022 18:34:05 -0500 Subject: [PATCH 025/226] Toyota: Add missing esp fw version for RAV4_TSS2 (#24793) add fwVersion for RAV4_TSS2 add b'\x01F15260R302\x00\x00\x00\x00\x00\x00' to list of Ecu.esp FwVersions for RAV4_TSS2 --- 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 412a9c9390..91a7fa5d10 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1254,6 +1254,7 @@ FW_VERSIONS = { b'\x01F15260R220\x00\x00\x00\x00\x00\x00', b'\x01F15260R290\x00\x00\x00\x00\x00\x00', b'\x01F15260R300\x00\x00\x00\x00\x00\x00', + b'\x01F15260R302\x00\x00\x00\x00\x00\x00', b'\x01F152642551\x00\x00\x00\x00\x00\x00', b'\x01F152642561\x00\x00\x00\x00\x00\x00', b'\x01F152642700\x00\x00\x00\x00\x00\x00', From 86ce2f8d4def65d3adb1136b24b75700e953a62f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Jun 2022 17:39:39 -0700 Subject: [PATCH 026/226] Revert "UI: remove DM icon (#24771)" This reverts commit 4d836c6edd6e0f2639a3e2500794990da339eddc. --- selfdrive/ui/qt/onroad.cc | 10 +++++++++- selfdrive/ui/qt/onroad.h | 5 +++++ selfdrive/ui/ui.cc | 2 +- 3 files changed, 15 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index e549f62a23..ce61c094bd 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -166,6 +166,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); + dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } void NvgWindow::updateState(const UIState &s) { @@ -185,11 +186,13 @@ void NvgWindow::updateState(const UIState &s) { setProperty("speed", QString::number(std::nearbyint(cur_speed))); setProperty("maxSpeed", maxspeed_str); setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); + setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); - // update engageability at 2Hz + // update engageability and DM icons at 2Hz if (sm.frame % (UI_FREQ / 2) == 0) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); + setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); } } @@ -231,6 +234,11 @@ void NvgWindow::drawHud(QPainter &p) { engage_img, bg_colors[status], 1.0); } + // dm icon + if (!hideDM) { + drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2, + dm_img, QColor(0, 0, 0, 70), dmActive ? 1.0 : 0.2); + } p.restore(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index e1f665149e..6ca2b3c738 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -32,6 +32,8 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(QString maxSpeed MEMBER maxSpeed); Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); Q_PROPERTY(bool engageable MEMBER engageable); + Q_PROPERTY(bool dmActive MEMBER dmActive); + Q_PROPERTY(bool hideDM MEMBER hideDM); Q_PROPERTY(int status MEMBER status); public: @@ -43,6 +45,7 @@ private: void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); QPixmap engage_img; + QPixmap dm_img; const int radius = 192; const int img_size = (radius / 2) * 1.5; QString speed; @@ -50,6 +53,8 @@ private: QString maxSpeed; bool is_cruise_set = false; bool engageable = false; + bool dmActive = false; + bool hideDM = false; int status = STATUS_DISENGAGED; protected: diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index f7c2c90437..c1af4ed6f4 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -231,7 +231,7 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", - "pandaStates", "carParams", "sensorEvents", "carState", "liveLocationKalman", + "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", }); From 47f80e7add8635e2d80a395f72906cd40c956459 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 Jun 2022 17:44:58 -0700 Subject: [PATCH 027/226] Hyundai: Tucson 2021 support (#24791) * add support for 2021 Hyundai Tucson base configuration and fingerprints * fix fcw again and don't use mando radar for tucson * last fixes for working tucson * Apply suggestions from code review * add to cars * increase steerRatio * missing car info * one platform * rename * add min enable speed * update releases Co-authored-by: bluesforte Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + docs/CARS.md | 1 + selfdrive/car/hyundai/interface.py | 4 ++-- selfdrive/car/hyundai/values.py | 19 +++++++++++++------ selfdrive/car/tests/routes.py | 2 +- 5 files changed, 18 insertions(+), 9 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index f6d40e6c76..acbafd5f5b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -12,6 +12,7 @@ Version 0.8.15 (2022-XX-XX) * automatically determines which side the driver is on (soon) * Reduced power usage: device runs cooler and fan spins less * AGNOS 5 +* Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! Version 0.8.14 (2022-06-01) diff --git a/docs/CARS.md b/docs/CARS.md index 20c29e3cb5..c8614c8037 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -172,6 +172,7 @@ How We Rate The Cars |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| |Hyundai|Sonata 2018-19|SCC + LKAS|||||| +|Hyundai|Tucson 2021|SCC + LKAS|||||| |Hyundai|Veloster 2019-20|SCC + LKAS|||||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index e051079dc4..37f29d23c3 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -170,9 +170,9 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - elif candidate == CAR.TUCSON_DIESEL_2019: + elif candidate == CAR.TUCSON: ret.lateralTuning.pid.kf = 0.00005 - ret.mass = 3633. * CV.LB_TO_KG + ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 54bbd80475..7d3ab93cde 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -52,7 +52,7 @@ class CAR: SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" SONATA = "HYUNDAI SONATA 2020" SONATA_LF = "HYUNDAI SONATA 2019" - TUCSON_DIESEL_2019 = "HYUNDAI TUCSON DIESEL 2019" + TUCSON = "HYUNDAI TUCSON 2019" PALISADE = "HYUNDAI PALISADE 2020" VELOSTER = "HYUNDAI VELOSTER 2019" SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" @@ -105,7 +105,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), - CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + CAR.TUCSON: [ + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h), @@ -508,18 +511,22 @@ FW_VERSIONS = { b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', ], }, - CAR.TUCSON_DIESEL_2019: { + CAR.TUCSON: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', + b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', ], }, CAR.SANTA_FE: { @@ -1198,11 +1205,11 @@ CHECKSUM = { 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, CAR.TUCSON_DIESEL_2019}, + "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "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, CAR.IONIQ_PHEV_2019}, # 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, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON_DIESEL_2019}, + "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, CAR.TUCSON}, } HDA2_CAR = {CAR.KIA_EV6, } @@ -1250,7 +1257,7 @@ DBC = { 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.TUCSON_DIESEL_2019: dbc_dict('hyundai_kia_generic', None), + CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e7942f517c..a9d36f9eab 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -84,7 +84,7 @@ routes = [ TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), - TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019), + TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), From 1b402687e4bb7146a9aa0c92d8b5062ce53aeb22 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 Jun 2022 18:51:34 -0700 Subject: [PATCH 028/226] docs: adjust steering torque thresholds (#24798) * Prius has good steering control now * 1.5 is the threshold for good torque * get back down there, hondas * half stars for 1.0-1.5 * show number of cars * try bigger * emphasize tiers balanced * Add half star * Update ref_commit --- docs/CARS.md | 148 +++++++++++------------ selfdrive/car/CARS_template.md | 5 +- selfdrive/car/docs_definitions.py | 31 ++--- selfdrive/car/honda/interface.py | 4 +- selfdrive/car/toyota/values.py | 9 +- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 100 insertions(+), 99 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c8614c8037..e9b9e947f3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -25,7 +25,8 @@ How We Rate The Cars - - No steering control below certain speeds. ### Steering Torque -- - Car has enough steering torque for comfortable highway driving. +- - Car has enough steering torque to take tighter turns. +- - Car has enough steering torque for comfortable highway driving. - - Limited ability to make turns. ### Actively Maintained @@ -34,7 +35,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** -## Gold Cars +# Gold - 29 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -53,6 +54,8 @@ How We Rate The Cars |Lexus|NX 2020|All|||||| |Lexus|NX Hybrid 2020|All|||||| |Lexus|UX Hybrid 2019-21|All|||||| +|Toyota|Avalon 2022|All|||||| +|Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| |Toyota|Corolla 2020-22|All|||||| @@ -66,11 +69,17 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -## Silver Cars +# Silver - 78 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| +|Audi|A3 2014-19|ACC + Lane Assist|||||| +|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| |Audi|Q2 2018|ACC + Lane Assist|||||| +|Audi|Q3 2020-21|ACC + Lane Assist|||||| +|Audi|RS3 2018|ACC + Lane Assist|||||| +|Audi|S3 2015-17|ACC + Lane Assist|||||| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| |Genesis|G70 2018|All|||||| |Genesis|G80 2018|All|||||| |Hyundai|Elantra 2021-22|SCC + LKAS|||||| @@ -84,6 +93,7 @@ How We Rate The Cars |Hyundai|Santa Fe 2021-22|All|||||| |Hyundai|Santa Fe Hybrid 2022|All|||||| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|||||| +|Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Tucson Diesel 2019|SCC + LKAS|||||| |Kia|Ceed 2019|SCC + LKAS|||||| |Kia|Forte 2018|SCC + LKAS|||||| @@ -99,13 +109,13 @@ How We Rate The Cars |Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|NX 2018-19|All|[3](#footnotes)||||| |Lexus|NX Hybrid 2018-19|All|[3](#footnotes)||||| -|Lexus|RX 2020-22|All|||||| -|Lexus|RX Hybrid 2020-21|All|||||| +|Lexus|RX 2020-22|All|||||| +|Lexus|RX Hybrid 2020-21|All|||||| |Mazda|CX-5 2022|All|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| |Subaru|Forester 2019-21|All|||||| -|Å koda|Kamiq 2021[6](#footnotes)|Driver Assistance|||||| +|Å koda|Kamiq 2021[5](#footnotes)|Driver Assistance|||||| |Å koda|Karoq 2019|Driver Assistance|||||| |Å koda|Kodiaq 2018-19|Driver Assistance|||||| |Å koda|Octavia 2015, 2018-19|Driver Assistance|||||| @@ -114,75 +124,82 @@ How We Rate The Cars |Å koda|Superb 2015-18|Driver Assistance|||||| |Toyota|Alphard 2019-20|All|||||| |Toyota|Alphard Hybrid 2021|All|||||| -|Toyota|Avalon 2022|All|||||| -|Toyota|Avalon Hybrid 2022|All|||||| +|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| +|Toyota|Highlander 2017-19|All|[3](#footnotes)||||| +|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| +|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||| +|Toyota|Prius Prime 2017-20|All|[3](#footnotes)||||| |Toyota|RAV4 2022|All|||||| +|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 Hybrid 2022|All|||||| -|Volkswagen|Arteon 2018, 2021[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Passat 2015-19[7](#footnotes)|Driver Assistance|||||| +|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| +|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| +|Volkswagen|Golf 2015-20|Driver Assistance|||||| +|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|||||| +|Volkswagen|Golf GTE 2016|Driver Assistance|||||| +|Volkswagen|Golf GTI 2018-21|Driver Assistance|||||| +|Volkswagen|Golf R 2016-19|Driver Assistance|||||| +|Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| +|Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| +|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| |Volkswagen|Polo 2020|Driver Assistance|||||| -|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance|||||| +|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -## Bronze Cars +# Bronze - 66 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|||||| |Acura|RDX 2016-18|AcuraWatch Plus|||||| -|Acura|RDX 2019-21|All|||||| -|Audi|A3 2014-19|ACC + Lane Assist|||||| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| -|Audi|Q3 2020-21|ACC + Lane Assist|||||| -|Audi|RS3 2018|ACC + Lane Assist|||||| -|Audi|S3 2015-17|ACC + Lane Assist|||||| +|Acura|RDX 2019-21|All|||||| |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| -|Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| +|Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica 2020|Adaptive Cruise|||||| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|||||| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| +|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| -|Honda|Accord 2018-21|All|||||| -|Honda|Accord Hybrid 2018-21|All|||||| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| +|Honda|Accord 2018-21|All|||||| +|Honda|Accord Hybrid 2018-21|All|||||| |Honda|Civic 2016-18|Honda Sensing|||||| -|Honda|Civic 2019-20|All|||[2](#footnotes)||| -|Honda|Civic Hatchback 2017-21|Honda Sensing|||||| +|Honda|Civic 2019-20|All|||[2](#footnotes)||| +|Honda|Civic Hatchback 2017-21|Honda Sensing|||||| |Honda|CR-V 2015-16|Touring|||||| -|Honda|CR-V 2017-21|Honda Sensing|||||| +|Honda|CR-V 2017-21|Honda Sensing|||||| |Honda|CR-V Hybrid 2017-19|Honda Sensing|||||| |Honda|e 2020|All|||||| -|Honda|Fit 2018-19|Honda Sensing|||||| +|Honda|Fit 2018-19|Honda Sensing|||||| |Honda|Freed 2020|Honda Sensing|||||| |Honda|HR-V 2019-20|Honda Sensing|||||| -|Honda|Insight 2019-21|All|||||| -|Honda|Inspire 2018|All|||||| +|Honda|Insight 2019-21|All|||||| +|Honda|Inspire 2018|All|||||| |Honda|Odyssey 2018-20|Honda Sensing|||||| -|Honda|Passport 2019-21|All|||||| -|Honda|Pilot 2016-21|Honda Sensing|||||| -|Honda|Ridgeline 2017-22|Honda Sensing|||||| +|Honda|Passport 2019-21|All|||||| +|Honda|Pilot 2016-21|Honda Sensing|||||| +|Honda|Ridgeline 2017-22|Honda Sensing|||||| |Hyundai|Elantra 2017-19|SCC + LKAS|||||| |Hyundai|Genesis 2015-16|SCC + LKAS|||||| |Hyundai|Ioniq Electric 2019|SCC + LKAS|||||| |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| -|Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Tucson 2021|SCC + LKAS|||||| |Hyundai|Veloster 2019-20|SCC + LKAS|||||| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| -|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| +|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| |Kia|Optima 2017|SCC + LKAS|||||| |Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|IS 2017-19|All|||||| |Lexus|RC 2020|All|||||| -|Lexus|RX 2016-18|All|[3](#footnotes)||||| -|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| +|Lexus|RX 2016-18|All|[3](#footnotes)||||| +|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| |Mazda|CX-9 2021|All|||||| |Nissan|Altima 2019-20|ProPILOT|||||| |Nissan|Leaf 2018-22|ProPILOT|||||| @@ -190,37 +207,21 @@ How We Rate The Cars |Nissan|X-Trail 2017|ProPILOT|||||| |Subaru|Ascent 2019-20|All|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| -|Subaru|Crosstrek 2020-21|EyeSight|||||| +|Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| -|Subaru|Impreza 2020-21|EyeSight|||||| -|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|C-HR 2017-21|All|||||| -|Toyota|C-HR Hybrid 2017-19|All|||||| +|Subaru|Impreza 2020-21|EyeSight|||||| +|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|C-HR 2017-21|All|||||| +|Toyota|C-HR Hybrid 2017-19|All|||||| |Toyota|Corolla 2017-19|All|[3](#footnotes)||||| -|Toyota|Highlander 2017-19|All|[3](#footnotes)||||| -|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| -|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||[5](#footnotes)|| -|Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||[5](#footnotes)|| -|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||[5](#footnotes)|| -|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| -|Volkswagen|Atlas 2018-19, 2022[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|California 2021[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| -|Volkswagen|Golf 2015-20|Driver Assistance|||||| -|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|||||| -|Volkswagen|Golf GTE 2016|Driver Assistance|||||| -|Volkswagen|Golf GTI 2018-21|Driver Assistance|||||| -|Volkswagen|Golf R 2016-19|Driver Assistance|||||| -|Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| -|Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| -|Volkswagen|Jetta 2018-21|Driver Assistance|||||| -|Volkswagen|Jetta GLI 2021|Driver Assistance|||||| -|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance|||||| +|Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| +|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| +|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Jetta 2018-21|Driver Assistance|||||| +|Volkswagen|Jetta GLI 2021|Driver Assistance|||||| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|||||| @@ -228,10 +229,9 @@ How We Rate The Cars 22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
3When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
428mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-5An inaccurate steering wheel angle sensor makes precise control difficult.
-6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-7Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
-8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
+5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+6Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
+7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). \ No newline at end of file diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index cd9b7bc6ee..f93dc64b06 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -28,7 +28,8 @@ How We Rate The Cars - {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds. ### Steering Torque -- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque for comfortable highway driving. +- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque to take tighter turns. +- {{star_icon.format(Star.HALF.value)}} - Car has enough steering torque for comfortable highway driving. - {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns. ### Actively Maintained @@ -38,7 +39,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** {% for tier, cars in tiers.items() %} -## {{tier.name.title()}} Cars +# {{tier.name.title()}} - {{cars | length}} cars |{{Column | map(attribute='value') | join('|')}}| |---|---|---|:---:|:---:|:---:|:---:|:---:| diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 95561872ac..e3b46c29e4 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -6,7 +6,9 @@ from dataclasses import dataclass from enum import Enum from typing import Dict, List, Optional, Union, no_type_check -STEERING_TORQUE_THRESHOLD = 2.0 # m/s^2 +TACO_TORQUE_THRESHOLD = 2.5 # m/s^2 +GREAT_TORQUE_THRESHOLD = 1.5 # m/s^2 +GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 class Tier(Enum): @@ -70,11 +72,6 @@ class CarInfo: if self.min_enable_speed is not None: min_enable_speed = self.min_enable_speed - # TODO: remove hardcoded good torque and just use maxLateralAccel - good_torque = self.good_torque - if not math.isnan(CP.maxLateralAccel): - good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD - self.car_name = CP.carName self.make, self.model = self.name.split(' ', 1) self.row = { @@ -82,21 +79,27 @@ class CarInfo: Column.MODEL: self.model, Column.PACKAGE: self.package, # StarColumns - Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan, - Column.FSR_LONGITUDINAL: min_enable_speed <= 0., - Column.FSR_STEERING: min_steer_speed <= 0., - Column.STEERING_TORQUE: good_torque, - Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none, + Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, + Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, + Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, + Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY, # TODO: remove hardcoding and use maxLateralAccel + Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY, } + if not math.isnan(CP.maxLateralAccel): + if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD: + self.row[Column.STEERING_TORQUE] = Star.FULL + elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: + self.row[Column.STEERING_TORQUE] = Star.HALF + else: + self.row[Column.STEERING_TORQUE] = Star.EMPTY + if CP.notCar: for col in StarColumns: - self.row[col] = True + self.row[col] = Star.FULL self.all_footnotes = all_footnotes for column in StarColumns: - self.row[column] = Star.FULL if self.row[column] else Star.EMPTY - # Demote if footnote specifies a star footnote = get_footnote(self.footnotes, column) if footnote is not None and footnote.value.star is not None: diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index ad98f8863f..de5db98ea6 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -100,7 +100,7 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] else: - ret.maxLateralAccel = 1.7 + ret.maxLateralAccel = 0.4 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. @@ -245,7 +245,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 - ret.maxLateralAccel = 1.5 + ret.maxLateralAccel = 0.8 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate == CAR.ODYSSEY_CHN: diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 91a7fa5d10..7e6cfa0d09 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -93,9 +93,6 @@ class Footnote(Enum): CAMRY = CarFootnote( "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", Column.FSR_LONGITUDINAL) - ANGLE_SENSOR = CarFootnote( - "An inaccurate steering wheel angle sensor makes precise control difficult.", - Column.STEERING_TORQUE, star=Star.HALF) @dataclass @@ -133,10 +130,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]), - ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]), + ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ], - CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]), + CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]), CAR.PRIUS_TSS2: [ ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3a9b1d9479..2f42570934 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0e18bb3317437f2cad6d0a5782a9222eda655d58 +f301bdf52b271c8c4ef0f2bce3be9c8f90037652 From 53724e8b6cbcfc6c9d49ebd0834624fa23d0f6e9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Jun 2022 19:29:54 -0700 Subject: [PATCH 029/226] bypass HDA2 dashcam with file (#24803) Co-authored-by: Comma Device --- selfdrive/car/hyundai/interface.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 37f29d23c3..831b318d55 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import os from cereal import car from panda import Panda from common.conversions import Conversions as CV @@ -37,7 +38,9 @@ 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/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} + if candidate in HDA2_CAR: + ret.dashcamOnly = not os.path.exists('/data/enable-ev6') ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 From 60aa553b8c0d8323f276b102ce359262e639861b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 Jun 2022 20:56:05 -0700 Subject: [PATCH 030/226] Honda: use common imperial unit message (#24786) * CAR_SPEED should be on all cars * bump opendbc * clean this up too * it's an or * clean up * comment --- opendbc | 2 +- selfdrive/car/honda/carstate.py | 49 ++++++++++----------------------- 2 files changed, 15 insertions(+), 36 deletions(-) diff --git a/opendbc b/opendbc index 30aacafa10..ec0e1f20ba 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 30aacafa10e72db33ecf5e3b7a6eacffa9390b8b +Subproject commit ec0e1f20bae4c39326036c0061418404ac15ae9e diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 5314fe375e..f5cdc838c4 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -22,9 +22,9 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("STEER_ANGLE_RATE", "STEERING_SENSORS"), ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"), ("STEER_TORQUE_SENSOR", "STEER_STATUS"), + ("IMPERIAL_UNIT", "CAR_SPEED"), ("LEFT_BLINKER", "SCM_FEEDBACK"), ("RIGHT_BLINKER", "SCM_FEEDBACK"), - ("GEAR", gearbox_msg), ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"), ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"), ("BRAKE_PRESSED", "POWERTRAIN_DATA"), @@ -35,6 +35,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"), ("STEER_STATUS", "STEER_STATUS"), ("GEAR_SHIFTER", gearbox_msg), + ("GEAR", gearbox_msg), ("PEDAL_GAS", "POWERTRAIN_DATA"), ("CRUISE_SETTING", "SCM_BUTTONS"), ("ACC_STATUS", "POWERTRAIN_DATA"), @@ -48,9 +49,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("SEATBELT_STATUS", 10), ("CRUISE", 10), ("POWERTRAIN_DATA", 100), + ("CAR_SPEED", 10), ("VSA_STATUS", 50), ("STEER_STATUS", 100), - ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car + ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car ] if CP.carFingerprint == CAR.ODYSSEY_CHN: @@ -73,16 +75,11 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals.append(("BRAKE_PRESSED", "BRAKE_MODULE")) checks.append(("BRAKE_MODULE", 50)) - if CP.carFingerprint in HONDA_BOSCH: - signals += [ - ("EPB_STATE", "EPB_STATUS"), - ("IMPERIAL_UNIT", "CAR_SPEED"), - ] - checks += [ - ("EPB_STATUS", 50), - ("CAR_SPEED", 10), - ] + if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): + signals.append(("EPB_STATE", "EPB_STATUS")) + checks.append(("EPB_STATUS", 50)) + if CP.carFingerprint in HONDA_BOSCH: if not CP.openpilotLongitudinalControl: signals += [ ("CRUISE_CONTROL_LABEL", "ACC_HUD"), @@ -121,17 +118,6 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("STANDSTILL", 50), ] - if CP.carFingerprint == CAR.CIVIC: - signals += [("IMPERIAL_UNIT", "HUD_SETTING"), - ("EPB_STATE", "EPB_STATUS")] - checks += [ - ("HUD_SETTING", 50), - ("EPB_STATUS", 50), - ] - elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): - signals.append(("EPB_STATE", "EPB_STATUS")) - checks.append(("EPB_STATUS", 50)) - # add gas interceptor reading if we are using it if CP.enableGasInterceptor: signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) @@ -179,6 +165,11 @@ class CarState(CarStateBase): # update prevs, update must run once per loop self.prev_cruise_buttons = self.cruise_buttons self.prev_cruise_setting = self.cruise_setting + self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] + self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"] + + # used for car hud message + self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"] # ******************* parse out can ******************* # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED @@ -219,16 +210,12 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"] - self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] - self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"] - ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk( 250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"]) ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 # TODO: set for all cars - 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): + if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) @@ -281,14 +268,6 @@ class CarState(CarStateBase): if ret.brake > 0.1: ret.brakePressed = True - # TODO: discover the CAN msg that has the imperial unit bit for all other cars - if self.CP.carFingerprint in (CAR.CIVIC, ): - self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"] - elif self.CP.carFingerprint in HONDA_BOSCH: - self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"] - else: - self.is_metric = False - if self.CP.carFingerprint in HONDA_BOSCH: ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) else: From aeb2c67c904d9ed3a579e6ee40b05606b92713af Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Jun 2022 15:39:18 -0700 Subject: [PATCH 031/226] add PyQt (#24811) --- Pipfile | 2 + Pipfile.lock | 448 ++++++++++++++++++++++++++++----------------------- 2 files changed, 248 insertions(+), 202 deletions(-) diff --git a/Pipfile b/Pipfile index 1e526a5ec0..3958c890fe 100644 --- a/Pipfile +++ b/Pipfile @@ -84,6 +84,8 @@ urllib3 = "*" utm = "*" websocket_client = "*" hatanaka = "==2.4" +PyQt5 = "==5.15.4" +PyQt5-sip = "==12.9.0" [requires] python_version = "3.8" diff --git a/Pipfile.lock b/Pipfile.lock index b0ec993b2a..df2b3bb853 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "50d3486820d05997c1e084e70362fa080e0a294faa01c7f1d43219e44f94a80b" + "sha256": "4dbfaf9d7a532e0e9a126f828512a5383a817722a1580ef64b99e2427f366a72" }, "pipfile-spec": 6, "requires": { @@ -146,7 +146,7 @@ "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597", "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df" ], - "markers": "python_version >= '3'", + "markers": "python_version >= '3.5'", "version": "==2.0.12" }, "click": { @@ -347,7 +347,7 @@ "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff", "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d" ], - "markers": "python_version >= '3'", + "markers": "python_version >= '3.5'", "version": "==3.3" }, "importlib-metadata": { @@ -371,7 +371,7 @@ "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7", "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951" ], - "markers": "python_version < '4.0' and python_full_version >= '3.6.1'", + "markers": "python_version < '4' and python_full_version >= '3.6.1'", "version": "==5.10.1" }, "itsdangerous": { @@ -687,33 +687,23 @@ }, "protobuf": { "hashes": [ - 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"version": "==4.5.5.64" + "version": "==4.6.0.66" }, "packaging": { "hashes": [ @@ -2329,11 +2373,11 @@ }, "requests": { "hashes": [ - "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61", - "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d" + "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f", + "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b" ], "index": "pypi", - "version": "==2.27.1" + "version": "==2.28.0" }, "reverse-geocoder": { "hashes": [ From 66bc246210b4471e0a5fa3ab792c4d9fe0316406 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 10 Jun 2022 15:23:42 -0700 Subject: [PATCH 032/226] count events: add simple camera debugging --- selfdrive/debug/count_events.py | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 8b32ce9d21..c3870e0f9e 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -4,6 +4,7 @@ from collections import Counter from pprint import pprint from tqdm import tqdm +from cereal.services import service_list from tools.lib.route import Route from tools.lib.logreader import LogReader @@ -13,6 +14,9 @@ if __name__ == "__main__": cnt_valid: Counter = Counter() cnt_events: Counter = Counter() + cams = [s for s in service_list if s.endswith('CameraState')] + cnt_cameras = dict.fromkeys(cams, 0) + for q in tqdm(r.qlog_paths()): if q is None: continue @@ -21,12 +25,21 @@ if __name__ == "__main__": if msg.which() == 'carEvents': for e in msg.carEvents: cnt_events[e.name] += 1 + elif msg.which() in cams: + cnt_cameras[msg.which()] += 1 + if not msg.valid: cnt_valid[msg.which()] += 1 + print("Events") pprint(cnt_events) - print("\n\n") + print("\n") print("Not valid") pprint(cnt_valid) + + print("\n") + print("Cameras") + for k, v in cnt_cameras.items(): + print(" ", k.ljust(20), v) From c646eeee0ac54925db5afc51b95c5d869d6dba68 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 10 Jun 2022 16:16:46 -0700 Subject: [PATCH 033/226] Revert fullframe DM model (#24812) * Revert "fullframe DM: flip RHD yaw to use matching thresholds" This reverts commit 2ac693100359d9df34d5b2b450a0058f2dd6b7c4. * Revert "fullframe DM model (#24762)" This reverts commit d6c07a6b158595c1ab10256dc6eee4fbdf902379. * revert cereal --- cereal | 2 +- common/modeldata.h | 6 + selfdrive/camerad/cameras/camera_common.cc | 2 +- selfdrive/camerad/cameras/camera_qcom2.cc | 2 +- selfdrive/hardware/tici/test_power_draw.py | 2 +- selfdrive/modeld/dmonitoringmodeld.cc | 6 +- selfdrive/modeld/models/dmonitoring.cc | 234 ++++++++++++------ selfdrive/modeld/models/dmonitoring.h | 33 +-- .../modeld/models/dmonitoring_model.current | 4 +- .../modeld/models/dmonitoring_model.onnx | 4 +- .../modeld/models/dmonitoring_model_q.dlc | 4 +- selfdrive/modeld/runners/onnx_runner.py | 21 +- selfdrive/modeld/runners/onnxmodel.cc | 6 +- selfdrive/modeld/runners/onnxmodel.h | 3 +- selfdrive/modeld/runners/snpemodel.cc | 12 +- selfdrive/modeld/runners/snpemodel.h | 3 +- selfdrive/monitoring/dmonitoringd.py | 7 +- selfdrive/monitoring/driver_monitor.py | 90 ++++--- selfdrive/monitoring/test_monitoring.py | 24 +- selfdrive/test/process_replay/model_replay.py | 8 +- .../process_replay/model_replay_ref_commit | 2 +- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/test_onroad.py | 6 +- selfdrive/ui/qt/offroad/driverview.cc | 43 ++-- selfdrive/ui/qt/widgets/cameraview.cc | 9 +- 25 files changed, 308 insertions(+), 227 deletions(-) diff --git a/cereal b/cereal index 96cbed052a..e9d3597d23 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 96cbed052ab1d69ea15da94dc2b882d59a786347 +Subproject commit e9d3597d23311a3e33a2def74ceec839e5ff4bf5 diff --git a/common/modeldata.h b/common/modeldata.h index 410a69ea65..06d9398031 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -24,6 +24,12 @@ 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); +namespace tici_dm_crop { + const int x_offset = -72; + const int y_offset = -144; + const int width = 954; +}; + const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2, 0.0, 2648.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index 21e225d538..049324f085 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -239,7 +239,7 @@ static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w int in_stride = b->cur_yuv_buf->stride; // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. - std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); + std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); uint8_t *y_plane = buf.get(); uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index b949dfb80f..d43beb0921 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -837,7 +837,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road); s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); - s->sm = new SubMaster({"driverStateV2"}); + s->sm = new SubMaster({"driverState"}); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } diff --git a/selfdrive/hardware/tici/test_power_draw.py b/selfdrive/hardware/tici/test_power_draw.py index 5eb84514e5..ab2d691a09 100755 --- a/selfdrive/hardware/tici/test_power_draw.py +++ b/selfdrive/hardware/tici/test_power_draw.py @@ -21,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), Proc('modeld', 1.0), - Proc('dmonitoringmodeld', 0.35), + Proc('dmonitoringmodeld', 0.25), Proc('encoderd', 0.23), ] diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc index cde13a9bee..68c49572e6 100644 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ b/selfdrive/modeld/dmonitoringmodeld.cc @@ -12,7 +12,7 @@ ExitHandler do_exit; void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { - PubMaster pm({"driverStateV2"}); + PubMaster pm({"driverState"}); SubMaster sm({"liveCalibration"}); float calib[CALIB_LEN] = {0}; double last = 0; @@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { } double t1 = millis_since_boot(); - DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); + DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); double t2 = millis_since_boot(); // send dm packet - dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output); + dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output); //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); last = t1; diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index 20294c3f3c..e134ad3a5a 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -10,8 +10,8 @@ #include "selfdrive/modeld/models/dmonitoring.h" -constexpr int MODEL_WIDTH = 1440; -constexpr int MODEL_HEIGHT = 960; +constexpr int MODEL_WIDTH = 320; +constexpr int MODEL_HEIGHT = 640; template static inline T *get_buffer(std::vector &buf, const size_t size) { @@ -19,115 +19,199 @@ static inline T *get_buffer(std::vector &buf, const size_t size) { return buf.data(); } +static inline void init_yuv_buf(std::vector &buf, const int width, int height) { + uint8_t *y = get_buffer(buf, width * height * 3 / 2); + uint8_t *u = y + width * height; + uint8_t *v = u + (width / 2) * (height / 2); + + // needed on comma two to make the padded border black + // equivalent to RGB(0,0,0) in YUV space + memset(y, 16, width * height); + memset(u, 128, (width / 2) * (height / 2)); + memset(v, 128, (width / 2) * (height / 2)); +} + void dmonitoring_init(DMonitoringModelState* s) { s->is_rhd = Params().getBool("IsRHD"); + for (int x = 0; x < std::size(s->tensor); ++x) { + s->tensor[x] = (x - 128.f) * 0.0078125f; + } + init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT); #ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME); #else - s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME); #endif s->m->addCalib(s->calib, CALIB_LEN); } -void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) { - for (int i = 0; i < 3; ++i) { - ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE; - ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]); - } - for (int i = 0; i < 2; ++i) { - ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE; - ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]); - } - for (int i = 0; i < 4; ++i) { - ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]); - } - for (int i = 0; i < 2; ++i) { - ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]); - } - ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]); - ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]); - ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]); - ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]); - ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]); - ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]); - ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]); +static inline auto get_yuv_buf(std::vector &buf, const int width, int height) { + uint8_t *y = get_buffer(buf, width * height * 3 / 2); + uint8_t *u = y + width * height; + uint8_t *v = u + (width /2) * (height / 2); + return std::make_tuple(y, u, v); } -void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) { - ddata.setFaceOrientation(ds_res.face_orientation); - ddata.setFaceOrientationStd(ds_res.face_orientation_std); - ddata.setFacePosition(ds_res.face_position); - ddata.setFacePositionStd(ds_res.face_position_std); - ddata.setFaceProb(ds_res.face_prob); - ddata.setLeftEyeProb(ds_res.left_eye_prob); - ddata.setRightEyeProb(ds_res.right_eye_prob); - ddata.setLeftBlinkProb(ds_res.left_blink_prob); - ddata.setRightBlinkProb(ds_res.right_blink_prob); - ddata.setSunglassesProb(ds_res.sunglasses_prob); - ddata.setOccludedProb(ds_res.occluded_prob); - ddata.setReadyProb(ds_res.ready_prob); - ddata.setNotReadyProb(ds_res.not_ready_prob); +struct Rect {int x, y, w, h;}; +void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) { + uint8_t *raw_y = raw; + uint8_t *raw_uv = raw_y + uv_offset; + for (int r = 0; r < rect.h / 2; r++) { + memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w); + memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w); + for (int h = 0; h < rect.w / 2; h++) { + u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2]; + v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1]; + } + } } -DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { - int v_off = height - MODEL_HEIGHT; - int h_off = (width - MODEL_WIDTH) / 2; - int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT; - - uint8_t *raw_buf = (uint8_t *) stream_buf; - // vertical crop free - uint8_t *raw_y_start = raw_buf + stride * v_off; +DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { + const int cropped_height = tici_dm_crop::width / 1.33; + Rect 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 += tici_dm_crop::width - crop_rect.w; + } - uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); + int resized_width = MODEL_WIDTH; + int resized_height = MODEL_HEIGHT; + + auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h); + if (!s->is_rhd) { + crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect); + } else { + auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h); + crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect); + libyuv::I420Mirror(mirror_y, crop_rect.w, + mirror_u, crop_rect.w / 2, + mirror_v, crop_rect.w / 2, + cropped_y, crop_rect.w, + cropped_u, crop_rect.w / 2, + cropped_v, crop_rect.w / 2, + crop_rect.w, crop_rect.h); + } - // here makes a uint8 copy - for (int r = 0; r < MODEL_HEIGHT; ++r) { - memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH); + auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height); + uint8_t *resized_y = resized_buf; + libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear; + libyuv::I420Scale(cropped_y, crop_rect.w, + cropped_u, crop_rect.w / 2, + cropped_v, crop_rect.w / 2, + crop_rect.w, crop_rect.h, + resized_y, resized_width, + resized_u, resized_width / 2, + resized_v, resized_width / 2, + resized_width, resized_height, + mode); + + + int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v + float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); + // one shot conversion, O(n) anyway + // yuvframe2tensor, normalize + for (int r = 0; r < MODEL_HEIGHT/2; r++) { + for (int c = 0; c < MODEL_WIDTH/2; c++) { + // Y_ul + net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]]; + // Y_dl + net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]]; + // Y_ur + net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]]; + // Y_dr + net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]]; + // U + net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]]; + // V + net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]]; + } } - // printf("preprocess completed. %d \n", yuv_buf_len); - // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); - // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); - // fclose(dump_yuv_file); + //printf("preprocess completed. %d \n", yuv_buf_len); + //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); + //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); + //fclose(dump_yuv_file); + + // *** testing *** + // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320) + // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420)) + + //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb"); + //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2); + //fclose(dump_yuv_file2); double t1 = millis_since_boot(); - s->m->addImage((float*)net_input_buf, yuv_buf_len / 4); + s->m->addImage(net_input_buf, yuv_buf_len); for (int i = 0; i < CALIB_LEN; i++) { s->calib[i] = calib[i]; } s->m->execute(); double t2 = millis_since_boot(); - DMonitoringModelResult model_res = {0}; - parse_driver_data(model_res.driver_state_lhd, s, 0); - parse_driver_data(model_res.driver_state_rhd, s, 41); - model_res.poor_vision_prob = sigmoid(s->output[82]); - model_res.wheel_on_right_prob = sigmoid(s->output[83]); - model_res.dsp_execution_time = (t2 - t1) / 1000.; - - return model_res; + DMonitoringResult ret = {0}; + for (int i = 0; i < 3; ++i) { + ret.face_orientation[i] = s->output[i] * REG_SCALE; + ret.face_orientation_meta[i] = exp(s->output[6 + i]); + } + for (int i = 0; i < 2; ++i) { + ret.face_position[i] = s->output[3 + i] * REG_SCALE; + ret.face_position_meta[i] = exp(s->output[9 + i]); + } + for (int i = 0; i < 4; ++i) { + ret.ready_prob[i] = sigmoid(s->output[39 + i]); + } + for (int i = 0; i < 2; ++i) { + ret.not_ready_prob[i] = sigmoid(s->output[43 + i]); + } + ret.face_prob = sigmoid(s->output[12]); + ret.left_eye_prob = sigmoid(s->output[21]); + ret.right_eye_prob = sigmoid(s->output[30]); + ret.left_blink_prob = sigmoid(s->output[31]); + ret.right_blink_prob = sigmoid(s->output[32]); + ret.sg_prob = sigmoid(s->output[33]); + ret.poor_vision = sigmoid(s->output[34]); + ret.partial_face = sigmoid(s->output[35]); + ret.distracted_pose = sigmoid(s->output[36]); + ret.distracted_eyes = sigmoid(s->output[37]); + ret.occluded_prob = sigmoid(s->output[38]); + ret.dsp_execution_time = (t2 - t1) / 1000.; + return ret; } -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred) { +void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr raw_pred) { // make msg MessageBuilder msg; - auto framed = msg.initEvent().initDriverStateV2(); + auto framed = msg.initEvent().initDriverState(); framed.setFrameId(frame_id); framed.setModelExecutionTime(execution_time); - framed.setDspExecutionTime(model_res.dsp_execution_time); - - framed.setPoorVisionProb(model_res.poor_vision_prob); - framed.setWheelOnRightProb(model_res.wheel_on_right_prob); - fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd); - fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd); - + framed.setDspExecutionTime(res.dsp_execution_time); + + framed.setFaceOrientation(res.face_orientation); + framed.setFaceOrientationStd(res.face_orientation_meta); + framed.setFacePosition(res.face_position); + framed.setFacePositionStd(res.face_position_meta); + framed.setFaceProb(res.face_prob); + framed.setLeftEyeProb(res.left_eye_prob); + framed.setRightEyeProb(res.right_eye_prob); + framed.setLeftBlinkProb(res.left_blink_prob); + framed.setRightBlinkProb(res.right_blink_prob); + framed.setSunglassesProb(res.sg_prob); + framed.setPoorVision(res.poor_vision); + framed.setPartialFace(res.partial_face); + framed.setDistractedPose(res.distracted_pose); + framed.setDistractedEyes(res.distracted_eyes); + framed.setOccludedProb(res.occluded_prob); + framed.setReadyProb(res.ready_prob); + framed.setNotReadyProb(res.not_ready_prob); if (send_raw_pred) { framed.setRawPredictions(raw_pred.asBytes()); } - pm.send("driverStateV2", msg); + pm.send("driverState", msg); } void dmonitoring_free(DMonitoringModelState* s) { diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h index 874722cd93..a1be91e3bb 100644 --- a/selfdrive/modeld/models/dmonitoring.h +++ b/selfdrive/modeld/models/dmonitoring.h @@ -9,43 +9,44 @@ #define CALIB_LEN 3 -#define OUTPUT_SIZE 84 +#define OUTPUT_SIZE 45 #define REG_SCALE 0.25f -typedef struct DriverStateResult { +typedef struct DMonitoringResult { float face_orientation[3]; - float face_orientation_std[3]; + float face_orientation_meta[3]; float face_position[2]; - float face_position_std[2]; + float face_position_meta[2]; float face_prob; float left_eye_prob; float right_eye_prob; float left_blink_prob; float right_blink_prob; - float sunglasses_prob; + float sg_prob; + float poor_vision; + float partial_face; + float distracted_pose; + float distracted_eyes; float occluded_prob; float ready_prob[4]; float not_ready_prob[2]; -} DriverStateResult; - -typedef struct DMonitoringModelResult { - DriverStateResult driver_state_lhd; - DriverStateResult driver_state_rhd; - float poor_vision_prob; - float wheel_on_right_prob; float dsp_execution_time; -} DMonitoringModelResult; +} DMonitoringResult; typedef struct DMonitoringModelState { RunModel *m; bool is_rhd; float output[OUTPUT_SIZE]; - std::vector net_input_buf; + std::vector resized_buf; + std::vector cropped_buf; + std::vector premirror_cropped_buf; + std::vector net_input_buf; float calib[CALIB_LEN]; + float tensor[UINT8_MAX + 1]; } DMonitoringModelState; void dmonitoring_init(DMonitoringModelState* s); -DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred); +DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); +void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr raw_pred); void dmonitoring_free(DMonitoringModelState* s); diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index ba2865429e..74bcfe17a4 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -5b02cff5-2b29-431d-b186-372e9c6fd0c7 -bf33cc569076984626ac7e027f927aa593261fa7 \ No newline at end of file +a8236e30-5bee-4689-8ea0-fc102e2770e5 +d508c79bae1c1c451f3af3e2bc231ce33678cb43 \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 1fca1317d5..51b0d1ed76 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aca1dd411b5f488bea605dc360656e631fc4301968a589ea072e2220c8092600 -size 9157561 +oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308 +size 3679940 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index c1cba15176..2e54f7ee4b 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d146b1d1fd9d40d57d058e51d285f83676866e26d9e5aff9fa27623ce343b58a -size 2636941 +oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6 +size 1145921 diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index ac7cc68814..e282a66b66 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -9,24 +9,20 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE" import onnxruntime as ort # pylint: disable=import-error -def read(sz, tf8=False): +def read(sz): dd = [] gt = 0 - szof = 1 if tf8 else 4 - while gt < sz * szof: - st = os.read(0, sz * szof - gt) + while gt < sz * 4: + st = os.read(0, sz * 4 - gt) assert(len(st) > 0) dd.append(st) gt += len(st) - r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32) - if tf8: - r = r / 255. - return r + return np.frombuffer(b''.join(dd), dtype=np.float32) def write(d): os.write(1, d.tobytes()) -def run_loop(m, tf8_input=False): +def run_loop(m): ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] keys = [x.name for x in m.get_inputs()] @@ -37,10 +33,10 @@ def run_loop(m, tf8_input=False): print("ready to run onnx model", keys, ishapes, file=sys.stderr) while 1: inputs = [] - for k, shp in zip(keys, ishapes): + for shp in ishapes: ts = np.product(shp) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) - inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp)) + inputs.append(read(ts).reshape(shp)) ret = m.run(None, dict(zip(keys, inputs))) #print(ret, file=sys.stderr) for r in ret: @@ -48,7 +44,6 @@ def run_loop(m, tf8_input=False): if __name__ == "__main__": - print(sys.argv, file=sys.stderr) print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) options = ort.SessionOptions() options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL @@ -68,6 +63,6 @@ if __name__ == "__main__": print("Onnx selected provider: ", [provider], file=sys.stderr) ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) print("Onnx using ", ort_session.get_providers(), file=sys.stderr) - run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv)) + run_loop(ort_session) except KeyboardInterrupt: pass diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 1f9f551abc..9b4d6fd015 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -14,13 +14,12 @@ #include "common/swaglog.h" #include "common/util.h" -ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) { +ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) { LOGD("loading model %s", path); output = _output; output_size = _output_size; use_extra = _use_extra; - use_tf8 = _use_tf8; int err = pipe(pipein); assert(err == 0); @@ -29,12 +28,11 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; - std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; proc_pid = fork(); if (proc_pid == 0) { LOGD("spawning onnx process %s", onnx_runner.c_str()); - char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr}; + char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr}; dup2(pipein[0], 0); dup2(pipeout[1], 1); close(pipein[0]); diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 4ac599e2af..567d81d29e 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -6,7 +6,7 @@ class ONNXModel : public RunModel { public: - ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false); + ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false); ~ONNXModel(); void addRecurrent(float *state, int state_size); void addDesire(float *state, int state_size); @@ -31,7 +31,6 @@ private: int calib_size; float *image_input_buf = NULL; int image_buf_size; - bool use_tf8; float *extra_input_buf = NULL; int extra_buf_size; bool use_extra; diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 4d6917e894..1861494d59 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -14,11 +14,10 @@ void PrintErrorStringAndExit() { std::exit(EXIT_FAILURE); } -SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) { +SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) { output = loutput; output_size = loutput_size; use_extra = luse_extra; - use_tf8 = luse_tf8; #ifdef QCOM2 if (runtime==USE_GPU_RUNTIME) { Runtime = zdl::DlSystem::Runtime_t::GPU; @@ -71,16 +70,14 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int printf("model: %s -> %s\n", input_tensor_name, output_tensor_name); zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat; - zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1 zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); - size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float); // create input buffer { const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name); const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt; std::vector strides(bufferShape.rank()); - strides[strides.size() - 1] = size_of_input; + strides[strides.size() - 1] = sizeof(float); size_t product = 1; for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i]; size_t stride = strides[strides.size() - 1]; @@ -89,10 +86,7 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int strides[i-1] = stride; } printf("input product is %lu\n", product); - inputBuffer = ubFactory.createUserBuffer(NULL, - product*size_of_input, - strides, - use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat); + inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat); inputMap.add(input_tensor_name, inputBuffer.get()); } diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index ed9d58d1e1..ba51fdced0 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -23,7 +23,7 @@ class SNPEModel : public RunModel { public: - SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false); + SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false); void addRecurrent(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addCalib(float *state, int state_size); @@ -52,7 +52,6 @@ private: std::unique_ptr inputBuffer; float *input; size_t input_size; - bool use_tf8; // snpe output stuff zdl::DlSystem::UserBufferMap outputMap; diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c31e9da43b..9a3196030b 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None): pm = messaging.PubMaster(['driverMonitoringState']) if sm is None: - sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) + sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState']) driver_status = DriverStatus(rhd=Params().get_bool("IsRHD")) @@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None): while True: sm.update() - if not sm.updated['driverStateV2']: + if not sm.updated['driverState']: continue # Get interaction @@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None): # Get data from dmonitoringmodeld events = Events() - driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) + driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) # Block engaging after max number of distrations if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ @@ -79,7 +79,6 @@ def dmonitoringd_thread(sm=None, pm=None): "isLowStd": driver_status.pose.low_std, "hiStdCount": driver_status.hi_stds, "isActiveMode": driver_status.active_monitoring_mode, - "isRHD": driver_status.wheel_on_right, } pm.send('driverMonitoringState', dat) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index e7ed175846..662e0d76ce 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -5,7 +5,6 @@ from common.numpy_fast import interp from common.realtime import DT_DMON from common.filter_simple import FirstOrderFilter from common.stat_live import RunningStatFilter -from common.transformations.camera import tici_d_frame_size EventName = car.CarEvent.EventName @@ -27,29 +26,32 @@ class DRIVER_MONITOR_SETTINGS(): self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. self._FACE_THRESHOLD = 0.5 + self._PARTIAL_FACE_THRESHOLD = 0.8 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.925 - self._BLINK_THRESHOLD = 0.861 + self._BLINK_THRESHOLD = 0.8 + self._BLINK_THRESHOLD_SLACK = 0.9 + self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD self._EE_THRESH11 = 0.75 self._EE_THRESH12 = 3.25 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 - self._POSE_PITCH_THRESHOLD = 0.3133 - self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 + 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 = 0.4020 - self._POSE_YAW_THRESHOLD_SLACK = 0.5042 + 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 = 0.029 # initial value before offset is learned - self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned + 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 = 0.3 + self._POSESTD_THRESHOLD = 0.315 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 @@ -57,9 +59,6 @@ class DRIVER_MONITOR_SETTINGS(): self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory" - self._WHEELPOS_THRESHOLD = 0.5 - self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON) - self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change @@ -67,9 +66,9 @@ class DRIVER_MONITOR_SETTINGS(): self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts -# model output refers to center of undistorted+leveled image -EFL = 598.0 # focal length in K -W, H = tici_d_frame_size # corrected image has same size as raw +# model output refers to center of cropped image, so need to apply the x displacement offset +RESIZED_FOCAL = 320.0 +H, W, FULL_W = 320, 160, 426 class DistractedType: NOT_DISTRACTED = 0 @@ -77,22 +76,22 @@ class DistractedType: DISTRACTED_BLINK = 2 DISTRACTED_E2E = 4 -def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): +def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd): # the output of these angles are in device frame # so from driver's perspective, pitch is up and yaw is right pitch_net, yaw_net, roll_net = angles_desc - face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H) - yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL) - pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL) + face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H) + yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL) + pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL) pitch = pitch_net + pitch_focal_angle yaw = -yaw_net + yaw_focal_angle # no calib for roll pitch -= rpy_calib[1] - yaw -= rpy_calib[2] + yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> += return roll_net, pitch, yaw class DriverPose(): @@ -113,6 +112,7 @@ class DriverBlink(): def __init__(self): self.left_blink = 0. self.right_blink = 0. + self.cfactor = 1. class DriverStatus(): def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): @@ -120,7 +120,7 @@ class DriverStatus(): self.settings = settings # init driver status - # self.wheelpos_learner = RunningStatFilter() + self.is_rhd_region = rhd self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose_calibrated = False self.blink = DriverBlink() @@ -137,8 +137,8 @@ class DriverStatus(): self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) - self.wheel_on_right = rhd self.face_detected = False + self.face_partial = False self.terminal_alert_cnt = 0 self.terminal_time = 0 self.step_change = 0. @@ -197,7 +197,7 @@ class DriverStatus(): yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: distracted_types.append(DistractedType.DISTRACTED_POSE) - if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: + if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor: distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: @@ -214,7 +214,13 @@ class DriverStatus(): return distracted_types 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], @@ -225,36 +231,28 @@ class DriverStatus(): self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): - # rhd_pred = driver_state.wheelOnRightProb - # if car_speed > 0.01: - # self.wheelpos_learner.push_and_update(rhd_pred) - # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: - # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD - # else: - # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD - driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData - if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, - driver_data.faceOrientationStd, driver_data.facePositionStd, - driver_data.readyProb, driver_data.notReadyProb)): + if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition, + driver_state.faceOrientationStd, driver_state.facePositionStd, + driver_state.readyProb, driver_state.notReadyProb)): return - self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD - self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) - if self.wheel_on_right: - self.pose.yaw *= -1 - self.pose.pitch_std = driver_data.faceOrientationStd[0] - self.pose.yaw_std = driver_data.faceOrientationStd[1] + self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD + self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial + self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region) + self.pose.pitch_std = driver_state.faceOrientationStd[0] + self.pose.yaw_std = driver_state.faceOrientationStd[1] + # self.pose.roll_std = driver_state.faceOrientationStd[2] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) - self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD - self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.eev1 = driver_data.notReadyProb[1] - self.eev2 = driver_data.readyProb[0] + self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial + self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD) + self.eev1 = driver_state.notReadyProb[1] + self.eev2 = driver_state.readyProb[0] self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ - driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std + driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) # update offseter diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 43b5e7747e..a84ed242ba 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1 def make_msg(face_detected, distracted=False, model_uncertain=False): - ds = log.DriverStateV2.new_message() - ds.leftDriverData.faceOrientation = [0., 0., 0.] - ds.leftDriverData.facePosition = [0., 0.] - ds.leftDriverData.faceProb = 1. * face_detected - ds.leftDriverData.leftEyeProb = 1. - ds.leftDriverData.rightEyeProb = 1. - ds.leftDriverData.leftBlinkProb = 1. * distracted - ds.leftDriverData.rightBlinkProb = 1. * distracted - ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] - ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] + ds = log.DriverState.new_message() + ds.faceOrientation = [0., 0., 0.] + ds.facePosition = [0., 0.] + ds.faceProb = 1. * face_detected + ds.leftEyeProb = 1. + ds.rightEyeProb = 1. + ds.leftBlinkProb = 1. * distracted + ds.rightBlinkProb = 1. * distracted + ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] + ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] # TODO: test both separately when e2e is used - ds.leftDriverData.readyProb = [0., 0., 0., 0.] - ds.leftDriverData.notReadyProb = [0., 0.] + ds.readyProb = [0., 0., 0., 0.] + ds.notReadyProb = [0., 0.] return ds diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 032b504879..b83629c76a 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -52,7 +52,7 @@ def model_replay(lr, frs): vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size)) vipc_server.start_listener() - sm = messaging.SubMaster(['modelV2', 'driverStateV2']) + sm = messaging.SubMaster(['modelV2', 'driverState']) pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) try: @@ -112,7 +112,7 @@ def model_replay(lr, frs): if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: recv = "modelV2" elif msg.which() == 'driverCameraState': - recv = "driverStateV2" + recv = "driverState" # wait for a response with Timeout(15, f"timed out waiting for {recv}"): @@ -170,8 +170,8 @@ if __name__ == "__main__": 'logMonoTime', 'modelV2.frameDropPerc', 'modelV2.modelExecutionTime', - 'driverStateV2.modelExecutionTime', - 'driverStateV2.dspExecutionTime' + 'driverState.modelExecutionTime', + 'driverState.dspExecutionTime' ] # TODO this tolerence is absurdly large tolerance = 5e-1 if PC else None diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 626d54a8f0..90520f2619 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -1d0979ca59dbc89bc5890656e9501e83f0556d50 +f74ab97371be93fdc28333e5ea12bbb78c3a32d0 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 89885ef397..1eda9bc7f5 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -293,7 +293,7 @@ CONFIGS = [ ProcessConfig( proc_name="dmonitoringd", pub_sub={ - "driverStateV2": ["driverMonitoringState"], + "driverState": ["driverMonitoringState"], "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [], }, ignore=["logMonoTime", "valid"], diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 3beeaff3b2..6cf53a046e 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -33,7 +33,7 @@ PROCS = { "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, "./boardd": 3.63, - "./_dmonitoringmodeld": 5.0, + "./_dmonitoringmodeld": 10.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "./_soundd": 1.0, @@ -60,7 +60,7 @@ TIMINGS = { "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], "modelV2": [2.5, 0.35], - "driverStateV2": [2.5, 0.40], + "driverState": [2.5, 0.40], "liveLocationKalman": [2.5, 0.35], "wideRoadCameraState": [1.5, 0.35], } @@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase): # TODO: this went up when plannerd cpu usage increased, why? cfgs = [ ("modelV2", 0.050, 0.036), - ("driverStateV2", 0.050, 0.026), + ("driverState", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 868a97f604..06578b455a 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { emit done(); } -DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { +DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) { face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } @@ -57,36 +57,43 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { return; } - cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); - cereal::DriverStateV2::DriverData::Reader driver_data; + const int width = 4 * height() / 3; + const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()}; + const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()}; - // is_rhd = driver_state.getWheelOnRightProb() > 0.5; - driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + // blackout + const QColor bg(0, 0, 0, 140); + const QRect& blackout_rect = rect(); + p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg); + p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg); + p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz - bool face_detected = driver_data.getFaceProb() > 0.5; + // face bounding box + cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState(); + bool face_detected = driver_state.getFaceProb() > 0.5; if (face_detected) { - auto fxy_list = driver_data.getFacePosition(); - auto std_list = driver_data.getFaceOrientationStd(); + auto fxy_list = driver_state.getFacePosition(); + auto std_list = driver_state.getFaceOrientationStd(); float face_x = fxy_list[0]; float face_y = fxy_list[1]; float face_std = std::max(std_list[0], std_list[1]); float alpha = 0.7; - if (face_std > 0.15) { - alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0); + if (face_std > 0.08) { + alpha = std::max(0.7 - (face_std-0.08)*7, 0.0); } - const int box_size = 220; - // use approx instead of distort_points - int fbox_x = 1080.0 - 1714.0 * face_x; - int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y; + const int box_size = 0.6 * rect2.height() / 2; + const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored + int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width(); + int fbox_y = valid_rect.center().y() + face_y * valid_rect.height(); p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10)); p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0); } // icon - const int img_offset = 60; - const int img_x = rect().left() + img_offset; - const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; - p.setOpacity(face_detected ? 1.0 : 0.2); + const int img_offset = 30; + 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.drawPixmap(img_x, img_y, face_img); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 0a3b9762e5..f16e8e4e0d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -54,15 +54,16 @@ const mat4 device_transform = {{ }}; mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { - const float driver_view_ratio = 2.0; - const float yscale = stream_height * driver_view_ratio / stream_width; + const float driver_view_ratio = 1.333; + const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width; const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; mat4 transform = (mat4){{ - xscale, 0.0, 0.0, 0.0, - 0.0, yscale, 0.0, 0.0, + 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, }}; + return transform; } From 6618d2bebee9a1fc5a0ee5d5a9b2764403865281 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 10 Jun 2022 16:18:31 -0700 Subject: [PATCH 034/226] Add missing fw versions for 2019 Sonata (#24814) --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7d3ab93cde..4ca81fdb40 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -501,6 +501,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', + b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', @@ -509,6 +510,7 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', ], }, CAR.TUCSON: { From a8ccd8f838aff958a60546de04bf42220567b288 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 10 Jun 2022 16:26:06 -0700 Subject: [PATCH 035/226] put cereal on master --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index e9d3597d23..ff49c8e126 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e9d3597d23311a3e33a2def74ceec839e5ff4bf5 +Subproject commit ff49c8e126ea04889af13d690ceaf520ce7084d2 From 3066ad81a8b2f89a22ddfc86a879395c573ce0f5 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 10 Jun 2022 17:57:23 -0700 Subject: [PATCH 036/226] Car interface: set max lateral torque from table (#24789) * json * better naem * Read from table * formatting and default to nan * Generate docs * Read from table * this should be the same * Prius v is full * test we always set the tunes correctly add to release files * Set for all cars Set for all cars * Revert tuning changes Revert tuning changes * remove that * fixes * update ref commit for new maxLateralAccels Co-authored-by: Shane Smiskol --- docs/CARS.md | 68 +++++++++++----------- release/files_common | 1 + selfdrive/car/chrysler/interface.py | 8 --- selfdrive/car/docs_definitions.py | 2 +- selfdrive/car/gm/interface.py | 2 - selfdrive/car/honda/interface.py | 11 ---- selfdrive/car/hyundai/interface.py | 8 --- selfdrive/car/interfaces.py | 10 +++- selfdrive/car/subaru/interface.py | 2 - selfdrive/car/tests/test_car_interfaces.py | 5 +- selfdrive/car/tests/test_docs.py | 6 ++ selfdrive/car/torque_data.json | 1 + selfdrive/car/toyota/interface.py | 12 ---- selfdrive/car/volkswagen/interface.py | 6 -- selfdrive/test/process_replay/ref_commit | 2 +- 15 files changed, 57 insertions(+), 87 deletions(-) create mode 100644 selfdrive/car/torque_data.json diff --git a/docs/CARS.md b/docs/CARS.md index e9b9e947f3..479c519dab 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -35,7 +35,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** -# Gold - 29 cars +# Gold - 28 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -52,10 +52,9 @@ How We Rate The Cars |Lexus|ES 2019-21|All|||||| |Lexus|ES Hybrid 2019-22|All|||||| |Lexus|NX 2020|All|||||| -|Lexus|NX Hybrid 2020|All|||||| +|Lexus|RX 2020-22|All|||||| |Lexus|UX Hybrid 2019-21|All|||||| |Toyota|Avalon 2022|All|||||| -|Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| |Toyota|Corolla 2020-22|All|||||| @@ -69,14 +68,13 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 78 cars +# Silver - 75 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| |Audi|A3 2014-19|ACC + Lane Assist|||||| |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| |Audi|Q2 2018|ACC + Lane Assist|||||| -|Audi|Q3 2020-21|ACC + Lane Assist|||||| |Audi|RS3 2018|ACC + Lane Assist|||||| |Audi|S3 2015-17|ACC + Lane Assist|||||| |Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| @@ -93,7 +91,6 @@ How We Rate The Cars |Hyundai|Santa Fe 2021-22|All|||||| |Hyundai|Santa Fe Hybrid 2022|All|||||| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|||||| -|Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Tucson Diesel 2019|SCC + LKAS|||||| |Kia|Ceed 2019|SCC + LKAS|||||| |Kia|Forte 2018|SCC + LKAS|||||| @@ -106,15 +103,16 @@ How We Rate The Cars |Kia|Sorento 2018|SCC + LKAS|||||| |Kia|Sorento 2019|SCC + LKAS|||||| |Kia|Stinger 2018|SCC + LKAS|||||| -|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|NX 2018-19|All|[3](#footnotes)||||| |Lexus|NX Hybrid 2018-19|All|[3](#footnotes)||||| -|Lexus|RX 2020-22|All|||||| +|Lexus|NX Hybrid 2020|All|||||| |Lexus|RX Hybrid 2020-21|All|||||| |Mazda|CX-5 2022|All|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| +|Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Forester 2019-21|All|||||| +|Subaru|Impreza 2020-21|EyeSight|||||| |Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|||||| |Škoda|Karoq 2019|Driver Assistance|||||| |Škoda|Kodiaq 2018-19|Driver Assistance|||||| @@ -125,18 +123,17 @@ How We Rate The Cars |Toyota|Alphard 2019-20|All|||||| |Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| |Toyota|Highlander 2017-19|All|[3](#footnotes)||||| |Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| |Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||| |Toyota|Prius Prime 2017-20|All|[3](#footnotes)||||| -|Toyota|RAV4 2022|All|||||| |Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 Hybrid 2022|All|||||| |Toyota|Sienna 2018-20|All|[3](#footnotes)||||| -|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| |Volkswagen|Golf 2015-20|Driver Assistance|||||| |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|||||| @@ -145,57 +142,59 @@ How We Rate The Cars |Volkswagen|Golf R 2016-19|Driver Assistance|||||| |Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| |Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| -|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| |Volkswagen|Polo 2020|Driver Assistance|||||| |Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 66 cars +# Bronze - 70 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|||||| |Acura|RDX 2016-18|AcuraWatch Plus|||||| -|Acura|RDX 2019-21|All|||||| +|Acura|RDX 2019-21|All|||||| +|Audi|Q3 2020-21|ACC + Lane Assist|||||| |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| -|Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica 2020|Adaptive Cruise|||||| +|Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| +|Chrysler|Pacifica 2020|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|||||| +|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| -|Honda|Accord 2018-21|All|||||| -|Honda|Accord Hybrid 2018-21|All|||||| +|Honda|Accord 2018-21|All|||||| +|Honda|Accord Hybrid 2018-21|All|||||| |Honda|Civic 2016-18|Honda Sensing|||||| -|Honda|Civic 2019-20|All|||[2](#footnotes)||| -|Honda|Civic Hatchback 2017-21|Honda Sensing|||||| +|Honda|Civic 2019-20|All|||[2](#footnotes)||| +|Honda|Civic Hatchback 2017-21|Honda Sensing|||||| |Honda|CR-V 2015-16|Touring|||||| -|Honda|CR-V 2017-21|Honda Sensing|||||| +|Honda|CR-V 2017-21|Honda Sensing|||||| |Honda|CR-V Hybrid 2017-19|Honda Sensing|||||| |Honda|e 2020|All|||||| -|Honda|Fit 2018-19|Honda Sensing|||||| +|Honda|Fit 2018-19|Honda Sensing|||||| |Honda|Freed 2020|Honda Sensing|||||| |Honda|HR-V 2019-20|Honda Sensing|||||| -|Honda|Insight 2019-21|All|||||| -|Honda|Inspire 2018|All|||||| +|Honda|Insight 2019-21|All|||||| +|Honda|Inspire 2018|All|||||| |Honda|Odyssey 2018-20|Honda Sensing|||||| -|Honda|Passport 2019-21|All|||||| -|Honda|Pilot 2016-21|Honda Sensing|||||| -|Honda|Ridgeline 2017-22|Honda Sensing|||||| +|Honda|Passport 2019-21|All|||||| +|Honda|Pilot 2016-21|Honda Sensing|||||| +|Honda|Ridgeline 2017-22|Honda Sensing|||||| |Hyundai|Elantra 2017-19|SCC + LKAS|||||| |Hyundai|Genesis 2015-16|SCC + LKAS|||||| |Hyundai|Ioniq Electric 2019|SCC + LKAS|||||| |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| +|Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Tucson 2021|SCC + LKAS|||||| |Hyundai|Veloster 2019-20|SCC + LKAS|||||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| -|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| +|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| |Kia|Optima 2017|SCC + LKAS|||||| |Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| +|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|IS 2017-19|All|||||| |Lexus|RC 2020|All|||||| |Lexus|RX 2016-18|All|[3](#footnotes)||||| @@ -207,20 +206,21 @@ How We Rate The Cars |Nissan|X-Trail 2017|ProPILOT|||||| |Subaru|Ascent 2019-20|All|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| -|Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| -|Subaru|Impreza 2020-21|EyeSight|||||| -|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| |Toyota|C-HR 2017-21|All|||||| -|Toyota|C-HR Hybrid 2017-19|All|||||| +|Toyota|C-HR Hybrid 2017-19|All|||||| |Toyota|Corolla 2017-19|All|[3](#footnotes)||||| |Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| -|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance|||||| +|Toyota|RAV4 2022|All|||||| +|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Jetta 2018-21|Driver Assistance|||||| |Volkswagen|Jetta GLI 2021|Driver Assistance|||||| +|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| |Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|||||| diff --git a/release/files_common b/release/files_common index ceb0110606..5230511ddd 100644 --- a/release/files_common +++ b/release/files_common @@ -104,6 +104,7 @@ selfdrive/car/fw_versions.py selfdrive/car/isotp_parallel_query.py selfdrive/car/tests/__init__.py selfdrive/car/tests/test_car_interfaces.py +selfdrive/car/torque_data.json selfdrive/car/body/*.py selfdrive/car/chrysler/*.py diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index e47b085533..55672dd4ab 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -23,14 +23,6 @@ class CarInterface(CarInterfaceBase): ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 - # set max lateral acceleration - if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): - ret.maxLateralAccel = 1.6 - if candidate in (CAR.PACIFICA_2018_HYBRID,): - ret.maxLateralAccel = 1.4 - if candidate in (CAR.PACIFICA_2017_HYBRID,): - ret.maxLateralAccel = 1.2 - if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): ret.wheelbase = 2.91 # in meters ret.steerRatio = 12.7 diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index e3b46c29e4..3700a24835 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -7,7 +7,7 @@ from enum import Enum from typing import Dict, List, Optional, Union, no_type_check TACO_TORQUE_THRESHOLD = 2.5 # m/s^2 -GREAT_TORQUE_THRESHOLD = 1.5 # m/s^2 +GREAT_TORQUE_THRESHOLD = 1.4 # m/s^2 GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index bc43086586..498f4b3347 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -83,7 +83,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.7 # Stock 15.7, LiveParameters tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh - ret.maxLateralAccel = 1.6 ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] @@ -111,7 +110,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 - ret.maxLateralAccel = 1.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() elif candidate == CAR.BUICK_REGAL: diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index de5db98ea6..ea7deab5d7 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -100,7 +100,6 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] else: - ret.maxLateralAccel = 0.4 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. @@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 1. - ret.maxLateralAccel = 1.6 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.ACCORD, CAR.ACCORDH): @@ -128,7 +126,6 @@ class CarInterface(CarInterfaceBase): if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] else: - ret.maxLateralAccel = 1.6 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: @@ -165,7 +162,6 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] else: - ret.maxLateralAccel = 1.7 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] tire_stiffness_factor = 0.677 @@ -190,7 +186,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.75 - ret.maxLateralAccel = 1.7 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: @@ -222,7 +217,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.38 ret.steerRatio = 15.0 # as spec tire_stiffness_factor = 0.444 - ret.maxLateralAccel = 0.9 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] @@ -232,7 +226,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.75 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 11.95 # as spec - ret.maxLateralAccel = 1.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] tire_stiffness_factor = 0.677 @@ -245,7 +238,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 - ret.maxLateralAccel = 0.8 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate == CAR.ODYSSEY_CHN: @@ -266,7 +258,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.25 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 - ret.maxLateralAccel = 1.5 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: @@ -277,7 +268,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 - ret.maxLateralAccel = 1.3 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: @@ -288,7 +278,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 - ret.maxLateralAccel = 1.4 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 831b318d55..08af654996 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase): # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 - ret.maxLateralAccel = 3.2 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): @@ -72,7 +71,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - ret.maxLateralAccel = 2.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_LF: @@ -80,7 +78,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - ret.maxLateralAccel = 1.8 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: @@ -89,7 +86,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 - ret.maxLateralAccel = 2.5 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): @@ -146,7 +142,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 - ret.maxLateralAccel = 3.0 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): @@ -196,7 +191,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 - ret.maxLateralAccel = 2.9 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_HEV: @@ -228,7 +222,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable - ret.maxLateralAccel = 2.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: @@ -254,7 +247,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) tire_stiffness_factor = 0.5 - ret.maxLateralAccel = 2.1 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_EV6: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a2c11bf023..9220aee522 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,3 +1,4 @@ +import json import os import time from abc import abstractmethod, ABC @@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json') # generic car and radar interfaces @@ -81,7 +83,7 @@ class CarInterfaceBase(ABC): ret.steerControlType = car.CarParams.SteerControlType.torque ret.minSteerSpeed = 0. ret.wheelSpeedFactor = 1.0 - ret.maxLateralAccel = float('nan') + ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this @@ -105,6 +107,12 @@ class CarInterfaceBase(ABC): ret.steerLimitTimer = 1.0 return ret + @staticmethod + def get_torque_params(candidate, default=float('NaN')): + with open(TORQUE_PARAMS_PATH) as f: + data = json.load(f) + return {key: data[key].get(candidate, default) for key in data} + @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: pass diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index edd26a4449..d0d8e91ce1 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -51,7 +51,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock ret.steerActuatorDelay = 0.1 - ret.maxLateralAccel = 1.3 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]] @@ -62,7 +61,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock ret.steerActuatorDelay = 0.1 - ret.maxLateralAccel = 3.2 ret.lateralTuning.pid.kf = 0.000038 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]] diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 92024ab0c2..52c89440c7 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import math import unittest import importlib from parameterized import parameterized @@ -39,7 +40,9 @@ class TestCarInterfaces(unittest.TestCase): if tuning == 'pid': self.assertTrue(len(car_params.lateralTuning.pid.kpV)) elif tuning == 'torque': - self.assertTrue(car_params.lateralTuning.torque.kf > 0) + kf = car_params.lateralTuning.torque.kf + self.assertTrue(not math.isnan(kf) and kf > 0) + self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction)) elif tuning == 'indi': self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV)) diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index fed6989d40..b4bc14ef00 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -3,6 +3,7 @@ import unittest from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info +from selfdrive.car.docs_definitions import Column, Star class TestCarDocs(unittest.TestCase): @@ -37,6 +38,11 @@ class TestCarDocs(unittest.TestCase): if "rav4" in tokens: self.assertIn("RAV4", car.model, "Use correct capitalization") + def test_torque_star(self): + for car in self.all_cars: + if car.car_name == "honda": + self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json new file mode 100644 index 0000000000..63ee0e9bcd --- /dev/null +++ b/selfdrive/car/torque_data.json @@ -0,0 +1 @@ +{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": 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"NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}} \ No newline at end of file diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9440c73f5d..e737b4d2e7 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -74,7 +74,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.035 tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - ret.maxLateralAccel = 1.4 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.CHR, CAR.CHRH): @@ -83,7 +82,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 1.3 set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): @@ -96,7 +94,6 @@ class CarInterface(CarInterfaceBase): ret.maxLateralAccel = 2.4 set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05) else: - ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): @@ -105,7 +102,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people - ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): @@ -114,7 +110,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited - ret.maxLateralAccel = 1.8 set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): @@ -125,7 +120,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.maxLateralAccel = 1.6 set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): @@ -134,7 +128,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid - ret.maxLateralAccel = 2.5 set_lat_tune(ret.lateralTuning, LatTunes.PID_D) # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. @@ -159,7 +152,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - ret.maxLateralAccel = 2.2 set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: @@ -168,7 +160,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 1.6 set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): @@ -192,7 +183,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: @@ -201,7 +191,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.4 # True steerRatio from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 2.0 set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: @@ -210,7 +199,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 2.4 set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 90bbd6d889..3a0d7c8ce8 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -64,17 +64,14 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.ATLAS_MK1: ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 - ret.maxLateralAccel = 1.4 elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 - ret.maxLateralAccel = 1.5 elif candidate == CAR.JETTA_MK7: ret.mass = 1328 + STD_CARGO_KG ret.wheelbase = 2.71 - ret.maxLateralAccel = 1.2 elif candidate == CAR.PASSAT_MK8: ret.mass = 1551 + STD_CARGO_KG @@ -95,7 +92,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.TIGUAN_MK2: ret.mass = 1715 + STD_CARGO_KG ret.wheelbase = 2.74 - ret.maxLateralAccel = 1.1 elif candidate == CAR.TOURAN_MK2: ret.mass = 1516 + STD_CARGO_KG @@ -113,7 +109,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.AUDI_A3_MK3: ret.mass = 1335 + STD_CARGO_KG ret.wheelbase = 2.61 - ret.maxLateralAccel = 1.7 elif candidate == CAR.AUDI_Q2_MK1: ret.mass = 1205 + STD_CARGO_KG @@ -122,7 +117,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.AUDI_Q3_MK2: ret.mass = 1623 + STD_CARGO_KG ret.wheelbase = 2.68 - ret.maxLateralAccel = 1.6 elif candidate == CAR.SEAT_ATECA_MK1: ret.mass = 1900 + STD_CARGO_KG diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2f42570934..298de7999a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f301bdf52b271c8c4ef0f2bce3be9c8f90037652 +935abbc21282e10572c9324382feba3fee2fe379 \ No newline at end of file From f398b3efc92f59f407379d38ead0f99bf814b95c Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 10 Jun 2022 22:45:32 -0300 Subject: [PATCH 037/226] Fix Lexus NX Hybrid 2020 engine ecu (#24817) Wrong address in engine ecu. --- selfdrive/car/toyota/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 7e6cfa0d09..2c151266cf 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1585,7 +1585,7 @@ FW_VERSIONS = { ], }, CAR.LEXUS_NXH_TSS2: { - (Ecu.engine, 0x700, None): [ + (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.esp, 0x7b0, None): [ From 88a100435f1da9bf061b360e8a5cd02e414d6e8b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 10 Jun 2022 22:52:34 -0700 Subject: [PATCH 038/226] compatibility docs: auto-generate star descriptions (#24809) * Auto-generate star descriptions * Need this for the website * And this * required changes to make the website generation work * better names * Revert "better names" This reverts commit be7dbbb5d846d7d55a1ad69533945e6a6c8a0b7c. * simpler --- selfdrive/car/CARS_template.md | 29 ++++++++-------------------- selfdrive/car/docs.py | 4 ++-- selfdrive/car/docs_definitions.py | 32 +++++++++++++++++++++++++++++++ 3 files changed, 42 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index f93dc64b06..891445a558 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -14,28 +14,15 @@ Cars are organized into three tiers: How We Rate The Cars --- -### openpilot Adaptive Cruise Control (ACC) -- {{star_icon.format(Star.FULL.value)}} - openpilot is able to control the gas and brakes. -- {{star_icon.format(Star.HALF.value)}} - openpilot is able to control the gas and brakes with some restrictions. -- {{star_icon.format(Star.EMPTY.value)}} - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system. - -### Stop and Go -- {{star_icon.format(Star.FULL.value)}} - Adaptive Cruise Control (ACC) operates down to 0 mph. -- {{star_icon.format(Star.EMPTY.value)}} - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed. - -### Steer to 0 -- {{star_icon.format(Star.FULL.value)}} - openpilot can control the steering wheel down to 0 mph. -- {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds. - -### Steering Torque -- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque to take tighter turns. -- {{star_icon.format(Star.HALF.value)}} - Car has enough steering torque for comfortable highway driving. -- {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns. - -### Actively Maintained -- {{star_icon.format(Star.FULL.value)}} - Mainline software support, harness hardware sold by comma, lots of users, primary development target. -- {{star_icon.format(Star.EMPTY.value)}} - Low user count, community maintained, harness hardware not sold by comma. +{% for star_row in star_descriptions.values() %} +{% for name, stars in star_row.items() %} +### {{name}} +{% for star, description in stars %} +- {{star_icon.format(star)}} - {{description}} +{% endfor %} +{% endfor %} +{% endfor %} **All supported cars can move between the tiers as support changes.** {% for tier, cars in tiers.items() %} diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 899f2c0878..860503dbdd 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -7,7 +7,7 @@ from natsort import natsorted from typing import Dict, List from common.basedir import BASEDIR -from selfdrive.car.docs_definitions import CarInfo, Column, Star, Tier +from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR from selfdrive.car.tests.routes import non_tested_cars @@ -65,7 +65,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: footnotes = [fn.value.text for fn in ALL_FOOTNOTES] cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info, - footnotes=footnotes, Star=Star, Column=Column) + footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS) return cars_md diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 3700a24835..f09dad7860 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -150,3 +150,35 @@ class Harness(Enum): nissan_b = "Nissan B" mazda = "Mazda" none = "None" + + +STAR_DESCRIPTIONS = { + "Gas & Brakes": { # icon and row name + "openpilot Adaptive Cruise Control (ACC)": [ # star column + [Star.FULL.value, "openpilot is able to control the gas and brakes."], + [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."], + [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."], + ], + Column.FSR_LONGITUDINAL.value: [ + [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."], + [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."], + ], + }, + "Steering": { + Column.FSR_STEERING.value: [ + [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."], + [Star.EMPTY.value, "No steering control below certain speeds."], + ], + Column.STEERING_TORQUE.value: [ + [Star.FULL.value, "Car has enough steering torque to take tighter turns."], + [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."], + [Star.EMPTY.value, "Limited ability to make turns."], + ], + }, + "Support": { + Column.MAINTAINED.value: [ + [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."], + [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."], + ], + }, +} From 843e59f6f0be33e6c51a35ef8912f5b7c4b58ca5 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 10 Jun 2022 22:52:48 -0700 Subject: [PATCH 039/226] Misc torque control fixes (#24801) * Fiction compensation should be based on error * Update refs * Add deadzone * update ref --- cereal | 2 +- selfdrive/car/toyota/interface.py | 2 +- selfdrive/car/toyota/tunes.py | 4 ++-- selfdrive/controls/lib/drive_helpers.py | 16 +++++++++++++--- selfdrive/controls/lib/latcontrol_torque.py | 20 +++++++++++--------- selfdrive/controls/lib/longcontrol.py | 12 +----------- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 30 insertions(+), 28 deletions(-) diff --git a/cereal b/cereal index ff49c8e126..a197e38c0c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit ff49c8e126ea04889af13d690ceaf520ce7084d2 +Subproject commit a197e38c0cef00ececf4c7500438d37659d9199e diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index e737b4d2e7..83eed611c3 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -39,7 +39,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.maxLateralAccel = 1.7 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06) + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06, steering_angle_deadzone_deg=1.0) elif candidate == CAR.PRIUS_V: stop_and_go = True diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index e97ed6b056..3de6daae21 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -50,9 +50,9 @@ def set_long_tune(tune, name): ###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True): +def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): if name == LatTunes.TORQUE: - set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION) + set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg) elif 'PID' in str(name): tune.init('pid') tune.pid.kiBP = [0.0] diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 91981259aa..1fecdd7c63 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -38,6 +38,16 @@ class MPC_COST_LAT: STEER_RATE = 1.0 +def apply_deadzone(error, deadzone): + if error > deadzone: + error -= deadzone + elif error < - deadzone: + error += deadzone + else: + error = 0. + return error + + def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) @@ -98,10 +108,10 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): curvatures = [0.0]*CONTROL_N curvature_rates = [0.0]*CONTROL_N v_ego = max(v_ego, 0.1) - + # TODO this needs more thought, use .2s extra for now to estimate other delays delay = CP.steerActuatorDelay + .2 - + # MPC can plan to turn the wheel and turn back before t_delay. This means # in high delay cases some corrections never even get commanded. So just use # psi to calculate a simple linearization of desired curvature @@ -109,7 +119,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): psi = interp(delay, T_IDXS[:CONTROL_N], psis) average_curvature_desired = psi / (v_ego * delay) desired_curvature = 2 * average_curvature_desired - current_curvature_desired - + # This is the "desired rate of the setpoint" not an actual desired rate desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 47f0b69f2b..12714082a6 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -4,6 +4,7 @@ from cereal import log from common.numpy_fast import interp from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED from selfdrive.controls.lib.pid import PIDController +from selfdrive.controls.lib.drive_helpers import apply_deadzone from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: @@ -22,13 +23,14 @@ LOW_SPEED_FACTOR = 200 JERK_THRESHOLD = 0.2 -def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01): +def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0): tune.init('torque') tune.torque.useSteeringAngle = True tune.torque.kp = 1.0 / MAX_LAT_ACCEL tune.torque.kf = 1.0 / MAX_LAT_ACCEL tune.torque.ki = 0.1 / MAX_LAT_ACCEL tune.torque.friction = FRICTION + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg class LatControlTorque(LatControl): @@ -40,10 +42,7 @@ class LatControlTorque(LatControl): self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle self.friction = CP.lateralTuning.torque.friction self.kf = CP.lateralTuning.torque.kf - - def reset(self): - super().reset() - self.pid.reset() + self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() @@ -54,24 +53,27 @@ class LatControlTorque(LatControl): else: if self.use_steering_angle: actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) else: actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) + curvature_deadzone = 0.0 desired_lateral_accel = desired_curvature * CS.vEgo ** 2 - + # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 + lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature - error = setpoint - measurement + error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone) pid_log.error = error ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY # convert friction into lateral accel units for feedforward - friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction]) + friction_compensation = interp(error, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(error, diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index f2cd282198..e9458607d5 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,7 +1,7 @@ from cereal import car from common.numpy_fast import clip, interp from common.realtime import DT_CTRL -from selfdrive.controls.lib.drive_helpers import CONTROL_N +from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone from selfdrive.controls.lib.pid import PIDController from selfdrive.modeld.constants import T_IDXS @@ -12,16 +12,6 @@ ACCEL_MIN_ISO = -3.5 # m/s^2 ACCEL_MAX_ISO = 2.0 # m/s^2 -def apply_deadzone(error, deadzone): - if error > deadzone: - error -= deadzone - elif error < - deadzone: - error += deadzone - else: - error = 0. - return error - - def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, v_target_future, brake_pressed, cruise_standstill): """Update longitudinal control state machine""" diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 298de7999a..613b7f26ae 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -935abbc21282e10572c9324382feba3fee2fe379 \ No newline at end of file +123506cad1877e93bfe5c91ecdce654ef339959b From e3750877202a072e884ad0fb88709b23226c3a59 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 11 Jun 2022 00:14:58 -0700 Subject: [PATCH 040/226] Honda carcontroller and signal cleanup (#24806) * common signals * move stopping * space * clean up * bump opendbc --- opendbc | 2 +- selfdrive/car/honda/carcontroller.py | 27 ++++----------- selfdrive/car/honda/hondacan.py | 49 ++++++++++++---------------- 3 files changed, 29 insertions(+), 49 deletions(-) diff --git a/opendbc b/opendbc index ec0e1f20ba..58a2c9b2fc 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit ec0e1f20bae4c39326036c0061418404ac15ae9e +Subproject commit 58a2c9b2fc5c60ca68d3dced09f6c4c72ca72415 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index cf01fa2aaa..a6aa84adf6 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -95,8 +95,8 @@ def process_hud_alert(hud_alert): HUDData = namedtuple("HUDData", - ["pcm_accel", "v_cruise", "car", - "lanes", "fcw", "acc_alert", "steer_required"]) + ["pcm_accel", "v_cruise", "lead_visible", + "lanes_visible", "fcw", "acc_alert", "steer_required"]) class CarController: @@ -138,19 +138,6 @@ class CarController: self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL) # vehicle hud display, wait for one update from 10Hz 0x304 msg - if hud_control.lanesVisible: - hud_lanes = 1 - else: - hud_lanes = 0 - - if CC.enabled: - if hud_control.leadVisible: - hud_car = 2 - else: - hud_car = 1 - else: - hud_car = 0 - fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert) # **** process the car messages **** @@ -172,8 +159,6 @@ class CarController: can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl)) - stopping = actuators.longControlState == LongCtrlState.stopping - # 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]) # all of this is only relevant for HONDA NIDEC @@ -222,6 +207,8 @@ class CarController: if self.CP.carFingerprint in HONDA_BOSCH: self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX) self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) + + stopping = actuators.longControlState == LongCtrlState.stopping can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas, idx, stopping, self.CP.carFingerprint)) else: @@ -252,9 +239,9 @@ class CarController: # Send dashboard UI commands. if self.frame % 10 == 0: idx = (self.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, self.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) + hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, + hud_control.lanesVisible, fcw_display, acc_alert, steer_required) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index dcdc0e5f94..9c9e873e18 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -98,47 +98,40 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx) -def create_ui_commands(packer, CP, pcm_speed, hud, is_metric, idx, stock_hud): +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled) if CP.openpilotLongitudinalControl: + acc_hud_values = { + 'CRUISE_SPEED': hud.v_cruise, + 'ENABLE_MINI_CAR': 1, + 'HUD_DISTANCE': 3, # max distance setting on display + 'IMPERIAL_UNIT': int(not is_metric), + 'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0, + 'SET_ME_X01_2': 1, + } + if CP.carFingerprint in HONDA_BOSCH: - acc_hud_values = { - 'CRUISE_SPEED': hud.v_cruise, - 'ENABLE_MINI_CAR': 1, - 'SET_TO_1': 1, - 'HUD_LEAD': hud.car, - 'HUD_DISTANCE': 3, - 'ACC_ON': hud.car != 0, - 'SET_TO_X1': 1, - 'IMPERIAL_UNIT': int(not is_metric), - 'FCM_OFF': 1, - } + acc_hud_values['ACC_ON'] = hud.car != 0 + acc_hud_values['FCM_OFF'] = 1 + acc_hud_values['FCM_OFF_2'] = 1 else: - acc_hud_values = { - 'PCM_SPEED': pcm_speed * CV.MS_TO_KPH, - 'PCM_GAS': hud.pcm_accel, - 'CRUISE_SPEED': hud.v_cruise, - 'ENABLE_MINI_CAR': 1, - 'HUD_LEAD': hud.car, - 'HUD_DISTANCE': 3, # max distance setting on display - 'IMPERIAL_UNIT': int(not is_metric), - 'SET_ME_X01_2': 1, - 'SET_ME_X01': 1, - "FCM_OFF": stock_hud["FCM_OFF"], - "FCM_OFF_2": stock_hud["FCM_OFF_2"], - "FCM_PROBLEM": stock_hud["FCM_PROBLEM"], - "ICONS": stock_hud["ICONS"], - } + acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH + acc_hud_values['PCM_GAS'] = hud.pcm_accel + acc_hud_values['SET_ME_X01'] = 1 + acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF'] + acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2'] + acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM'] + acc_hud_values['ICONS'] = stock_hud['ICONS'] commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx)) lkas_hud_values = { 'SET_ME_X41': 0x41, 'STEERING_REQUIRED': hud.steer_required, - 'SOLID_LANES': hud.lanes, + 'SOLID_LANES': hud.lanes_visible, 'BEEP': 0, } From 1847a70a47b12ff5c7e7db9361f69d6d1e79a919 Mon Sep 17 00:00:00 2001 From: Maykon Pacheco <38124066+maykonpacheco@users.noreply.github.com> Date: Sat, 11 Jun 2022 14:08:24 -0400 Subject: [PATCH 041/226] test for the strip_bz2_extension method (#24826) --- selfdrive/athena/tests/test_athenad.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index b6457ca01d..a0b308c216 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -120,6 +120,13 @@ class TestAthenadMethods(unittest.TestCase): self.assertTrue(resp, 'list empty!') self.assertCountEqual(resp, expected) + def test_strip_bz2_extension(self): + fn = os.path.join(athenad.ROOT, 'qlog.bz2') + Path(fn).touch() + if fn.endswith('.bz2'): + self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) + + @with_http_server def test_do_upload(self, host): fn = os.path.join(athenad.ROOT, 'qlog.bz2') From a029245a784acb9fe3d8db7f1023aab222ec0dba Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 12:20:24 -0700 Subject: [PATCH 042/226] CI: fix docker push for base image --- .github/workflows/selfdrive_tests.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 04ae841f77..567fc05aa5 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -20,8 +20,7 @@ env: RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true + docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c @@ -201,12 +200,15 @@ jobs: submodules: true - name: Build Docker image run: eval "$BUILD" + - name: Push to container registry + run: | + $DOCKER_LOGIN + docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest - name: Build CL Docker image run: eval "$BUILD_CL" - name: Push to container registry run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest static_analysis: From 1c238e8c773eb58f88fc69cdcb77dba71430b735 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 13:06:07 -0700 Subject: [PATCH 043/226] pylint: add PyQt5 support --- .pylintrc | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/.pylintrc b/.pylintrc index 73035360ca..27539b743c 100644 --- a/.pylintrc +++ b/.pylintrc @@ -3,7 +3,7 @@ # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code -extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx +extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5 # Add files or directories to the blacklist. They should be base names, not # paths. @@ -250,13 +250,6 @@ max-line-length=100 # Maximum number of lines in a module max-module-lines=1000 -# List of optional constructs for which whitespace checking is disabled. `dict- -# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. -# `trailing-comma` allows a space between comma and closing bracket: (a, ). -# `empty-line` allows space-only lines. -no-space-check=trailing-comma, - dict-separator - # Allow the body of a class to be on the same line as the declaration if body # contains single statement. single-line-class-stmt=no From 5add0c6159db3810c17f0b27afd3dda882f95586 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sat, 11 Jun 2022 15:32:12 -0700 Subject: [PATCH 044/226] simulator: run simulator test in ci (#24691) * run simulator test in ci * block navd process * block ui * fix jenkins * build docker * remove tty * remove tty for carla * detach carla_sim * more retries * only build once * add more time for bridge * cleanup * use qt offscreen * expose to docker * block ui * use new dockerimage * fix * from ubuntu20.04 * install curl * add ssh * add locales * noninteractive * syntax * use base * smaller image * add git + git lfs * kill carla * run in parallel * fix missing agents * default agent? * little cleanup * default doesn't work * not in ci * fix path * fix path * new msg Co-authored-by: Adeeb Shihadeh --- Jenkinsfile | 129 ++++++++++-------- tools/sim/Dockerfile.sim | 2 +- tools/sim/Dockerfile.sim_nvidia | 21 +++ tools/sim/launch_openpilot.sh | 4 + tools/sim/lib/can.py | 1 + tools/sim/start_carla.sh | 7 +- tools/sim/start_openpilot_docker.sh | 22 +-- tools/sim/{test => tests}/__init__.py | 0 .../{test => tests}/test_carla_integration.py | 19 ++- 9 files changed, 133 insertions(+), 72 deletions(-) create mode 100644 tools/sim/Dockerfile.sim_nvidia rename tools/sim/{test => tests}/__init__.py (100%) rename tools/sim/{test => tests}/test_carla_integration.py (85%) diff --git a/Jenkinsfile b/Jenkinsfile index 3b134d7c0d..fed587bd21 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -42,6 +42,7 @@ def phone_steps(String device_type, steps) { pipeline { agent none environment { + CI = "1" TEST_DIR = "/data/openpilot" SOURCE_DIR = "/data/openpilot_source/" } @@ -74,71 +75,89 @@ pipeline { } } - stages { - stage('On-device Tests') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - stages { - stage('parallel tests') { - parallel { - stage('build') { - environment { - R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}" - } - steps { - phone_steps("tici", [ - ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], - ["build openpilot", "cd selfdrive/manager && ./build.py"], - ["test manager", "python selfdrive/manager/test/test_manager.py"], - ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], - ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], - ]) - } - } - - stage('HW + Unit Tests') { - steps { - phone_steps("tici2", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"], - ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], - ["test sensord", "python selfdrive/sensord/test/test_sensord.py"], - ]) - } - } - - stage('camerad') { - steps { - phone_steps("tici-party", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "python selfdrive/camerad/test/test_camerad.py"], - ["test exposure", "python selfdrive/camerad/test/test_exposure.py"], - ]) - } - } - - stage('replay') { - steps { - phone_steps("tici3", [ - ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], - ]) - } - } - - } + parallel { + + stage('simulator') { + agent { + dockerfile { + filename 'Dockerfile.sim_nvidia' + dir 'tools/sim' + args '--user=root' } } + steps { + sh "git config --global --add safe.directory ${WORKSPACE}" + sh "git lfs pull" + sh "${WORKSPACE}/tools/sim/build_container.sh" + sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh" + sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh" + } post { always { - cleanWs() + sh "docker kill carla_sim || true" + sh "rm -rf ${WORKSPACE}/* || true" + sh "rm -rf .* || true" } } + } + stage('build') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + environment { + R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}" + } + steps { + phone_steps("tici", [ + ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test manager", "python selfdrive/manager/test/test_manager.py"], + ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], + ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], + ]) + } + } + + stage('HW + Unit Tests') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici2", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"], + ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], + ["test sensord", "python selfdrive/sensord/test/test_sensord.py"], + ]) + } } + stage('camerad') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici-party", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test camerad", "python selfdrive/camerad/test/test_camerad.py"], + ["test exposure", "python selfdrive/camerad/test/test_exposure.py"], + ]) + } + } + + stage('replay') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici3", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], + ]) + } + } + } + + post { + always { + cleanWs() + } } } } diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index d869db90a6..d838efed13 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -27,6 +27,6 @@ COPY ./system $HOME/openpilot/system COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot -RUN scons -j$(nproc) +RUN scons -j12 RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia new file mode 100644 index 0000000000..5e5dd263da --- /dev/null +++ b/tools/sim/Dockerfile.sim_nvidia @@ -0,0 +1,21 @@ +FROM ubuntu:20.04 + +ENV DEBIAN_FRONTEND=noninteractive +RUN apt-get update && \ + apt-get install -y --no-install-recommends \ + apt-utils \ + sudo \ + ssh \ + curl \ + ca-certificates \ + git \ + git-lfs && \ + rm -rf /var/lib/apt/lists/* + +RUN curl -fsSL https://get.docker.com -o get-docker.sh && \ + sudo sh get-docker.sh && \ + distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \ + curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \ + curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \ + sudo apt-get update && \ + sudo apt-get install -y nvidia-docker2 diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 82fc4a71ac..15f45b4cc2 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -6,6 +6,10 @@ export SIMULATION="1" export FINGERPRINT="HONDA CIVIC 2016" export BLOCK="camerad,loggerd,encoderd" +if [[ "$CI" ]]; then + # TODO: offscreen UI should work + export BLOCK="${BLOCK},ui" +fi DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" cd ../../selfdrive/manager && exec ./manager.py diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index af0f415bbc..2b1048fef2 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -63,6 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged): msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx)) msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx)) msg.append(packer.make_can_msg("HUD_SETTING", 0, {})) + msg.append(packer.make_can_msg("CAR_SPEED", 0, {})) # *** cam bus *** msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx)) diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh index 912c7d6f08..abdaee4ea8 100755 --- a/tools/sim/start_carla.sh +++ b/tools/sim/start_carla.sh @@ -17,12 +17,17 @@ fi docker pull carlasim/carla:0.9.12 +EXTRA_ARGS="-it" +if [[ "$DETACH" ]]; then + EXTRA_ARGS="-d" +fi + docker run \ --name carla_sim \ --rm \ --gpus all \ --net=host \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ - -it \ + $EXTRA_ARGS \ carlasim/carla:0.9.12 \ /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index 106dbdeccb..e48e63574d 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -3,22 +3,26 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR -# expose X to the container -xhost +local:root - -docker pull ghcr.io/commaai/openpilot-sim:latest - OPENPILOT_DIR="/openpilot" -if ! [[ -z "$MOUNT_OPENPILOT" ]] -then +if ! [[ -z "$MOUNT_OPENPILOT" ]]; then OPENPILOT_DIR="$(dirname $(dirname $DIR))" EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH" fi +if [[ "$CI" ]]; then + CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py" +else + # expose X to the container + xhost +local:root + + docker pull ghcr.io/commaai/openpilot-sim:latest + CMD="./tmux_script.sh $*" + EXTRA_ARGS="${EXTRA_ARGS} -it" +fi + docker run --net=host\ --name openpilot_client \ --rm \ - -it \ --gpus all \ --device=/dev/dri:/dev/dri \ --device=/dev/input:/dev/input \ @@ -29,4 +33,4 @@ docker run --net=host\ -w "$OPENPILOT_DIR/tools/sim" \ $EXTRA_ARGS \ ghcr.io/commaai/openpilot-sim:latest \ - /bin/bash -c "./tmux_script.sh $*" + /bin/bash -c "$CMD" diff --git a/tools/sim/test/__init__.py b/tools/sim/tests/__init__.py similarity index 100% rename from tools/sim/test/__init__.py rename to tools/sim/tests/__init__.py diff --git a/tools/sim/test/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py similarity index 85% rename from tools/sim/test/test_carla_integration.py rename to tools/sim/tests/test_carla_integration.py index 8f76abb561..43db783f4e 100755 --- a/tools/sim/test/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -2,13 +2,18 @@ import subprocess import time import unittest +import os from multiprocessing import Queue from cereal import messaging +from common.basedir import BASEDIR from selfdrive.manager.helpers import unblock_stdout from tools.sim import bridge from tools.sim.bridge import CarlaBridge +CI = "CI" in os.environ + +SIM_DIR = os.path.join(BASEDIR, "tools/sim") class TestCarlaIntegration(unittest.TestCase): """ @@ -19,10 +24,12 @@ class TestCarlaIntegration(unittest.TestCase): def setUp(self): self.processes = [] - # We want to make sure that carla_sim docker isn't still running. - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - self.carla_process = subprocess.Popen(".././start_carla.sh") + if not CI: + # We want to make sure that carla_sim docker isn't still running. + subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) + self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR) + # Too many lagging messages in bridge.py can cause a crash. This prevents it. unblock_stdout() # Wait 10 seconds to startup carla @@ -30,16 +37,16 @@ class TestCarlaIntegration(unittest.TestCase): def test_engage(self): # Startup manager and bridge.py. Check processes are running, then engage and verify. - p_manager = subprocess.Popen("./launch_openpilot.sh", cwd='../') + p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR) self.processes.append(p_manager) sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState']) q = Queue() carla_bridge = CarlaBridge(bridge.parse_args([])) - p_bridge = carla_bridge.run(q, retries=3) + p_bridge = carla_bridge.run(q, retries=10) self.processes.append(p_bridge) - max_time_per_step = 20 + max_time_per_step = 60 # Wait for bridge to startup start_waiting = time.monotonic() From 1139fe507b01f34de9714c99228f411558b44231 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 16:38:24 -0700 Subject: [PATCH 045/226] Move selfdrive/hardware/ to system/ (#24725) * move hardware to system/ * fix mypy --- Jenkinsfile | 2 +- common/basedir.py | 2 +- common/modeldata.h | 2 +- common/params.cc | 2 +- common/realtime.py | 2 +- common/swaglog.cc | 2 +- common/tests/test_swaglog.cc | 2 +- launch_chffrplus.sh | 6 ++-- release/files_common | 30 +++++++++--------- scripts/disable-powersave.py | 2 +- selfdrive/athena/athenad.py | 2 +- selfdrive/athena/registration.py | 2 +- selfdrive/boardd/boardd.cc | 2 +- selfdrive/boardd/main.cc | 2 +- selfdrive/boardd/pandad.py | 2 +- .../boardd/tests/test_boardd_loopback.py | 2 +- selfdrive/camerad/cameras/camera_common.cc | 2 +- selfdrive/camerad/cameras/camera_common.h | 2 +- selfdrive/camerad/main.cc | 2 +- selfdrive/camerad/snapshot/snapshot.py | 2 +- selfdrive/camerad/test/test_camerad.py | 2 +- selfdrive/camerad/test/test_exposure.py | 2 +- selfdrive/controls/controlsd.py | 2 +- selfdrive/hardware | 1 + selfdrive/loggerd/config.py | 2 +- selfdrive/loggerd/logger.h | 2 +- selfdrive/loggerd/loggerd.h | 2 +- selfdrive/loggerd/tests/test_encoder.py | 2 +- selfdrive/loggerd/uploader.py | 2 +- selfdrive/manager/build.py | 2 +- selfdrive/manager/manager.py | 2 +- selfdrive/manager/process.py | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/manager/test/test_manager.py | 2 +- selfdrive/modeld/modeld.cc | 2 +- selfdrive/modeld/models/dmonitoring.cc | 2 +- selfdrive/modeld/thneed/compile.cc | 2 +- selfdrive/sensord/test/test_sensord.py | 2 +- selfdrive/sentry.py | 2 +- selfdrive/statsd.py | 2 +- selfdrive/swaglog.py | 2 +- selfdrive/test/helpers.py | 2 +- selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/process_replay/test_debayer.py | 2 +- selfdrive/thermald/power_monitoring.py | 2 +- selfdrive/thermald/thermald.py | 2 +- selfdrive/timezoned.py | 2 +- selfdrive/ui/main.cc | 2 +- selfdrive/ui/qt/api.cc | 2 +- selfdrive/ui/qt/maps/map_helpers.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/qt_window.h | 2 +- selfdrive/ui/qt/setup/setup.cc | 2 +- selfdrive/ui/qt/setup/updater.cc | 2 +- selfdrive/ui/qt/spinner.cc | 2 +- selfdrive/ui/qt/text.cc | 2 +- selfdrive/ui/qt/util.cc | 2 +- selfdrive/ui/qt/widgets/input.cc | 2 +- selfdrive/ui/qt/widgets/offroad_alerts.cc | 2 +- selfdrive/ui/qt/widgets/ssh_keys.h | 2 +- selfdrive/ui/qt/window.cc | 2 +- selfdrive/ui/replay/replay.cc | 2 +- selfdrive/ui/replay/route.cc | 2 +- selfdrive/ui/soundd/sound.h | 2 +- selfdrive/ui/tests/test_soundd.py | 2 +- selfdrive/ui/ui.cc | 2 +- selfdrive/updated.py | 6 ++-- {selfdrive/hardware/pc => system}/__init__.py | 0 {selfdrive => system}/hardware/.gitignore | 0 {selfdrive => system}/hardware/__init__.py | 6 ++-- {selfdrive => system}/hardware/base.h | 0 {selfdrive => system}/hardware/base.py | 0 {selfdrive => system}/hardware/hw.h | 4 +-- .../tici => system/hardware/pc}/__init__.py | 0 {selfdrive => system}/hardware/pc/hardware.py | 2 +- system/hardware/tici/__init__.py | 0 .../hardware/tici/agnos.json | 0 {selfdrive => system}/hardware/tici/agnos.py | 0 .../hardware/tici/amplifier.py | 0 .../hardware/tici/hardware.h | 2 +- .../hardware/tici/hardware.py | 8 ++--- {selfdrive => system}/hardware/tici/iwlist.py | 0 {selfdrive => system}/hardware/tici/pins.py | 0 .../hardware/tici/power_draw_test.py | 4 +-- .../hardware/tici/power_monitor.py | 0 .../hardware/tici/precise_power_measure.py | 2 +- .../hardware/tici/restart_modem.sh | 0 .../hardware/tici/test_agnos_updater.py | 0 .../hardware/tici/test_power_draw.py | 4 +-- {selfdrive => system}/hardware/tici/updater | Bin tools/lib/auth_config.py | 2 +- 91 files changed, 102 insertions(+), 101 deletions(-) create mode 120000 selfdrive/hardware rename {selfdrive/hardware/pc => system}/__init__.py (100%) rename {selfdrive => system}/hardware/.gitignore (100%) rename {selfdrive => system}/hardware/__init__.py (56%) rename {selfdrive => system}/hardware/base.h (100%) rename {selfdrive => system}/hardware/base.py (100%) rename {selfdrive => system}/hardware/hw.h (92%) rename {selfdrive/hardware/tici => system/hardware/pc}/__init__.py (100%) rename {selfdrive => system}/hardware/pc/hardware.py (96%) create mode 100644 system/hardware/tici/__init__.py rename {selfdrive => system}/hardware/tici/agnos.json (100%) rename {selfdrive => system}/hardware/tici/agnos.py (100%) rename {selfdrive => system}/hardware/tici/amplifier.py (100%) rename {selfdrive => system}/hardware/tici/hardware.h (97%) rename {selfdrive => system}/hardware/tici/hardware.py (98%) rename {selfdrive => system}/hardware/tici/iwlist.py (100%) rename {selfdrive => system}/hardware/tici/pins.py (100%) rename {selfdrive => system}/hardware/tici/power_draw_test.py (97%) rename {selfdrive => system}/hardware/tici/power_monitor.py (100%) rename {selfdrive => system}/hardware/tici/precise_power_measure.py (77%) rename {selfdrive => system}/hardware/tici/restart_modem.sh (100%) rename {selfdrive => system}/hardware/tici/test_agnos_updater.py (100%) rename {selfdrive => system}/hardware/tici/test_power_draw.py (92%) rename {selfdrive => system}/hardware/tici/updater (100%) diff --git a/Jenkinsfile b/Jenkinsfile index fed587bd21..250893d1af 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -123,7 +123,7 @@ pipeline { steps { phone_steps("tici2", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"], + ["test power draw", "python system/hardware/tici/test_power_draw.py"], ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], diff --git a/common/basedir.py b/common/basedir.py index 8be1cf6afa..371b54d3ef 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,7 +1,7 @@ import os from pathlib import Path -from selfdrive.hardware import PC +from system.hardware import PC BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) diff --git a/common/modeldata.h b/common/modeldata.h index 06d9398031..aee9fdfd83 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -2,7 +2,7 @@ #include #include "common/mat.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" const int TRAJECTORY_SIZE = 33; const int LAT_MPC_N = 16; diff --git a/common/params.cc b/common/params.cc index 330eddc1a9..b740e5a71e 100644 --- a/common/params.cc +++ b/common/params.cc @@ -8,7 +8,7 @@ #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" namespace { diff --git a/common/realtime.py b/common/realtime.py index 03051c6f67..8a79d8d39f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -8,7 +8,7 @@ from typing import Optional, List, Union from setproctitle import getproctitle # pylint: disable=no-name-in-module from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error -from selfdrive.hardware import PC +from system.hardware import PC # time step for each process diff --git a/common/swaglog.cc b/common/swaglog.cc index 75223854fe..6b0028326a 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -15,7 +15,7 @@ #include "common/util.h" #include "common/version.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" class SwaglogState : public LogState { public: diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index b54d1d6338..20455ec74c 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -7,7 +7,7 @@ #include "common/swaglog.h" #include "common/util.h" #include "common/version.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage"; std::string daemon_name = "testy"; diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index a37e27c4fe..911774a4eb 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -22,12 +22,12 @@ function agnos_init { # Check if AGNOS update is required if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then - AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py" - MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json" + AGNOS_PY="$DIR/system/hardware/tici/agnos.py" + MANIFEST="$DIR/system/hardware/tici/agnos.json" if $AGNOS_PY --verify $MANIFEST; then sudo reboot fi - $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST + $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST fi } diff --git a/release/files_common b/release/files_common index 5230511ddd..e89163aba0 100644 --- a/release/files_common +++ b/release/files_common @@ -182,21 +182,21 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* -selfdrive/hardware/__init__.py -selfdrive/hardware/base.h -selfdrive/hardware/base.py -selfdrive/hardware/hw.h -selfdrive/hardware/tici/__init__.py -selfdrive/hardware/tici/hardware.h -selfdrive/hardware/tici/hardware.py -selfdrive/hardware/tici/pins.py -selfdrive/hardware/tici/agnos.py -selfdrive/hardware/tici/agnos.json -selfdrive/hardware/tici/amplifier.py -selfdrive/hardware/tici/updater -selfdrive/hardware/tici/iwlist.py -selfdrive/hardware/pc/__init__.py -selfdrive/hardware/pc/hardware.py +system/hardware/__init__.py +system/hardware/base.h +system/hardware/base.py +system/hardware/hw.h +system/hardware/tici/__init__.py +system/hardware/tici/hardware.h +system/hardware/tici/hardware.py +system/hardware/tici/pins.py +system/hardware/tici/agnos.py +system/hardware/tici/agnos.json +system/hardware/tici/amplifier.py +system/hardware/tici/updater +system/hardware/tici/iwlist.py +system/hardware/pc/__init__.py +system/hardware/pc/hardware.py selfdrive/locationd/__init__.py selfdrive/locationd/.gitignore diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py index f651bc87f1..93688504f3 100755 --- a/scripts/disable-powersave.py +++ b/scripts/disable-powersave.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.hardware import HARDWARE +from system.hardware import HARDWARE if __name__ == "__main__": HARDWARE.set_power_save(False) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index ba86e02cc6..0dc7d704a8 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -32,7 +32,7 @@ from common.basedir import PERSIST from common.file_helpers import CallbackReader from common.params import Params from common.realtime import sec_since_boot, set_core_affinity -from selfdrive.hardware import HARDWARE, PC, AGNOS +from system.hardware import HARDWARE, PC, AGNOS from selfdrive.loggerd.config import ROOT from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 2748934361..c44ca4c28b 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -11,7 +11,7 @@ from common.params import Params from common.spinner import Spinner from common.basedir import PERSIST from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.hardware import HARDWARE, PC +from system.hardware import HARDWARE, PC from selfdrive.swaglog import cloudlog diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 2745c037b6..f47b5936be 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -27,7 +27,7 @@ #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/boardd/pigeon.h" diff --git a/selfdrive/boardd/main.cc b/selfdrive/boardd/main.cc index 6f1f83685b..cb17a584bd 100644 --- a/selfdrive/boardd/main.cc +++ b/selfdrive/boardd/main.cc @@ -3,7 +3,7 @@ #include "selfdrive/boardd/boardd.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" int main(int argc, char *argv[]) { LOGW("starting boardd"); diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 306d764e59..51bfb92dd9 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -10,7 +10,7 @@ from functools import cmp_to_key from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU from common.basedir import BASEDIR from common.params import Params -from selfdrive.hardware import HARDWARE +from system.hardware import HARDWARE from selfdrive.swaglog import cloudlog diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 631b4c987f..e9bbcb4586 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -12,7 +12,7 @@ from common.spinner import Spinner from common.timeout import Timeout from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car import make_can_msg -from selfdrive.hardware import TICI +from system.hardware import TICI from selfdrive.test.helpers import phone_only, with_processes diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc index 049324f085..a94cfedf1a 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/selfdrive/camerad/cameras/camera_common.cc @@ -15,7 +15,7 @@ #include "common/modeldata.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "msm_media_info.h" #ifdef QCOM2 diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h index 74d6a6eb3f..e9c7ccd757 100644 --- a/selfdrive/camerad/cameras/camera_common.h +++ b/selfdrive/camerad/cameras/camera_common.h @@ -13,7 +13,7 @@ #include "common/mat.h" #include "common/queue.h" #include "common/swaglog.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #define CAMERA_ID_IMX298 0 #define CAMERA_ID_IMX179 1 diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index c86543265c..32899a8547 100644 --- a/selfdrive/camerad/main.cc +++ b/selfdrive/camerad/main.cc @@ -4,7 +4,7 @@ #include "common/params.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" int main(int argc, char *argv[]) { if (!Hardware::PC()) { diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py index 9f9072c962..fa88849b69 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/selfdrive/camerad/snapshot/snapshot.py @@ -9,7 +9,7 @@ import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from common.params import Params from common.realtime import DT_MDL -from selfdrive.hardware import PC +from system.hardware import PC from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.manager.process_config import managed_processes diff --git a/selfdrive/camerad/test/test_camerad.py b/selfdrive/camerad/test/test_camerad.py index c311c17169..1a2e365a8f 100755 --- a/selfdrive/camerad/test/test_camerad.py +++ b/selfdrive/camerad/test/test_camerad.py @@ -4,7 +4,7 @@ import time import unittest import cereal.messaging as messaging -from selfdrive.hardware import TICI +from system.hardware import TICI from selfdrive.test.helpers import with_processes TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds diff --git a/selfdrive/camerad/test/test_exposure.py b/selfdrive/camerad/test/test_exposure.py index 31bcc28681..f42d0bfbe3 100755 --- a/selfdrive/camerad/test/test_exposure.py +++ b/selfdrive/camerad/test/test_exposure.py @@ -6,7 +6,7 @@ import numpy as np from selfdrive.test.helpers import with_processes from selfdrive.camerad.snapshot.snapshot import get_snapshots -from selfdrive.hardware import TICI +from system.hardware import TICI TEST_TIME = 45 REPEAT = 5 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index edb1538c31..31807b0187 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.locationd.calibrationd import Calibration -from selfdrive.hardware import HARDWARE +from system.hardware import HARDWARE from selfdrive.manager.process_config import managed_processes SOFT_DISABLE_TIME = 3 # seconds diff --git a/selfdrive/hardware b/selfdrive/hardware new file mode 120000 index 0000000000..02a42c502f --- /dev/null +++ b/selfdrive/hardware @@ -0,0 +1 @@ +../system/hardware/ \ No newline at end of file diff --git a/selfdrive/loggerd/config.py b/selfdrive/loggerd/config.py index 6cd20a68ab..168c9fba91 100644 --- a/selfdrive/loggerd/config.py +++ b/selfdrive/loggerd/config.py @@ -1,6 +1,6 @@ import os from pathlib import Path -from selfdrive.hardware import PC +from system.hardware import PC if os.environ.get('LOG_ROOT', False): ROOT = os.environ['LOG_ROOT'] diff --git a/selfdrive/loggerd/logger.h b/selfdrive/loggerd/logger.h index ca08e64717..e7594cee88 100644 --- a/selfdrive/loggerd/logger.h +++ b/selfdrive/loggerd/logger.h @@ -13,7 +13,7 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" #include "common/swaglog.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" const std::string LOG_ROOT = Path::log_root(); diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 3b9b01a0fc..7e13e90e63 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -20,7 +20,7 @@ #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/loggerd/encoder/encoder.h" #include "selfdrive/loggerd/logger.h" diff --git a/selfdrive/loggerd/tests/test_encoder.py b/selfdrive/loggerd/tests/test_encoder.py index 49baa8a6e3..1b9bcef2d7 100755 --- a/selfdrive/loggerd/tests/test_encoder.py +++ b/selfdrive/loggerd/tests/test_encoder.py @@ -13,7 +13,7 @@ from tqdm import trange from common.params import Params from common.timeout import Timeout -from selfdrive.hardware import TICI +from system.hardware import TICI from selfdrive.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from tools.lib.logreader import LogReader diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index b7d8df861a..9de1c421bd 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -15,7 +15,7 @@ import cereal.messaging as messaging from common.api import Api from common.params import Params from common.realtime import set_core_affinity -from selfdrive.hardware import TICI +from system.hardware import TICI from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.loggerd.config import ROOT from selfdrive.swaglog import cloudlog diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 8421605a55..f0a5aec927 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -10,7 +10,7 @@ from pathlib import Path from common.basedir import BASEDIR from common.spinner import Spinner from common.text_window import TextWindow -from selfdrive.hardware import AGNOS +from system.hardware import AGNOS from selfdrive.swaglog import cloudlog, add_file_handler from selfdrive.version import is_dirty diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index cd7817fa97..94af397c7d 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -13,7 +13,7 @@ from common.basedir import BASEDIR from common.params import Params, ParamKeyType from common.text_window import TextWindow from selfdrive.boardd.set_time import set_time -from selfdrive.hardware import HARDWARE, PC +from system.hardware import HARDWARE, PC from selfdrive.manager.helpers import unblock_stdout from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index e2bb41c217..22f55f3b36 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -17,7 +17,7 @@ from common.basedir import BASEDIR from common.params import Params from common.realtime import sec_since_boot from selfdrive.swaglog import cloudlog -from selfdrive.hardware import HARDWARE +from system.hardware import HARDWARE from cereal import log WATCHDOG_FN = "/dev/shm/wd_" diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 5d996d1169..443ebbb419 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -2,7 +2,7 @@ import os from cereal import car from common.params import Params -from selfdrive.hardware import PC +from system.hardware import PC from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 31949de0b9..e4c3ef7c4c 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,7 +5,7 @@ import time import unittest import selfdrive.manager.manager as manager -from selfdrive.hardware import AGNOS, HARDWARE +from system.hardware import AGNOS, HARDWARE from selfdrive.manager.process import DaemonProcess from selfdrive.manager.process_config import managed_processes diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 10cc2fe56e..0aac9b3c4a 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -11,7 +11,7 @@ #include "common/params.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/modeld/models/driving.h" ExitHandler do_exit; diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index e134ad3a5a..71da8dad53 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -6,7 +6,7 @@ #include "common/modeldata.h" #include "common/params.h" #include "common/timing.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/modeld/models/dmonitoring.h" diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc index 8698ce482e..f76c63b2b9 100644 --- a/selfdrive/modeld/thneed/compile.cc +++ b/selfdrive/modeld/thneed/compile.cc @@ -3,7 +3,7 @@ #include "selfdrive/modeld/runners/snpemodel.h" #include "selfdrive/modeld/thneed/thneed.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #define TEMPORAL_SIZE 512 #define DESIRE_LEN 8 diff --git a/selfdrive/sensord/test/test_sensord.py b/selfdrive/sensord/test/test_sensord.py index 96d8891265..9fd918c971 100755 --- a/selfdrive/sensord/test/test_sensord.py +++ b/selfdrive/sensord/test/test_sensord.py @@ -4,7 +4,7 @@ import time import unittest import cereal.messaging as messaging -from selfdrive.hardware import TICI +from system.hardware import TICI from selfdrive.test.helpers import with_processes TEST_TIMESPAN = 10 diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 5f22bf18e0..10e43ee03c 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -5,7 +5,7 @@ from sentry_sdk.integrations.threading import ThreadingIntegration from common.params import Params from selfdrive.athena.registration import is_registered_device -from selfdrive.hardware import HARDWARE, PC +from system.hardware import HARDWARE, PC from selfdrive.swaglog import cloudlog from selfdrive.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 5755e5111b..a48ba56003 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -10,7 +10,7 @@ from typing import NoReturn, Union, List, Dict from common.params import Params from cereal.messaging import SubMaster from selfdrive.swaglog import cloudlog -from selfdrive.hardware import HARDWARE +from system.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 diff --git a/selfdrive/swaglog.py b/selfdrive/swaglog.py index a987bfe72c..68664330a5 100644 --- a/selfdrive/swaglog.py +++ b/selfdrive/swaglog.py @@ -7,7 +7,7 @@ from logging.handlers import BaseRotatingHandler import zmq from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter -from selfdrive.hardware import PC +from system.hardware import PC if PC: SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log") diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 5abc0d964f..cc8efd6e46 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -2,7 +2,7 @@ import os import time from functools import wraps -from selfdrive.hardware import PC +from system.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.version import training_version, terms_version diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index b83629c76a..b466aa8193 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -11,7 +11,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType from common.spinner import Spinner from common.timeout import Timeout from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size -from selfdrive.hardware import PC +from system.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url from selfdrive.test.process_replay.compare_logs import compare_logs, save_log diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index a17c71b602..cf939e3672 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -6,7 +6,7 @@ import numpy as np import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` -from selfdrive.hardware import PC, TICI +from system.hardware import PC, TICI from common.basedir import BASEDIR from selfdrive.test.openpilotci import BASE_URL, get_url from selfdrive.version import get_commit diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index d7a1f2a360..acc2fd90bc 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -4,7 +4,7 @@ from typing import Optional from cereal import log from common.params import Params, put_nonblocking from common.realtime import sec_since_boot -from selfdrive.hardware import HARDWARE +from system.hardware import HARDWARE from selfdrive.swaglog import cloudlog from selfdrive.statsd import statlog diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 4df1e072b8..84663e8eb0 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -17,7 +17,7 @@ from common.filter_simple import FirstOrderFilter from common.params import Params from common.realtime import DT_TRML, sec_since_boot from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.hardware import HARDWARE, TICI, AGNOS +from system.hardware import HARDWARE, TICI, AGNOS from selfdrive.loggerd.config import get_available_percent from selfdrive.statsd import statlog from selfdrive.swaglog import cloudlog diff --git a/selfdrive/timezoned.py b/selfdrive/timezoned.py index fc1ca92cdf..c1d5676db6 100755 --- a/selfdrive/timezoned.py +++ b/selfdrive/timezoned.py @@ -9,7 +9,7 @@ import requests from timezonefinder import TimezoneFinder from common.params import Params -from selfdrive.hardware import AGNOS +from system.hardware import AGNOS from selfdrive.swaglog import cloudlog diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc index cffa459622..1eecd78b19 100644 --- a/selfdrive/ui/main.cc +++ b/selfdrive/ui/main.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/window.h" diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc index 94beb12186..84e1a4032e 100644 --- a/selfdrive/ui/qt/api.cc +++ b/selfdrive/ui/qt/api.cc @@ -14,7 +14,7 @@ #include "common/params.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" namespace CommaApi { diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 83576eb630..2b2c27418e 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -4,7 +4,7 @@ #include #include "common/params.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" QString get_mapbox_token() { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index ac6f1f1ba0..175e6cf5a3 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -14,7 +14,7 @@ #include "common/params.h" #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/scrollview.h" diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h index 2c9a24e55b..02d127e7ff 100644 --- a/selfdrive/ui/qt/qt_window.h +++ b/selfdrive/ui/qt/qt_window.h @@ -12,7 +12,7 @@ #include #endif -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" const QString ASSET_PATH = ":/"; diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 0da1752fed..10a2d05f34 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -11,7 +11,7 @@ #include #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/offroad/networking.h" diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index b906b5739d..6e8189f4ba 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/setup/updater.h" diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc index e0b263227b..8f13576fb2 100644 --- a/selfdrive/ui/qt/spinner.cc +++ b/selfdrive/ui/qt/spinner.cc @@ -10,7 +10,7 @@ #include #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc index 04fda35483..ac8e7bcd18 100644 --- a/selfdrive/ui/qt/text.cc +++ b/selfdrive/ui/qt/text.cc @@ -5,7 +5,7 @@ #include #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/widgets/scrollview.h" diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 7ce7a267df..600885fb37 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -6,7 +6,7 @@ #include "common/params.h" #include "common/swaglog.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" QString getVersion() { static QString version = QString::fromStdString(Params().get("Version")); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 1122faf4c7..8a5d492804 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/widgets/scrollview.h" diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 53f7eb677c..433193df5d 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -5,7 +5,7 @@ #include #include "common/util.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/widgets/scrollview.h" AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) { diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 0614e8c1d8..596d1d83b9 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -2,7 +2,7 @@ #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/widgets/controls.h" // SSH enable toggle diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index fb21f6f7af..d9613df0d0 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { main_layout = new QStackedLayout(this); diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index 4036086e1b..5eb7469c92 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -7,7 +7,7 @@ #include "cereal/services.h" #include "common/params.h" #include "common/timing.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/replay/util.h" Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc index ad93263ae9..3d595141cd 100644 --- a/selfdrive/ui/replay/route.cc +++ b/selfdrive/ui/replay/route.cc @@ -9,7 +9,7 @@ #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/replay/replay.h" #include "selfdrive/ui/replay/util.h" diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 82b360fd38..7e009d28ad 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #include "selfdrive/ui/ui.h" const std::tuple sound_list[] = { diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index cba0f6dbd1..8cc9215b74 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -8,7 +8,7 @@ import cereal.messaging as messaging from selfdrive.test.helpers import phone_only, with_processes # TODO: rewrite for unittest from common.realtime import DT_CTRL -from selfdrive.hardware import HARDWARE +from system.hardware import HARDWARE AudibleAlert = car.CarControl.HUDControl.AudibleAlert diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c1af4ed6f4..4d1e1ab746 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -10,7 +10,7 @@ #include "common/swaglog.h" #include "common/util.h" #include "common/watchdog.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" #define BACKLIGHT_DT 0.05 #define BACKLIGHT_TS 10.00 diff --git a/selfdrive/updated.py b/selfdrive/updated.py index f835522cdb..33e2d5d418 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -37,7 +37,7 @@ from markdown_it import MarkdownIt from common.basedir import BASEDIR from common.params import Params -from selfdrive.hardware import AGNOS, HARDWARE +from system.hardware import AGNOS, HARDWARE from selfdrive.swaglog import cloudlog from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.version import is_tested_branch @@ -265,7 +265,7 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None: def handle_agnos_update(wait_helper: WaitTimeHelper) -> None: - from selfdrive.hardware.tici.agnos import flash_agnos_update, get_target_slot_number + from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number cur_version = HARDWARE.get_os_version() updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ @@ -281,7 +281,7 @@ def handle_agnos_update(wait_helper: WaitTimeHelper) -> None: cloudlog.info(f"Beginning background installation for AGNOS {updated_version}") set_offroad_alert("Offroad_NeosUpdate", True) - manifest_path = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/tici/agnos.json") + manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json") target_slot_number = get_target_slot_number() flash_agnos_update(manifest_path, target_slot_number, cloudlog) set_offroad_alert("Offroad_NeosUpdate", False) diff --git a/selfdrive/hardware/pc/__init__.py b/system/__init__.py similarity index 100% rename from selfdrive/hardware/pc/__init__.py rename to system/__init__.py diff --git a/selfdrive/hardware/.gitignore b/system/hardware/.gitignore similarity index 100% rename from selfdrive/hardware/.gitignore rename to system/hardware/.gitignore diff --git a/selfdrive/hardware/__init__.py b/system/hardware/__init__.py similarity index 56% rename from selfdrive/hardware/__init__.py rename to system/hardware/__init__.py index a1bf2e912f..780a20f9c0 100644 --- a/selfdrive/hardware/__init__.py +++ b/system/hardware/__init__.py @@ -1,9 +1,9 @@ import os from typing import cast -from selfdrive.hardware.base import HardwareBase -from selfdrive.hardware.tici.hardware import Tici -from selfdrive.hardware.pc.hardware import Pc +from system.hardware.base import HardwareBase +from system.hardware.tici.hardware import Tici +from system.hardware.pc.hardware import Pc TICI = os.path.isfile('/TICI') AGNOS = TICI diff --git a/selfdrive/hardware/base.h b/system/hardware/base.h similarity index 100% rename from selfdrive/hardware/base.h rename to system/hardware/base.h diff --git a/selfdrive/hardware/base.py b/system/hardware/base.py similarity index 100% rename from selfdrive/hardware/base.py rename to system/hardware/base.py diff --git a/selfdrive/hardware/hw.h b/system/hardware/hw.h similarity index 92% rename from selfdrive/hardware/hw.h rename to system/hardware/hw.h index 364a1c5c33..f50e94abe1 100644 --- a/selfdrive/hardware/hw.h +++ b/system/hardware/hw.h @@ -1,10 +1,10 @@ #pragma once -#include "selfdrive/hardware/base.h" +#include "system/hardware/base.h" #include "common/util.h" #if QCOM2 -#include "selfdrive/hardware/tici/hardware.h" +#include "system/hardware/tici/hardware.h" #define Hardware HardwareTici #else class HardwarePC : public HardwareNone { diff --git a/selfdrive/hardware/tici/__init__.py b/system/hardware/pc/__init__.py similarity index 100% rename from selfdrive/hardware/tici/__init__.py rename to system/hardware/pc/__init__.py diff --git a/selfdrive/hardware/pc/hardware.py b/system/hardware/pc/hardware.py similarity index 96% rename from selfdrive/hardware/pc/hardware.py rename to system/hardware/pc/hardware.py index 2f5db925a9..b2c4a4343b 100644 --- a/selfdrive/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,7 +1,7 @@ import random from cereal import log -from selfdrive.hardware.base import HardwareBase, ThermalConfig +from system.hardware.base import HardwareBase, ThermalConfig NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength diff --git a/system/hardware/tici/__init__.py b/system/hardware/tici/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/hardware/tici/agnos.json b/system/hardware/tici/agnos.json similarity index 100% rename from selfdrive/hardware/tici/agnos.json rename to system/hardware/tici/agnos.json diff --git a/selfdrive/hardware/tici/agnos.py b/system/hardware/tici/agnos.py similarity index 100% rename from selfdrive/hardware/tici/agnos.py rename to system/hardware/tici/agnos.py diff --git a/selfdrive/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py similarity index 100% rename from selfdrive/hardware/tici/amplifier.py rename to system/hardware/tici/amplifier.py diff --git a/selfdrive/hardware/tici/hardware.h b/system/hardware/tici/hardware.h similarity index 97% rename from selfdrive/hardware/tici/hardware.h rename to system/hardware/tici/hardware.h index b11a0a5bb0..dcccb9f3d1 100644 --- a/selfdrive/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -5,7 +5,7 @@ #include "common/params.h" #include "common/util.h" -#include "selfdrive/hardware/base.h" +#include "system/hardware/base.h" class HardwareTici : public HardwareNone { public: diff --git a/selfdrive/hardware/tici/hardware.py b/system/hardware/tici/hardware.py similarity index 98% rename from selfdrive/hardware/tici/hardware.py rename to system/hardware/tici/hardware.py index 0a92340598..a69d3eb743 100644 --- a/selfdrive/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -9,10 +9,10 @@ from pathlib import Path from cereal import log from common.gpio import gpio_set, gpio_init -from selfdrive.hardware.base import HardwareBase, ThermalConfig -from selfdrive.hardware.tici import iwlist -from selfdrive.hardware.tici.pins import GPIO -from selfdrive.hardware.tici.amplifier import Amplifier +from system.hardware.base import HardwareBase, ThermalConfig +from system.hardware.tici import iwlist +from system.hardware.tici.pins import GPIO +from system.hardware.tici.amplifier import Amplifier NM = 'org.freedesktop.NetworkManager' NM_CON_ACT = NM + '.Connection.Active' diff --git a/selfdrive/hardware/tici/iwlist.py b/system/hardware/tici/iwlist.py similarity index 100% rename from selfdrive/hardware/tici/iwlist.py rename to system/hardware/tici/iwlist.py diff --git a/selfdrive/hardware/tici/pins.py b/system/hardware/tici/pins.py similarity index 100% rename from selfdrive/hardware/tici/pins.py rename to system/hardware/tici/pins.py diff --git a/selfdrive/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py similarity index 97% rename from selfdrive/hardware/tici/power_draw_test.py rename to system/hardware/tici/power_draw_test.py index 1af51fc018..bde92ae4a5 100755 --- a/selfdrive/hardware/tici/power_draw_test.py +++ b/system/hardware/tici/power_draw_test.py @@ -2,8 +2,8 @@ import os import time import numpy as np -from selfdrive.hardware.tici.hardware import Tici -from selfdrive.hardware.tici.pins import GPIO +from system.hardware.tici.hardware import Tici +from system.hardware.tici.pins import GPIO from common.gpio import gpio_init, gpio_set def read_power(): diff --git a/selfdrive/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py similarity index 100% rename from selfdrive/hardware/tici/power_monitor.py rename to system/hardware/tici/power_monitor.py diff --git a/selfdrive/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py similarity index 77% rename from selfdrive/hardware/tici/precise_power_measure.py rename to system/hardware/tici/precise_power_measure.py index c66936aef8..5d68851367 100755 --- a/selfdrive/hardware/tici/precise_power_measure.py +++ b/system/hardware/tici/precise_power_measure.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import numpy as np -from selfdrive.hardware.tici.power_monitor import sample_power +from system.hardware.tici.power_monitor import sample_power if __name__ == '__main__': print("measuring for 5 seconds") diff --git a/selfdrive/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh similarity index 100% rename from selfdrive/hardware/tici/restart_modem.sh rename to system/hardware/tici/restart_modem.sh diff --git a/selfdrive/hardware/tici/test_agnos_updater.py b/system/hardware/tici/test_agnos_updater.py similarity index 100% rename from selfdrive/hardware/tici/test_agnos_updater.py rename to system/hardware/tici/test_agnos_updater.py diff --git a/selfdrive/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py similarity index 92% rename from selfdrive/hardware/tici/test_power_draw.py rename to system/hardware/tici/test_power_draw.py index ab2d691a09..31b8471328 100755 --- a/selfdrive/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -4,8 +4,8 @@ import time import math from dataclasses import dataclass -from selfdrive.hardware import HARDWARE, TICI -from selfdrive.hardware.tici.power_monitor import get_power +from system.hardware import HARDWARE, TICI +from system.hardware.tici.power_monitor import get_power from selfdrive.manager.process_config import managed_processes from selfdrive.manager.manager import manager_cleanup diff --git a/selfdrive/hardware/tici/updater b/system/hardware/tici/updater similarity index 100% rename from selfdrive/hardware/tici/updater rename to system/hardware/tici/updater diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index 1699d94e53..7952fee495 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -1,7 +1,7 @@ import json import os from common.file_helpers import mkdirs_exists_ok -from selfdrive.hardware import PC +from system.hardware import PC class MissingAuthConfigError(Exception): From 6856c2d4efda54708be3790bb094b5c377dee575 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 17:43:34 -0700 Subject: [PATCH 046/226] jenkins: remove unnecessary workstation clean --- Jenkinsfile | 5 ----- 1 file changed, 5 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 250893d1af..9d1ab33761 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -154,11 +154,6 @@ pipeline { } } - post { - always { - cleanWs() - } - } } } } From 83c5d2ede6c058a8eb723933a45bd3abc810bf51 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 17:56:59 -0700 Subject: [PATCH 047/226] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index a197e38c0c..78870ba056 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit a197e38c0cef00ececf4c7500438d37659d9199e +Subproject commit 78870ba056174352218988610e5010fde4eca956 From 9cda2d63380dc9b554212ba15e82ca0621ab1945 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 18:43:24 -0700 Subject: [PATCH 048/226] set AGNOS from /AGNOS file --- system/hardware/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py index 780a20f9c0..77bb0e5e2a 100644 --- a/system/hardware/__init__.py +++ b/system/hardware/__init__.py @@ -6,7 +6,7 @@ from system.hardware.tici.hardware import Tici from system.hardware.pc.hardware import Pc TICI = os.path.isfile('/TICI') -AGNOS = TICI +AGNOS = os.path.isfile('/AGNOS') PC = not TICI From fbd98b0e541b89f477061bab34dfc41495ac9399 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 22:51:09 -0700 Subject: [PATCH 049/226] CI: add build job for latest Ubuntu (#24637) * CI: add build job for latest Ubuntu * source * source env * scons cache * cache pyenv * fix key * source --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 40 ++++++++++++++++++++++++++ 2 files changed, 41 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 567fc05aa5..5bd9acc200 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -94,7 +94,7 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc) --extras --test && \ rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --cache-populate" + scons -j$(nproc) --extras --test --cache-populate" #build_mac: # name: build macos diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 1e4ce7a4ae..b2433fba8f 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -21,6 +21,46 @@ env: GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c jobs: + build_latest_ubuntu: + name: build latest ubuntu + runs-on: ubuntu-20.04 + timeout-minutes: 60 + steps: + - uses: actions/checkout@v3 + with: + submodules: true + - name: Cache pyenv + id: ubuntu-latest-pyenv + uses: actions/cache@v3 + with: + path: | + ~/.pyenv + ~/.local/share/virtualenvs/ + key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}- + - name: Cache scons + id: ubuntu-latest-scons + uses: actions/cache@v3 + with: + path: /tmp/scons_cache + key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}- + restore-keys: | + ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}- + ubuntu-latest-scons- + + - name: tools/ubuntu_setup.sh + run: | + source tools/openpilot_env.sh + tools/ubuntu_setup.sh + - name: Build openpilot + run: | + source tools/openpilot_env.sh + pipenv run scons -j$(nproc) --extras --test + - name: Cleanup scons cache + run: | + source tools/openpilot_env.sh + rm -rf /tmp/scons_cache/* + pipenv run scons -j$(nproc) --extras --test --cache-populate + plotjuggler: name: plotjuggler runs-on: ubuntu-20.04 From 0fce5d90459b77bf2cfa70f55f322f0e1fb8d01c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 23:19:27 -0700 Subject: [PATCH 050/226] Move a bunch of stuff to system/ part 3 (#24829) * move swaglog.py * timezoned * logmessaged * version.py * fix linter --- .pylintrc | 2 +- common/api/__init__.py | 2 +- docs/conf.py | 6 ++++-- release/files_common | 8 ++++---- release/files_tici | 2 +- selfdrive/athena/athenad.py | 4 ++-- selfdrive/athena/manage_athenad.py | 4 ++-- selfdrive/athena/registration.py | 2 +- selfdrive/athena/tests/test_athenad.py | 2 +- selfdrive/boardd/pandad.py | 2 +- selfdrive/boardd/tests/boardd_old.py | 2 +- selfdrive/car/car_helpers.py | 4 ++-- selfdrive/car/disable_ecu.py | 2 +- selfdrive/car/fw_versions.py | 2 +- selfdrive/car/isotp_parallel_query.py | 2 +- selfdrive/car/mock/interface.py | 2 +- selfdrive/car/vin.py | 2 +- selfdrive/controls/controlsd.py | 2 +- selfdrive/controls/lib/events.py | 2 +- selfdrive/controls/lib/lane_planner.py | 2 +- selfdrive/controls/lib/lateral_planner.py | 2 +- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/controls/plannerd.py | 2 +- selfdrive/controls/radard.py | 2 +- selfdrive/debug/disable_ecu.py | 2 +- selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/laikad.py | 2 +- selfdrive/locationd/models/car_kf.py | 2 +- selfdrive/locationd/paramsd.py | 2 +- selfdrive/loggerd/deleter.py | 2 +- selfdrive/loggerd/tests/test_loggerd.py | 2 +- selfdrive/loggerd/tests/test_uploader.py | 2 +- selfdrive/loggerd/uploader.py | 2 +- selfdrive/manager/build.py | 4 ++-- selfdrive/manager/manager.py | 4 ++-- selfdrive/manager/process.py | 2 +- selfdrive/manager/process_config.py | 11 ++++++----- selfdrive/navd/navd.py | 2 +- selfdrive/sensord/rawgps/rawgpsd.py | 2 +- selfdrive/sentry.py | 4 ++-- selfdrive/statsd.py | 4 ++-- selfdrive/test/helpers.py | 2 +- selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/process_replay/test_debayer.py | 2 +- selfdrive/test/process_replay/test_processes.py | 2 +- selfdrive/test/test_onroad.py | 2 +- selfdrive/thermald/fan_controller.py | 2 +- selfdrive/thermald/power_monitoring.py | 2 +- selfdrive/thermald/thermald.py | 4 ++-- selfdrive/tombstoned.py | 4 ++-- selfdrive/updated.py | 4 ++-- {selfdrive => system}/logmessaged.py | 2 +- {selfdrive => system}/swaglog.py | 0 {selfdrive => system}/timezoned.py | 2 +- {selfdrive => system}/version.py | 2 +- 56 files changed, 76 insertions(+), 73 deletions(-) rename {selfdrive => system}/logmessaged.py (95%) rename {selfdrive => system}/swaglog.py (100%) rename {selfdrive => system}/timezoned.py (98%) rename {selfdrive => system}/version.py (99%) diff --git a/.pylintrc b/.pylintrc index 27539b743c..58988c5d74 100644 --- a/.pylintrc +++ b/.pylintrc @@ -3,7 +3,7 @@ # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code -extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5 +extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av # Add files or directories to the blacklist. They should be base names, not # paths. diff --git a/common/api/__init__.py b/common/api/__init__.py index fd2e70910e..c1fa635bd6 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -3,7 +3,7 @@ import os import requests from datetime import datetime, timedelta from common.basedir import PERSIST -from selfdrive.version import get_version +from system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') diff --git a/docs/conf.py b/docs/conf.py index c11d17455d..fea921de1f 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -14,10 +14,12 @@ # 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 os.path import exists + from common.basedir import BASEDIR +from system.version import get_version + sys.path.insert(0, os.path.abspath('.')) sys.path.insert(0, os.path.abspath('..')) diff --git a/release/files_common b/release/files_common index e89163aba0..76d440c402 100644 --- a/release/files_common +++ b/release/files_common @@ -61,17 +61,17 @@ release/* tools/lib/* tools/joystick/* -selfdrive/version.py - selfdrive/__init__.py selfdrive/sentry.py -selfdrive/swaglog.py -selfdrive/logmessaged.py selfdrive/tombstoned.py selfdrive/updated.py selfdrive/rtshield.py selfdrive/statsd.py +system/logmessaged.py +system/swaglog.py +system/version.py + selfdrive/athena/__init__.py selfdrive/athena/athenad.py selfdrive/athena/manage_athenad.py diff --git a/release/files_tici b/release/files_tici index ee1ac63c34..485a898799 100644 --- a/release/files_tici +++ b/release/files_tici @@ -2,7 +2,7 @@ third_party/snpe/larch64** third_party/snpe/aarch64-ubuntu-gcc7.5/* third_party/mapbox-gl-native-qt/include/* -selfdrive/timezoned.py +system/timezoned.py selfdrive/assets/navigation/* selfdrive/assets/training_wide/* diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 0dc7d704a8..26220dfa99 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,8 +36,8 @@ from system.hardware import HARDWARE, PC, AGNOS from selfdrive.loggerd.config import ROOT from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR -from selfdrive.swaglog import SWAGLOG_DIR, cloudlog -from selfdrive.version import get_commit, get_origin, get_short_branch, get_version +from system.swaglog import SWAGLOG_DIR, cloudlog +from system.version import get_commit, get_origin, get_short_branch, get_version ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 58ad58310f..6bbb03a799 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -5,8 +5,8 @@ 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, is_dirty +from system.swaglog import cloudlog +from system.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index c44ca4c28b..32bc92059c 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -12,7 +12,7 @@ from common.spinner import Spinner from common.basedir import PERSIST from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, PC -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index a0b308c216..382b549c1b 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -16,7 +16,7 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException -from selfdrive import swaglog +from system import swaglog from selfdrive.athena import athenad from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 51bfb92dd9..54a28a6782 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -11,7 +11,7 @@ from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU from common.basedir import BASEDIR from common.params import Params from system.hardware import HARDWARE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py index 5e740fbcd8..fad29f6f34 100755 --- a/selfdrive/boardd/tests/boardd_old.py +++ b/selfdrive/boardd/tests/boardd_old.py @@ -13,7 +13,7 @@ import time import cereal.messaging as messaging from common.realtime import Ratekeeper -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.boardd.boardd import can_capnp_to_can_list from cereal import car diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 7863f0d882..3bfd99f88d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -4,12 +4,12 @@ from typing import Dict, List from cereal import car from common.params import Params from common.basedir import BASEDIR -from selfdrive.version import is_comma_remote, is_tested_branch +from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr 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 -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 3a06cc06f1..ac5c6c9f8f 100644 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,5 +1,5 @@ from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 69b7c5f452..c7253d794d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -12,7 +12,7 @@ from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index dc79babb13..0e807512cf 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -4,7 +4,7 @@ from functools import partial from typing import Optional import cereal.messaging as messaging -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.boardd.boardd import can_list_to_can_capnp from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 65e886751d..715850c227 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -2,7 +2,7 @@ import math from cereal import car from common.conversions import Conversions as CV -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 2c5b623b06..7413c3f235 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -6,7 +6,7 @@ import cereal.messaging as messaging import panda.python.uds as uds from panda.python.uds import FUNCTIONAL_ADDRS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog OBD_VIN_REQUEST = b'\x09\x02' OBD_VIN_RESPONSE = b'\x49\x02\x01' diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 31807b0187..033072aa73 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -11,7 +11,7 @@ from common.params import Params, put_nonblocking import cereal.messaging as messaging from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 7ca05cc744..cc63d4995d 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -8,7 +8,7 @@ import cereal.messaging as messaging from common.conversions import Conversions as CV from common.realtime import DT_CTRL from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER -from selfdrive.version import get_short_branch +from system.version import get_short_branch AlertSize = log.ControlsState.AlertSize AlertStatus = log.ControlsState.AlertStatus diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 9bbad59084..1facb66d63 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -3,7 +3,7 @@ from cereal import log from common.filter_simple import FirstOrderFilter from common.numpy_fast import interp from common.realtime import DT_MDL -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog TRAJECTORY_SIZE = 33 diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index f3f59ee308..ec21c16e91 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,7 +1,7 @@ import numpy as np from common.realtime import sec_since_boot, DT_MDL from common.numpy_fast import interp -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index b99ee9e9ac..bc0fc9fea6 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -4,7 +4,7 @@ import numpy as np from common.realtime import sec_since_boot from common.numpy_fast import clip, interp -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.modeld.constants import index_function from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 0d21c519a3..d4a6aaef8f 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -12,7 +12,7 @@ from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 083aeb79cc..06807b2a5c 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -2,7 +2,7 @@ from cereal import car from common.params import Params from common.realtime import Priority, config_realtime_process -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.longitudinal_planner import Planner from selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 0e514193dc..b2c9914457 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -10,7 +10,7 @@ from common.params import Params from common.realtime import Ratekeeper, Priority, config_realtime_process from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog class KalmanParams(): diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py index f0faf40017..af007207eb 100644 --- a/selfdrive/debug/disable_ecu.py +++ b/selfdrive/debug/disable_ecu.py @@ -3,7 +3,7 @@ import traceback import cereal.messaging as messaging from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index d7bf36fb26..e092c939ae 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -20,7 +20,7 @@ from common.realtime import set_realtime_priority from common.transformations.model import model_height from common.transformations.camera import get_view_frame_from_road_frame from common.transformations.orientation import rot_from_euler, euler_from_rot -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 4ec159cd25..01457f4681 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -17,7 +17,7 @@ from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from selfdrive.locationd.models.gnss_kf import GNSSKalman from selfdrive.locationd.models.gnss_kf import States as GStates import common.transformations.coordinates as coord -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog MAX_TIME_GAP = 10 diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 75534efa5a..fe7d2e650b 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -7,7 +7,7 @@ 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 +from system.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 0e83728e5c..ae67dc28ab 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -10,7 +10,7 @@ from common.realtime import config_realtime_process, DT_MDL from common.numpy_fast import clip from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States from selfdrive.locationd.models.constants import GENERATED_DIR -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py index d745e91fb5..5606288024 100644 --- a/selfdrive/loggerd/deleter.py +++ b/selfdrive/loggerd/deleter.py @@ -2,7 +2,7 @@ import os import shutil import threading -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent from selfdrive.loggerd.uploader import listdir_by_creation diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index 54f7aaaa2b..9dbc7ac332 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -17,7 +17,7 @@ from common.params import Params from common.timeout import Timeout from selfdrive.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes -from selfdrive.version import get_version +from system.version import get_version from tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py index b8c01776ae..6090bbe2aa 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/selfdrive/loggerd/tests/test_uploader.py @@ -6,7 +6,7 @@ import unittest import logging import json -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog import selfdrive.loggerd.uploader as uploader from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index 9de1c421bd..f97bafecb9 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -18,7 +18,7 @@ from common.realtime import set_core_affinity from system.hardware import TICI from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.loggerd.config import ROOT -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index f0a5aec927..10b4c0a4b8 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -11,8 +11,8 @@ from common.basedir import BASEDIR from common.spinner import Spinner from common.text_window import TextWindow from system.hardware import AGNOS -from selfdrive.swaglog import cloudlog, add_file_handler -from selfdrive.version import is_dirty +from system.swaglog import cloudlog, add_file_handler +from system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 94af397c7d..140c7f1d44 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -18,8 +18,8 @@ from selfdrive.manager.helpers import unblock_stdout 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 is_dirty, get_commit, get_version, get_origin, get_short_branch, \ +from system.swaglog import cloudlog, add_file_handler +from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ terms_version, training_version diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 22f55f3b36..dabfbe4ee0 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -16,7 +16,7 @@ from cereal import car from common.basedir import BASEDIR from common.params import Params from common.realtime import sec_since_boot -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from system.hardware import HARDWARE from cereal import log diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 443ebbb419..b3efe7e2de 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -18,16 +18,19 @@ def logging(started, params, CP: car.CarParams) -> bool: return started and run procs = [ + NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), + PythonProcess("logmessaged", "system.logmessaged", offroad=True), + PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), + DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview), - NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), @@ -38,14 +41,12 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), - PythonProcess("logmessaged", "selfdrive.logmessaged", offroad=True), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), - PythonProcess("timezoned", "selfdrive.timezoned", enabled=not PC, offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 52db9b1d08..fcd53d8b60 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -14,7 +14,7 @@ from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index e0861c0d9a..3aa6d4b072 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -10,7 +10,7 @@ from struct import unpack_from, calcsize, pack import cereal.messaging as messaging from cereal import log -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv from selfdrive.sensord.rawgps.structs import dict_unpacker diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 10e43ee03c..aa409ea394 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -6,8 +6,8 @@ from sentry_sdk.integrations.threading import ThreadingIntegration from common.params import Params from selfdrive.athena.registration import is_registered_device from system.hardware import HARDWARE, PC -from selfdrive.swaglog import cloudlog -from selfdrive.version import get_branch, get_commit, get_origin, get_version, \ +from system.swaglog import cloudlog +from system.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index a48ba56003..7dc002727e 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -9,10 +9,10 @@ from typing import NoReturn, Union, List, Dict from common.params import Params from cereal.messaging import SubMaster -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from system.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 system.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 diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index cc8efd6e46..8cc996c28d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -4,7 +4,7 @@ from functools import wraps from system.hardware import PC from selfdrive.manager.process_config import managed_processes -from selfdrive.version import training_version, terms_version +from system.version import training_version, terms_version def set_params_enabled(): diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index b466aa8193..f3bb286635 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -16,7 +16,7 @@ from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url from selfdrive.test.process_replay.compare_logs import compare_logs, save_log from selfdrive.test.process_replay.test_processes import format_diff -from selfdrive.version import get_commit +from system.version import get_commit from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index cf939e3672..eff77fc479 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -9,7 +9,7 @@ import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta from system.hardware import PC, TICI from common.basedir import BASEDIR from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.version import get_commit +from system.version import get_commit from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb from tools.lib.logreader import LogReader from tools.lib.filereader import FileReader diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index c1b5b85391..9f83a08e23 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -11,7 +11,7 @@ from selfdrive.car.car_helpers import interface_names from selfdrive.test.openpilotci import get_url, upload_file from selfdrive.test.process_replay.compare_logs import compare_logs, save_log from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process -from selfdrive.version import get_commit +from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 6cf53a046e..79c3a2ebc0 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -39,7 +39,7 @@ PROCS = { "./_soundd": 1.0, "selfdrive.monitoring.dmonitoringd": 1.90, "./proclogd": 1.54, - "selfdrive.logmessaged": 0.2, + "system.logmessaged": 0.2, "./clocksd": 0.02, "./ubloxd": 0.02, "selfdrive.tombstoned": 0, diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index b1c7013297..2094faeaa7 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -3,7 +3,7 @@ from abc import ABC, abstractmethod from common.realtime import DT_TRML from common.numpy_fast import interp -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index acc2fd90bc..9f009d3265 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -5,7 +5,7 @@ from cereal import log from common.params import Params, put_nonblocking from common.realtime import sec_since_boot from system.hardware import HARDWARE -from selfdrive.swaglog import cloudlog +from system.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)) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 84663e8eb0..403e9cb232 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -20,10 +20,10 @@ from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS from selfdrive.loggerd.config import get_available_percent from selfdrive.statsd import statlog -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring from selfdrive.thermald.fan_controller import TiciFanController -from selfdrive.version import terms_version, training_version +from system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 1d0f8532db..0045e0766c 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -12,8 +12,8 @@ from typing import NoReturn from common.file_helpers import mkdirs_exists_ok from selfdrive.loggerd.config import ROOT import selfdrive.sentry as sentry -from selfdrive.swaglog import cloudlog -from selfdrive.version import get_commit +from system.swaglog import cloudlog +from system.version import get_commit MAX_SIZE = 1_000_000 * 100 # allow up to 100M MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 33e2d5d418..bdec383f52 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -38,9 +38,9 @@ from markdown_it import MarkdownIt from common.basedir import BASEDIR from common.params import Params from system.hardware import AGNOS, HARDWARE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.version import is_tested_branch +from system.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") diff --git a/selfdrive/logmessaged.py b/system/logmessaged.py similarity index 95% rename from selfdrive/logmessaged.py rename to system/logmessaged.py index 1d1fab5162..280a23cf1d 100755 --- a/selfdrive/logmessaged.py +++ b/system/logmessaged.py @@ -4,7 +4,7 @@ from typing import NoReturn import cereal.messaging as messaging from common.logging_extra import SwagLogFileFormatter -from selfdrive.swaglog import get_file_handler +from system.swaglog import get_file_handler def main() -> NoReturn: diff --git a/selfdrive/swaglog.py b/system/swaglog.py similarity index 100% rename from selfdrive/swaglog.py rename to system/swaglog.py diff --git a/selfdrive/timezoned.py b/system/timezoned.py similarity index 98% rename from selfdrive/timezoned.py rename to system/timezoned.py index c1d5676db6..884a5c3812 100755 --- a/selfdrive/timezoned.py +++ b/system/timezoned.py @@ -10,7 +10,7 @@ from timezonefinder import TimezoneFinder from common.params import Params from system.hardware import AGNOS -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog def set_timezone(valid_timezones, timezone): diff --git a/selfdrive/version.py b/system/version.py similarity index 99% rename from selfdrive/version.py rename to system/version.py index 08ab097344..f0817b3a9f 100644 --- a/selfdrive/version.py +++ b/system/version.py @@ -5,7 +5,7 @@ from typing import List, Optional from functools import lru_cache from common.basedir import BASEDIR -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog TESTED_BRANCHES = ['devel', 'release3-staging', 'dashcam3-staging', 'release3', 'dashcam3'] From 1dd52ba27b6ec2121c5054c80f1820aeade40cb2 Mon Sep 17 00:00:00 2001 From: Andrew Date: Sat, 11 Jun 2022 23:38:32 -0700 Subject: [PATCH 051/226] acados build script improvements for mac (#24634) * add Darwin build w/ universal2 libs * add rust for acados rebuilds * just build script fixes Co-authored-by: Adeeb Shihadeh --- third_party/acados/build.sh | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index 0b14a4cec9..a4246fbda6 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -1,4 +1,5 @@ -#!/usr/bin/bash -e +#!/usr/bin/env bash +set -e DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" @@ -9,6 +10,13 @@ if [ -f /TICI ]; then BLAS_TARGET="ARMV8A_ARM_CORTEX_A57" fi +ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET" + +if [[ "$OSTYPE" == "darwin"* ]]; then + ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64" + ARCHNAME="Darwin" +fi + if [ ! -d acados_repo/ ]; then git clone https://github.com/acados/acados.git $DIR/acados_repo # git clone https://github.com/commaai/acados.git $DIR/acados_repo @@ -21,7 +29,7 @@ git submodule update --recursive --init # build mkdir -p build cd build -cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET .. +cmake $ACADOS_FLAGS .. make -j20 install INSTALL_DIR="$DIR/$ARCHNAME" From 3f60088f432f0bf8e7805cdb2223817c249ec7fa Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 12 Jun 2022 17:27:46 +0100 Subject: [PATCH 052/226] Ford: disable radar for now (#24832) The newer Ford vehicles require a different radar parser. --- selfdrive/car/ford/radar_interface.py | 6 ++++++ selfdrive/car/ford/values.py | 4 ++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 1dfc27e672..866602cf09 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -9,6 +9,9 @@ RADAR_MSGS = list(range(0x500, 0x540)) def _create_radar_can_parser(car_fingerprint): + if DBC[car_fingerprint]['radar'] is None: + return None + msg_n = len(RADAR_MSGS) signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, RADAR_MSGS * 3)) @@ -27,6 +30,9 @@ class RadarInterface(RadarInterfaceBase): self.updated_messages = set() def update(self, can_strings): + if self.rcp is None: + return super().update(None) + vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 96ec87d757..aae011ad3d 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -79,6 +79,6 @@ FW_VERSIONS = { DBC = { - CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'), - CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'), + CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None), + CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None), } From 1c29b20e72141c2beae6e32cf87dabded3095fda Mon Sep 17 00:00:00 2001 From: Jeroen <33349469+jeroenlammersma@users.noreply.github.com> Date: Sun, 12 Jun 2022 18:32:18 +0200 Subject: [PATCH 053/226] Updated CARLA to v0.9.13 (#24575) * Updated CARLA to v0.9.13 * pipenv lock Co-authored-by: Adeeb Shihadeh --- Pipfile | 2 +- Pipfile.lock | 24 ++++++++++++------------ tools/sim/start_carla.sh | 4 ++-- 3 files changed, 15 insertions(+), 15 deletions(-) diff --git a/Pipfile b/Pipfile index 3958c890fe..2ffe60e0fe 100644 --- a/Pipfile +++ b/Pipfile @@ -39,7 +39,7 @@ breathe = "*" subprocess32 = "*" tenacity = "*" mpld3 = "*" -carla = {version = "==0.9.12", markers="platform_system != 'Darwin'"} +carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"} [packages] atomicwrites = "*" diff --git a/Pipfile.lock b/Pipfile.lock index df2b3bb853..25a97890d3 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "4dbfaf9d7a532e0e9a126f828512a5383a817722a1580ef64b99e2427f366a72" + "sha256": "eb1eeeaabf1266fab353532d10e4d9ae36306a7577f248513909c2d6096ab1c9" }, "pipfile-spec": 6, "requires": { @@ -1155,11 +1155,11 @@ }, "setuptools": { "hashes": [ - "sha256:d1746e7fd520e83bbe210d02fff1aa1a425ad671c7a9da7d246ec2401a087198", - "sha256:e7d11f3db616cda0751372244c2ba798e8e56a28e096ec4529010b803485f3fe" + "sha256:1f5d3a1502812025cdb2e5609b6af2d207332e3f50febe6db10ed3a59b2f155f", + "sha256:30b6b0fbacc459c90d27a63e6173facfc8b8c99a48fb24b5044f459ba63cd6cf" ], "markers": "python_version >= '3.7'", - "version": "==62.3.3" + "version": "==62.3.4" }, "six": { "hashes": [ @@ -1452,17 +1452,17 @@ }, "carla": { "hashes": [ - "sha256:1ed11b56c781cd15cbd540cacfb59ad348e0a021d898cfd0ff89a585f144da0b", - "sha256:20c1e1b72034175824d89b2d86b09ae72b4aca09ea25874dc6251f239297251d", - "sha256:6d1122c24af4f6375dc6858fbb0309b61c219b101d8c5a540def4c36c4563fe1", - "sha256:9c19ebf6cbbc535bde4baf9e18c72ab349657b34c4202b9751541e4c0d20b3cc", - "sha256:a69f6d84b59e2f805b2a417de98f977fe9efe0cfa733da8d75e20d28892da915", - "sha256:c3ae0dce3f1354b6311fee21a365947b0ff169249993a913904f676046d2d69f", - "sha256:dd392a267e14b785a8f65dafef86e05a92201253e9fb4a01e1e262834f20bed2" + "sha256:1210cce213e968a644effd4e2e48458a072481459d073424b05725056ba3d77d", + "sha256:339fcb1e392f3ade1be82b7258de19c533e2efae111e954a6eb174efb296903d", + "sha256:5f065825ce812343bf27a80a19d647b3200b31b44a9e80cea0340e3bd20cdf81", + "sha256:954ca34d5bdd4516ceca353db907fee8cec6630d6b31a732b17dd1554e0f0f94", + "sha256:a64ee78fe91137fa7d4828c7fc06d5824bd7312e29e4ea4f31a5d74dd28bff40", + "sha256:a95d2d4218ea388c863c66b7c2ab3fe49ffefe53999305cfcb6a8107042f79af", + "sha256:d2bfaea2d6824a2d758cbe813856c69420494f5c97d2a2dfb45653ccf976f1ce" ], "index": "pypi", "markers": "platform_system != 'Darwin'", - "version": "==0.9.12" + "version": "==0.9.13" }, "certifi": { "hashes": [ diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh index abdaee4ea8..67ced7eb21 100755 --- a/tools/sim/start_carla.sh +++ b/tools/sim/start_carla.sh @@ -15,7 +15,7 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then fi fi -docker pull carlasim/carla:0.9.12 +docker pull carlasim/carla:0.9.13 EXTRA_ARGS="-it" if [[ "$DETACH" ]]; then @@ -29,5 +29,5 @@ docker run \ --net=host \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ $EXTRA_ARGS \ - carlasim/carla:0.9.12 \ + carlasim/carla:0.9.13 \ /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low From 39da6912ea0b8db16d3f96f289f723452e540ab7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 12 Jun 2022 18:00:00 -0700 Subject: [PATCH 054/226] misc jenkins fixups (#24840) * bump cereal * remove that * pull cl image * lil docker cleanup --- Dockerfile.openpilot | 7 +------ cereal | 2 +- selfdrive/manager/test/test_manager.py | 8 ++------ tools/sim/Dockerfile.sim | 10 +++++----- tools/sim/build_container.sh | 2 +- 5 files changed, 10 insertions(+), 19 deletions(-) diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 66b9f18a11..102da78d7d 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -8,11 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} RUN mkdir -p ${OPENPILOT_PATH} WORKDIR ${OPENPILOT_PATH} -COPY Pipfile Pipfile.lock $OPENPILOT_PATH -RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \ - pipenv install --system --deploy --dev --clear && \ - pip uninstall -y pipenv - COPY SConstruct ${OPENPILOT_PATH} COPY ./pyextra ${OPENPILOT_PATH}/pyextra @@ -30,4 +25,4 @@ COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system -RUN scons -j$(nproc) +RUN scons --cache-readonly -j$(nproc) diff --git a/cereal b/cereal index 78870ba056..98f795fd73 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 78870ba056174352218988610e5010fde4eca956 +Subproject commit 98f795fd73356198f1fc8d5ea5a8f25e6f7c57e0 diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index e4c3ef7c4c..a84ff264d2 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,14 +5,13 @@ import time import unittest import selfdrive.manager.manager as manager -from system.hardware import AGNOS, HARDWARE from selfdrive.manager.process import DaemonProcess from selfdrive.manager.process_config import managed_processes +from system.hardware import AGNOS, HARDWARE os.environ['FAKEUPLOAD'] = "1" -# TODO: make eon fast -MAX_STARTUP_TIME = 15 +MAX_STARTUP_TIME = 3 ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])] @@ -54,9 +53,6 @@ class TestManager(unittest.TestCase): # TODO: make Qt UI exit gracefully continue - # Make sure the process is actually dead - managed_processes[p].stop() - # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code exit_codes = [0, 1] if managed_processes[p].sigkill: diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index d838efed13..0d6e8e584c 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -1,9 +1,9 @@ FROM ghcr.io/commaai/openpilot-base-cl:latest -RUN apt-get update && apt-get install -y --no-install-recommends\ - tmux \ - vim \ - && rm -rf /var/lib/apt/lists/* +RUN apt-get update && apt-get install -y --no-install-recommends \ + tmux \ + vim \ + && rm -rf /var/lib/apt/lists/* # get same tmux config used on NEOS for debugging RUN cd $HOME && \ @@ -27,6 +27,6 @@ COPY ./system $HOME/openpilot/system COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot -RUN scons -j12 +RUN scons --cache-readonly -j12 RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh index 451277d590..81afb82d83 100755 --- a/tools/sim/build_container.sh +++ b/tools/sim/build_container.sh @@ -3,7 +3,7 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" cd $DIR/../../ -docker pull ghcr.io/commaai/openpilot-base:latest +docker pull ghcr.io/commaai/openpilot-base-cl:latest docker build \ --cache-from ghcr.io/commaai/openpilot-sim:latest \ -t ghcr.io/commaai/openpilot-sim:latest \ From e7cad559a659d47466645290e00ee6205bb938c6 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 13 Jun 2022 05:39:36 +0100 Subject: [PATCH 055/226] Ford: remove Fusion DBC from release (#24841) --- release/files_common | 1 - 1 file changed, 1 deletion(-) diff --git a/release/files_common b/release/files_common index 76d440c402..6731ae4a12 100644 --- a/release/files_common +++ b/release/files_common @@ -473,7 +473,6 @@ opendbc/gm_global_a_powertrain_generated.dbc opendbc/gm_global_a_object.dbc opendbc/gm_global_a_chassis.dbc -opendbc/ford_fusion_2018_adas.dbc opendbc/ford_lincoln_base_pt.dbc opendbc/honda_accord_2018_can_generated.dbc From 3db36a1958b24023a8af2a10419c0c7e4112bef7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 12 Jun 2022 21:59:58 -0700 Subject: [PATCH 056/226] jenkins: lock simulator --- Jenkinsfile | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 9d1ab33761..ebc26a5920 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -89,8 +89,10 @@ pipeline { sh "git config --global --add safe.directory ${WORKSPACE}" sh "git lfs pull" sh "${WORKSPACE}/tools/sim/build_container.sh" - sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh" - sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh" + lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) { + sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh" + sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh" + } } post { From 84c741ecf6ac0727a29aeebb5f2a6539c2d76dd2 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 13 Jun 2022 09:37:12 +0200 Subject: [PATCH 057/226] SConstruct: set AGNOS from /AGNOS --- SConstruct | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index 0aeb382c23..edf14b4725 100644 --- a/SConstruct +++ b/SConstruct @@ -6,7 +6,7 @@ import platform import numpy as np TICI = os.path.isfile('/TICI') -AGNOS = TICI +AGNOS = os.path.isfile('/AGNOS') Decider('MD5-timestamp') From d71295e0451260acdcfdfb14477c0e21bc4ed311 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 13 Jun 2022 09:50:40 +0200 Subject: [PATCH 058/226] Revert "SConstruct: set AGNOS from /AGNOS" until Jenkins devices are updated This reverts commit 84c741ecf6ac0727a29aeebb5f2a6539c2d76dd2. --- SConstruct | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index edf14b4725..0aeb382c23 100644 --- a/SConstruct +++ b/SConstruct @@ -6,7 +6,7 @@ import platform import numpy as np TICI = os.path.isfile('/TICI') -AGNOS = os.path.isfile('/AGNOS') +AGNOS = TICI Decider('MD5-timestamp') From 724b322909152d58f626b6e76fd34d7d03d67250 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Mon, 13 Jun 2022 11:45:35 +0200 Subject: [PATCH 059/226] Laikad: Use filter for correcting measurements (#24824) * Update laikad. * Update log error --- SConstruct | 2 +- selfdrive/locationd/laikad.py | 65 ++++++++++++++++++++++------------- 2 files changed, 42 insertions(+), 25 deletions(-) diff --git a/SConstruct b/SConstruct index 0aeb382c23..b5c4edc99b 100644 --- a/SConstruct +++ b/SConstruct @@ -359,6 +359,7 @@ Export('cereal', 'messaging', 'visionipc') rednose_config = { 'generated_folder': '#selfdrive/locationd/models/generated', 'to_build': { + 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []), 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']), 'car': ('#selfdrive/locationd/models/car_kf.py', True, []), }, @@ -366,7 +367,6 @@ rednose_config = { if arch != "larch64": rednose_config['to_build'].update({ - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []), 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []), 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []), 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []), diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 01457f4681..42c4156795 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -6,6 +6,8 @@ from typing import List, Optional import numpy as np from collections import defaultdict +from numpy.linalg import linalg + from cereal import log, messaging from laika import AstroDog from laika.constants import SECS_IN_MIN @@ -37,24 +39,33 @@ class Laikad: latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) new_meas = read_raw_ublox(report) + processed_measurements = process_measurements(new_meas, self.astro_dog) + pos_fix = calc_pos_fix(processed_measurements, min_measurements=4) - measurements = process_measurements(new_meas, self.astro_dog) - pos_fix = calc_pos_fix(measurements, min_measurements=4) - # To get a position fix a minimum of 5 measurements are needed. - # Each report can contain less and some measurements can't be processed. + t = ublox_mono_time * 1e-9 + kf_pos_std = None + if all(self.kf_valid(t)): + self.gnss_kf.predict(t) + kf_pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())) + # If localizer is valid use its position to correct measurements + if kf_pos_std is not None and linalg.norm(kf_pos_std) < 100: + est_pos = self.gnss_kf.x[GStates.ECEF_POS] + elif len(pos_fix) > 0 and abs(np.array(pos_fix[1])).mean() < 1000: + est_pos = pos_fix[0][:3] + else: + est_pos = None corrected_measurements = [] - if len(pos_fix) > 0 and abs(np.array(pos_fix[1])).mean() < 1000: - corrected_measurements = correct_measurements(measurements, pos_fix[0][:3], self.astro_dog) + if est_pos is not None: + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) - t = ublox_mono_time * 1e-9 self.update_localizer(pos_fix, t, corrected_measurements) - localizer_valid = self.localizer_valid(t) + kf_valid = all(self.kf_valid(t)) ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() - pos_std = self.gnss_kf.P[GStates.ECEF_POS].flatten().tolist() - vel_std = self.gnss_kf.P[GStates.ECEF_VELOCITY].flatten().tolist() + pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist() + vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist() bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std) @@ -62,9 +73,9 @@ class Laikad: dat = messaging.new_message("gnssMeasurements") measurement_msg = log.LiveLocationKalman.Measurement.new_message dat.gnssMeasurements = { - "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=localizer_valid), - "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=localizer_valid), - "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=localizer_valid), + "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid), + "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid), + "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=kf_valid), "ubloxMonoTime": ublox_mono_time, "correctedMeasurements": meas_msgs } @@ -77,18 +88,21 @@ class Laikad: def update_localizer(self, pos_fix, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid - if not self.localizer_valid(t): - # A position fix is needed when resetting the kalman filter. - if len(pos_fix) == 0: - return - post_est = pos_fix[0][:3].tolist() - filter_time = self.gnss_kf.filter.filter_time - if filter_time is None: + valid = self.kf_valid(t) + if not all(valid): + if not valid[0]: cloudlog.info("Init gnss kalman filter") - elif abs(t - filter_time) > MAX_TIME_GAP: + elif not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") - else: + elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") + else: + cloudlog.error("Gnss kalman std too far") + + if len(pos_fix) == 0: + cloudlog.error("Position fix not available when resetting kalman filter") + return + post_est = pos_fix[0][:3].tolist() self.init_gnss_localizer(post_est) if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) @@ -96,9 +110,12 @@ class Laikad: # Ensure gnss filter is updated even with no new measurements self.gnss_kf.predict(t) - def localizer_valid(self, t: float): + def kf_valid(self, t: float): filter_time = self.gnss_kf.filter.filter_time - return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS])) + return [filter_time is not None, + filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, + all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS])), + linalg.norm(self.gnss_kf.P[GStates.ECEF_POS]) < 1e5] def init_gnss_localizer(self, est_pos): x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial)) From 1221aef233180a7d290ff813d2e2e53dbf87d586 Mon Sep 17 00:00:00 2001 From: Joost Wooning Date: Mon, 13 Jun 2022 12:27:47 +0200 Subject: [PATCH 060/226] ui: skip texture frame copy (#24700) * ui_blit working * simpler and working * more believable that it's real * working on device * build on pc * use hardware pc * reduce cpu usage * yuv conversion to EGL * move everything to cameraview * some cleanup * more cleanup * init array * init images with std::map * dont destroy images * do destroy images Co-authored-by: Comma Device --- selfdrive/test/test_onroad.py | 2 +- selfdrive/ui/SConscript | 3 ++ selfdrive/ui/qt/widgets/cameraview.cc | 72 ++++++++++++++++++++++++--- selfdrive/ui/qt/widgets/cameraview.h | 17 ++++++- 4 files changed, 84 insertions(+), 10 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 79c3a2ebc0..3586f86f12 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -27,7 +27,7 @@ PROCS = { "./camerad": 16.5, "./locationd": 9.1, "selfdrive.controls.plannerd": 11.7, - "./_ui": 26.4, + "./_ui": 19.2, "selfdrive.locationd.paramsd": 9.0, "./_sensord": 6.17, "selfdrive.controls.radard": 4.5, diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 47c4ac2a51..28fcc5f56f 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -5,6 +5,9 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +if arch == 'larch64': + base_libs.append('EGL') + maps = arch in ['larch64', 'x86_64'] if maps and arch == 'x86_64': diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index f16e8e4e0d..000ac48475 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -26,6 +26,18 @@ const char frame_vertex_shader[] = " vTexCoord = aTexCoord;\n" "}\n"; +#ifdef QCOM2 +const char frame_fragment_shader[] = + "#version 300 es\n" + "#extension GL_OES_EGL_image_external_essl3 : enable\n" + "precision mediump float;\n" + "uniform samplerExternalOES uTexture;\n" + "in vec2 vTexCoord;\n" + "out vec4 colorOut;\n" + "void main() {\n" + " colorOut = texture(uTexture, vTexCoord);\n" + "}\n"; +#else const char frame_fragment_shader[] = #ifdef __APPLE__ "#version 330 core\n" @@ -45,6 +57,7 @@ const char frame_fragment_shader[] = " float b = y + 1.772 * uv.x;\n" " colorOut = vec4(r, g, b, 1.0);\n" "}\n"; +#endif const mat4 device_transform = {{ 1.0, 0.0, 0.0, 0.0, @@ -99,7 +112,7 @@ CameraViewWidget::~CameraViewWidget() { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); - glDeleteBuffers(3, textures); + glDeleteBuffers(2, textures); } doneCurrent(); } @@ -143,10 +156,15 @@ void CameraViewWidget::initializeGL() { glBindBuffer(GL_ARRAY_BUFFER, 0); glBindVertexArray(0); - glGenTextures(3, textures); glUseProgram(program->programId()); + +#ifdef QCOM2 + glUniform1i(program->uniformLocation("uTexture"), 0); +#else + glGenTextures(2, textures); glUniform1i(program->uniformLocation("uTextureY"), 0); glUniform1i(program->uniformLocation("uTextureUV"), 1); +#endif } void CameraViewWidget::showEvent(QShowEvent *event) { @@ -207,29 +225,33 @@ void CameraViewWidget::paintGL() { for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { if (frames[frame_idx].first == draw_frame_id) break; } - VisionBuf *frame = frames[frame_idx].second; - glPixelStorei(GL_UNPACK_ALIGNMENT, 1); - glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); - glUseProgram(program->programId()); + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + VisionBuf *frame = frames[frame_idx].second; + +#ifdef QCOM2 + glActiveTexture(GL_TEXTURE0); + glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); + assert(glGetError() == GL_NO_ERROR); +#else + glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, textures[0]); glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); assert(glGetError() == GL_NO_ERROR); glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); - glActiveTexture(GL_TEXTURE0 + 1); glBindTexture(GL_TEXTURE_2D, textures[1]); glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); assert(glGetError() == GL_NO_ERROR); +#endif glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v); - assert(glGetError() == GL_NO_ERROR); glEnableVertexAttribArray(0); glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0); glDisableVertexAttribArray(0); @@ -247,6 +269,32 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { stream_height = vipc_client->buffers[0].height; stream_stride = vipc_client->buffers[0].stride; +#ifdef QCOM2 + egl_display = eglGetCurrentDisplay(); + + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + } + egl_images.clear(); + + for (int i = 0; i < vipc_client->num_buffers; i++) { // import buffers into OpenGL + int fd = dup(vipc_client->buffers[i].fd); // eglDestroyImageKHR will close, so duplicate + EGLint img_attrs[] = { + EGL_WIDTH, (int)vipc_client->buffers[i].width, + EGL_HEIGHT, (int)vipc_client->buffers[i].height, + EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12, + EGL_DMA_BUF_PLANE0_FD_EXT, fd, + EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0, + EGL_DMA_BUF_PLANE0_PITCH_EXT, (int)vipc_client->buffers[i].stride, + EGL_DMA_BUF_PLANE1_FD_EXT, fd, + EGL_DMA_BUF_PLANE1_OFFSET_EXT, (int)vipc_client->buffers[i].uv_offset, + EGL_DMA_BUF_PLANE1_PITCH_EXT, (int)vipc_client->buffers[i].stride, + EGL_NONE + }; + egl_images[i] = eglCreateImageKHR(egl_display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs); + assert(eglGetError() == EGL_SUCCESS); + } +#else glBindTexture(GL_TEXTURE_2D, textures[0]); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); @@ -262,6 +310,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr); assert(glGetError() == GL_NO_ERROR); +#endif updateFrameMat(width(), height()); } @@ -297,4 +346,11 @@ void CameraViewWidget::vipcThread() { emit vipcThreadFrameReceived(buf, meta_main.frame_id); } } + +#ifdef QCOM2 + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + } + egl_images.clear(); +#endif } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 953cbed00b..ddc3fc253b 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -6,6 +6,16 @@ #include #include #include + +#ifdef QCOM2 +#define EGL_EGLEXT_PROTOTYPES +#define EGL_NO_X11 +#define GL_TEXTURE_EXTERNAL_OES 0x8D65 +#include +#include +#include +#endif + #include "cereal/visionipc/visionipc_client.h" #include "selfdrive/camerad/cameras/camera_common.h" #include "selfdrive/ui/ui.h" @@ -41,11 +51,16 @@ protected: bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; - GLuint textures[3]; + GLuint textures[2]; mat4 frame_mat; std::unique_ptr program; QColor bg = QColor("#000000"); +#ifdef QCOM2 + EGLDisplay egl_display; + std::map egl_images; +#endif + std::string stream_name; int stream_width = 0; int stream_height = 0; From a2d2378ee147f2db59aecd3401677cb2427d1ced Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Mon, 13 Jun 2022 14:02:31 +0200 Subject: [PATCH 061/226] Laikad: process executor to fetch orbits (#24843) * Use ProcessPoolExecutor to fetch orbits * update laika repo * Minor --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 64 ++++++++++++------------- selfdrive/locationd/test/test_laikad.py | 33 +++++++++---- 3 files changed, 57 insertions(+), 42 deletions(-) diff --git a/laika_repo b/laika_repo index d871946134..36f2621fc5 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit d87194613455b42af19ff2b5a3f7d1cae5852885 +Subproject commit 36f2621fc5348487bb2cd606c37c8c15de0e32cd diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 42c4156795..33e41398a0 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import time -from multiprocessing import Process, Queue +from concurrent.futures import Future, ProcessPoolExecutor from typing import List, Optional import numpy as np @@ -10,7 +10,7 @@ from numpy.linalg import linalg from cereal import log, messaging from laika import AstroDog -from laika.constants import SECS_IN_MIN +from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.ephemeris import EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId @@ -29,8 +29,9 @@ class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) self.gnss_kf = GNSSKalman(GENERATED_DIR) - self.orbit_p: Optional[Process] = None - self.orbit_q = Queue() + self.orbit_fetch_executor = ProcessPoolExecutor() + self.orbit_fetch_future: Optional[Future] = None + self.last_fetch_orbits_t = None def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': @@ -82,7 +83,7 @@ class Laikad: return dat elif ublox_msg.which == 'ephemeris': ephem = convert_ublox_ephem(ublox_msg.ephemeris) - self.astro_dog.add_ephems([ephem], self.astro_dog.nav) + self.astro_dog.add_navs([ephem]) # elif ublox_msg.which == 'ionoData': # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them. @@ -100,7 +101,7 @@ class Laikad: cloudlog.error("Gnss kalman std too far") if len(pos_fix) == 0: - cloudlog.error("Position fix not available when resetting kalman filter") + cloudlog.warning("Position fix not available when resetting kalman filter") return post_est = pos_fix[0][:3].tolist() self.init_gnss_localizer(post_est) @@ -124,36 +125,33 @@ class Laikad: self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) - def get_orbit_data(self, t: GPSTime, queue): - cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") - start_time = time.monotonic() - try: - self.astro_dog.get_orbit_data(t, only_predictions=True) - except RuntimeError as e: - cloudlog.info(f"No orbit data found. {e}") - return - cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.2f}s") - if queue is not None: - queue.put((self.astro_dog.orbits, self.astro_dog.orbit_fetched_times)) - def fetch_orbits(self, t: GPSTime, block): - if t not in self.astro_dog.orbit_fetched_times: - if block: - self.get_orbit_data(t, None) - return - if self.orbit_p is None: - self.orbit_p = Process(target=self.get_orbit_data, args=(t, self.orbit_q)) - self.orbit_p.start() - if not self.orbit_q.empty(): - ret = self.orbit_q.get() + if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR): + astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types + if self.orbit_fetch_future is None: + self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) + if block: + self.orbit_fetch_future.result() + if self.orbit_fetch_future.done(): + ret = self.orbit_fetch_future.result() if ret: self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret - self.orbit_p.join() - self.orbit_p = None - - def __del__(self): - if self.orbit_p is not None: - self.orbit_p.kill() + self.orbit_fetch_future = None + self.last_fetch_orbits_t = t + + +def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): + astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) + cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") + start_time = time.monotonic() + data = None + try: + astro_dog.get_orbit_data(t, only_predictions=True) + data = (astro_dog.orbits, astro_dog.orbit_fetched_times) + except RuntimeError as e: + cloudlog.info(f"No orbit data found. {e}") + cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") + return data def create_measurement_msg(meas: GNSSMeasurement): diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 7a8c1ecb13..7dc803d799 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -69,29 +69,46 @@ class TestLaikad(unittest.TestCase): self.assertEqual(256, len(correct_msgs)) self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - def test_laika_get_orbits(self): - laikad = Laikad(auto_update=False) - first_gps_time = None + def get_first_gps_time(self): for m in self.logs: if m.ubloxGnss.which == 'measurementReport': new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) if len(new_meas) != 0: - first_gps_time = new_meas[0].recv_time - break + return new_meas[0].recv_time + + def test_laika_get_orbits(self): + laikad = Laikad(auto_update=False) + first_gps_time = self.get_first_gps_time() # Pretend process has loaded the orbits on startup by using the time of the first gps message. laikad.fetch_orbits(first_gps_time, block=True) - self.assertEqual(29, len(laikad.astro_dog.orbits.keys())) + self.assertEqual(29, len(laikad.astro_dog.orbits.values())) + self.assertGreater(min([len(v) for v in laikad.astro_dog.orbits.values()]), 0) @unittest.skip("Use to debug live data") def test_laika_get_orbits_now(self): laikad = Laikad(auto_update=False) laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True) prn = "G01" - self.assertLess(0, len(laikad.astro_dog.orbits[prn])) + self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0) prn = "R01" - self.assertLess(0, len(laikad.astro_dog.orbits[prn])) + self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0) print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime()) + def test_get_orbits_in_process(self): + laikad = Laikad(auto_update=False) + has_orbits = False + for m in self.logs: + laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.orbits.values() + has_orbits = len(vals) > 0 and max([len(v) for v in vals]) > 0 + if has_orbits: + break + self.assertTrue(has_orbits) + self.assertGreater(len(laikad.astro_dog.orbit_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) + if __name__ == "__main__": unittest.main() From fb068f04f50fcde6906072b4963114146852c51d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 13 Jun 2022 16:43:50 +0200 Subject: [PATCH 062/226] camerad: remove unused SubMaster (#24844) --- selfdrive/camerad/cameras/camera_qcom2.cc | 7 ++----- selfdrive/camerad/cameras/camera_qcom2.h | 1 - selfdrive/camerad/test/camera_test.h | 1 - 3 files changed, 2 insertions(+), 7 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index d43beb0921..c1ffc1275a 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -837,7 +837,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road); s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); - s->sm = new SubMaster({"driverState"}); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -948,7 +947,6 @@ void cameras_close(MultiCameraState *s) { s->road_cam.camera_close(); s->wide_road_cam.camera_close(); - delete s->sm; delete s->pm; } @@ -1221,7 +1219,7 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal framed.setTemperaturesC({temp_0, temp_1}); } -static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) { +static void driver_cam_auto_exposure(CameraState *c) { struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;}; const CameraBuf *b = &c->buf; static ExpRect rect = {96, 1832, 2, 242, 1148, 4}; @@ -1229,8 +1227,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) { } static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - s->sm->update(0); - driver_cam_auto_exposure(c, *(s->sm)); + driver_cam_auto_exposure(c); MessageBuilder msg; auto framed = msg.initEvent().initDriverCameraState(); diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h index d869620e9a..88766a68e9 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.h +++ b/selfdrive/camerad/cameras/camera_qcom2.h @@ -106,6 +106,5 @@ typedef struct MultiCameraState { CameraState wide_road_cam; CameraState driver_cam; - SubMaster *sm; PubMaster *pm; } MultiCameraState; diff --git a/selfdrive/camerad/test/camera_test.h b/selfdrive/camerad/test/camera_test.h index cc521db397..a9f213c923 100644 --- a/selfdrive/camerad/test/camera_test.h +++ b/selfdrive/camerad/test/camera_test.h @@ -19,7 +19,6 @@ typedef struct MultiCameraState { CameraState road_cam; CameraState driver_cam; - SubMaster *sm = nullptr; PubMaster *pm = nullptr; } MultiCameraState; From 7bca95dbb89dc6b969871cc7f6bf4306d91f60cc Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 13 Jun 2022 16:44:38 +0200 Subject: [PATCH 063/226] navd: speed limits only when localizer is valid (#24845) --- selfdrive/navd/navd.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index fcd53d8b60..509653a46d 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -32,6 +32,7 @@ class RouteEngine: self.last_bearing = None self.gps_ok = False + self.localizer_valid = False self.nav_destination = None self.step_idx = None @@ -73,9 +74,9 @@ class RouteEngine: location = self.sm['liveLocationKalman'] self.gps_ok = location.gpsOK - localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid + self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - if localizer_valid: + if self.localizer_valid: self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2]) self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1]) @@ -202,7 +203,7 @@ class RouteEngine: if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]): closest = geometry[closest_idx - 1] - if 'maxspeed' in closest.annotations: + if ('maxspeed' in closest.annotations) and self.localizer_valid: msg.navInstruction.speedLimit = closest.annotations['maxspeed'] # Speed limit sign type From 566de12671f7fbf299306339c0ca901754f7f3ca Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Jun 2022 09:29:28 -0700 Subject: [PATCH 064/226] Toyota Camry TSS2: update torque control params (#24819) Use updated accel and friction values for TSS2 Camry --- selfdrive/car/toyota/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 83eed611c3..53accecfe0 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -31,6 +31,7 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False + torque_params = CarInterfaceBase.get_torque_params(candidate) if candidate == CAR.PRIUS: stop_and_go = True @@ -91,8 +92,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - ret.maxLateralAccel = 2.4 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05) + set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) else: set_lat_tune(ret.lateralTuning, LatTunes.PID_C) From f05166ae26eb8165f35e8205b59c36e618d179b8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Jun 2022 13:58:22 -0700 Subject: [PATCH 065/226] ui.py: update for nv12 --- tools/replay/ui.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 1807fb7747..bbcd49061e 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -118,7 +118,7 @@ def ui_thread(addr): imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width)) num_px = vipc_client.width * vipc_client.height - bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_I420) + bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12) zoom_matrix = _BB_TO_FULL_FRAME[num_px] cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) From cbd404b954b5b80b65f1ad8363b0245c3c7c7911 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Jun 2022 16:38:32 -0700 Subject: [PATCH 066/226] Revert "thermald: consider pmic in component temp management (#24708)" This reverts commit c8c21baf50865b0db2cc9345901bb98904cfbaaf. --- 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 403e9cb232..b909d1198c 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -249,7 +249,7 @@ def thermald_thread(end_event, hw_queue): current_filter.update(msg.deviceState.batteryCurrent / 1e6) max_comp_temp = temp_filter.update( - max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC), max(msg.deviceState.pmicTempC)) + max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC)) ) if fan_controller is not None: From be13fc71f1237eb56a9d1cf2d7a0feb11b55d0b7 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 13 Jun 2022 16:54:32 -0700 Subject: [PATCH 067/226] Couple more cars to torque tune (#24848) * try sonata on torque tune * Couple known cars to torque control * fix * more fix --- selfdrive/car/hyundai/interface.py | 22 ++++++++-------------- 1 file changed, 8 insertions(+), 14 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 08af654996..6fd75ebfab 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -55,7 +55,7 @@ class CarInterface(CarInterfaceBase): ret.stopAccel = 0.0 ret.longitudinalActuatorDelayUpperBound = 1.0 # s - + torque_params = CarInterfaceBase.get_torque_params(candidate) 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 @@ -66,13 +66,11 @@ class CarInterface(CarInterfaceBase): 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): - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) elif candidate == CAR.SONATA_LF: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG @@ -98,21 +96,17 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) elif candidate == CAR.ELANTRA_HEV_2021: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG @@ -210,13 +204,12 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] 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 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA) + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG @@ -258,7 +251,8 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.65 ret.maxLateralAccel = 2. - set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01) + # TODO override until there is more data + set_torque_tune(ret.lateralTuning, 2.0, 0.05) # Genesis elif candidate == CAR.GENESIS_G70: From 25eafa96264aa2f8851b2f0d633de0c7cce3e743 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Jun 2022 18:42:47 -0700 Subject: [PATCH 068/226] Honda Bosch long: fix ACC fault (#24851) Fix Honda bosch long Co-authored-by: redacid95 Co-authored-by: redacid95 --- selfdrive/car/honda/hondacan.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 9c9e873e18..3d8c79c809 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -115,7 +115,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc } if CP.carFingerprint in HONDA_BOSCH: - acc_hud_values['ACC_ON'] = hud.car != 0 + acc_hud_values['ACC_ON'] = int(enabled) acc_hud_values['FCM_OFF'] = 1 acc_hud_values['FCM_OFF_2'] = 1 else: From dbfe923ecc0e14a781a7f03646ccf885ab2fa47a Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 13 Jun 2022 19:08:09 -0700 Subject: [PATCH 069/226] Move couple toyotas to torque table values (#24849) * Move couple toyotas to torque table values * Dont set for all cars yet * Dont regress docs * update ref --- selfdrive/car/toyota/interface.py | 24 ++++++++++++------------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 53accecfe0..9ca9e4e11b 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,6 +2,7 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda +from selfdrive.controls.lib.latcontrol_torque import set_torque_tune from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config @@ -32,6 +33,8 @@ class CarInterface(CarInterfaceBase): stop_and_go = False torque_params = CarInterfaceBase.get_torque_params(candidate) + steering_angle_deadzone_deg = 0.0 + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True @@ -39,8 +42,11 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.74 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 1.7 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06, steering_angle_deadzone_deg=1.0) + # Only give steer angle deadzone to for bad angle sensor prius + for fw in car_fw: + if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': + steering_angle_deadzone_deg = 1.0 + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -48,8 +54,10 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG + # TODO override until there is enough data ret.maxLateralAccel = 1.8 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06) + torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS) + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False @@ -57,16 +65,12 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.88 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.maxLateralAccel = 1.8 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06) elif candidate == CAR.COROLLA: ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.maxLateralAccel = 2.8 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024) elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): stop_and_go = True @@ -91,9 +95,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) - else: + if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): @@ -143,8 +145,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG - ret.maxLateralAccel = 2.0 - set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07) elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): stop_and_go = True diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 613b7f26ae..61bbd5cdd1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -123506cad1877e93bfe5c91ecdce654ef339959b +fe2da24194e3def1823681cc18e7879f24edfc6e From a78197ab1af40dcdc0fe5a8f764b476da3837e87 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Jun 2022 21:49:50 -0700 Subject: [PATCH 070/226] Move RAV4 2022 out of bronze --- docs/CARS.md | 6 +++--- selfdrive/car/toyota/interface.py | 4 ++++ 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 479c519dab..9b3322ac8e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -68,7 +68,7 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 75 cars +# Silver - 76 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -130,6 +130,7 @@ How We Rate The Cars |Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| |Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||| |Toyota|Prius Prime 2017-20|All|[3](#footnotes)||||| +|Toyota|RAV4 2022|All|||||| |Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 Hybrid 2022|All|||||| |Toyota|Sienna 2018-20|All|[3](#footnotes)||||| @@ -148,7 +149,7 @@ How We Rate The Cars |Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 70 cars +# Bronze - 69 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -214,7 +215,6 @@ How We Rate The Cars |Toyota|Corolla 2017-19|All|[3](#footnotes)||||| |Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|RAV4 2022|All|||||| |Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9ca9e4e11b..7969775a89 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -132,6 +132,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_D) + # TODO: remove once there's data + if candidate == CAR.RAV4_TSS2_2022: + ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED'] + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: From 1ba8022c184a7e643c2714aaad1aa45e5e68501c Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 13 Jun 2022 22:26:31 -0700 Subject: [PATCH 071/226] pin protobuf and hypothesis versions (#24852) pin hypothesis and protobuf --- Pipfile | 3 ++- Pipfile.lock | 58 +++++++++++++++++++++++++++++++++++++--------------- 2 files changed, 44 insertions(+), 17 deletions(-) diff --git a/Pipfile b/Pipfile index 2ffe60e0fe..672692fe40 100644 --- a/Pipfile +++ b/Pipfile @@ -11,7 +11,7 @@ coverage = "*" dictdiffer = "*" fastcluster = "*" hexdump = "*" -hypothesis = "*" +hypothesis = "==6.46.7" inputs = "*" lru-dict = "*" markdown-it-py = "*" @@ -58,6 +58,7 @@ json-rpc = "*" libusb1 = "*" nose = "*" numpy = "*" +protobuf = "==3.20.1" onnx = "*" onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"} pillow = "*" diff --git a/Pipfile.lock b/Pipfile.lock index 25a97890d3..ee0fbc7e84 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "eb1eeeaabf1266fab353532d10e4d9ae36306a7577f248513909c2d6096ab1c9" + "sha256": "7af354a7ae976b12da1b5f15f0cebdc77595199c11b0bfeb8be9c2827f335c48" }, "pipfile-spec": 6, "requires": { @@ -18,11 +18,11 @@ "default": { "astroid": { "hashes": [ - "sha256:14ffbb4f6aa2cf474a0834014005487f7ecd8924996083ab411e7fa0b508ce0b", - 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"sha256:1f5d3a1502812025cdb2e5609b6af2d207332e3f50febe6db10ed3a59b2f155f", - "sha256:30b6b0fbacc459c90d27a63e6173facfc8b8c99a48fb24b5044f459ba63cd6cf" + "sha256:5a844ad6e190dccc67d6d7411d119c5152ce01f7c76be4d8a1eaa314501bba77", + "sha256:bf8a748ac98b09d32c9a64a995a6b25921c96cc5743c1efa82763ba80ff54e91" ], "markers": "python_version >= '3.7'", - "version": "==62.3.4" + "version": "==62.4.0" }, "six": { "hashes": [ @@ -1206,7 +1230,7 @@ "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1", "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd" ], - "markers": "python_version >= '3.6' and python_version < '4'", + "markers": "python_version >= '3.6' and python_version < '4.0'", "version": "==0.11.0" }, "tqdm": { @@ -1222,7 +1246,7 @@ "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708", "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376" ], - "markers": "python_version < '3.10'", + "markers": "python_version >= '3.7'", "version": "==4.2.0" }, "urllib3": { @@ -1733,11 +1757,13 @@ }, "hypothesis": { "hashes": [ + "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b", "sha256:4ad26c5d434171ffc02aba569dd52255573d615554c062bc30734dbe6f318c61", - "sha256:69978811f1d9c19710c7d2bf8233dc43c80efa964251b72efbe8274044e073b4" + "sha256:69978811f1d9c19710c7d2bf8233dc43c80efa964251b72efbe8274044e073b4", + "sha256:967009fa561b3a3f8363a73d71923357271c37dc7fa27b30c2d21a1b6092b240" ], "index": "pypi", - "version": "==6.47.1" + "version": "==6.46.7" }, "identify": { "hashes": [ @@ -2546,7 +2572,7 @@ "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708", "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376" ], - "markers": "python_version < '3.10'", + "markers": "python_version >= '3.7'", "version": "==4.2.0" }, "urllib3": { From a9038bc3fd0ed12b441804923c46927b5f6bbbfe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Jun 2022 22:27:44 -0700 Subject: [PATCH 072/226] bump opendbc (#24853) --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 58a2c9b2fc..a7b391cce8 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 58a2c9b2fc5c60ca68d3dced09f6c4c72ca72415 +Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96 From 170ed3d761a58222a626c86b9706f9be4900d058 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Jun 2022 12:03:30 -0700 Subject: [PATCH 073/226] process replay: clean up common code (#24855) * regen and process replay clean up * test_fuzzy actually uses fingerprint hardcoding fix * revert * revert * this can be a url or path so just print full variable --- .../test/process_replay/process_replay.py | 35 ++++++++----------- selfdrive/test/process_replay/regen.py | 19 +--------- selfdrive/test/process_replay/regen_all.py | 14 ++++---- .../test/process_replay/test_processes.py | 3 +- 4 files changed, 24 insertions(+), 47 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 1eda9bc7f5..363035ab22 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -347,7 +347,7 @@ def replay_process(cfg, lr, fingerprint=None): else: return cpp_replay_process(cfg, lr, fingerprint) -def setup_env(simulation=False): +def setup_env(simulation=False, CP=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -358,12 +358,22 @@ def setup_env(simulation=False): os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" + os.environ['SKIP_FW_QUERY'] = "" + os.environ['FINGERPRINT'] = "" if simulation: os.environ["SIMULATION"] = "1" elif "SIMULATION" in os.environ: del os.environ["SIMULATION"] + # Regen or python process + if CP is not None: + if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS: + params.put("CarParamsCache", CP.as_builder().to_bytes()) + else: + os.environ['SKIP_FW_QUERY'] = "1" + os.environ['FINGERPRINT'] = CP.carFingerprint + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] @@ -378,30 +388,13 @@ def python_replay_process(cfg, lr, fingerprint=None): all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - setup_env() - - # TODO: remove after getting new route for civic & accord - migration = { - "HONDA CIVIC 2016 TOURING": "HONDA CIVIC 2016", - "HONDA ACCORD 2018 SPORT 2T": "HONDA ACCORD 2018", - "HONDA ACCORD 2T 2018": "HONDA ACCORD 2018", - "Mazda CX-9 2021": "MAZDA CX-9 2021", - } - if fingerprint is not None: os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = fingerprint + setup_env() else: - os.environ['SKIP_FW_QUERY'] = "" - os.environ['FINGERPRINT'] = "" - for msg in lr: - if msg.which() == 'carParams': - car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint) - if msg.carParams.fingerprintSource == "fw" and (car_fingerprint in FW_VERSIONS): - Params().put("CarParamsCache", msg.carParams.as_builder().to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = car_fingerprint + CP = [m for m in lr if m.which() == 'carParams'][0].carParams + setup_env(CP=CP) assert(type(managed_processes[cfg.proc_name]) is PythonProcess) managed_processes[cfg.proc_name].prepare() diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 653efaf32c..dfc62a4558 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -15,7 +15,6 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType from common.params import Params from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size -from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled @@ -181,28 +180,12 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): if frs is None: frs = dict() - setup_env() params = Params() - os.environ["LOG_ROOT"] = outdir - os.environ['SKIP_FW_QUERY'] = "" - os.environ['FINGERPRINT'] = "" - - # TODO: remove after getting new route for Mazda - fp_migration = { - "Mazda CX-9 2021": "MAZDA CX-9 2021", - } - # TODO: remove after getting new route for Subaru - fingerprint_problem = ["SUBARU IMPREZA LIMITED 2019"] for msg in lr: if msg.which() == 'carParams': - car_fingerprint = fp_migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint) - if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS) and (car_fingerprint not in fingerprint_problem): - params.put("CarParamsCache", msg.carParams.as_builder().to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['FINGERPRINT'] = car_fingerprint + setup_env(CP=msg.carParams) elif msg.which() == 'liveCalibration': params.put("CalibrationParams", msg.as_builder().to_bytes()) diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index 765e5c3b68..c3ea1d41e1 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -8,26 +8,28 @@ from tqdm import tqdm from selfdrive.test.process_replay.helpers import OpenpilotPrefix from selfdrive.test.process_replay.regen import regen_and_save from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments +from tools.lib.route import SegmentName -def regen_job(segment): + +def regen_job(segment, disable_tqdm): with OpenpilotPrefix(): - route = segment[1].rsplit('--', 1)[0] - sidx = int(segment[1].rsplit('--', 1)[1]) - fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for i in range(11)) + sn = SegmentName(segment[1]) + fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11)) try: - relr = regen_and_save(route, sidx, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=True) + relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) relr = '|'.join(relr.split('/')[-2:]) return f' ("{segment[0]}", "{relr}"), ' except Exception as e: return f" {segment} failed: {str(e)}" + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Generate new segments from old ones") parser.add_argument("-j", "--jobs", type=int, default=1) args = parser.parse_args() with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - p = list(pool.map(regen_job, segments)) + p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs)) msg = "Copy these new segments into test_processes.py:" for seg in tqdm(p, desc="Generating segments"): msg += "\n" + str(seg) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 9f83a08e23..25fbd210cc 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -93,8 +93,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None): # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": if not check_enabled(log_msgs): - segment = os.path.basename(ref_log_path).split("/")[-1].split("_")[0] - raise Exception(f"Route never enabled: {segment}") + raise Exception(f"Route never enabled: {ref_log_path}") try: return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs From 7a6f57a28e6efda72319fc0b2a4873bcf7e06829 Mon Sep 17 00:00:00 2001 From: George Hotz <72895+geohot@users.noreply.github.com> Date: Tue, 14 Jun 2022 15:46:03 -0700 Subject: [PATCH 074/226] remove weights fixup with new SNPE (#24254) * remove weights fixup with new SNPE * Update ref Co-authored-by: Comma Device Co-authored-by: Harald Schafer --- selfdrive/modeld/SConscript | 12 ++---------- .../test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 1f1c661c8b..3e9738d864 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -65,22 +65,14 @@ common_model = lenv.Object(common_src) if use_thneed and arch == "larch64": fn = File("models/supercombo").abspath compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs) - cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}_badweights.thneed --binary --optimize" + cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}.thneed --binary --optimize" lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"]) kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels") cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path}) kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")] - cenv.Command(fn + "_badweights.thneed", [fn + ".dlc", kernels, compiler], cmd) - - from selfdrive.modeld.thneed.weights_fixup import weights_fixup - def weights_fixup_action(target, source, env): - weights_fixup(target[0].abspath, source[0].abspath, source[1].abspath) - - env = Environment(BUILDERS = {'WeightFixup' : Builder(action = weights_fixup_action)}) - env.WeightFixup(target=fn + ".thneed", source=[fn+"_badweights.thneed", fn+".dlc"]) - + cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd) lenv.Program('_dmonitoringmodeld', [ "dmonitoringmodeld.cc", diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 90520f2619..a7a909d2a4 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -f74ab97371be93fdc28333e5ea12bbb78c3a32d0 +512a9d4596c8faba304d6f7ded2ce77837357b65 From f8f4337fb3c50d6c125f59a8f59c93818fe71994 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Tue, 14 Jun 2022 20:28:15 -0400 Subject: [PATCH 075/226] GM: add support for vehicles with manual parking brakes (#24766) Switch to general park brake signal --- selfdrive/car/gm/carstate.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index e6a1c08dda..48b9f25444 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -64,7 +64,7 @@ class CarState(CarStateBase): ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1 ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2 - ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1 + ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1 ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED @@ -100,7 +100,7 @@ class CarState(CarStateBase): ("LKATorqueDelivered", "PSCMStatus"), ("LKATorqueDeliveredStatus", "PSCMStatus"), ("TractionControlOn", "ESPStatus"), - ("EPBClosed", "EPBStatus"), + ("ParkBrake", "VehicleIgnitionAlt"), ("CruiseMainOn", "ECMEngineStatus"), ] @@ -110,7 +110,7 @@ class CarState(CarStateBase): ("PSCMStatus", 10), ("ESPStatus", 10), ("BCMDoorBeltStatus", 10), - ("EPBStatus", 20), + ("VehicleIgnitionAlt", 10), ("EBCMWheelSpdFront", 20), ("EBCMWheelSpdRear", 20), ("AcceleratorPedal2", 33), From 6757e235f92b72741f2f4375548fde883ede324d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Jun 2022 20:38:25 -0700 Subject: [PATCH 076/226] little zookeeper fixes (#24861) * little zookeeper fixes * bump that up --- Pipfile | 1 + Pipfile.lock | 135 ++++++++++++++++++------------- tools/zookeeper/__init__.py | 7 +- tools/zookeeper/power_monitor.py | 28 +++---- tools/zookeeper/requirements.txt | 1 - 5 files changed, 98 insertions(+), 74 deletions(-) mode change 100755 => 100644 tools/zookeeper/__init__.py delete mode 100644 tools/zookeeper/requirements.txt diff --git a/Pipfile b/Pipfile index 672692fe40..b8545b1a21 100644 --- a/Pipfile +++ b/Pipfile @@ -40,6 +40,7 @@ subprocess32 = "*" tenacity = "*" mpld3 = "*" carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"} +ft4222 = "*" [packages] atomicwrites = "*" diff --git a/Pipfile.lock b/Pipfile.lock index ee0fbc7e84..cc347a60f4 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "7af354a7ae976b12da1b5f15f0cebdc77595199c11b0bfeb8be9c2827f335c48" + "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a" }, "pipfile-spec": 6, "requires": { @@ -146,7 +146,7 @@ "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597", "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df" ], - "markers": "python_version >= '3.5'", + "markers": "python_full_version >= '3.5.0'", "version": "==2.0.12" }, "click": { @@ -347,7 +347,7 @@ "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff", "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d" ], - "markers": "python_version >= '3.5'", + "markers": "python_full_version >= '3.5.0'", "version": "==3.3" }, "importlib-metadata": { @@ -1246,7 +1246,7 @@ 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"markers": "python_version >= '3.7'", - "version": "==1.4.2" + "version": "==1.4.3" }, "lru-dict": { "hashes": [ @@ -2572,7 +2599,7 @@ "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708", "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376" ], - "markers": "python_version >= '3.7'", + "markers": "python_version < '3.10'", "version": "==4.2.0" }, "urllib3": { diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py old mode 100755 new mode 100644 index cd64d3a1fb..42438cb209 --- a/tools/zookeeper/__init__.py +++ b/tools/zookeeper/__init__.py @@ -1,9 +1,6 @@ #!/usr/bin/env python3 - -# Python library to control Zookeeper - -import ft4222 # pylint: disable=import-error -import ft4222.I2CMaster # pylint: disable=import-error +import ft4222 +import ft4222.I2CMaster DEBUG = False diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index f2796bad31..d3bdd6679f 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -1,30 +1,30 @@ -#!/usr/bin/env python - +#!/usr/bin/env python3 import sys import time -from tools.zookeeper import Zookeeper -# Usage: check_consumption.py -# Exit code: 0 -> passed -# 1 -> failed +from common.realtime import Ratekeeper +from common.filter_simple import FirstOrderFilter +from tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() + z.set_device_power(True) + z.set_device_ignition(False) duration = None if len(sys.argv) > 1: duration = int(sys.argv[1]) + rate = 123 + rk = Ratekeeper(rate, print_delay_threshold=None) + fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False) + try: start_time = time.monotonic() - measurements = [] while duration is None or time.monotonic() - start_time < duration: - p = z.read_power() - print(round(p, 3), "W") - measurements.append(p) - time.sleep(0.25) + fltr.update(z.read_power()) + if rk.frame % rate == 0: + print(f"{fltr.x:.2f} W") + rk.keep_time() except KeyboardInterrupt: pass - finally: - average_power = sum(measurements)/len(measurements) - print(f"Average power: {round(average_power, 4)}W") diff --git a/tools/zookeeper/requirements.txt b/tools/zookeeper/requirements.txt deleted file mode 100644 index 6f70576caf..0000000000 --- a/tools/zookeeper/requirements.txt +++ /dev/null @@ -1 +0,0 @@ -ft4222==1.2.1 \ No newline at end of file From 0d0f5926a006ead1709b78fe69c1186b5a607c66 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Jun 2022 21:12:49 -0700 Subject: [PATCH 077/226] bump up modeld power draw threshold --- system/hardware/tici/test_power_draw.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 31b8471328..b6b5c735fa 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -20,7 +20,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), - Proc('modeld', 1.0), + Proc('modeld', 1.0, atol=0.15), Proc('dmonitoringmodeld', 0.25), Proc('encoderd', 0.23), ] From a6652a539d8d4ba614b216900c472cc9e2e58a05 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 14 Jun 2022 22:29:08 -0700 Subject: [PATCH 078/226] Torque control: low speed boost (#24859) * Make very low speed more aggressive * Less extreme low speed boost * Update ref --- selfdrive/controls/lib/latcontrol_torque.py | 11 ++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 12714082a6..f72ffc4b88 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -19,8 +19,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # move it at all, this is compensated for too. -LOW_SPEED_FACTOR = 200 -JERK_THRESHOLD = 0.2 +FRICTION_THRESHOLD = 0.2 def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0): @@ -66,14 +65,16 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature - measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature + + low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0]) + setpoint = desired_lateral_accel + low_speed_factor * desired_curvature + measurement = actual_lateral_accel + low_speed_factor * actual_curvature error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone) pid_log.error = error ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY # convert friction into lateral accel units for feedforward - friction_compensation = interp(error, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction]) + friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(error, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 61bbd5cdd1..b8976e5f38 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fe2da24194e3def1823681cc18e7879f24edfc6e +1d66eed104dbc124c4e5679f5dddf40197b86ce9 From b86ef0b70e81ef4e895d5102feb231dc3d43265f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Jun 2022 23:30:35 -0700 Subject: [PATCH 079/226] regen & process replay: support no disengage on accelerator (#24850) * ACC on if enabled != 0 * small regen clean up and add HONDA3 * fixes * revert unneeded changes * not used * just alt exp Co-authored-by: redacid95 --- selfdrive/test/process_replay/process_replay.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 363035ab22..b016eb1c9f 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -14,6 +14,7 @@ from cereal import car, log from cereal.services import service_list from common.params import Params from common.timeout import Timeout +from panda.python import ALTERNATIVE_EXPERIENCE from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.car_helpers import get_car, interfaces from selfdrive.test.process_replay.helpers import OpenpilotPrefix @@ -368,6 +369,9 @@ def setup_env(simulation=False, CP=None): # Regen or python process if CP is not None: + if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: + params.put_bool("DisengageOnAccelerator", False) + if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS: params.put("CarParamsCache", CP.as_builder().to_bytes()) else: From c3fa9151f39994984b60a19cdd7425dba73ec2fc Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 15 Jun 2022 11:32:07 +0200 Subject: [PATCH 080/226] Laikad: Cache orbit and nav data (#24831) * Cache orbit and nav data * Cleanup * Cleanup * Use ProcessPoolExecutor to fetch orbits * update laika repo * Minor * Create json de/serializers Save cache only 1 minute at max * Update laika repo * Speed up json by caching json in ephemeris class * Update laika * Fix test * Use constant --- common/params.cc | 1 + laika_repo | 2 +- selfdrive/locationd/laikad.py | 64 +++++++++++++++++++++--- selfdrive/locationd/test/test_laikad.py | 66 ++++++++++++++++++++++--- 4 files changed, 118 insertions(+), 15 deletions(-) diff --git a/common/params.cc b/common/params.cc index b740e5a71e..8cf1baa6c8 100644 --- a/common/params.cc +++ b/common/params.cc @@ -127,6 +127,7 @@ std::unordered_map keys = { {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, + {"LaikadEphemeris", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, diff --git a/laika_repo b/laika_repo index 36f2621fc5..a3a80dc4f7 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 36f2621fc5348487bb2cd606c37c8c15de0e32cd +Subproject commit a3a80dc4f7977b2232946e56a16770e413190818 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 33e41398a0..ddd57bdca9 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import json import time from concurrent.futures import Future, ProcessPoolExecutor from typing import List, Optional @@ -9,9 +10,10 @@ from collections import defaultdict from numpy.linalg import linalg from cereal import log, messaging +from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN -from laika.ephemeris import EphemerisType, convert_ublox_ephem +from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox @@ -22,16 +24,40 @@ import common.transformations.coordinates as coord from system.swaglog import cloudlog MAX_TIME_GAP = 10 +EPHEMERIS_CACHE = 'LaikadEphemeris' +CACHE_VERSION = 0.1 class Laikad: - - def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)): - self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) + def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), + save_ephemeris=False): + self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR) self.orbit_fetch_executor = ProcessPoolExecutor() self.orbit_fetch_future: Optional[Future] = None self.last_fetch_orbits_t = None + self.last_cached_t = None + self.save_ephemeris = save_ephemeris + self.load_cache() + + def load_cache(self): + cache = Params().get(EPHEMERIS_CACHE) + if not cache: + return + try: + cache = json.loads(cache, object_hook=deserialize_hook) + self.astro_dog.add_orbits(cache['orbits']) + self.astro_dog.add_navs(cache['nav']) + self.last_fetch_orbits_t = cache['last_fetch_orbits_t'] + except json.decoder.JSONDecodeError: + cloudlog.exception("Error parsing cache") + + def cache_ephemeris(self, t: GPSTime): + if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): + put_nonblocking(EPHEMERIS_CACHE, json.dumps( + {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav}, + cls=CacheSerializer)) + self.last_cached_t = t def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': @@ -83,7 +109,8 @@ class Laikad: return dat elif ublox_msg.which == 'ephemeris': ephem = convert_ublox_ephem(ublox_msg.ephemeris) - self.astro_dog.add_navs([ephem]) + self.astro_dog.add_navs({ephem.prn: [ephem]}) + self.cache_ephemeris(t=ephem.epoch) # elif ublox_msg.which == 'ionoData': # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them. @@ -101,7 +128,7 @@ class Laikad: cloudlog.error("Gnss kalman std too far") if len(pos_fix) == 0: - cloudlog.warning("Position fix not available when resetting kalman filter") + cloudlog.info("Position fix not available when resetting kalman filter") return post_est = pos_fix[0][:3].tolist() self.init_gnss_localizer(post_est) @@ -134,10 +161,11 @@ class Laikad: self.orbit_fetch_future.result() if self.orbit_fetch_future.done(): ret = self.orbit_fetch_future.result() + self.last_fetch_orbits_t = t if ret: self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret + self.cache_ephemeris(t=t) self.orbit_fetch_future = None - self.last_fetch_orbits_t = t def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): @@ -193,11 +221,31 @@ def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std): return float(np.rad2deg(bearing)), float(bearing_std) +class CacheSerializer(json.JSONEncoder): + + def default(self, o): + if isinstance(o, Ephemeris): + return o.to_json() + if isinstance(o, GPSTime): + return o.__dict__ + if isinstance(o, np.ndarray): + return o.tolist() + return json.JSONEncoder.default(self, o) + + +def deserialize_hook(dct): + if 'ephemeris' in dct: + return Ephemeris.from_json(dct) + if 'week' in dct: + return GPSTime(dct['week'], dct['tow']) + return dct + + def main(): sm = messaging.SubMaster(['ubloxGnss']) pm = messaging.PubMaster(['gnssMeasurements']) - laikad = Laikad() + laikad = Laikad(save_ephemeris=True) while True: sm.update() diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 7dc803d799..01ea8fee27 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,14 +1,16 @@ #!/usr/bin/env python3 +import time import unittest from datetime import datetime from unittest import mock -from unittest.mock import Mock +from unittest.mock import Mock, patch +from common.params import Params from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from laika.helpers import ConstellationId, TimeRangeHolder from laika.raw_gnss import GNSSMeasurement, read_raw_ublox -from selfdrive.locationd.laikad import Laikad, create_measurement_msg +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader @@ -20,12 +22,14 @@ def get_log(segs=range(0)): return [m for m in logs if m.which() == 'ubloxGnss'] -def verify_messages(lr, laikad): +def verify_messages(lr, laikad, return_one_success=False): good_msgs = [] for m in lr: msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) + if return_one_success: + return msg return good_msgs @@ -35,6 +39,9 @@ class TestLaikad(unittest.TestCase): def setUpClass(cls): cls.logs = get_log(range(1)) + def setUp(self): + Params().delete(EPHEMERIS_CACHE) + def test_create_msg_without_errors(self): gpstime = GPSTime.from_datetime(datetime.now()) meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.}) @@ -81,8 +88,7 @@ class TestLaikad(unittest.TestCase): first_gps_time = self.get_first_gps_time() # Pretend process has loaded the orbits on startup by using the time of the first gps message. laikad.fetch_orbits(first_gps_time, block=True) - self.assertEqual(29, len(laikad.astro_dog.orbits.values())) - self.assertGreater(min([len(v) for v in laikad.astro_dog.orbits.values()]), 0) + self.dict_has_values(laikad.astro_dog.orbits) @unittest.skip("Use to debug live data") def test_laika_get_orbits_now(self): @@ -109,6 +115,54 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.orbit_fetched_times._ranges), 0) self.assertEqual(None, laikad.orbit_fetch_future) + def test_cache(self): + laikad = Laikad(auto_update=True, save_ephemeris=True) + first_gps_time = self.get_first_gps_time() + + def wait_for_cache(): + max_time = 2 + while Params().get(EPHEMERIS_CACHE) is None: + time.sleep(0.1) + max_time -= 0.1 + if max_time == 0: + self.fail("Cache has not been written after 2 seconds") + # Test cache with no ephemeris + laikad.cache_ephemeris(t=GPSTime(0, 0)) + wait_for_cache() + Params().delete(EPHEMERIS_CACHE) + + laikad.astro_dog.get_navs(first_gps_time) + laikad.fetch_orbits(first_gps_time, block=True) + + # Wait for cache to save + wait_for_cache() + + # Check both nav and orbits separate + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV) + # Verify orbits and nav are loaded from cache + self.dict_has_values(laikad.astro_dog.orbits) + self.dict_has_values(laikad.astro_dog.nav) + # Verify cache is working for only nav by running a segment + msg = verify_messages(self.logs, laikad, return_one_success=True) + self.assertIsNotNone(msg) + + with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: + # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently + laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() + laikad.fetch_orbits(first_gps_time, block=False) + mock_method.assert_not_called() + + # Verify cache is working for only orbits by running a segment + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) + msg = verify_messages(self.logs, laikad, return_one_success=True) + self.assertIsNotNone(msg) + # Verify orbit data is not downloaded + mock_method.assert_not_called() + + def dict_has_values(self, dct): + self.assertGreater(len(dct), 0) + self.assertGreater(min([len(v) for v in dct.values()]), 0) + if __name__ == "__main__": unittest.main() From d528cd556848404891e28b3342d146498e3991cc Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 15 Jun 2022 13:06:46 +0200 Subject: [PATCH 081/226] UI: new set speed design, show speed limits (#24736) * basic US design * place based on center position * fix typo * eu sign without rounded box * same as steering wheel icon * proper rounded bottom for eu sign * add border * proper placement/sizes * needs to be semi bold * color changes * only when engaged * move helpers into util.h * Fix MAX placement * only change color when at least 5 over * implement override state * pixel perfect spacing around us sign --- selfdrive/ui/qt/onroad.cc | 162 ++++++++++++++++++++++++++++++++------ selfdrive/ui/qt/onroad.h | 15 +++- selfdrive/ui/qt/util.cc | 61 ++++++++++++++ selfdrive/ui/qt/util.h | 4 + 4 files changed, 216 insertions(+), 26 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ce61c094bd..12a579c573 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -174,17 +174,24 @@ void NvgWindow::updateState(const UIState &s) { const SubMaster &sm = *(s.sm); const auto cs = sm["controlsState"].getControlsState(); - float maxspeed = cs.getVCruise(); - bool cruise_set = maxspeed > 0 && (int)maxspeed != SET_SPEED_NA; + float set_speed = cs.getVCruise(); + bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; if (cruise_set && !s.scene.is_metric) { - maxspeed *= KM_TO_MILE; + set_speed *= KM_TO_MILE; } - QString maxspeed_str = cruise_set ? QString::number(std::nearbyint(maxspeed)) : "N/A"; float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH)); + auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); + float speed_limit = sm["navInstruction"].getValid() ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0; + speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); + + setProperty("speedLimit", speed_limit); + setProperty("has_us_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); + setProperty("has_eu_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + setProperty("is_cruise_set", cruise_set); - setProperty("speed", QString::number(std::nearbyint(cur_speed))); - setProperty("maxSpeed", maxspeed_str); + setProperty("speed", cur_speed); + setProperty("setSpeed", set_speed); setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); @@ -205,26 +212,139 @@ void NvgWindow::drawHud(QPainter &p) { bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); p.fillRect(0, 0, width(), header_h, bg); - // max speed - QRect rc(bdr_s * 2, bdr_s * 1.5, 184, 202); - p.setPen(QPen(QColor(0xff, 0xff, 0xff, 100), 10)); - p.setBrush(QColor(0, 0, 0, 100)); - p.drawRoundedRect(rc, 20, 20); - p.setPen(Qt::NoPen); + QString speedLimitStr = QString::number(std::nearbyint(speedLimit)); + QString speedStr = QString::number(std::nearbyint(speed)); + QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; + + // Draw outer box + border to contain set speed and speed limit + int default_rect_width = 172; + int rect_width = default_rect_width; + if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223; + else if (has_eu_speed_limit) rect_width = 200; + + int rect_height = 204; + if (has_us_speed_limit) rect_height = 402; + else if (has_eu_speed_limit) rect_height = 392; - configFont(p, "Open Sans", 48, "Regular"); - drawText(p, rc.center().x(), 118, "MAX", is_cruise_set ? 200 : 100); + int top_radius = 32; + int bottom_radius = has_eu_speed_limit ? 100 : 32; + + QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height); + p.setPen(QPen(QColor(255, 255, 255, 75), 6)); + p.setBrush(QColor(0, 0, 0, 166)); + drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius); + + // Draw set speed if (is_cruise_set) { - configFont(p, "Open Sans", 88, "Bold"); - drawText(p, rc.center().x(), 212, maxSpeed, 255); + if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) { + p.setPen(interpColor( + setSpeed, + {speedLimit + 5, speedLimit + 15, speedLimit + 25}, + {QColor(0xff, 0xff, 0xff, 0xff), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)} + )); + } else { + p.setPen(QColor(0xff, 0xff, 0xff, 0xff)); + } } else { - configFont(p, "Open Sans", 80, "SemiBold"); - drawText(p, rc.center().x(), 212, maxSpeed, 100); + p.setPen(QColor(0x72, 0x72, 0x72, 0xff)); + } + configFont(p, "Open Sans", 90, "Bold"); + QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr); + speed_rect.moveCenter({set_speed_rect.center().x(), 0}); + speed_rect.moveTop(set_speed_rect.top() + 8); + p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr); + + // Draw MAX + if (is_cruise_set) { + if (status == STATUS_DISENGAGED) { + p.setPen(QColor(0xff, 0xff, 0xff, 0xff)); + } else if (status == STATUS_OVERRIDE) { + p.setPen(QColor(0x91, 0x9b, 0x95, 0xff)); + } else if (speedLimit > 0) { + p.setPen(interpColor( + setSpeed, + {speedLimit + 5, speedLimit + 15, speedLimit + 25}, + {QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)} + )); + } else { + p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff)); + } + } else { + p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff)); + } + configFont(p, "Open Sans", 40, "SemiBold"); + QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX"); + max_rect.moveCenter({set_speed_rect.center().x(), 0}); + max_rect.moveTop(set_speed_rect.top() + 123); + p.drawText(max_rect, Qt::AlignCenter, "MAX"); + + // US/Canada (MUTCD style) sign + if (has_us_speed_limit) { + const int border_width = 6; + const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148; + const int sign_height = 186; + + // White outer square + QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height); + p.setPen(Qt::NoPen); + p.setBrush(QColor(255, 255, 255, 255)); + p.drawRoundedRect(sign_rect_outer, 24, 24); + + // Smaller white square with black border + QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width); + p.setPen(QPen(QColor(0, 0, 0, 255), border_width)); + p.setBrush(QColor(255, 255, 255, 255)); + p.drawRoundedRect(sign_rect, 16, 16); + + // "SPEED" + configFont(p, "Open Sans", 28, "SemiBold"); + QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED"); + text_speed_rect.moveCenter({sign_rect.center().x(), 0}); + text_speed_rect.moveTop(sign_rect_outer.top() + 20); + p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED"); + + // "LIMIT" + QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT"); + text_limit_rect.moveCenter({sign_rect.center().x(), 0}); + text_limit_rect.moveTop(sign_rect_outer.top() + 48); + p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT"); + + // Speed limit value + configFont(p, "Open Sans", 70, "Bold"); + QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); + speed_limit_rect.moveCenter({sign_rect.center().x(), 0}); + speed_limit_rect.moveTop(sign_rect.top() + 70); + p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr); + } + + // EU (Vienna style) sign + if (has_eu_speed_limit) { + int outer_radius = 176 / 2; + int inner_radius_1 = outer_radius - 6; // White outer border + int inner_radius_2 = inner_radius_1 - 20; // Red circle + + // Draw white circle with red border + QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius); + p.setPen(Qt::NoPen); + p.setBrush(QColor(255, 255, 255, 255)); + p.drawEllipse(center, outer_radius, outer_radius); + p.setBrush(QColor(255, 0, 0, 255)); + p.drawEllipse(center, inner_radius_1, inner_radius_1); + p.setBrush(QColor(255, 255, 255, 255)); + p.drawEllipse(center, inner_radius_2, inner_radius_2); + + // Speed limit value + int font_size = (speedLimitStr.size() >= 3) ? 62 : 70; + configFont(p, "Open Sans", font_size, "Bold"); + QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); + speed_limit_rect.moveCenter(center); + p.setPen(QColor(0, 0, 0, 255)); + p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr); } // current speed configFont(p, "Open Sans", 176, "Bold"); - drawText(p, rect().center().x(), 210, speed); + drawText(p, rect().center().x(), 210, speedStr); configFont(p, "Open Sans", 66, "Regular"); drawText(p, rect().center().x(), 290, speedUnit, 200); @@ -243,9 +363,7 @@ void NvgWindow::drawHud(QPainter &p) { } void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { - QFontMetrics fm(p.font()); - QRect init_rect = fm.boundingRect(text); - QRect real_rect = fm.boundingRect(init_rect, 0, text); + QRect real_rect = getTextRect(p, 0, text); real_rect.moveCenter({x, y - real_rect.height() / 2}); p.setPen(QColor(0xff, 0xff, 0xff, alpha)); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 6ca2b3c738..3d90a63d7c 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -27,10 +27,14 @@ private: // container window for the NVG UI class NvgWindow : public CameraViewWidget { Q_OBJECT - Q_PROPERTY(QString speed MEMBER speed); + Q_PROPERTY(float speed MEMBER speed); Q_PROPERTY(QString speedUnit MEMBER speedUnit); - Q_PROPERTY(QString maxSpeed MEMBER maxSpeed); + Q_PROPERTY(float setSpeed MEMBER setSpeed); + Q_PROPERTY(float speedLimit MEMBER speedLimit); Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); + Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit); + Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit); + Q_PROPERTY(bool engageable MEMBER engageable); Q_PROPERTY(bool dmActive MEMBER dmActive); Q_PROPERTY(bool hideDM MEMBER hideDM); @@ -48,13 +52,16 @@ private: QPixmap dm_img; const int radius = 192; const int img_size = (radius / 2) * 1.5; - QString speed; + float speed; QString speedUnit; - QString maxSpeed; + float setSpeed; + float speedLimit; bool is_cruise_set = false; bool engageable = false; bool dmActive = false; bool hideDM = false; + bool has_us_speed_limit = false; + bool has_eu_speed_limit = false; int status = STATUS_DISENGAGED; protected: diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 600885fb37..408652a0b9 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -135,3 +135,64 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation); } } + +QRect getTextRect(QPainter &p, int flags, QString text) { + QFontMetrics fm(p.font()); + QRect init_rect = fm.boundingRect(text); + return fm.boundingRect(init_rect, flags, text); +} + +void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){ + qreal w_2 = rect.width() / 2; + qreal h_2 = rect.height() / 2; + + xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2; + yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2; + + xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2; + yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2; + + qreal x = rect.x(); + qreal y = rect.y(); + qreal w = rect.width(); + qreal h = rect.height(); + + qreal rxx2Top = w*xRadiusTop/100; + qreal ryy2Top = h*yRadiusTop/100; + + qreal rxx2Bottom = w*xRadiusBottom/100; + qreal ryy2Bottom = h*yRadiusBottom/100; + + QPainterPath path; + path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180); + path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90); + path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90); + path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90); + path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90); + path.closeSubpath(); + + painter.drawPath(path); +} + +QColor interpColor(float xv, std::vector xp, std::vector fp) { + assert(xp.size() == fp.size()); + + int N = xp.size(); + int hi = 0; + + while (hi < N and xv > xp[hi]) hi++; + int low = hi - 1; + + if (hi == N && xv > xp[low]) { + return fp[fp.size() - 1]; + } else if (hi == 0){ + return fp[0]; + } else { + return QColor( + (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(), + (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(), + (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(), + (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha() + ); + } +} diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 813777710a..9491c6798e 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -22,3 +22,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co void initApp(int argc, char *argv[]); QWidget* topWidget (QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); + +QRect getTextRect(QPainter &p, int flags, QString text); +void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom); +QColor interpColor(float xv, std::vector xp, std::vector fp); From b046eb818e35f24d3b9b8a978fddb94dbfb85e59 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 15 Jun 2022 13:09:57 +0200 Subject: [PATCH 082/226] add speed limits to release notes --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index acbafd5f5b..7f365e5cef 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -10,6 +10,7 @@ Version 0.8.15 (2022-XX-XX) * takes a larger input frame * outputs a driver state for both driver and passenger * automatically determines which side the driver is on (soon) +* Display speed limit while navigating * Reduced power usage: device runs cooler and fan spins less * AGNOS 5 * Hyundai Tucson 2021 support thanks to bluesforte! From 9e3d0e3c9cea4dcf2da10801aad041b1dd65cccb Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 15 Jun 2022 14:00:27 +0200 Subject: [PATCH 083/226] Laikad: Remove bearingDeg from message (#24864) * Remove bearingDeg from message. * Push cereal * Commit cereal --- cereal | 2 +- selfdrive/locationd/laikad.py | 14 -------------- 2 files changed, 1 insertion(+), 15 deletions(-) diff --git a/cereal b/cereal index 98f795fd73..4b4d9aab03 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 98f795fd73356198f1fc8d5ea5a8f25e6f7c57e0 +Subproject commit 4b4d9aab03937f5a45677ff15efb275abf9c958b diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ddd57bdca9..ebe7404e17 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -20,7 +20,6 @@ from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from selfdrive.locationd.models.gnss_kf import GNSSKalman from selfdrive.locationd.models.gnss_kf import States as GStates -import common.transformations.coordinates as coord from system.swaglog import cloudlog MAX_TIME_GAP = 10 @@ -94,15 +93,12 @@ class Laikad: pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist() vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist() - bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std) - meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] dat = messaging.new_message("gnssMeasurements") measurement_msg = log.LiveLocationKalman.Measurement.new_message dat.gnssMeasurements = { "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid), "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid), - "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=kf_valid), "ubloxMonoTime": ublox_mono_time, "correctedMeasurements": meas_msgs } @@ -211,16 +207,6 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std): - # init orientation with direction of velocity - converter = coord.LocalCoord.from_ecef(ecef_pos) - - ned_vel = np.einsum('ij,j ->i', converter.ned_from_ecef_matrix, ecef_vel) - bearing = np.arctan2(ned_vel[1], ned_vel[0]) - bearing_std = np.arctan2(np.linalg.norm(vel_std), np.linalg.norm(ned_vel)) - return float(np.rad2deg(bearing)), float(bearing_std) - - class CacheSerializer(json.JSONEncoder): def default(self, o): From 849ec17b20f8cae7f6fd6589456d7b00b07e794b Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Wed, 15 Jun 2022 23:10:56 +0900 Subject: [PATCH 084/226] ui: add black color define (#24866) --- selfdrive/ui/qt/onroad.cc | 24 ++++++++++++------------ selfdrive/ui/qt/onroad.h | 1 + 2 files changed, 13 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 12a579c573..38541ef2d5 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -230,8 +230,8 @@ void NvgWindow::drawHud(QPainter &p) { int bottom_radius = has_eu_speed_limit ? 100 : 32; QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height); - p.setPen(QPen(QColor(255, 255, 255, 75), 6)); - p.setBrush(QColor(0, 0, 0, 166)); + p.setPen(QPen(whiteColor(75), 6)); + p.setBrush(blackColor(166)); drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius); // Draw set speed @@ -240,10 +240,10 @@ void NvgWindow::drawHud(QPainter &p) { p.setPen(interpColor( setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, - {QColor(0xff, 0xff, 0xff, 0xff), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)} + {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)} )); } else { - p.setPen(QColor(0xff, 0xff, 0xff, 0xff)); + p.setPen(whiteColor()); } } else { p.setPen(QColor(0x72, 0x72, 0x72, 0xff)); @@ -257,7 +257,7 @@ void NvgWindow::drawHud(QPainter &p) { // Draw MAX if (is_cruise_set) { if (status == STATUS_DISENGAGED) { - p.setPen(QColor(0xff, 0xff, 0xff, 0xff)); + p.setPen(whiteColor()); } else if (status == STATUS_OVERRIDE) { p.setPen(QColor(0x91, 0x9b, 0x95, 0xff)); } else if (speedLimit > 0) { @@ -287,13 +287,13 @@ void NvgWindow::drawHud(QPainter &p) { // White outer square QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height); p.setPen(Qt::NoPen); - p.setBrush(QColor(255, 255, 255, 255)); + p.setBrush(whiteColor()); p.drawRoundedRect(sign_rect_outer, 24, 24); // Smaller white square with black border QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width); - p.setPen(QPen(QColor(0, 0, 0, 255), border_width)); - p.setBrush(QColor(255, 255, 255, 255)); + p.setPen(QPen(blackColor(), border_width)); + p.setBrush(whiteColor()); p.drawRoundedRect(sign_rect, 16, 16); // "SPEED" @@ -326,11 +326,11 @@ void NvgWindow::drawHud(QPainter &p) { // Draw white circle with red border QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius); p.setPen(Qt::NoPen); - p.setBrush(QColor(255, 255, 255, 255)); + p.setBrush(whiteColor()); p.drawEllipse(center, outer_radius, outer_radius); p.setBrush(QColor(255, 0, 0, 255)); p.drawEllipse(center, inner_radius_1, inner_radius_1); - p.setBrush(QColor(255, 255, 255, 255)); + p.setBrush(whiteColor()); p.drawEllipse(center, inner_radius_2, inner_radius_2); // Speed limit value @@ -338,7 +338,7 @@ void NvgWindow::drawHud(QPainter &p) { configFont(p, "Open Sans", font_size, "Bold"); QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); speed_limit_rect.moveCenter(center); - p.setPen(QColor(0, 0, 0, 255)); + p.setPen(blackColor()); p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr); } @@ -357,7 +357,7 @@ void NvgWindow::drawHud(QPainter &p) { // dm icon if (!hideDM) { drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2, - dm_img, QColor(0, 0, 0, 70), dmActive ? 1.0 : 0.2); + dm_img, blackColor(70), dmActive ? 1.0 : 0.2); } p.restore(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 3d90a63d7c..e58d7a7972 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -74,6 +74,7 @@ protected: void drawHud(QPainter &p); inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } + inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } double prev_draw_t = 0; FirstOrderFilter fps_filter; From d2400150e51833678f8c216c0c605111cfa13018 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Wed, 15 Jun 2022 23:16:18 +0900 Subject: [PATCH 085/226] ui: advanced network settings fix button colors and sizes (#24846) * ui: button pressed color add * match colors from other buttons Co-authored-by: Willem Melching --- selfdrive/ui/qt/offroad/networking.cc | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 9c2088b1d7..80c7ad045b 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -28,9 +28,9 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { vlayout->setContentsMargins(20, 20, 20, 20); if (show_advanced) { QPushButton* advancedSettings = new QPushButton("Advanced"); - advancedSettings->setObjectName("advancedBtn"); + advancedSettings->setObjectName("advanced_btn"); advancedSettings->setStyleSheet("margin-right: 30px;"); - advancedSettings->setFixedSize(350, 100); + advancedSettings->setFixedSize(400, 100); connect(advancedSettings, &QPushButton::clicked, [=]() { main_layout->setCurrentWidget(an); }); vlayout->addSpacing(10); vlayout->addWidget(advancedSettings, 0, Qt::AlignRight); @@ -57,14 +57,17 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { // TODO: revisit pressed colors setStyleSheet(R"( - #wifiWidget > QPushButton, #back_btn, #advancedBtn { + #wifiWidget > QPushButton, #back_btn, #advanced_btn { font-size: 50px; margin: 0px; padding: 15px; border-width: 0; border-radius: 30px; color: #dddddd; - background-color: #444444; + background-color: #393939; + } + #back_btn:pressed, #advanced_btn:pressed { + background-color: #4a4a4a; } )"); main_layout->setCurrentWidget(wifiScreen); @@ -118,7 +121,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Back button QPushButton* back = new QPushButton("Back"); back->setObjectName("back_btn"); - back->setFixedSize(500, 100); + back->setFixedSize(400, 100); connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); main_layout->addWidget(back, 0, Qt::AlignLeft); From bb02c1c5158b3403e7d2395611d2db1ab44aed5e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 15 Jun 2022 16:19:04 +0200 Subject: [PATCH 086/226] networking.cc: remove resolved TODO --- selfdrive/ui/qt/offroad/networking.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 80c7ad045b..418ccd3179 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -55,7 +55,6 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { setAutoFillBackground(true); setPalette(pal); - // TODO: revisit pressed colors setStyleSheet(R"( #wifiWidget > QPushButton, #back_btn, #advanced_btn { font-size: 50px; From 41721917239e8eac314a2dc6c64cfb4695ff460e Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Thu, 16 Jun 2022 00:35:46 +0900 Subject: [PATCH 087/226] selfdrive/ui/qt/util.cc: missing include (#24867) --- selfdrive/ui/qt/util.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 408652a0b9..366aa76f49 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include "common/params.h" #include "common/swaglog.h" From fa4f017bbe6c117913ec2327e9129c70b3e47223 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 15 Jun 2022 18:03:15 +0200 Subject: [PATCH 088/226] laikad: calc_pos_fix numpy implementation (#24865) * Replace posfix with gauss newton method * Cleanup * Check if glonass is in the list * Fix * also return residual * Add residuals * Update selfdrive/locationd/laikad.py Co-authored-by: Willem Melching * Cleanup Co-authored-by: Gijs Koning --- selfdrive/locationd/laikad.py | 103 +++++++++++++++++++++++++++++++--- 1 file changed, 95 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ebe7404e17..8eb81345ff 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -7,16 +7,17 @@ from typing import List, Optional import numpy as np from collections import defaultdict +import sympy from numpy.linalg import linalg from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog -from laika.constants import SECS_IN_HR, SECS_IN_MIN +from laika.constants import EARTH_ROTATION_RATE, SECS_IN_HR, SECS_IN_MIN, SPEED_OF_LIGHT from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId -from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox +from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from selfdrive.locationd.models.gnss_kf import GNSSKalman from selfdrive.locationd.models.gnss_kf import States as GStates @@ -38,6 +39,7 @@ class Laikad: self.last_cached_t = None self.save_ephemeris = save_ephemeris self.load_cache() + self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} def load_cache(self): cache = Params().get(EPHEMERIS_CACHE) @@ -66,7 +68,9 @@ class Laikad: self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) new_meas = read_raw_ublox(report) processed_measurements = process_measurements(new_meas, self.astro_dog) - pos_fix = calc_pos_fix(processed_measurements, min_measurements=4) + + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 + pos_fix = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) t = ublox_mono_time * 1e-9 kf_pos_std = None @@ -84,7 +88,7 @@ class Laikad: if est_pos is not None: corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) - self.update_localizer(pos_fix, t, corrected_measurements) + self.update_localizer(est_pos, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() @@ -110,7 +114,7 @@ class Laikad: # elif ublox_msg.which == 'ionoData': # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them. - def update_localizer(self, pos_fix, t: float, measurements: List[GNSSMeasurement]): + def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid valid = self.kf_valid(t) if not all(valid): @@ -123,11 +127,10 @@ class Laikad: else: cloudlog.error("Gnss kalman std too far") - if len(pos_fix) == 0: + if est_pos is None: cloudlog.info("Position fix not available when resetting kalman filter") return - post_est = pos_fix[0][:3].tolist() - self.init_gnss_localizer(post_est) + self.init_gnss_localizer(est_pos.tolist()) if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) else: @@ -227,6 +230,90 @@ def deserialize_hook(dct): return dct +def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C1C', min_measurements=6): + ''' + Calculates gps fix using gauss newton method + To solve the problem a minimal of 4 measurements are required. + If Glonass is included 5 are required to solve for the additional free variable. + returns: + 0 -> list with positions + ''' + if x0 is None: + x0 = [0, 0, 0, 0, 0] + n = len(measurements) + if n < min_measurements: + return [] + + Fx_pos = pr_residual(measurements, posfix_functions, signal=signal) + x = gauss_newton(Fx_pos, x0) + residual, _ = Fx_pos(x, weight=1.0) + return x, residual + + +def pr_residual(measurements, posfix_functions, signal='C1C'): + def Fx_pos(inp, weight=None): + vals, gradients = [], [] + + for meas in measurements: + pr = meas.observables[signal] + pr += meas.sat_clock_err * SPEED_OF_LIGHT + + w = (1 / meas.observables_std[signal]) if weight is None else weight + + val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, *meas.sat_pos, w) + vals.append(val) + gradients.append(gradient) + return np.asarray(vals), np.asarray(gradients) + + return Fx_pos + + +def gauss_newton(fun, b, xtol=1e-8, max_n=25): + for _ in range(max_n): + # Compute function and jacobian on current estimate + r, J = fun(b) + + # Update estimate + delta = np.linalg.pinv(J) @ r + b -= delta + + # Check step size for stopping condition + if np.linalg.norm(delta) < xtol: + break + return b + + +def get_posfix_sympy_fun(constellation): + # Unknowns + x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z') + bc = sympy.Symbol('bc') + bg = sympy.Symbol('bg') + var = [x, y, z, bc, bg] + + # Knowns + pr = sympy.Symbol('pr') + sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z') + weight = sympy.Symbol('weight') + + theta = EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT + val = sympy.sqrt( + (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 + + (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 + + (sat_z - z) ** 2 + ) + + if constellation == ConstellationId.GLONASS: + res = weight * (val - (pr - bc - bg)) + elif constellation == ConstellationId.GPS: + res = weight * (val - (pr - bc)) + else: + raise NotImplementedError(f"Constellation {constellation} not supported") + + res = [res] + [sympy.diff(res, v) for v in var] + + return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res) + + def main(): sm = messaging.SubMaster(['ubloxGnss']) pm = messaging.PubMaster(['gnssMeasurements']) From efc8aa05b4573f9ac96d518fbf04b6d799e487d0 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Wed, 15 Jun 2022 11:32:26 -0700 Subject: [PATCH 089/226] Update model ref --- 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 a7a909d2a4..ec5ef11311 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -512a9d4596c8faba304d6f7ded2ce77837357b65 +6ec6db2f2a070ba1603bbe1d934509781cc4556a From c851cf737931cba16909b2fe20ffec4858acd374 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Wed, 15 Jun 2022 11:33:59 -0700 Subject: [PATCH 090/226] Revert "Update model ref" This reverts commit efc8aa05b4573f9ac96d518fbf04b6d799e487d0. --- 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 ec5ef11311..a7a909d2a4 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -6ec6db2f2a070ba1603bbe1d934509781cc4556a +512a9d4596c8faba304d6f7ded2ce77837357b65 From 9283040d847b120fdf7759d5bd12000863e12f73 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 15 Jun 2022 15:29:42 -0700 Subject: [PATCH 091/226] Rocket league model (#24869) * dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420 * no elementwise op * 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60 * explicit slice * some copies are useful * 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425 * 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800 * set steer rate cost to 1.0 * smaller temporal size * Update model reg * update model ref again * This did upload somehow * Update steer rate cost Co-authored-by: Yassine Yousfi --- selfdrive/car/body/interface.py | 1 - selfdrive/car/chrysler/interface.py | 1 - selfdrive/car/ford/interface.py | 1 - selfdrive/car/gm/interface.py | 1 - selfdrive/car/honda/interface.py | 1 - selfdrive/car/hyundai/interface.py | 1 - selfdrive/car/mazda/interface.py | 1 - selfdrive/car/nissan/interface.py | 1 - selfdrive/car/subaru/interface.py | 1 - selfdrive/car/tesla/interface.py | 1 - selfdrive/car/tests/test_car_interfaces.py | 1 - selfdrive/car/tests/test_models.py | 1 - selfdrive/car/toyota/interface.py | 1 - selfdrive/car/volkswagen/interface.py | 1 - selfdrive/controls/lib/lateral_planner.py | 9 ++++----- selfdrive/controls/plannerd.py | 2 +- selfdrive/modeld/models/driving.h | 2 +- selfdrive/modeld/models/supercombo.dlc | 4 ++-- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/modeld/thneed/compile.cc | 2 +- selfdrive/modeld/thneed/optimizer.cc | 8 ++++---- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 23 files changed, 17 insertions(+), 32 deletions(-) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 3d6bd5e22a..e85735b1a6 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -19,7 +19,6 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = -math.inf ret.maxLateralAccel = math.inf # TODO: set to a reasonable value ret.steerRatio = 0.5 - ret.steerRateCost = 0.5 ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0. diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 55672dd4ab..817a5b387e 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -20,7 +20,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 - ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index ec7c723669..c608cc08d9 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -59,7 +59,6 @@ class CarInterface(CarInterfaceBase): # LCA can steer down to zero ret.minSteerSpeed = 0. - ret.steerRateCost = 1.0 ret.centerToFront = ret.wheelbase * 0.44 ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 498f4b3347..9c1744dfb4 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 - ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.longitudinalTuning.kpBP = [5., 35.] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index ea7deab5d7..994152608e 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -319,7 +319,6 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor=tire_stiffness_factor) ret.steerActuatorDelay = 0.1 - ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.8 return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6fd75ebfab..497d6b3f30 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -43,7 +43,6 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = not os.path.exists('/data/enable-ev6') ret.steerActuatorDelay = 0.1 # Default delay - ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 0ef573c6b6..cbeb910de2 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) ret.steerActuatorDelay = 0.1 - ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.8 tire_stiffness_factor = 0.70 # not optimized yet diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 3bf34e8266..436cef68bf 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -14,7 +14,6 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] ret.steerLimitTimer = 1.0 - ret.steerRateCost = 0.5 ret.steerActuatorDelay = 0.1 diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index d0d8e91ce1..8c5cab86e8 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -22,7 +22,6 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in PREGLOBAL_CARS - ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 if candidate == CAR.ASCENT: diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 71594cecb6..d4eda38e64 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -42,7 +42,6 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0.25 - ret.steerRateCost = 0.5 if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS): ret.mass = 2100. + STD_CARGO_KG diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 52c89440c7..15df1aafef 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -33,7 +33,6 @@ class TestCarInterfaces(unittest.TestCase): assert car_interface self.assertGreater(car_params.mass, 1) - self.assertGreater(car_params.steerRateCost, 1e-3) if car_params.steerControlType != car.CarParams.SteerControlType.angle: tuning = car_params.lateralTuning.which() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 9ab881279b..27dc4ba776 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -121,7 +121,6 @@ class TestCarModelBase(unittest.TestCase): # make sure car params are within a valid range self.assertGreater(self.CP.mass, 1) - self.assertGreater(self.CP.steerRateCost, 1e-3) if self.CP.steerControlType != car.CarParams.SteerControlType.angle: tuning = self.CP.lateralTuning.which() diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 7969775a89..d0f4789775 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -213,7 +213,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_J) - ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 # TODO: get actual value, for now starting with reasonable value for diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 3a0d7c8ce8..6782105c16 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -45,7 +45,6 @@ class CarInterface(CarInterfaceBase): # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 - ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out tire_stiffness_factor = 1.0 # Let the params learner figure this out diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index ec21c16e91..019a19fb1d 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -11,13 +11,12 @@ from cereal import log class LateralPlanner: - def __init__(self, CP, use_lanelines=True, wide_camera=False): + def __init__(self, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.DH = DesireHelper() self.last_cloudlog_t = 0 - self.steer_rate_cost = CP.steerRateCost self.solution_invalid_cnt = 0 self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) @@ -59,12 +58,12 @@ class LateralPlanner: # Calculate final driving path and set MPC costs if self.use_lanelines: d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz) - self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost) + self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE) else: d_path_xyz = self.path_xyz # Heading cost is useful at low speed, otherwise end of plan can be off-heading heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15]) - self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, self.steer_rate_cost) + self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE) y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) @@ -79,7 +78,7 @@ class LateralPlanner: y_pts, heading_pts) # init state for next - # mpc.u_sol is the desired curvature rate given x0 curv state. + # mpc.u_sol is the desired curvature rate given x0 curv state. # with x0[3] = measured_curvature, this would be the actual desired rate. # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control. self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 06807b2a5c..9356a55d84 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -22,7 +22,7 @@ def plannerd_thread(sm=None, pm=None): cloudlog.event("e2e mode", on=use_lanelines) longitudinal_planner = Planner(CP) - lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera) + lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera) if sm is None: sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'], diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 97e65fbc0e..a691051636 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -245,7 +245,7 @@ struct ModelOutput { constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); #ifdef TEMPORAL - constexpr int TEMPORAL_SIZE = 512; + constexpr int TEMPORAL_SIZE = 512+256; #else constexpr int TEMPORAL_SIZE = 0; #endif diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc index 23f6d904fb..90f7a2e65b 100644 --- a/selfdrive/modeld/models/supercombo.dlc +++ b/selfdrive/modeld/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff -size 76725611 +oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44 +size 101662751 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 9023c18dd7..0493398560 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499 -size 77472267 +oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49 +size 102570834 diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc index f76c63b2b9..a2f55ffd97 100644 --- a/selfdrive/modeld/thneed/compile.cc +++ b/selfdrive/modeld/thneed/compile.cc @@ -5,7 +5,7 @@ #include "selfdrive/modeld/thneed/thneed.h" #include "system/hardware/hw.h" -#define TEMPORAL_SIZE 512 +#define TEMPORAL_SIZE 512+256 #define DESIRE_LEN 8 #define TRAFFIC_CONVENTION_LEN 2 diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc index 03d20ff386..39737d3d76 100644 --- a/selfdrive/modeld/thneed/optimizer.cc +++ b/selfdrive/modeld/thneed/optimizer.cc @@ -9,7 +9,7 @@ extern map g_program_source; -static int is_same_size_image(cl_mem a, cl_mem b) { +/*static int is_same_size_image(cl_mem a, cl_mem b) { size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch; clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL); clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL); @@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) { return (a_width == b_width) && (a_height == b_height) && (a_depth == b_depth) && (a_array_size == b_array_size) && (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch); -} +}*/ static cl_mem make_image_like(cl_context context, cl_mem val) { cl_image_format format; @@ -138,7 +138,7 @@ int Thneed::optimize() { // delete useless copy layers // saves ~0.7 ms - if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { + /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { string in = kq[i]->args[kq[i]->get_arg_num("input")]; string out = kq[i]->args[kq[i]->get_arg_num("output")]; if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) { @@ -148,7 +148,7 @@ int Thneed::optimize() { kq.erase(kq.begin()+i); --i; } - } + }*/ // NOTE: if activations/accumulation are done in the wrong order, this will be wrong diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index a7a909d2a4..54c2ed54ad 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -512a9d4596c8faba304d6f7ded2ce77837357b65 +629eaa7b26d1721a71547f9de880f99732cb27f3 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b8976e5f38..8ed68d5bdd 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1d66eed104dbc124c4e5679f5dddf40197b86ce9 +ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b From 725ccc01798c7f4b3278cc34525f99a6344e52aa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Jun 2022 18:01:02 -0700 Subject: [PATCH 092/226] HKG: simplify Kia K5 compatibility (#24810) LKAS/LFA is standard on the K5 --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9b3322ac8e..c0bd62eb3f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -95,7 +95,7 @@ How We Rate The Cars |Kia|Ceed 2019|SCC + LKAS|||||| |Kia|Forte 2018|SCC + LKAS|||||| |Kia|Forte 2019-21|SCC + LKAS|||||| -|Kia|K5 2021-22|SCC + LFA|||||| +|Kia|K5 2021-22|SCC|||||| |Kia|Niro Hybrid 2021|SCC + LKAS|||||| |Kia|Niro Hybrid 2022|SCC + LKAS|||||| |Kia|Optima 2019|SCC + LKAS|||||| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4ca81fdb40..df7ce1e6f4 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -80,6 +80,8 @@ class CAR: @dataclass class HyundaiCarInfo(CarInfo): + # TODO: we can probably remove LKAS. LKAS is standard on many + # HKG and for others, it's likely packaged together with SCC package: str = "SCC + LKAS" good_torque: bool = True @@ -121,7 +123,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b), HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), ], - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA", harness=Harness.hyundai_a), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), From e910ce87a44884a3f216fbced306e8d3124a04de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Jun 2022 21:42:54 -0700 Subject: [PATCH 093/226] thermald: fix panda dropout when we miss a pandaStates (#24870) immediate fix for "panda dropout" --- 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 b909d1198c..6cf5c428a8 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -220,7 +220,7 @@ def thermald_thread(end_event, hw_queue): if TICI: fan_controller = TiciFanController() - elif (sec_since_boot() - sm.rcv_time['pandaStates']/1e9) > DISCONNECT_TIMEOUT: + elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT: if onroad_conditions["ignition"]: onroad_conditions["ignition"] = False cloudlog.error("panda timed out onroad") From 76593b1da02cae7165aaa699fd7ea807558751b0 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 15 Jun 2022 22:50:39 -0700 Subject: [PATCH 094/226] VW MQB: Populate stock ACC standstill flag (#24877) * VW MQB: Populate stock ACC standstill flag * it really do be like that sometimes --- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/car/volkswagen/carstate.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index aeb56c5d67..842eb6d139 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -93,7 +93,7 @@ class CarController(): # Cancel ACC if it's engaged with OP disengaged. self.graButtonStatesToSend = BUTTON_STATES.copy() self.graButtonStatesToSend["cancel"] = True - elif c.enabled and CS.esp_hold_confirmation: + elif c.enabled and CS.out.cruiseState.standstill: # Blip the Resume button if we're engaged at standstill. # FIXME: This is a naive implementation, improve with visiond or radar input. self.graButtonStatesToSend = BUTTON_STATES.copy() diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 4193030d87..9c4a111e4e 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -50,7 +50,6 @@ class CarState(CarStateBase): ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well - self.esp_hold_confirmation = pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"] # Update gear and/or clutch position data. if trans_type == TransmissionType.automatic: @@ -105,6 +104,7 @@ class CarState(CarStateBase): # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7) ret.cruiseState.available = False ret.cruiseState.enabled = False + ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) # Update ACC setpoint. When the setpoint is zero or there's an error, the From 5aaf5be54c544a822483ad3e7c354fdb89cae45c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Jun 2022 01:47:29 -0700 Subject: [PATCH 095/226] Mazda: fix resume spam at standstill (#24876) * Fix Mazda resume spam at standstill * one line * Revert "one line" This reverts commit 30c6504ed36adb92991acd6ebf42ffd6fe6c3b8c. --- selfdrive/car/mazda/carcontroller.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 68eebeaf71..d003079d63 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -27,6 +27,7 @@ class CarController(): CS.out.steeringTorque, CarControllerParams) self.steer_rate_limited = new_steer != apply_steer + if c.enabled: if CS.out.standstill and frame % 5 == 0: # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds # Send Resume button at 20hz if we're engaged at standstill to support full stop and go! From 5958e78037e468795e0db8d42d5209e1e41aec18 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 16 Jun 2022 15:21:33 +0200 Subject: [PATCH 096/226] Laikad: More logging and use last_pos_fix for correcting (#24868) Use last available pos_fix for correcting measurements. Improve logging measurements --- cereal | 2 +- laika_repo | 2 +- selfdrive/locationd/laikad.py | 77 ++++++++++++++----------- selfdrive/locationd/test/test_laikad.py | 76 +++++++++++++++++------- 4 files changed, 100 insertions(+), 57 deletions(-) diff --git a/cereal b/cereal index 4b4d9aab03..3166178611 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 4b4d9aab03937f5a45677ff15efb275abf9c958b +Subproject commit 3166178611989ca555d7b254130375d1d8a55cc8 diff --git a/laika_repo b/laika_repo index a3a80dc4f7..951ab080b9 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit a3a80dc4f7977b2232946e56a16770e413190818 +Subproject commit 951ab080b998ee3edde6229654d1a4cb63cda6a9 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 8eb81345ff..0e2838da6d 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -2,13 +2,13 @@ import json import time from concurrent.futures import Future, ProcessPoolExecutor +from enum import IntEnum from typing import List, Optional import numpy as np from collections import defaultdict import sympy -from numpy.linalg import linalg from cereal import log, messaging from common.params import Params, put_nonblocking @@ -30,7 +30,7 @@ CACHE_VERSION = 0.1 class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), - save_ephemeris=False): + save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR) self.orbit_fetch_executor = ProcessPoolExecutor() @@ -40,6 +40,7 @@ class Laikad: self.save_ephemeris = save_ephemeris self.load_cache() self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} + self.last_pos_fix = last_known_position def load_cache(self): cache = Params().get(EPHEMERIS_CACHE) @@ -70,27 +71,16 @@ class Laikad: processed_measurements = process_measurements(new_meas, self.astro_dog) min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 - pos_fix = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) + pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) + if len(pos_fix) > 0: + self.last_pos_fix = pos_fix[:3] + est_pos = self.last_pos_fix - t = ublox_mono_time * 1e-9 - kf_pos_std = None - if all(self.kf_valid(t)): - self.gnss_kf.predict(t) - kf_pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())) - # If localizer is valid use its position to correct measurements - if kf_pos_std is not None and linalg.norm(kf_pos_std) < 100: - est_pos = self.gnss_kf.x[GStates.ECEF_POS] - elif len(pos_fix) > 0 and abs(np.array(pos_fix[1])).mean() < 1000: - est_pos = pos_fix[0][:3] - else: - est_pos = None - corrected_measurements = [] - if est_pos is not None: - corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if est_pos is not None else [] + t = ublox_mono_time * 1e-9 self.update_localizer(est_pos, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) - ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() @@ -103,6 +93,7 @@ class Laikad: dat.gnssMeasurements = { "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid), "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid), + "positionFixECEF": measurement_msg(value=pos_fix, std=pos_fix_residual, valid=len(pos_fix) > 0), "ubloxMonoTime": ublox_mono_time, "correctedMeasurements": meas_msgs } @@ -124,13 +115,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - else: - cloudlog.error("Gnss kalman std too far") - - if est_pos is None: - cloudlog.info("Position fix not available when resetting kalman filter") - return - self.init_gnss_localizer(est_pos.tolist()) + self.init_gnss_localizer(est_pos) if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) else: @@ -141,14 +126,13 @@ class Laikad: filter_time = self.gnss_kf.filter.filter_time return [filter_time is not None, filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, - all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS])), - linalg.norm(self.gnss_kf.P[GStates.ECEF_POS]) < 1e5] + all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] def init_gnss_localizer(self, est_pos): x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial)) - x_initial[GStates.ECEF_POS] = est_pos + if est_pos is not None: + x_initial[GStates.ECEF_POS] = est_pos p_initial_diag[GStates.ECEF_POS] = 1000 ** 2 - self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) def fetch_orbits(self, t: GPSTime, block): @@ -192,6 +176,27 @@ def create_measurement_msg(meas: GNSSMeasurement): c.pseudorangeRateStd = float(meas.observables_std['D1C']) c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() + c.satVel = meas.sat_vel.tolist() + ephem = meas.sat_ephemeris + assert ephem is not None + if ephem.eph_type == EphemerisType.NAV: + source_type = EphemerisSourceType.nav + week, time_of_week = -1, -1 + else: + assert ephem.file_epoch is not None + week = ephem.file_epoch.week + time_of_week = ephem.file_epoch.tow + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = EphemerisSourceType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = EphemerisSourceType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + + c.ephemerisSource.type = source_type.value + c.ephemerisSource.gpsWeek = week + c.ephemerisSource.gpsTimeOfWeek = time_of_week return c @@ -242,12 +247,12 @@ def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C x0 = [0, 0, 0, 0, 0] n = len(measurements) if n < min_measurements: - return [] + return [], [] Fx_pos = pr_residual(measurements, posfix_functions, signal=signal) x = gauss_newton(Fx_pos, x0) residual, _ = Fx_pos(x, weight=1.0) - return x, residual + return x.tolist(), residual.tolist() def pr_residual(measurements, posfix_functions, signal='C1C'): @@ -314,10 +319,16 @@ def get_posfix_sympy_fun(constellation): return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res) +class EphemerisSourceType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + + def main(): sm = messaging.SubMaster(['ubloxGnss']) pm = messaging.PubMaster(['gnssMeasurements']) - + # todo get last_known_position laikad = Laikad(save_ephemeris=True) while True: sm.update() diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 01ea8fee27..3a72303b0c 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,16 +1,17 @@ #!/usr/bin/env python3 import time import unittest +from collections import defaultdict from datetime import datetime from unittest import mock from unittest.mock import Mock, patch from common.params import Params -from laika.ephemeris import EphemerisType +from laika.ephemeris import EphemerisType, GPSEphemeris from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder from laika.raw_gnss import GNSSMeasurement, read_raw_ublox -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad, create_measurement_msg +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader @@ -33,23 +34,62 @@ def verify_messages(lr, laikad, return_one_success=False): return good_msgs +def get_first_gps_time(logs): + for m in logs: + if m.ubloxGnss.which == 'measurementReport': + new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time + + +def get_measurement_mock(gpstime, sat_ephemeris): + meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.}) + # Fake measurement being processed + meas.observables_final = meas.observables + meas.sat_ephemeris = sat_ephemeris + return meas + + class TestLaikad(unittest.TestCase): @classmethod def setUpClass(cls): - cls.logs = get_log(range(1)) + logs = get_log(range(1)) + cls.logs = logs + first_gps_time = get_first_gps_time(logs) + cls.first_gps_time = first_gps_time def setUp(self): Params().delete(EPHEMERIS_CACHE) - def test_create_msg_without_errors(self): - gpstime = GPSTime.from_datetime(datetime.now()) - meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.}) - # Fake observables_final to be correct - meas.observables_final = meas.observables + def test_ephemeris_source_in_msg(self): + data_mock = defaultdict(str) + data_mock['sv_id'] = 1 + + gpstime = GPSTime.from_datetime(datetime(2022, month=3, day=1)) + laikad = Laikad() + laikad.fetch_orbits(gpstime, block=True) + meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0]) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.glonassIacUltraRapid) + # Verify gps satellite returns same source + meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0]) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.glonassIacUltraRapid) + + # Test nasa source by using older date + gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) + laikad = Laikad() + laikad.fetch_orbits(gpstime, block=True) + meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['G01'][0]) msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nasaUltraRapid) - self.assertEqual(msg.constellationId, 'gps') + # Test nav source type + ephem = GPSEphemeris(data_mock, gpstime) + meas = get_measurement_mock(gpstime, ephem) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) def test_laika_online(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) @@ -76,18 +116,10 @@ class TestLaikad(unittest.TestCase): self.assertEqual(256, len(correct_msgs)) self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) - def get_first_gps_time(self): - for m in self.logs: - if m.ubloxGnss.which == 'measurementReport': - new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) - if len(new_meas) != 0: - return new_meas[0].recv_time - def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) - first_gps_time = self.get_first_gps_time() # Pretend process has loaded the orbits on startup by using the time of the first gps message. - laikad.fetch_orbits(first_gps_time, block=True) + laikad.fetch_orbits(self.first_gps_time, block=True) self.dict_has_values(laikad.astro_dog.orbits) @unittest.skip("Use to debug live data") @@ -117,7 +149,6 @@ class TestLaikad(unittest.TestCase): def test_cache(self): laikad = Laikad(auto_update=True, save_ephemeris=True) - first_gps_time = self.get_first_gps_time() def wait_for_cache(): max_time = 2 @@ -126,13 +157,14 @@ class TestLaikad(unittest.TestCase): max_time -= 0.1 if max_time == 0: self.fail("Cache has not been written after 2 seconds") + # Test cache with no ephemeris laikad.cache_ephemeris(t=GPSTime(0, 0)) wait_for_cache() Params().delete(EPHEMERIS_CACHE) - laikad.astro_dog.get_navs(first_gps_time) - laikad.fetch_orbits(first_gps_time, block=True) + laikad.astro_dog.get_navs(self.first_gps_time) + laikad.fetch_orbits(self.first_gps_time, block=True) # Wait for cache to save wait_for_cache() @@ -149,7 +181,7 @@ class TestLaikad(unittest.TestCase): with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() - laikad.fetch_orbits(first_gps_time, block=False) + laikad.fetch_orbits(self.first_gps_time, block=False) mock_method.assert_not_called() # Verify cache is working for only orbits by running a segment From 2699bae778fa7d9a4d40cf169b1eb56c74cb22c8 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 16 Jun 2022 16:06:41 +0200 Subject: [PATCH 097/226] ui: disable controls unresponsive alert on PC --- selfdrive/ui/ui.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 192a353ad1..cbf3921e4e 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -54,7 +54,7 @@ struct Alert { return {"openpilot Unavailable", "Waiting for controls to start", "controlsWaiting", cereal::ControlsState::AlertSize::MID, AudibleAlert::NONE}; - } else if (controls_missing > CONTROLS_TIMEOUT) { + } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { // car is started, but controls is lagging or died if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive", From dc98511b7a7092e969237655b6e08e4fa857106d Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 16 Jun 2022 17:45:08 +0200 Subject: [PATCH 098/226] laikad: fixes to run on device (#24879) * Always run laikad on device! * Update laika * Update laika * Fix gps week and time of week in msg * Reset kalman filter if pos_fix or last_known_position * put behind file * move pr parsing into common file Co-authored-by: Willem Melching --- laika_repo | 2 +- release/files_common | 9 +- selfdrive/locationd/laikad.py | 103 +++------------------ selfdrive/locationd/laikad_helpers.py | 89 ++++++++++++++++++ selfdrive/locationd/models/gnss_helpers.py | 21 +++++ selfdrive/locationd/models/gnss_kf.py | 2 +- selfdrive/locationd/models/loc_kf.py | 25 +---- selfdrive/manager/process_config.py | 1 + 8 files changed, 135 insertions(+), 117 deletions(-) create mode 100644 selfdrive/locationd/laikad_helpers.py create mode 100644 selfdrive/locationd/models/gnss_helpers.py diff --git a/laika_repo b/laika_repo index 951ab080b9..44f048bc1f 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 951ab080b998ee3edde6229654d1a4cb63cda6a9 +Subproject commit 44f048bc1f58ae9e28dfdeb98e40aea3e0f2b699 diff --git a/release/files_common b/release/files_common index 6731ae4a12..b6cd4fa797 100644 --- a/release/files_common +++ b/release/files_common @@ -209,15 +209,20 @@ selfdrive/locationd/generated/ubx.h selfdrive/locationd/generated/gps.cpp selfdrive/locationd/generated/gps.h +selfdrive/locationd/laikad.py +selfdrive/locationd/laikad_helpers.py +selfdrive/locationd/locationd.cc selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc selfdrive/locationd/paramsd.py selfdrive/locationd/models/.gitignore -selfdrive/locationd/models/live_kf.py selfdrive/locationd/models/car_kf.py -selfdrive/locationd/models/constants.py +selfdrive/locationd/models/gnss_kf.py +selfdrive/locationd/models/live_kf.py selfdrive/locationd/models/live_kf.h selfdrive/locationd/models/live_kf.cc +selfdrive/locationd/models/constants.py +selfdrive/locationd/models/gnss_helpers.py selfdrive/locationd/calibrationd.py diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 0e2838da6d..8ec570e2be 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,23 +1,22 @@ #!/usr/bin/env python3 import json import time +from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor from enum import IntEnum from typing import List, Optional import numpy as np -from collections import defaultdict - -import sympy from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog -from laika.constants import EARTH_ROTATION_RATE, SECS_IN_HR, SECS_IN_MIN, SPEED_OF_LIGHT +from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox +from selfdrive.locationd.laikad_helpers import calc_pos_fix_gauss_newton, get_posfix_sympy_fun from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from selfdrive.locationd.models.gnss_kf import GNSSKalman from selfdrive.locationd.models.gnss_kf import States as GStates @@ -91,6 +90,8 @@ class Laikad: dat = messaging.new_message("gnssMeasurements") measurement_msg = log.LiveLocationKalman.Measurement.new_message dat.gnssMeasurements = { + "gpsWeek": report.gpsWeek, + "gpsTimeOfWeek": report.rcvTow, "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid), "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid), "positionFixECEF": measurement_msg(value=pos_fix, std=pos_fix_residual, valid=len(pos_fix) > 0), @@ -115,7 +116,12 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - self.init_gnss_localizer(est_pos) + if est_pos is not None: + cloudlog.info(f"Reset kalman filter with {est_pos}") + self.init_gnss_localizer(est_pos) + else: + cloudlog.info("Could not reset kalman filter") + return if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) else: @@ -130,8 +136,7 @@ class Laikad: def init_gnss_localizer(self, est_pos): x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial)) - if est_pos is not None: - x_initial[GStates.ECEF_POS] = est_pos + x_initial[GStates.ECEF_POS] = est_pos p_initial_diag[GStates.ECEF_POS] = 1000 ** 2 self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) @@ -235,90 +240,6 @@ def deserialize_hook(dct): return dct -def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C1C', min_measurements=6): - ''' - Calculates gps fix using gauss newton method - To solve the problem a minimal of 4 measurements are required. - If Glonass is included 5 are required to solve for the additional free variable. - returns: - 0 -> list with positions - ''' - if x0 is None: - x0 = [0, 0, 0, 0, 0] - n = len(measurements) - if n < min_measurements: - return [], [] - - Fx_pos = pr_residual(measurements, posfix_functions, signal=signal) - x = gauss_newton(Fx_pos, x0) - residual, _ = Fx_pos(x, weight=1.0) - return x.tolist(), residual.tolist() - - -def pr_residual(measurements, posfix_functions, signal='C1C'): - def Fx_pos(inp, weight=None): - vals, gradients = [], [] - - for meas in measurements: - pr = meas.observables[signal] - pr += meas.sat_clock_err * SPEED_OF_LIGHT - - w = (1 / meas.observables_std[signal]) if weight is None else weight - - val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, *meas.sat_pos, w) - vals.append(val) - gradients.append(gradient) - return np.asarray(vals), np.asarray(gradients) - - return Fx_pos - - -def gauss_newton(fun, b, xtol=1e-8, max_n=25): - for _ in range(max_n): - # Compute function and jacobian on current estimate - r, J = fun(b) - - # Update estimate - delta = np.linalg.pinv(J) @ r - b -= delta - - # Check step size for stopping condition - if np.linalg.norm(delta) < xtol: - break - return b - - -def get_posfix_sympy_fun(constellation): - # Unknowns - x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z') - bc = sympy.Symbol('bc') - bg = sympy.Symbol('bg') - var = [x, y, z, bc, bg] - - # Knowns - pr = sympy.Symbol('pr') - sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z') - weight = sympy.Symbol('weight') - - theta = EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT - val = sympy.sqrt( - (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 + - (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 + - (sat_z - z) ** 2 - ) - - if constellation == ConstellationId.GLONASS: - res = weight * (val - (pr - bc - bg)) - elif constellation == ConstellationId.GPS: - res = weight * (val - (pr - bc)) - else: - raise NotImplementedError(f"Constellation {constellation} not supported") - - res = [res] + [sympy.diff(res, v) for v in var] - - return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res) - - class EphemerisSourceType(IntEnum): nav = 0 nasaUltraRapid = 1 diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py new file mode 100644 index 0000000000..81f5ac3dd6 --- /dev/null +++ b/selfdrive/locationd/laikad_helpers.py @@ -0,0 +1,89 @@ +import numpy as np +import sympy + +from laika.constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT +from laika.helpers import ConstellationId + + +def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C1C', min_measurements=6): + ''' + Calculates gps fix using gauss newton method + To solve the problem a minimal of 4 measurements are required. + If Glonass is included 5 are required to solve for the additional free variable. + returns: + 0 -> list with positions + ''' + if x0 is None: + x0 = [0, 0, 0, 0, 0] + n = len(measurements) + if n < min_measurements: + return [], [] + + Fx_pos = pr_residual(measurements, posfix_functions, signal=signal) + x = gauss_newton(Fx_pos, x0) + residual, _ = Fx_pos(x, weight=1.0) + return x.tolist(), residual.tolist() + + +def pr_residual(measurements, posfix_functions, signal='C1C'): + def Fx_pos(inp, weight=None): + vals, gradients = [], [] + + for meas in measurements: + pr = meas.observables[signal] + pr += meas.sat_clock_err * SPEED_OF_LIGHT + + w = (1 / meas.observables_std[signal]) if weight is None else weight + + val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, *meas.sat_pos, w) + vals.append(val) + gradients.append(gradient) + return np.asarray(vals), np.asarray(gradients) + + return Fx_pos + + +def gauss_newton(fun, b, xtol=1e-8, max_n=25): + for _ in range(max_n): + # Compute function and jacobian on current estimate + r, J = fun(b) + + # Update estimate + delta = np.linalg.pinv(J) @ r + b -= delta + + # Check step size for stopping condition + if np.linalg.norm(delta) < xtol: + break + return b + + +def get_posfix_sympy_fun(constellation): + # Unknowns + x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z') + bc = sympy.Symbol('bc') + bg = sympy.Symbol('bg') + var = [x, y, z, bc, bg] + + # Knowns + pr = sympy.Symbol('pr') + sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z') + weight = sympy.Symbol('weight') + + theta = EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT + val = sympy.sqrt( + (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 + + (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 + + (sat_z - z) ** 2 + ) + + if constellation == ConstellationId.GLONASS: + res = weight * (val - (pr - bc - bg)) + elif constellation == ConstellationId.GPS: + res = weight * (val - (pr - bc)) + else: + raise NotImplementedError(f"Constellation {constellation} not supported") + + res = [res] + [sympy.diff(res, v) for v in var] + + return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res) diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py new file mode 100644 index 0000000000..a3bcbc0002 --- /dev/null +++ b/selfdrive/locationd/models/gnss_helpers.py @@ -0,0 +1,21 @@ +import numpy as np + +def parse_prr(m): + from laika.raw_gnss import GNSSMeasurement + sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS], + m[GNSSMeasurement.SAT_VEL])) + R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2) + z_i = m[GNSSMeasurement.PRR] + return z_i, R_i, sat_pos_vel_i + + +def parse_pr(m): + from laika.raw_gnss import GNSSMeasurement + pseudorange = m[GNSSMeasurement.PR] + pseudorange_stdev = m[GNSSMeasurement.PR_STD] + sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS], + np.array([m[GNSSMeasurement.GLONASS_FREQ]]))) + z_i = np.atleast_1d(pseudorange) + R_i = np.atleast_2d(pseudorange_stdev**2) + return z_i, R_i, sat_pos_freq_i + diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index 3f4baab7b5..ce0ff84dc2 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -7,7 +7,7 @@ import sympy as sp from rednose.helpers.ekf_sym import EKF_sym, gen_code from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.loc_kf import parse_pr, parse_prr +from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr class States(): diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index 8391426dd1..6b08828695 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -5,33 +5,14 @@ import sys import numpy as np import sympy as sp -from selfdrive.locationd.models.constants import ObservationKind from rednose.helpers.ekf_sym import EKF_sym, gen_code from rednose.helpers.lst_sq_computer import LstSqComputer from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate -EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) - - -def parse_prr(m): - from laika.raw_gnss import GNSSMeasurement - sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - m[GNSSMeasurement.SAT_VEL])) - R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2) - z_i = m[GNSSMeasurement.PRR] - return z_i, R_i, sat_pos_vel_i - - -def parse_pr(m): - from laika.raw_gnss import GNSSMeasurement - pseudorange = m[GNSSMeasurement.PR] - pseudorange_stdev = m[GNSSMeasurement.PR_STD] - sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - np.array([m[GNSSMeasurement.GLONASS_FREQ]]))) - z_i = np.atleast_1d(pseudorange) - R_i = np.atleast_2d(pseudorange_stdev**2) - return z_i, R_i, sat_pos_freq_i +from selfdrive.locationd.models.constants import ObservationKind +from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) class States(): ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index b3efe7e2de..a9a5c78a7f 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -57,6 +57,7 @@ procs = [ # Experimental PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")), + PythonProcess("laikad", "selfdrive.locationd.laikad", enabled=os.path.isfile("/persist/comma/use-laikad")), ] managed_processes = {p.name: p for p in procs} From 750daa6374e0f739b51df3e0fe4747407f023a73 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 16 Jun 2022 17:45:38 +0200 Subject: [PATCH 099/226] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 3166178611..6faf34064b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3166178611989ca555d7b254130375d1d8a55cc8 +Subproject commit 6faf34064b70ab98c241d4a1cd9006b09ecaadfc From a875afd5639d6e1ac24baa4de047cb8a2988a953 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 16 Jun 2022 18:18:03 +0200 Subject: [PATCH 100/226] navd: handle maxspeed being none (#24871) * navd: handle maxspeed being none * none is encoded like this --- selfdrive/navd/navd.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 509653a46d..f02de43c7b 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -143,8 +143,10 @@ class RouteEngine: coord = Coordinate.from_mapbox_tuple(c) # Last step does not have maxspeed - if (maxspeed_idx < len(maxspeeds)) and ('unknown' not in maxspeeds[maxspeed_idx]): - coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeeds[maxspeed_idx]) + if (maxspeed_idx < len(maxspeeds)): + maxspeed = maxspeeds[maxspeed_idx] + if ('unknown' not in maxspeed) and ('none' not in maxspeed): + coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeed) coords.append(coord) maxspeed_idx += 1 From d4886b2c2995db88d9bc9f7d7cf3f7cb9def5b12 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 16 Jun 2022 19:41:51 +0200 Subject: [PATCH 101/226] Cast gpstimeofweek to int --- selfdrive/locationd/laikad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 8ec570e2be..6fd70875ac 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -201,7 +201,7 @@ def create_measurement_msg(meas: GNSSMeasurement): c.ephemerisSource.type = source_type.value c.ephemerisSource.gpsWeek = week - c.ephemerisSource.gpsTimeOfWeek = time_of_week + c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c From b941b39c56db2d9d7f756cb0949ef6a7cf61774a Mon Sep 17 00:00:00 2001 From: grekiki <96022003+GregorKikelj@users.noreply.github.com> Date: Thu, 16 Jun 2022 19:47:53 +0200 Subject: [PATCH 102/226] More accurate jerk limits (#24755) * More accurate jerk limits * Min is not - max For example max_curvature_rate can be negative. * reduce diff --- selfdrive/controls/lib/drive_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 1fecdd7c63..d79f94bbfd 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -122,7 +122,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): # This is the "desired rate of the setpoint" not an actual desired rate desired_curvature_rate = curvature_rates[0] - max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) + max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 safe_desired_curvature_rate = clip(desired_curvature_rate, -max_curvature_rate, max_curvature_rate) From 88a80983a45e043e2d0fca2bc70c53beca256afe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Jun 2022 17:50:51 -0700 Subject: [PATCH 103/226] Chrysler: interface cleanup (#24884) * Chrysler: interface cleanup * little more --- selfdrive/car/chrysler/interface.py | 50 ++++++++++++++++++----------- selfdrive/car/chrysler/values.py | 3 ++ 2 files changed, 34 insertions(+), 19 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 817a5b387e..8ebcb6b126 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -12,28 +12,38 @@ class CarInterface(CarInterfaceBase): ret.carName = "chrysler" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)] - # Speed conversion: 20, 45 mph - ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017 - ret.steerRatio = 16.2 # Pacifica Hybrid 2017 - ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017 - ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] - ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 - if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): - ret.wheelbase = 2.91 # in meters - ret.steerRatio = 12.7 - ret.steerActuatorDelay = 0.2 # in seconds - - ret.centerToFront = ret.wheelbase * 0.44 - ret.minSteerSpeed = 3.8 # m/s if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): - # TODO allow 2019 cars to steer down to 13 m/s if already engaged. + # TODO: allow 2019 cars to steer down to 13 m/s if already engaged. ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. + # Chrysler + if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020): + ret.mass = 2242. + STD_CARGO_KG + ret.wheelbase = 3.089 + ret.steerRatio = 16.2 # Pacifica Hybrid 2017 + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 + + # Jeep + elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): + ret.mass = 1778 + STD_CARGO_KG + ret.wheelbase = 2.71 + ret.steerRatio = 16.7 + ret.steerActuatorDelay = 0.2 + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 + + else: + raise ValueError(f"Unsupported car: {candidate}") + + ret.centerToFront = ret.wheelbase * 0.44 + # starting with reasonable value for civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) @@ -45,7 +55,6 @@ class CarInterface(CarInterfaceBase): return ret - # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) @@ -54,14 +63,17 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low]) - if ret.vEgo < self.CP.minSteerSpeed: + # Low speed steer alert hysteresis logic + if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.): + self.low_speed_alert = True + elif ret.vEgo > (self.CP.minSteerSpeed + 2.): + self.low_speed_alert = False + if self.low_speed_alert: events.add(car.CarEvent.EventName.belowSteerSpeed) ret.events = events.to_msg() return ret - # pass in a car.CarControl - # to be called @ 100hz def apply(self, c): return self.CC.update(c, self.CS) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index b2757aafc2..a0d4225d9a 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -16,11 +16,14 @@ class CarControllerParams: class CAR: + # Chrysler PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017" PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018" PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019" PACIFICA_2018 = "CHRYSLER PACIFICA 2018" # includes 2017 Pacifica PACIFICA_2020 = "CHRYSLER PACIFICA 2020" + + # Jeep JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk From b85547ccf068d40f57dda467757301b069db0c80 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Jun 2022 18:14:25 -0700 Subject: [PATCH 104/226] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 42772b49e3..6c1738814b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 42772b49e313688f8f96114806a72784f978e990 +Subproject commit 6c1738814b451d23797ab7d8fddd43c3b5296b45 From 6c02e554e7174745c7605f4e8f0e3c1aea637091 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Jun 2022 20:23:25 -0700 Subject: [PATCH 105/226] VW FPv2: reduce number of ECU queries (#24706) * only send valid/needed queries * just do volkswagen * clean up * add parameter name clean up * add test for whitelist * rename * Update selfdrive/car/fw_versions.py Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> * fix test * log response addresses * bump cereal * handle response pending with IsoTpParallelQuery * remove response pending stuff * temporarily disregard cache for easier testing * revert this Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> --- selfdrive/car/fw_versions.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index c7253d794d..81883cecaa 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -146,12 +146,14 @@ REQUESTS: List[Request] = [ "volkswagen", [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], rx_offset=VOLKSWAGEN_RX_OFFSET, ), Request( "volkswagen", [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], ), # Mazda Request( From 1b0167ce24afb037b36464c40f9c5e0d657e77d9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Jun 2022 22:34:07 -0700 Subject: [PATCH 106/226] Chrysler: use universal gas and brake signals (#24886) * Chrysler_Update * Update signal names * bump panda * bump submodules * bump panda to master Co-authored-by: Jonathan --- opendbc | 2 +- panda | 2 +- selfdrive/car/chrysler/carstate.py | 15 +++++++++------ 3 files changed, 11 insertions(+), 8 deletions(-) diff --git a/opendbc b/opendbc index a7b391cce8..5e2a820268 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96 +Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4 diff --git a/panda b/panda index 6c1738814b..515df2bb72 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6c1738814b451d23797ab7d8fddd43c3b5296b45 +Subproject commit 515df2bb727fe616869e5d460817e8898792e44f diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 8ddf1c8684..e3ee4753cc 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -24,9 +24,12 @@ class CarState(CarStateBase): cp.vl["DOORS"]["DOOR_OPEN_RR"]]) ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 - ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5 # human-only + # brake pedal ret.brake = 0 - ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"] + ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch + + # gas pedal + ret.gas = cp.vl["ECM_5"]["Accelerator_Position"] ret.gasPressed = ret.gas > 1e-5 ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1) @@ -83,8 +86,8 @@ class CarState(CarStateBase): ("DOOR_OPEN_FR", "DOORS"), ("DOOR_OPEN_RL", "DOORS"), ("DOOR_OPEN_RR", "DOORS"), - ("BRAKE_PRESSED_2", "BRAKE_2"), - ("ACCEL_134", "ACCEL_GAS_134"), + ("Brake_Pedal_State", "ESP_1"), + ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), ("SPEED_RIGHT", "SPEED_1"), ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), @@ -110,14 +113,14 @@ class CarState(CarStateBase): checks = [ # sig_address, frequency - ("BRAKE_2", 50), + ("ESP_1", 50), ("EPS_STATUS", 100), ("SPEED_1", 100), ("WHEEL_SPEEDS", 50), ("STEERING", 100), ("ACC_2", 50), ("GEAR", 50), - ("ACCEL_GAS_134", 50), + ("ECM_5", 50), ("WHEEL_BUTTONS", 50), ("DASHBOARD", 15), ("STEERING_LEVERS", 10), From 5dce006a82879f133ab69355b6c9b8c74d2b4d33 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Jun 2022 22:41:13 -0700 Subject: [PATCH 107/226] regen: send wideRoadCameraState (#24863) * fix camera malfunction * revert * send in one process to fix frames out of sync * not used * revert * fix and add --no-upload for CI testing * fingerprint if source is fw * no FW versions --- .../test/process_replay/process_replay.py | 3 +-- selfdrive/test/process_replay/regen.py | 22 ++++++++++--------- selfdrive/test/process_replay/regen_all.py | 9 ++++---- 3 files changed, 18 insertions(+), 16 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b016eb1c9f..c368e6b575 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -15,7 +15,6 @@ from cereal.services import service_list from common.params import Params from common.timeout import Timeout from panda.python import ALTERNATIVE_EXPERIENCE -from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.car_helpers import get_car, interfaces from selfdrive.test.process_replay.helpers import OpenpilotPrefix from selfdrive.manager.process import PythonProcess @@ -372,7 +371,7 @@ def setup_env(simulation=False, CP=None): if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: params.put_bool("DisengageOnAccelerator", False) - if CP.fingerprintSource == "fw" and CP.carFingerprint in FW_VERSIONS: + if CP.fingerprintSource == "fw": params.put("CarParamsCache", CP.as_builder().to_bytes()) else: os.environ['SKIP_FW_QUERY'] = "1" diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index dfc62a4558..d2f239c249 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -127,7 +127,10 @@ def replay_cameras(lr, frs, disable_tqdm=False): ] def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client): - pm = messaging.PubMaster([s, ]) + services = [(s, stream)] + if use_extra_client: + services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD)) + pm = messaging.PubMaster([s for s, _ in services]) rk = Ratekeeper(1 / dt, print_delay_threshold=None) img = b"\x00" * int(size[0] * size[1] * 3 / 2) @@ -137,16 +140,15 @@ def replay_cameras(lr, frs, disable_tqdm=False): rk.keep_time() - m = messaging.new_message(s) - msg = getattr(m, s) - msg.frameId = rk.frame - msg.timestampSof = m.logMonoTime - msg.timestampEof = m.logMonoTime - pm.send(s, m) + for s, stream in services: + m = messaging.new_message(s) + msg = getattr(m, s) + msg.frameId = rk.frame + msg.timestampSof = m.logMonoTime + msg.timestampEof = m.logMonoTime + pm.send(s, m) - vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof) - if use_extra_client: - vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, img, msg.frameId, msg.timestampSof, msg.timestampEof) + vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof) init_data = [m for m in lr if m.which() == 'initData'][0] cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index c3ea1d41e1..f10d7ea03a 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -11,12 +11,12 @@ from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segm from tools.lib.route import SegmentName -def regen_job(segment, disable_tqdm): +def regen_job(segment, upload, disable_tqdm): with OpenpilotPrefix(): sn = SegmentName(segment[1]) fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11)) try: - relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) + relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) relr = '|'.join(relr.split('/')[-2:]) return f' ("{segment[0]}", "{relr}"), ' except Exception as e: @@ -26,12 +26,13 @@ def regen_job(segment, disable_tqdm): if __name__ == "__main__": parser = argparse.ArgumentParser(description="Generate new segments from old ones") parser.add_argument("-j", "--jobs", type=int, default=1) + parser.add_argument("--no-upload", action="store_true") args = parser.parse_args() with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - p = list(pool.map(regen_job, segments, [args.jobs > 1] * args.jobs)) + p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments)) msg = "Copy these new segments into test_processes.py:" - for seg in tqdm(p, desc="Generating segments"): + for seg in tqdm(p, desc="Generating segments", total=len(segments)): msg += "\n" + str(seg) print() print() From cd87772e036acde3b7b74857f8c03e87f3af63c1 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 17 Jun 2022 11:43:40 +0200 Subject: [PATCH 108/226] live_cpu_and_temp: handle duplicate proc names --- selfdrive/debug/live_cpu_and_temp.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py index baeebb1c4c..c35afc474b 100755 --- a/selfdrive/debug/live_cpu_and_temp.py +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -1,10 +1,11 @@ #!/usr/bin/env python3 import argparse import capnp +from collections import defaultdict from cereal.messaging import SubMaster from common.numpy_fast import mean -from typing import Optional +from typing import Optional, Dict def cputime_total(ct): return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq @@ -75,7 +76,7 @@ if __name__ == "__main__": 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 and prev_proclog_t is not None: - procs = {} + procs: Dict[str, float] = defaultdict(float) dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9 for proc in m.procs: try: @@ -83,12 +84,12 @@ if __name__ == "__main__": prev_proc = [p for p in prev_proclog.procs if proc.pid == p.pid][0] cpu_time = proc_cputime_total(proc) - proc_cputime_total(prev_proc) cpu_usage = cpu_time / dt * 100. - procs[name] = cpu_usage + procs[name] += cpu_usage except IndexError: pass print("Top CPU usage:") - for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]: # type: ignore + for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]: print(f"{k.rjust(70)} {v:.2f} %") print() From 7c826b4fa1ff5d4a22da4a9643ecef803c0b7536 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 Jun 2022 02:56:04 -0700 Subject: [PATCH 109/226] add param to override carParams.dashcamOnly (#24857) * add param to override carParams.dashcamOnly * little cleaner --- common/params.cc | 1 + selfdrive/car/hyundai/interface.py | 5 +---- selfdrive/controls/controlsd.py | 3 +++ 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/common/params.cc b/common/params.cc index 8cf1baa6c8..b8526bc231 100644 --- a/common/params.cc +++ b/common/params.cc @@ -94,6 +94,7 @@ std::unordered_map keys = { {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, {"DisableRadar_Allow", PERSISTENT}, diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 497d6b3f30..2739ebd8cc 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import os from cereal import car from panda import Panda from common.conversions import Conversions as CV @@ -38,9 +37,7 @@ 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/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} - if candidate in HDA2_CAR: - ret.dashcamOnly = not os.path.exists('/data/enable-ev6') + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 033072aa73..67eaf1588b 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -104,6 +104,9 @@ class Controls: if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + if self.CP.dashcamOnly and params.get_bool("DashcamOverride"): + self.CP.dashcamOnly = False + # read params self.is_metric = params.get_bool("IsMetric") self.is_ldw_enabled = params.get_bool("IsLdwEnabled") From b701ea33ce0f36b78c703429afeb5d3d94d38105 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 17 Jun 2022 16:27:05 +0200 Subject: [PATCH 110/226] replay: no HW decoder, fix UV stride --- selfdrive/ui/replay/framereader.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc index 8453407ce7..38d98bddc5 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/selfdrive/ui/replay/framereader.cc @@ -242,7 +242,7 @@ bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) { f->data[1], f->linesize[1], f->data[2], f->linesize[2], y, width, - uv, width / 2, + uv, width, width, height); } return true; From 2c877ce4907657d59111d5e850afb587b3be8d6e Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 17 Jun 2022 10:35:24 -0700 Subject: [PATCH 111/226] Long e2e planner: better xva weights (#24893) better long xva weights --- 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 bc0fc9fea6..94efd7a875 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -251,7 +251,7 @@ class LongitudinalMpc: self.solver.cost_set(i, 'Zl', Zl) def set_weights_for_xva_policy(self): - W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.])) + W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1])) for i in range(N): self.solver.cost_set(i, 'W', W) # Setting the slice without the copy make the array not contiguous, From 33eaebfab2387ed92ef3fc69e3c610f27ee3db67 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 17 Jun 2022 19:47:37 +0200 Subject: [PATCH 112/226] ui: show empty box when speed limit is unavailable during nav (#24891) * ui: show empty box when speed limit is unavailable during nav * variant 2, long - --- selfdrive/ui/qt/onroad.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 38541ef2d5..84b538411b 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -186,8 +186,8 @@ void NvgWindow::updateState(const UIState &s) { speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); setProperty("speedLimit", speed_limit); - setProperty("has_us_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); - setProperty("has_eu_speed_limit", speed_limit > 1 && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + setProperty("has_us_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); + setProperty("has_eu_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); setProperty("is_cruise_set", cruise_set); setProperty("speed", cur_speed); @@ -212,7 +212,7 @@ void NvgWindow::drawHud(QPainter &p) { bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); p.fillRect(0, 0, width(), header_h, bg); - QString speedLimitStr = QString::number(std::nearbyint(speedLimit)); + QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–"; QString speedStr = QString::number(std::nearbyint(speed)); QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; @@ -334,6 +334,8 @@ void NvgWindow::drawHud(QPainter &p) { p.drawEllipse(center, inner_radius_2, inner_radius_2); // Speed limit value + if (speedLimit < 1 ) center -= {0, 2}; // Make sure dash is centered if no speed limit available + int font_size = (speedLimitStr.size() >= 3) ? 62 : 70; configFont(p, "Open Sans", font_size, "Bold"); QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); From 208d4a4fc73cf3f41111de67a168b4ef83156e6d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 17 Jun 2022 13:39:15 -0700 Subject: [PATCH 113/226] Add Hyundai P harness (#24872) * Update docs_definitions.py * Update values.py --- selfdrive/car/docs_definitions.py | 1 + selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index f09dad7860..e1344174ab 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -144,6 +144,7 @@ class Harness(Enum): hyundai_m = "Hyundai M" hyundai_n = "Hyundai N" hyundai_o = "Hyundai O" + hyundai_p = "Hyundai P" custom = "Developer" obd_ii = "OBD-II" nissan_a = "Nissan A" diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index df7ce1e6f4..cf47501588 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), - CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.none), + CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p), # Genesis CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f), From 0f0b4cac893b41dd81288947158d3aa9cbbfc2fd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 18 Jun 2022 17:15:45 -0700 Subject: [PATCH 114/226] Chrysler: use unified signal definitions (#24895) * Update some signals to unified names and definitions Co-authored-by: Jonathan * steering looks good * Fix cp signals * Do steering signal changes separately * bump opendbc to master Co-authored-by: Jonathan --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++--------------- 2 files changed, 17 insertions(+), 16 deletions(-) diff --git a/opendbc b/opendbc index 5e2a820268..57c8340a18 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4 +Subproject commit 57c8340a180dd8c75139b18050eb17c72c9cb6e4 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index e3ee4753cc..7571286c56 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -18,10 +18,10 @@ class CarState(CarStateBase): self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) - ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"], - cp.vl["DOORS"]["DOOR_OPEN_FR"], - cp.vl["DOORS"]["DOOR_OPEN_RL"], - cp.vl["DOORS"]["DOOR_OPEN_RR"]]) + ret.doorOpen = any([cp.vl["BCM_1"]["Driver_Door_Ajar"], + cp.vl["BCM_1"]["Passenger_Door_Ajar"], + cp.vl["BCM_1"]["Left_Rear_Door_Ajar"], + cp.vl["BCM_1"]["Right_Rear_Door_Ajar"]]) ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal @@ -51,12 +51,12 @@ class CarState(CarStateBase): ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) - ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green. - ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled + ret.cruiseState.available = cp.vl["DAS_3"]["ACC_Engaged"] == 1 # ACC is white + ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_Enabled"] == 1 # ACC is green 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.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0 + ret.accFaulted = cp.vl["DAS_3"]["ACC_Faulted"] != 0 ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] @@ -82,10 +82,10 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address ("PRNDL", "GEAR"), - ("DOOR_OPEN_FL", "DOORS"), - ("DOOR_OPEN_FR", "DOORS"), - ("DOOR_OPEN_RL", "DOORS"), - ("DOOR_OPEN_RR", "DOORS"), + ("Driver_Door_Ajar", "BCM_1"), + ("Passenger_Door_Ajar", "BCM_1"), + ("Left_Rear_Door_Ajar", "BCM_1"), + ("Right_Rear_Door_Ajar", "BCM_1"), ("Brake_Pedal_State", "ESP_1"), ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), @@ -97,8 +97,9 @@ class CarState(CarStateBase): ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), - ("ACC_STATUS_2", "ACC_2"), - ("ACC_FAULTED", "ACC_2"), + ("ACC_Enabled", "DAS_3"), + ("ACC_Engaged", "DAS_3"), + ("ACC_Faulted", "DAS_3"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), ("CRUISE_STATE", "DASHBOARD"), @@ -118,14 +119,14 @@ class CarState(CarStateBase): ("SPEED_1", 100), ("WHEEL_SPEEDS", 50), ("STEERING", 100), - ("ACC_2", 50), + ("DAS_3", 50), ("GEAR", 50), ("ECM_5", 50), ("WHEEL_BUTTONS", 50), ("DASHBOARD", 15), ("STEERING_LEVERS", 10), ("SEATBELT_STATUS", 2), - ("DOORS", 1), + ("BCM_1", 1), ("TRACTION_BUTTON", 1), ] From add335d9e67f24a3090e09d39d4267b8f5620ff1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Jun 2022 19:01:42 -0700 Subject: [PATCH 115/226] jenkins: move simulator build into lock --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index ebc26a5920..279716d7cf 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -88,8 +88,8 @@ pipeline { steps { sh "git config --global --add safe.directory ${WORKSPACE}" sh "git lfs pull" - sh "${WORKSPACE}/tools/sim/build_container.sh" lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) { + sh "${WORKSPACE}/tools/sim/build_container.sh" sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh" sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh" } From a27d242e3d35cb76761b0cd14eb0d58e668cfbb9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Jun 2022 19:02:09 -0700 Subject: [PATCH 116/226] zookeeper: add avg power to power_monitor.py --- tools/zookeeper/power_monitor.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index d3bdd6679f..f88741813e 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import sys import time +import datetime from common.realtime import Ratekeeper from common.filter_simple import FirstOrderFilter @@ -19,12 +20,19 @@ if __name__ == "__main__": rk = Ratekeeper(rate, print_delay_threshold=None) fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False) + measurements = [] + start_time = time.monotonic() + try: - start_time = time.monotonic() while duration is None or time.monotonic() - start_time < duration: fltr.update(z.read_power()) if rk.frame % rate == 0: print(f"{fltr.x:.2f} W") + measurements.append(fltr.x) rk.keep_time() except KeyboardInterrupt: pass + + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"\nAverage power: {avg:.2f}W over {t}") From abcc7338d41359e7e4f4d2d37d33449c292224ed Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 19 Jun 2022 00:06:23 -0700 Subject: [PATCH 117/226] Car Port: 2022 Honda Civic (#24535) * master 2022 Civic * bump panda * bump * bump cereal * fix * needed * try for now * maybe * revert for now * move to Cam parser * fix * move to cam * need AEB_STATUS too * bump for debug prints * bump opendbc and add cruise_params * bump opendbc and update cruise_params * bump * test route * update ref * Revert "update ref" This reverts commit 28345dab63d1919865ccb510265222a4cd4252f4. * cleanup * just to test * bump * revert * need to send val 12 too? * change bus * not needed * update bus * syntax * move this to other bus too * Revert "move this to other bus too" This reverts commit 770bf4745ee244c8426ac108f44b67777198d0a7. * test new lane line signal * needed too * maybe need both? * Test new LKAS hud message * bump * missing comma * missing * maybe * add frame and idx * add in hud_lanes * switch this too * bump panda * add this * I guess need this too * to match * also * wasnt correct * bump opendbc * bump panda * move to cam parser * missing * add here too * bump * remove from cam parser * bump * back to cam parser * its 5hz * bump for new checksum function * bump for correct frequency * update frame and idx * bump * bump and update * send set me bit * bump * pass these values through * silly atom * ret * fix this * use copy instead * add these too * to check keyerror * switch * bump submodules * send too * proper * Replace HUD with BOH * add dashed lanes * small fix * clean up * not needed anymore * remove and change * this too * dont always set * remove additional LKAS message * bump * add * to test * add frame * bump * rebase * remove default values * rename * clean up some carstate logic * regenerate docs * spacing * simplify more logic * bump opendbc * bump opendbc * only if radarless * panda at least builds now * add comment * bump * fixes * bump opendbc * bump opendbc fix for new DBC * bump opendbc * bump opendbc * carstate: fix bus, parser signals * Set safety param * pt bus is 0, not 1 * Fix SCM_BUTTONS and bump panda and opendbc * fixes for ACC_CONTROL * bump opendbc * bump opendbc * convert from MPH on HONDA_BOSCH_RADARLESS move is_metric * make sure we don't disable if radarless * don't show incorrect harness on website don't show incorrect harness on website * bump panda * remove/update comments * bump panda * Fix harnesses * one line check * bump opendbc * remove this * Some carstate cleanup We removed STANDSTILL->WHEELS_MOVING we don't use CRUISE_PARAMS add back add back * more cleanup * update docs * marketing says it has TJA and ACC with low speed follow * send buttons on bus 0 bump panda * comment * camera needs to see buttons on bus 2 comment * bump panda * add to releases * remove comments * comment * we don't use stock hud yet Co-authored-by: vanillagorillaa Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Co-authored-by: kevinharbin <76784413+kevinharbin@users.noreply.github.com> --- RELEASES.md | 1 + docs/CARS.md | 3 +- panda | 2 +- release/files_common | 1 + selfdrive/car/docs_definitions.py | 3 +- selfdrive/car/honda/carcontroller.py | 6 +-- selfdrive/car/honda/carstate.py | 56 ++++++++++++++------------ selfdrive/car/honda/hondacan.py | 18 +++++++-- selfdrive/car/honda/interface.py | 16 +++++--- selfdrive/car/honda/values.py | 60 +++++++++++++++++++++++----- selfdrive/car/tests/routes.py | 1 + 11 files changed, 115 insertions(+), 52 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 7f365e5cef..5d81b43085 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -13,6 +13,7 @@ Version 0.8.15 (2022-XX-XX) * Display speed limit while navigating * Reduced power usage: device runs cooler and fan spins less * AGNOS 5 +* Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! diff --git a/docs/CARS.md b/docs/CARS.md index c0bd62eb3f..50db34dbb5 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -149,7 +149,7 @@ How We Rate The Cars |Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 69 cars +# Bronze - 70 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -168,6 +168,7 @@ How We Rate The Cars |Honda|Accord Hybrid 2018-21|All|||||| |Honda|Civic 2016-18|Honda Sensing|||||| |Honda|Civic 2019-20|All|||[2](#footnotes)||| +|Honda|Civic 2022|All|||||| |Honda|Civic Hatchback 2017-21|Honda Sensing|||||| |Honda|CR-V 2015-16|Touring|||||| |Honda|CR-V 2017-21|Honda Sensing|||||| diff --git a/panda b/panda index 515df2bb72..e1b2f1253c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 515df2bb727fe616869e5d460817e8898792e44f +Subproject commit e1b2f1253cb7f05f39d4afa21500565bb8b955d2 diff --git a/release/files_common b/release/files_common index b6cd4fa797..e84c668732 100644 --- a/release/files_common +++ b/release/files_common @@ -495,6 +495,7 @@ opendbc/honda_odyssey_exl_2018_generated.dbc opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc opendbc/honda_insight_ex_2019_can_generated.dbc opendbc/acura_ilx_2016_nidec.dbc +opendbc/honda_civic_ex_2022_can_generated.dbc opendbc/kia_ev6.dbc opendbc/hyundai_kia_generic.dbc diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index e1344174ab..618c986d18 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -123,7 +123,8 @@ class CarInfo: class Harness(Enum): nidec = "Honda Nidec" - bosch = "Honda Bosch A" + bosch_a = "Honda Bosch A" + bosch_b = "Honda Bosch B" toyota = "Toyota" subaru = "Subaru" fca = "FCA" diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index a6aa84adf6..4d04927b2f 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -7,7 +7,7 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import create_gas_interceptor_command from selfdrive.car.honda import hondacan -from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from selfdrive.controls.lib.drive_helpers import rate_limit VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -189,7 +189,7 @@ class CarController: pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6) if not self.CP.openpilotLongitudinalControl: - if self.frame % 2 == 0: + if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message idx = self.frame // 2 can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx)) # If using stock ACC, spam cancel command to kill gas when OP disengages. @@ -241,7 +241,7 @@ class CarController: idx = (self.frame // 10) % 4 hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index f5cdc838c4..5358ce249a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -5,8 +5,9 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser +from selfdrive.car.honda.hondacan import get_pt_bus +from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL TransmissionType = car.CarParams.TransmissionType @@ -80,7 +81,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): checks.append(("EPB_STATUS", 50)) if CP.carFingerprint in HONDA_BOSCH: - if not CP.openpilotLongitudinalControl: + # these messages are on camera bus on radarless cars + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: signals += [ ("CRUISE_CONTROL_LABEL", "ACC_HUD"), ("CRUISE_SPEED", "ACC_HUD"), @@ -100,23 +102,16 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks.append(("CRUISE_PARAMS", 50)) - 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): + 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, CAR.CIVIC_2022): signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) - elif CP.carFingerprint == CAR.ODYSSEY_CHN: + elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) - elif CP.carFingerprint in (CAR.FREED, CAR.HRV): - signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"), - ("WHEELS_MOVING", "STANDSTILL")] else: signals += [("DOOR_OPEN_FL", "DOORS_STATUS"), ("DOOR_OPEN_FR", "DOORS_STATUS"), ("DOOR_OPEN_RL", "DOORS_STATUS"), - ("DOOR_OPEN_RR", "DOORS_STATUS"), - ("WHEELS_MOVING", "STANDSTILL")] - checks += [ - ("DOORS_STATUS", 3), - ("STANDSTILL", 50), - ] + ("DOOR_OPEN_RR", "DOORS_STATUS")] + checks.append(("DOORS_STATUS", 3)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: @@ -175,7 +170,8 @@ class CarState(CarStateBase): # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 - 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): + # TODO: find a common signal across all cars + 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, CAR.CIVIC_2022): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -235,11 +231,15 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH: if not self.CP.openpilotLongitudinalControl: - ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0 - ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252. + # ACC_HUD is on camera bus on radarless cars + acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"] + ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 + ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. - ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS + ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor self.v_cruise_pcm_prev = ret.cruiseState.speed else: ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS @@ -269,14 +269,14 @@ class CarState(CarStateBase): ret.brakePressed = True if self.CP.carFingerprint in HONDA_BOSCH: - ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) + # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts + if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) else: ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5) - if self.CP.carFingerprint in HONDA_BOSCH: - self.stock_hud = False - ret.stockFcw = False - else: + self.stock_hud = False + if self.CP.carFingerprint not in HONDA_BOSCH: ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0 self.stock_hud = cp_cam.vl["ACC_HUD"] self.stock_brake = cp_cam.vl["BRAKE_COMMAND"] @@ -291,8 +291,7 @@ class CarState(CarStateBase): def get_can_parser(self, CP): signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg) - bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0 - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint)) @staticmethod def get_cam_can_parser(CP): @@ -301,7 +300,14 @@ class CarState(CarStateBase): ("STEERING_CONTROL", 100), ] - if CP.carFingerprint not in HONDA_BOSCH: + if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl: + signals += [ + ("CRUISE_SPEED", "ACC_HUD"), + ("CRUISE_CONTROL_LABEL", "ACC_HUD"), + ] + checks.append(("ACC_HUD", 10)) + + elif CP.carFingerprint not in HONDA_BOSCH: signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"), ("AEB_REQ_1", "BRAKE_COMMAND"), ("FCW", "BRAKE_COMMAND"), diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 3d8c79c809..6a1fb2e459 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ from common.conversions import Conversions as CV -from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams +from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams # CAN bus layout with relay # 0 = ACC-CAN - radar side @@ -7,8 +7,9 @@ from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControll # 2 = ACC-CAN - camera side # 3 = F-CAN A - OBDII port + def get_pt_bus(car_fingerprint): - return 1 if car_fingerprint in HONDA_BOSCH else 0 + return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): @@ -18,6 +19,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): # normally steering commands are sent to radar, which forwards them to powertrain bus return 0 + def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 @@ -78,6 +80,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_ return commands + def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled): values = { "STEER_TORQUE": apply_steer if lkas_active else 0, @@ -98,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx) -def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud): +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl @@ -135,6 +138,12 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc 'BEEP': 0, } + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + lkas_hud_values['LANE_LINES'] = 3 + lkas_hud_values['DASHED_LANES'] = hud.lanes_visible + # TODO: understand this better, does car need to see it fall after start up? + lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1 + if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): lkas_hud_values['SET_ME_X48'] = 0x48 @@ -162,5 +171,6 @@ def spam_buttons_command(packer, button_val, idx, car_fingerprint): 'CRUISE_BUTTONS': button_val, 'CRUISE_SETTING': 0, } - bus = get_pt_bus(car_fingerprint) + # send buttons to camera on radarless cars + bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint) return packer.make_can_msg("SCM_BUTTONS", bus, values, idx) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 994152608e..a78189b697 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -3,7 +3,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV from common.numpy_fast import interp -from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL +from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -37,9 +37,10 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.radarOffCan = True - # Disable the radar and let openpilot control longitudinal - # WARNING: THIS DISABLES AEB! - ret.openpilotLongitudinalControl = disable_radar + if candidate not in HONDA_BOSCH_RADARLESS: + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + ret.openpilotLongitudinalControl = disable_radar ret.pcmCruise = not ret.openpilotLongitudinalControl else: @@ -104,7 +105,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. - elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): + elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE @@ -304,6 +305,9 @@ class CarInterface(CarInterfaceBase): if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + if candidate in HONDA_BOSCH_RADARLESS: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS + # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc @@ -325,7 +329,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def init(CP, logcan, sendcan): - if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl: + if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl: disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03') # returns a car.CarState diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 152f71e98a..0bdb8ccd91 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -75,6 +75,7 @@ class CAR: CIVIC = "HONDA CIVIC 2016" CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" + CIVIC_2022 = "HONDA CIVIC 2022" ACURA_ILX = "ACURA ILX 2016" CRV = "HONDA CR-V 2016" CRV_5G = "HONDA CR-V 2017" @@ -108,33 +109,34 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), - HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], - CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch), - HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch), + HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform + CAR.CIVIC_2022: HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch), + CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec), CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), - CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec), CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), - CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), - CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), } @@ -1392,6 +1394,40 @@ FW_VERSIONS = { b'57114-TYF-E030\x00\x00' ], }, + CAR.CIVIC_2022: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T47-A940\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-T21-A220\x00\x00', + b'78108-T21-A620\x00\x00', + b'78108-T23-A110\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-64L-A540\x00\x00', + b'37805-64S-A540\x00\x00', + b'37805-64S-A720\x00\x00', + ], + }, } DBC = { @@ -1417,6 +1453,7 @@ DBC = { CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None), + CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None), } STEER_THRESHOLD = { @@ -1429,5 +1466,6 @@ 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.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} + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index a9d36f9eab..19b1a05c23 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -71,6 +71,7 @@ routes = [ TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE), TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), + TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), From 28431f7dddb72da31a79005ef37fb6642f822a4c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 19 Jun 2022 14:07:19 -0700 Subject: [PATCH 118/226] Revert "Chrysler: use unified signal definitions (#24895)" This reverts commit 0f0b4cac893b41dd81288947158d3aa9cbbfc2fd. --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++--------------- 2 files changed, 16 insertions(+), 17 deletions(-) diff --git a/opendbc b/opendbc index 57c8340a18..5e2a820268 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 57c8340a180dd8c75139b18050eb17c72c9cb6e4 +Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 7571286c56..e3ee4753cc 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -18,10 +18,10 @@ class CarState(CarStateBase): self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) - ret.doorOpen = any([cp.vl["BCM_1"]["Driver_Door_Ajar"], - cp.vl["BCM_1"]["Passenger_Door_Ajar"], - cp.vl["BCM_1"]["Left_Rear_Door_Ajar"], - cp.vl["BCM_1"]["Right_Rear_Door_Ajar"]]) + ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"], + cp.vl["DOORS"]["DOOR_OPEN_FR"], + cp.vl["DOORS"]["DOOR_OPEN_RL"], + cp.vl["DOORS"]["DOOR_OPEN_RR"]]) ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal @@ -51,12 +51,12 @@ class CarState(CarStateBase): ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) - ret.cruiseState.available = cp.vl["DAS_3"]["ACC_Engaged"] == 1 # ACC is white - ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_Enabled"] == 1 # ACC is green + ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green. + 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.accFaulted = cp.vl["DAS_3"]["ACC_Faulted"] != 0 + ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0 ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] @@ -82,10 +82,10 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address ("PRNDL", "GEAR"), - ("Driver_Door_Ajar", "BCM_1"), - ("Passenger_Door_Ajar", "BCM_1"), - ("Left_Rear_Door_Ajar", "BCM_1"), - ("Right_Rear_Door_Ajar", "BCM_1"), + ("DOOR_OPEN_FL", "DOORS"), + ("DOOR_OPEN_FR", "DOORS"), + ("DOOR_OPEN_RL", "DOORS"), + ("DOOR_OPEN_RR", "DOORS"), ("Brake_Pedal_State", "ESP_1"), ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), @@ -97,9 +97,8 @@ class CarState(CarStateBase): ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), - ("ACC_Enabled", "DAS_3"), - ("ACC_Engaged", "DAS_3"), - ("ACC_Faulted", "DAS_3"), + ("ACC_STATUS_2", "ACC_2"), + ("ACC_FAULTED", "ACC_2"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), ("CRUISE_STATE", "DASHBOARD"), @@ -119,14 +118,14 @@ class CarState(CarStateBase): ("SPEED_1", 100), ("WHEEL_SPEEDS", 50), ("STEERING", 100), - ("DAS_3", 50), + ("ACC_2", 50), ("GEAR", 50), ("ECM_5", 50), ("WHEEL_BUTTONS", 50), ("DASHBOARD", 15), ("STEERING_LEVERS", 10), ("SEATBELT_STATUS", 2), - ("BCM_1", 1), + ("DOORS", 1), ("TRACTION_BUTTON", 1), ] From d3185a0af0d5a0382cf4688fa35ab79a48a0914c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 19 Jun 2022 14:08:14 -0700 Subject: [PATCH 119/226] Chrysler: 2022 pacific hybrid is supported --- docs/CARS.md | 2 +- selfdrive/car/chrysler/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 50db34dbb5..77b1c5e787 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -161,7 +161,7 @@ How We Rate The Cars |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica 2020|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|||||| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| |Honda|Accord 2018-21|All|||||| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index a0d4225d9a..bdd80757f4 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -37,7 +37,7 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"), + CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), From 6123ab3d1c901ed3763e1a7cb8e1aac3f6b8fda3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 19 Jun 2022 14:43:49 -0700 Subject: [PATCH 120/226] Move camerad to system/ (#24836) * mv camerad * add hardware symlink * fix unit tests --- .github/workflows/selfdrive_tests.yaml | 2 +- Jenkinsfile | 4 +-- SConstruct | 4 +-- docs/c_docs.rst | 6 ++-- release/files_common | 31 ++++++++++--------- release/files_tici | 6 ++-- selfdrive/athena/athenad.py | 2 +- selfdrive/loggerd/encoder/encoder.h | 2 +- selfdrive/loggerd/loggerd.h | 2 +- selfdrive/manager/process_config.py | 4 +-- selfdrive/test/process_replay/test_debayer.py | 4 +-- selfdrive/ui/qt/widgets/cameraview.h | 2 +- selfdrive/ui/replay/logreader.h | 2 +- {selfdrive => system}/camerad/SConscript | 0 {selfdrive => system}/camerad/__init__.py | 0 .../camerad/cameras/camera_common.cc | 8 ++--- .../camerad/cameras/camera_common.h | 2 +- .../camerad/cameras/camera_qcom2.cc | 4 +-- .../camerad/cameras/camera_qcom2.h | 2 +- .../camerad/cameras/real_debayer.cl | 0 .../camerad/cameras/sensor2_i2c.h | 0 {selfdrive => system}/camerad/imgproc/conv.cl | 0 {selfdrive => system}/camerad/imgproc/pool.cl | 0 .../camerad/imgproc/utils.cc | 2 +- {selfdrive => system}/camerad/imgproc/utils.h | 0 .../camerad/include/media/cam_cpas.h | 0 .../camerad/include/media/cam_defs.h | 0 .../camerad/include/media/cam_fd.h | 0 .../camerad/include/media/cam_icp.h | 0 .../camerad/include/media/cam_isp.h | 0 .../camerad/include/media/cam_isp_ife.h | 0 .../camerad/include/media/cam_isp_vfe.h | 0 .../camerad/include/media/cam_jpeg.h | 0 .../camerad/include/media/cam_lrme.h | 0 .../camerad/include/media/cam_req_mgr.h | 0 .../camerad/include/media/cam_sensor.h | 0 .../include/media/cam_sensor_cmn_header.h | 0 .../camerad/include/media/cam_sync.h | 0 .../camerad/include/msm_cam_sensor.h | 0 .../camerad/include/msm_camsensor_sdk.h | 0 .../camerad/include/msmb_camera.h | 0 .../camerad/include/msmb_isp.h | 0 .../camerad/include/msmb_ispif.h | 0 {selfdrive => system}/camerad/main.cc | 2 +- .../camerad/snapshot/__init__.py | 0 .../camerad/snapshot/snapshot.py | 2 +- {selfdrive => system}/camerad/test/.gitignore | 0 .../camerad/test/ae_gray_test.cc | 2 +- .../camerad/test/ae_gray_test.h | 0 .../camerad/test/camera_test.h | 0 .../camerad/test/check_skips.py | 0 .../camerad/test/frame_test.py | 0 .../test/get_thumbnails_for_segment.py | 0 .../camerad/test/stress_restart.sh | 0 .../camerad/test/test_camerad.py | 0 .../camerad/test/test_exposure.py | 2 +- .../camerad/transforms/rgb_to_yuv.cc | 2 +- .../camerad/transforms/rgb_to_yuv.cl | 0 .../camerad/transforms/rgb_to_yuv.h | 0 .../camerad/transforms/rgb_to_yuv_test.cc | 2 +- tools/webcam/README.md | 4 +-- 61 files changed, 53 insertions(+), 52 deletions(-) rename {selfdrive => system}/camerad/SConscript (100%) rename {selfdrive => system}/camerad/__init__.py (100%) rename {selfdrive => system}/camerad/cameras/camera_common.cc (98%) rename {selfdrive => system}/camerad/cameras/camera_common.h (98%) rename {selfdrive => system}/camerad/cameras/camera_qcom2.cc (99%) rename {selfdrive => system}/camerad/cameras/camera_qcom2.h (98%) rename {selfdrive => system}/camerad/cameras/real_debayer.cl (100%) rename {selfdrive => system}/camerad/cameras/sensor2_i2c.h (100%) rename {selfdrive => system}/camerad/imgproc/conv.cl (100%) rename {selfdrive => system}/camerad/imgproc/pool.cl (100%) rename {selfdrive => system}/camerad/imgproc/utils.cc (98%) rename {selfdrive => system}/camerad/imgproc/utils.h (100%) rename {selfdrive => system}/camerad/include/media/cam_cpas.h (100%) rename {selfdrive => system}/camerad/include/media/cam_defs.h (100%) rename {selfdrive => system}/camerad/include/media/cam_fd.h (100%) rename {selfdrive => system}/camerad/include/media/cam_icp.h (100%) rename {selfdrive => system}/camerad/include/media/cam_isp.h (100%) rename {selfdrive => system}/camerad/include/media/cam_isp_ife.h (100%) rename {selfdrive => system}/camerad/include/media/cam_isp_vfe.h (100%) rename {selfdrive => system}/camerad/include/media/cam_jpeg.h (100%) rename {selfdrive => system}/camerad/include/media/cam_lrme.h (100%) rename {selfdrive => system}/camerad/include/media/cam_req_mgr.h (100%) rename {selfdrive => system}/camerad/include/media/cam_sensor.h (100%) rename {selfdrive => system}/camerad/include/media/cam_sensor_cmn_header.h (100%) rename {selfdrive => system}/camerad/include/media/cam_sync.h (100%) rename {selfdrive => system}/camerad/include/msm_cam_sensor.h (100%) rename {selfdrive => system}/camerad/include/msm_camsensor_sdk.h (100%) rename {selfdrive => system}/camerad/include/msmb_camera.h (100%) rename {selfdrive => system}/camerad/include/msmb_isp.h (100%) rename {selfdrive => system}/camerad/include/msmb_ispif.h (100%) rename {selfdrive => system}/camerad/main.cc (89%) rename {selfdrive => system}/camerad/snapshot/__init__.py (100%) rename {selfdrive => system}/camerad/snapshot/snapshot.py (98%) rename {selfdrive => system}/camerad/test/.gitignore (100%) rename {selfdrive => system}/camerad/test/ae_gray_test.cc (97%) rename {selfdrive => system}/camerad/test/ae_gray_test.h (100%) rename {selfdrive => system}/camerad/test/camera_test.h (100%) rename {selfdrive => system}/camerad/test/check_skips.py (100%) rename {selfdrive => system}/camerad/test/frame_test.py (100%) rename {selfdrive => system}/camerad/test/get_thumbnails_for_segment.py (100%) rename {selfdrive => system}/camerad/test/stress_restart.sh (100%) rename {selfdrive => system}/camerad/test/test_camerad.py (100%) rename {selfdrive => system}/camerad/test/test_exposure.py (96%) rename {selfdrive => system}/camerad/transforms/rgb_to_yuv.cc (96%) rename {selfdrive => system}/camerad/transforms/rgb_to_yuv.cl (100%) rename {selfdrive => system}/camerad/transforms/rgb_to_yuv.h (100%) rename {selfdrive => system}/camerad/transforms/rgb_to_yuv_test.cc (99%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 5bd9acc200..fedeaa734b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -310,7 +310,7 @@ jobs: ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./selfdrive/ui/replay/tests/test_replay && \ - ./selfdrive/camerad/test/ae_gray_test && \ + ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 diff --git a/Jenkinsfile b/Jenkinsfile index 279716d7cf..dba1f257d6 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -139,8 +139,8 @@ pipeline { steps { phone_steps("tici-party", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "python selfdrive/camerad/test/test_camerad.py"], - ["test exposure", "python selfdrive/camerad/test/test_exposure.py"], + ["test camerad", "python system/camerad/test/test_camerad.py"], + ["test exposure", "python system/camerad/test/test_exposure.py"], ]) } } diff --git a/SConstruct b/SConstruct index b5c4edc99b..b243a4dc45 100644 --- a/SConstruct +++ b/SConstruct @@ -94,7 +94,7 @@ if arch == "larch64": "/usr/lib/aarch64-linux-gnu" ] cpppath += [ - "#selfdrive/camerad/include", + "#system/camerad/include", ] cflags = ["-DQCOM2", "-mcpu=cortex-a57"] cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"] @@ -379,6 +379,7 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ + 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', ]) @@ -396,7 +397,6 @@ SConscript(['third_party/SConscript']) SConscript(['common/kalman/SConscript']) SConscript(['common/transformations/SConscript']) -SConscript(['selfdrive/camerad/SConscript']) SConscript(['selfdrive/modeld/SConscript']) SConscript(['selfdrive/controls/lib/cluster/SConscript']) diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 218cd5a7d9..4e1e8a247a 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -28,11 +28,11 @@ selfdrive camerad ^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_camerad_cameras + :project: system_camerad_cameras .. autodoxygenindex:: - :project: selfdrive_camerad_transforms + :project: system_camerad_transforms .. autodoxygenindex:: - :project: selfdrive_camerad_imgproc + :project: system_camerad_imgproc locationd ^^^^^^^^^ diff --git a/release/files_common b/release/files_common index e84c668732..ecb71b4e69 100644 --- a/release/files_common +++ b/release/files_common @@ -182,6 +182,7 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* +selfdrive/hardware system/hardware/__init__.py system/hardware/base.h system/hardware/base.py @@ -298,24 +299,24 @@ selfdrive/ui/replay/*.h selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h -selfdrive/camerad/SConscript -selfdrive/camerad/main.cc +system/camerad/SConscript +system/camerad/main.cc -selfdrive/camerad/snapshot/* -selfdrive/camerad/include/* -selfdrive/camerad/cameras/camera_common.h -selfdrive/camerad/cameras/camera_common.cc -selfdrive/camerad/cameras/sensor2_i2c.h +system/camerad/snapshot/* +system/camerad/include/* +system/camerad/cameras/camera_common.h +system/camerad/cameras/camera_common.cc +system/camerad/cameras/sensor2_i2c.h -selfdrive/camerad/transforms/rgb_to_yuv.cc -selfdrive/camerad/transforms/rgb_to_yuv.h -selfdrive/camerad/transforms/rgb_to_yuv.cl -selfdrive/camerad/transforms/rgb_to_yuv_test.cc +system/camerad/transforms/rgb_to_yuv.cc +system/camerad/transforms/rgb_to_yuv.h +system/camerad/transforms/rgb_to_yuv.cl +system/camerad/transforms/rgb_to_yuv_test.cc -selfdrive/camerad/imgproc/conv.cl -selfdrive/camerad/imgproc/pool.cl -selfdrive/camerad/imgproc/utils.cc -selfdrive/camerad/imgproc/utils.h +system/camerad/imgproc/conv.cl +system/camerad/imgproc/pool.cl +system/camerad/imgproc/utils.cc +system/camerad/imgproc/utils.h selfdrive/manager/__init__.py selfdrive/manager/build.py diff --git a/release/files_tici b/release/files_tici index 485a898799..f8c0a27959 100644 --- a/release/files_tici +++ b/release/files_tici @@ -7,9 +7,9 @@ system/timezoned.py selfdrive/assets/navigation/* selfdrive/assets/training_wide/* -selfdrive/camerad/cameras/camera_qcom2.cc -selfdrive/camerad/cameras/camera_qcom2.h -selfdrive/camerad/cameras/real_debayer.cl +system/camerad/cameras/camera_qcom2.cc +system/camerad/cameras/camera_qcom2.h +system/camerad/cameras/real_debayer.cl selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 26220dfa99..b0e138c495 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -493,7 +493,7 @@ def getNetworks(): @dispatcher.add_method def takeSnapshot(): - from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot + from system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: def b64jpeg(x): diff --git a/selfdrive/loggerd/encoder/encoder.h b/selfdrive/loggerd/encoder/encoder.h index 312b68ba19..21ef65cf12 100644 --- a/selfdrive/loggerd/encoder/encoder.h +++ b/selfdrive/loggerd/encoder/encoder.h @@ -8,7 +8,7 @@ #include "cereal/visionipc/visionipc.h" #include "common/queue.h" #include "selfdrive/loggerd/video_writer.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 7e13e90e63..2c4990086a 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -15,7 +15,7 @@ #include "cereal/services.h" #include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_client.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "common/params.h" #include "common/swaglog.h" #include "common/timing.h" diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index a9a5c78a7f..7e4029664d 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -18,6 +18,8 @@ def logging(started, params, CP: car.CarParams) -> bool: return started and run procs = [ + # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption + NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), @@ -25,8 +27,6 @@ procs = [ PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), - # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption - NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index eff77fc479..1b3e0f112e 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -10,7 +10,7 @@ from system.hardware import PC, TICI from common.basedir import BASEDIR from selfdrive.test.openpilotci import BASE_URL, get_url from system.version import get_commit -from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb +from system.camerad.snapshot.snapshot import yuv_to_rgb from tools.lib.logreader import LogReader from tools.lib.filereader import FileReader @@ -62,7 +62,7 @@ def unbzip_frames(url): def init_kernels(frame_offset=0): ctx = cl.create_some_context(interactive=False) - with open(os.path.join(BASEDIR, 'selfdrive/camerad/cameras/real_debayer.cl')) as f: + with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f: build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \ f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0' if PC: diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index ddc3fc253b..42e9043602 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -17,7 +17,7 @@ #endif #include "cereal/visionipc/visionipc_client.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/ui.h" const int FRAME_BUFFER_SIZE = 5; diff --git a/selfdrive/ui/replay/logreader.h b/selfdrive/ui/replay/logreader.h index 7ada20605e..b4a38a5721 100644 --- a/selfdrive/ui/replay/logreader.h +++ b/selfdrive/ui/replay/logreader.h @@ -6,7 +6,7 @@ #endif #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; diff --git a/selfdrive/camerad/SConscript b/system/camerad/SConscript similarity index 100% rename from selfdrive/camerad/SConscript rename to system/camerad/SConscript diff --git a/selfdrive/camerad/__init__.py b/system/camerad/__init__.py similarity index 100% rename from selfdrive/camerad/__init__.py rename to system/camerad/__init__.py diff --git a/selfdrive/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc similarity index 98% rename from selfdrive/camerad/cameras/camera_common.cc rename to system/camerad/cameras/camera_common.cc index a94cfedf1a..34dde9389c 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include @@ -10,7 +10,7 @@ #include "libyuv.h" #include -#include "selfdrive/camerad/imgproc/utils.h" +#include "system/camerad/imgproc/utils.h" #include "common/clutil.h" #include "common/modeldata.h" #include "common/swaglog.h" @@ -20,9 +20,9 @@ #ifdef QCOM2 #include "CL/cl_ext_qcom.h" -#include "selfdrive/camerad/cameras/camera_qcom2.h" +#include "system/camerad/cameras/camera_qcom2.h" #else -#include "selfdrive/camerad/test/camera_test.h" +#include "system/camerad/test/camera_test.h" #endif ExitHandler do_exit; diff --git a/selfdrive/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h similarity index 98% rename from selfdrive/camerad/cameras/camera_common.h rename to system/camerad/cameras/camera_common.h index e9c7ccd757..6b483372bb 100644 --- a/selfdrive/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -9,7 +9,7 @@ #include "cereal/visionipc/visionbuf.h" #include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" -#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "system/camerad/transforms/rgb_to_yuv.h" #include "common/mat.h" #include "common/queue.h" #include "common/swaglog.h" diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc similarity index 99% rename from selfdrive/camerad/cameras/camera_qcom2.cc rename to system/camerad/cameras/camera_qcom2.cc index c1ffc1275a..f001009b9a 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/cameras/camera_qcom2.h" +#include "system/camerad/cameras/camera_qcom2.h" #include #include @@ -20,7 +20,7 @@ #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" #include "common/swaglog.h" -#include "selfdrive/camerad/cameras/sensor2_i2c.h" +#include "system/camerad/cameras/sensor2_i2c.h" // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h similarity index 98% rename from selfdrive/camerad/cameras/camera_qcom2.h rename to system/camerad/cameras/camera_qcom2.h index 88766a68e9..57fef8d49a 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -6,7 +6,7 @@ #include -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl similarity index 100% rename from selfdrive/camerad/cameras/real_debayer.cl rename to system/camerad/cameras/real_debayer.cl diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h similarity index 100% rename from selfdrive/camerad/cameras/sensor2_i2c.h rename to system/camerad/cameras/sensor2_i2c.h diff --git a/selfdrive/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl similarity index 100% rename from selfdrive/camerad/imgproc/conv.cl rename to system/camerad/imgproc/conv.cl diff --git a/selfdrive/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl similarity index 100% rename from selfdrive/camerad/imgproc/pool.cl rename to system/camerad/imgproc/pool.cl diff --git a/selfdrive/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc similarity index 98% rename from selfdrive/camerad/imgproc/utils.cc rename to system/camerad/imgproc/utils.cc index a88b8f4bb1..a7bbeb9e86 100644 --- a/selfdrive/camerad/imgproc/utils.cc +++ b/system/camerad/imgproc/utils.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/imgproc/utils.h" +#include "system/camerad/imgproc/utils.h" #include #include diff --git a/selfdrive/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h similarity index 100% rename from selfdrive/camerad/imgproc/utils.h rename to system/camerad/imgproc/utils.h diff --git a/selfdrive/camerad/include/media/cam_cpas.h b/system/camerad/include/media/cam_cpas.h similarity index 100% rename from selfdrive/camerad/include/media/cam_cpas.h rename to system/camerad/include/media/cam_cpas.h diff --git a/selfdrive/camerad/include/media/cam_defs.h b/system/camerad/include/media/cam_defs.h similarity index 100% rename from selfdrive/camerad/include/media/cam_defs.h rename to system/camerad/include/media/cam_defs.h diff --git a/selfdrive/camerad/include/media/cam_fd.h b/system/camerad/include/media/cam_fd.h similarity index 100% rename from selfdrive/camerad/include/media/cam_fd.h rename to system/camerad/include/media/cam_fd.h diff --git a/selfdrive/camerad/include/media/cam_icp.h b/system/camerad/include/media/cam_icp.h similarity index 100% rename from selfdrive/camerad/include/media/cam_icp.h rename to system/camerad/include/media/cam_icp.h diff --git a/selfdrive/camerad/include/media/cam_isp.h b/system/camerad/include/media/cam_isp.h similarity index 100% rename from selfdrive/camerad/include/media/cam_isp.h rename to system/camerad/include/media/cam_isp.h diff --git a/selfdrive/camerad/include/media/cam_isp_ife.h b/system/camerad/include/media/cam_isp_ife.h similarity index 100% rename from selfdrive/camerad/include/media/cam_isp_ife.h rename to system/camerad/include/media/cam_isp_ife.h diff --git a/selfdrive/camerad/include/media/cam_isp_vfe.h b/system/camerad/include/media/cam_isp_vfe.h similarity index 100% rename from selfdrive/camerad/include/media/cam_isp_vfe.h rename to system/camerad/include/media/cam_isp_vfe.h diff --git a/selfdrive/camerad/include/media/cam_jpeg.h b/system/camerad/include/media/cam_jpeg.h similarity index 100% rename from selfdrive/camerad/include/media/cam_jpeg.h rename to system/camerad/include/media/cam_jpeg.h diff --git a/selfdrive/camerad/include/media/cam_lrme.h b/system/camerad/include/media/cam_lrme.h similarity index 100% rename from selfdrive/camerad/include/media/cam_lrme.h rename to system/camerad/include/media/cam_lrme.h diff --git a/selfdrive/camerad/include/media/cam_req_mgr.h b/system/camerad/include/media/cam_req_mgr.h similarity index 100% rename from selfdrive/camerad/include/media/cam_req_mgr.h rename to system/camerad/include/media/cam_req_mgr.h diff --git a/selfdrive/camerad/include/media/cam_sensor.h b/system/camerad/include/media/cam_sensor.h similarity index 100% rename from selfdrive/camerad/include/media/cam_sensor.h rename to system/camerad/include/media/cam_sensor.h diff --git a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h b/system/camerad/include/media/cam_sensor_cmn_header.h similarity index 100% rename from selfdrive/camerad/include/media/cam_sensor_cmn_header.h rename to system/camerad/include/media/cam_sensor_cmn_header.h diff --git a/selfdrive/camerad/include/media/cam_sync.h b/system/camerad/include/media/cam_sync.h similarity index 100% rename from selfdrive/camerad/include/media/cam_sync.h rename to system/camerad/include/media/cam_sync.h diff --git a/selfdrive/camerad/include/msm_cam_sensor.h b/system/camerad/include/msm_cam_sensor.h similarity index 100% rename from selfdrive/camerad/include/msm_cam_sensor.h rename to system/camerad/include/msm_cam_sensor.h diff --git a/selfdrive/camerad/include/msm_camsensor_sdk.h b/system/camerad/include/msm_camsensor_sdk.h similarity index 100% rename from selfdrive/camerad/include/msm_camsensor_sdk.h rename to system/camerad/include/msm_camsensor_sdk.h diff --git a/selfdrive/camerad/include/msmb_camera.h b/system/camerad/include/msmb_camera.h similarity index 100% rename from selfdrive/camerad/include/msmb_camera.h rename to system/camerad/include/msmb_camera.h diff --git a/selfdrive/camerad/include/msmb_isp.h b/system/camerad/include/msmb_isp.h similarity index 100% rename from selfdrive/camerad/include/msmb_isp.h rename to system/camerad/include/msmb_isp.h diff --git a/selfdrive/camerad/include/msmb_ispif.h b/system/camerad/include/msmb_ispif.h similarity index 100% rename from selfdrive/camerad/include/msmb_ispif.h rename to system/camerad/include/msmb_ispif.h diff --git a/selfdrive/camerad/main.cc b/system/camerad/main.cc similarity index 89% rename from selfdrive/camerad/main.cc rename to system/camerad/main.cc index 32899a8547..c1f38f2224 100644 --- a/selfdrive/camerad/main.cc +++ b/system/camerad/main.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include diff --git a/selfdrive/camerad/snapshot/__init__.py b/system/camerad/snapshot/__init__.py similarity index 100% rename from selfdrive/camerad/snapshot/__init__.py rename to system/camerad/snapshot/__init__.py diff --git a/selfdrive/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py similarity index 98% rename from selfdrive/camerad/snapshot/snapshot.py rename to system/camerad/snapshot/snapshot.py index fa88849b69..9a81937eec 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -13,7 +13,7 @@ from system.hardware import PC from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.manager.process_config import managed_processes -LM_THRESH = 120 # defined in selfdrive/camerad/imgproc/utils.h +LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h VISION_STREAMS = { "roadCameraState": VisionStreamType.VISION_STREAM_ROAD, diff --git a/selfdrive/camerad/test/.gitignore b/system/camerad/test/.gitignore similarity index 100% rename from selfdrive/camerad/test/.gitignore rename to system/camerad/test/.gitignore diff --git a/selfdrive/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc similarity index 97% rename from selfdrive/camerad/test/ae_gray_test.cc rename to system/camerad/test/ae_gray_test.cc index 69ef2ac6de..aabd7534ee 100644 --- a/selfdrive/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/ae_gray_test.cc @@ -8,7 +8,7 @@ #include #include "common/util.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" int main() { // set up fake camerabuf diff --git a/selfdrive/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h similarity index 100% rename from selfdrive/camerad/test/ae_gray_test.h rename to system/camerad/test/ae_gray_test.h diff --git a/selfdrive/camerad/test/camera_test.h b/system/camerad/test/camera_test.h similarity index 100% rename from selfdrive/camerad/test/camera_test.h rename to system/camerad/test/camera_test.h diff --git a/selfdrive/camerad/test/check_skips.py b/system/camerad/test/check_skips.py similarity index 100% rename from selfdrive/camerad/test/check_skips.py rename to system/camerad/test/check_skips.py diff --git a/selfdrive/camerad/test/frame_test.py b/system/camerad/test/frame_test.py similarity index 100% rename from selfdrive/camerad/test/frame_test.py rename to system/camerad/test/frame_test.py diff --git a/selfdrive/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py similarity index 100% rename from selfdrive/camerad/test/get_thumbnails_for_segment.py rename to system/camerad/test/get_thumbnails_for_segment.py diff --git a/selfdrive/camerad/test/stress_restart.sh b/system/camerad/test/stress_restart.sh similarity index 100% rename from selfdrive/camerad/test/stress_restart.sh rename to system/camerad/test/stress_restart.sh diff --git a/selfdrive/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py similarity index 100% rename from selfdrive/camerad/test/test_camerad.py rename to system/camerad/test/test_camerad.py diff --git a/selfdrive/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py similarity index 96% rename from selfdrive/camerad/test/test_exposure.py rename to system/camerad/test/test_exposure.py index f42d0bfbe3..8cce7e7ffa 100755 --- a/selfdrive/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -4,7 +4,7 @@ import unittest import numpy as np from selfdrive.test.helpers import with_processes -from selfdrive.camerad.snapshot.snapshot import get_snapshots +from system.camerad.snapshot.snapshot import get_snapshots from system.hardware import TICI diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc similarity index 96% rename from selfdrive/camerad/transforms/rgb_to_yuv.cc rename to system/camerad/transforms/rgb_to_yuv.cc index 63e032e2dc..5e51579cf9 100644 --- a/selfdrive/camerad/transforms/rgb_to_yuv.cc +++ b/system/camerad/transforms/rgb_to_yuv.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "system/camerad/transforms/rgb_to_yuv.h" #include #include diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cl b/system/camerad/transforms/rgb_to_yuv.cl similarity index 100% rename from selfdrive/camerad/transforms/rgb_to_yuv.cl rename to system/camerad/transforms/rgb_to_yuv.cl diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h similarity index 100% rename from selfdrive/camerad/transforms/rgb_to_yuv.h rename to system/camerad/transforms/rgb_to_yuv.h diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc similarity index 99% rename from selfdrive/camerad/transforms/rgb_to_yuv_test.cc rename to system/camerad/transforms/rgb_to_yuv_test.cc index c960d168de..2f909e3b73 100644 --- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc +++ b/system/camerad/transforms/rgb_to_yuv_test.cc @@ -30,7 +30,7 @@ #include #include "libyuv.h" -#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "system/camerad/transforms/rgb_to_yuv.h" #include "common/clutil.h" static inline double millis_since_boot() { diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 48e5accb2a..1e07bdbbe6 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -23,14 +23,14 @@ git clone https://github.com/commaai/openpilot.git ``` cd ~/openpilot ``` -- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down +- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down ``` USE_WEBCAM=1 scons -j$(nproc) ``` ## Connect the hardware - Connect the road facing camera first, then the driver facing camera -- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc) +- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc) - Connect your computer to panda ## GO From 1baf0e3f4a40084a43c6a6d4d1a43b99e4e90532 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 19 Jun 2022 15:49:38 -0700 Subject: [PATCH 121/226] sim: update cl kernel path --- tools/sim/bridge.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index ae65e8deb8..faf67c3ef5 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -81,7 +81,7 @@ class Camerad: cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed - kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl") + kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl") with open(kernel_fn) as f: prg = cl.Program(self.ctx, f.read()).build(cl_arg) self.krnl = prg.rgb_to_yuv From 7a815418d600bed1e2500b4fdbe4f1958f432555 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 20 Jun 2022 12:12:18 +0200 Subject: [PATCH 122/226] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 6faf34064b..f445245a8f 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 6faf34064b70ab98c241d4a1cd9006b09ecaadfc +Subproject commit f445245a8fbe01c33a372d82897575e7acc08ffc From e2757208622e29a00d5191d7d2f971cafcf61602 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 20 Jun 2022 12:15:39 +0200 Subject: [PATCH 123/226] Add new message to Tesla AP2 fingerprint (#24912) * add new message * fix spacing * add space --- selfdrive/car/tesla/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 2ed4c963ee..296169587a 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FINGERPRINTS = { CAR.AP2_MODELS: [ { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4 + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4 }, ], CAR.AP1_MODELS: [ From 1c4b145aa4d85b7107254be6618592781ff7323e Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Mon, 20 Jun 2022 14:24:11 +0200 Subject: [PATCH 124/226] Improve laikad cpu usage. Less pos fix. Less local imports (#24887) * Improve laikad cpu usage. Less pos fix. Not local imports * Add laika to files_common * Add laika to dockerfile sim * Fix * Fix * undo --- release/files_common | 1 + selfdrive/locationd/laikad.py | 35 ++++++++++++---------- selfdrive/locationd/models/gnss_helpers.py | 4 +-- tools/sim/Dockerfile.sim | 1 + 4 files changed, 23 insertions(+), 18 deletions(-) diff --git a/release/files_common b/release/files_common index ecb71b4e69..7274ee9bf6 100644 --- a/release/files_common +++ b/release/files_common @@ -414,6 +414,7 @@ pyextra/.gitignore pyextra/acados_template/** rednose/** +laika/** cereal/.gitignore cereal/__init__.py diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 6fd70875ac..f1997bceb0 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -39,7 +39,9 @@ class Laikad: self.save_ephemeris = save_ephemeris self.load_cache() self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} - self.last_pos_fix = last_known_position + self.last_pos_fix = last_known_position if last_known_position is not None else [] + self.last_pos_residual = [] + self.last_pos_fix_t = None def load_cache(self): cache = Params().get(EPHEMERIS_CACHE) @@ -62,23 +64,26 @@ class Laikad: def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': + t = ublox_mono_time * 1e-9 report = ublox_msg.measurementReport if report.gpsWeek > 0: latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) + new_meas = read_raw_ublox(report) processed_measurements = process_measurements(new_meas, self.astro_dog) - min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 - pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) - if len(pos_fix) > 0: - self.last_pos_fix = pos_fix[:3] - est_pos = self.last_pos_fix + if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 + pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) + if len(pos_fix) > 0: + self.last_pos_fix = pos_fix[:3] + self.last_pos_residual = pos_fix_residual + self.last_pos_fix_t = t - corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if est_pos is not None else [] + corrected_measurements = correct_measurements(processed_measurements, self.last_pos_fix, self.astro_dog) if self.last_pos_fix_t is not None else [] - t = ublox_mono_time * 1e-9 - self.update_localizer(est_pos, t, corrected_measurements) + self.update_localizer(self.last_pos_fix, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() @@ -94,7 +99,7 @@ class Laikad: "gpsTimeOfWeek": report.rcvTow, "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid), "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid), - "positionFixECEF": measurement_msg(value=pos_fix, std=pos_fix_residual, valid=len(pos_fix) > 0), + "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t), "ubloxMonoTime": ublox_mono_time, "correctedMeasurements": meas_msgs } @@ -116,7 +121,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - if est_pos is not None: + if len(est_pos) > 0: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: @@ -211,13 +216,13 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe m_arr = m.as_array() if m.constellation_id == ConstellationId.GPS: ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr) - ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS].append(m_arr) elif m.constellation_id == ConstellationId.GLONASS: ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr) - ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS].append(m_arr) - + ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS] + ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS] for kind, data in ekf_data.items(): - gnss_kf.predict_and_observe(t, kind, data) + if len(data) >0: + gnss_kf.predict_and_observe(t, kind, data) class CacheSerializer(json.JSONEncoder): diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py index a3bcbc0002..b6c1771ec6 100644 --- a/selfdrive/locationd/models/gnss_helpers.py +++ b/selfdrive/locationd/models/gnss_helpers.py @@ -1,16 +1,14 @@ import numpy as np +from laika.raw_gnss import GNSSMeasurement def parse_prr(m): - from laika.raw_gnss import GNSSMeasurement sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS], m[GNSSMeasurement.SAT_VEL])) R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2) z_i = m[GNSSMeasurement.PRR] return z_i, R_i, sat_pos_vel_i - def parse_pr(m): - from laika.raw_gnss import GNSSMeasurement pseudorange = m[GNSSMeasurement.PR] pseudorange_stdev = m[GNSSMeasurement.PR_STD] sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS], diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 0d6e8e584c..3692d48e0f 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -18,6 +18,7 @@ COPY ./third_party $HOME/openpilot/third_party COPY ./pyextra $HOME/openpilot/pyextra COPY ./site_scons $HOME/openpilot/site_scons COPY ./rednose $HOME/openpilot/rednose +COPY ./laika $HOME/openpilot/laika COPY ./common $HOME/openpilot/common COPY ./opendbc $HOME/openpilot/opendbc COPY ./cereal $HOME/openpilot/cereal From 8270c1c1a3584c1244f12143fc1314cdbbb05541 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 20 Jun 2022 19:14:43 +0200 Subject: [PATCH 125/226] ui: onroad widget check if sockets alive (#24913) * ui: onroad widget check if socket alive * cleanup --- selfdrive/ui/qt/onroad.cc | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 84b538411b..45bf41ba2d 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -172,22 +172,28 @@ NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FRE void NvgWindow::updateState(const UIState &s) { const int SET_SPEED_NA = 255; const SubMaster &sm = *(s.sm); + + const bool cs_alive = sm.alive("controlsState"); + const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); + const auto cs = sm["controlsState"].getControlsState(); - float set_speed = cs.getVCruise(); + float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA; bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; if (cruise_set && !s.scene.is_metric) { set_speed *= KM_TO_MILE; } - float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH)); + + float cur_speed = cs_alive ? std::max(0.0, sm["carState"].getCarState().getVEgo()) : 0.0; + cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); - float speed_limit = sm["navInstruction"].getValid() ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0; + float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0; speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); setProperty("speedLimit", speed_limit); - setProperty("has_us_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); - setProperty("has_eu_speed_limit", sm["navInstruction"].getValid() && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); + setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); setProperty("is_cruise_set", cruise_set); setProperty("speed", cur_speed); From 1f2f9ea9c9dc37bdea9c6e32e4cb8f88ea0a34bf Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 20 Jun 2022 16:24:51 -0700 Subject: [PATCH 126/226] fullframe DM model (#24860) * Revert "put cereal on master" This reverts commit a8ccd8f838aff958a60546de04bf42220567b288. * Revert "Revert fullframe DM model (#24812)" This reverts commit c646eeee0ac54925db5afc51b95c5d869d6dba68. * revert revert cereal * clip6 * 0.8 is fair * Fiction compensation should be based on error * Update refs * Add deadzone * not that * good mg * ref * ref * ee8f * minor tweak * ref * recompile * ref * cereal * match driverstatus * new ref * new ref * pass token through jenkins credentials * quote * fix snpe dead weights * final ref Co-authored-by: Harald Schafer Co-authored-by: Adeeb Shihadeh --- Jenkinsfile | 2 + cereal | 2 +- common/modeldata.h | 6 - selfdrive/modeld/dmonitoringmodeld.cc | 6 +- selfdrive/modeld/models/dmonitoring.cc | 234 ++++++------------ selfdrive/modeld/models/dmonitoring.h | 33 ++- .../modeld/models/dmonitoring_model.current | 4 +- .../modeld/models/dmonitoring_model.onnx | 4 +- .../modeld/models/dmonitoring_model_q.dlc | 4 +- selfdrive/modeld/runners/onnx_runner.py | 21 +- selfdrive/modeld/runners/onnxmodel.cc | 6 +- selfdrive/modeld/runners/onnxmodel.h | 3 +- selfdrive/modeld/runners/snpemodel.cc | 12 +- selfdrive/modeld/runners/snpemodel.h | 3 +- selfdrive/monitoring/dmonitoringd.py | 7 +- selfdrive/monitoring/driver_monitor.py | 94 +++---- selfdrive/monitoring/test_monitoring.py | 24 +- selfdrive/test/process_replay/model_replay.py | 8 +- .../process_replay/model_replay_ref_commit | 2 +- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/test_onroad.py | 6 +- selfdrive/ui/qt/offroad/driverview.cc | 43 ++-- selfdrive/ui/qt/widgets/cameraview.cc | 9 +- system/hardware/tici/test_power_draw.py | 2 +- 24 files changed, 229 insertions(+), 308 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index dba1f257d6..0fa623fbcd 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR} export SOURCE_DIR=${env.SOURCE_DIR} export GIT_BRANCH=${env.GIT_BRANCH} export GIT_COMMIT=${env.GIT_COMMIT} +export AZURE_TOKEN='${env.AZURE_TOKEN}' source ~/.bash_profile if [ -f /TICI ]; then @@ -45,6 +46,7 @@ pipeline { CI = "1" TEST_DIR = "/data/openpilot" SOURCE_DIR = "/data/openpilot_source/" + AZURE_TOKEN = credentials('azure_token') } options { timeout(time: 4, unit: 'HOURS') diff --git a/cereal b/cereal index f445245a8f..05bbdafb67 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit f445245a8fbe01c33a372d82897575e7acc08ffc +Subproject commit 05bbdafb67060ffb62e6e0af812935494ad91933 diff --git a/common/modeldata.h b/common/modeldata.h index aee9fdfd83..b193841416 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -24,12 +24,6 @@ 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); -namespace tici_dm_crop { - const int x_offset = -72; - const int y_offset = -144; - const int width = 954; -}; - const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2, 0.0, 2648.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc index 68c49572e6..cde13a9bee 100644 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ b/selfdrive/modeld/dmonitoringmodeld.cc @@ -12,7 +12,7 @@ ExitHandler do_exit; void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { - PubMaster pm({"driverState"}); + PubMaster pm({"driverStateV2"}); SubMaster sm({"liveCalibration"}); float calib[CALIB_LEN] = {0}; double last = 0; @@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { } double t1 = millis_since_boot(); - DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); + DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); double t2 = millis_since_boot(); // send dm packet - dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output); + dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output); //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); last = t1; diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index 71da8dad53..8c7e14edb2 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -10,8 +10,8 @@ #include "selfdrive/modeld/models/dmonitoring.h" -constexpr int MODEL_WIDTH = 320; -constexpr int MODEL_HEIGHT = 640; +constexpr int MODEL_WIDTH = 1440; +constexpr int MODEL_HEIGHT = 960; template static inline T *get_buffer(std::vector &buf, const size_t size) { @@ -19,199 +19,115 @@ static inline T *get_buffer(std::vector &buf, const size_t size) { return buf.data(); } -static inline void init_yuv_buf(std::vector &buf, const int width, int height) { - uint8_t *y = get_buffer(buf, width * height * 3 / 2); - uint8_t *u = y + width * height; - uint8_t *v = u + (width / 2) * (height / 2); - - // needed on comma two to make the padded border black - // equivalent to RGB(0,0,0) in YUV space - memset(y, 16, width * height); - memset(u, 128, (width / 2) * (height / 2)); - memset(v, 128, (width / 2) * (height / 2)); -} - void dmonitoring_init(DMonitoringModelState* s) { s->is_rhd = Params().getBool("IsRHD"); - for (int x = 0; x < std::size(s->tensor); ++x) { - s->tensor[x] = (x - 128.f) * 0.0078125f; - } - init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT); #ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME); + s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); #else - s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME); + s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); #endif s->m->addCalib(s->calib, CALIB_LEN); } -static inline auto get_yuv_buf(std::vector &buf, const int width, int height) { - uint8_t *y = get_buffer(buf, width * height * 3 / 2); - uint8_t *u = y + width * height; - uint8_t *v = u + (width /2) * (height / 2); - return std::make_tuple(y, u, v); +void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) { + for (int i = 0; i < 3; ++i) { + ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE; + ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]); + } + for (int i = 0; i < 2; ++i) { + ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE; + ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]); + } + for (int i = 0; i < 4; ++i) { + ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]); + } + for (int i = 0; i < 2; ++i) { + ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]); + } + ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]); + ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]); + ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]); + ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]); + ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]); + ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]); + ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]); } -struct Rect {int x, y, w, h;}; -void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) { - uint8_t *raw_y = raw; - uint8_t *raw_uv = raw_y + uv_offset; - for (int r = 0; r < rect.h / 2; r++) { - memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w); - memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w); - for (int h = 0; h < rect.w / 2; h++) { - u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2]; - v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1]; - } - } +void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) { + ddata.setFaceOrientation(ds_res.face_orientation); + ddata.setFaceOrientationStd(ds_res.face_orientation_std); + ddata.setFacePosition(ds_res.face_position); + ddata.setFacePositionStd(ds_res.face_position_std); + ddata.setFaceProb(ds_res.face_prob); + ddata.setLeftEyeProb(ds_res.left_eye_prob); + ddata.setRightEyeProb(ds_res.right_eye_prob); + ddata.setLeftBlinkProb(ds_res.left_blink_prob); + ddata.setRightBlinkProb(ds_res.right_blink_prob); + ddata.setSunglassesProb(ds_res.sunglasses_prob); + ddata.setOccludedProb(ds_res.occluded_prob); + ddata.setReadyProb(ds_res.ready_prob); + ddata.setNotReadyProb(ds_res.not_ready_prob); } -DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { - const int cropped_height = tici_dm_crop::width / 1.33; - Rect 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 += tici_dm_crop::width - crop_rect.w; - } +DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { + int v_off = height - MODEL_HEIGHT; + int h_off = (width - MODEL_WIDTH) / 2; + int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT; - int resized_width = MODEL_WIDTH; - int resized_height = MODEL_HEIGHT; - - auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h); - if (!s->is_rhd) { - crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect); - } else { - auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h); - crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect); - libyuv::I420Mirror(mirror_y, crop_rect.w, - mirror_u, crop_rect.w / 2, - mirror_v, crop_rect.w / 2, - cropped_y, crop_rect.w, - cropped_u, crop_rect.w / 2, - cropped_v, crop_rect.w / 2, - crop_rect.w, crop_rect.h); - } + uint8_t *raw_buf = (uint8_t *) stream_buf; + // vertical crop free + uint8_t *raw_y_start = raw_buf + stride * v_off; - auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height); - uint8_t *resized_y = resized_buf; - libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear; - libyuv::I420Scale(cropped_y, crop_rect.w, - cropped_u, crop_rect.w / 2, - cropped_v, crop_rect.w / 2, - crop_rect.w, crop_rect.h, - resized_y, resized_width, - resized_u, resized_width / 2, - resized_v, resized_width / 2, - resized_width, resized_height, - mode); - - - int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v - float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); - // one shot conversion, O(n) anyway - // yuvframe2tensor, normalize - for (int r = 0; r < MODEL_HEIGHT/2; r++) { - for (int c = 0; c < MODEL_WIDTH/2; c++) { - // Y_ul - net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]]; - // Y_dl - net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]]; - // Y_ur - net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]]; - // Y_dr - net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]]; - // U - net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]]; - // V - net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]]; - } - } - - //printf("preprocess completed. %d \n", yuv_buf_len); - //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); - //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); - //fclose(dump_yuv_file); + uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); - // *** testing *** - // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320) - // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420)) + // here makes a uint8 copy + for (int r = 0; r < MODEL_HEIGHT; ++r) { + memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH); + } - //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb"); - //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2); - //fclose(dump_yuv_file2); + // printf("preprocess completed. %d \n", yuv_buf_len); + // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); + // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); + // fclose(dump_yuv_file); double t1 = millis_since_boot(); - s->m->addImage(net_input_buf, yuv_buf_len); + s->m->addImage((float*)net_input_buf, yuv_buf_len / 4); for (int i = 0; i < CALIB_LEN; i++) { s->calib[i] = calib[i]; } s->m->execute(); double t2 = millis_since_boot(); - DMonitoringResult ret = {0}; - for (int i = 0; i < 3; ++i) { - ret.face_orientation[i] = s->output[i] * REG_SCALE; - ret.face_orientation_meta[i] = exp(s->output[6 + i]); - } - for (int i = 0; i < 2; ++i) { - ret.face_position[i] = s->output[3 + i] * REG_SCALE; - ret.face_position_meta[i] = exp(s->output[9 + i]); - } - for (int i = 0; i < 4; ++i) { - ret.ready_prob[i] = sigmoid(s->output[39 + i]); - } - for (int i = 0; i < 2; ++i) { - ret.not_ready_prob[i] = sigmoid(s->output[43 + i]); - } - ret.face_prob = sigmoid(s->output[12]); - ret.left_eye_prob = sigmoid(s->output[21]); - ret.right_eye_prob = sigmoid(s->output[30]); - ret.left_blink_prob = sigmoid(s->output[31]); - ret.right_blink_prob = sigmoid(s->output[32]); - ret.sg_prob = sigmoid(s->output[33]); - ret.poor_vision = sigmoid(s->output[34]); - ret.partial_face = sigmoid(s->output[35]); - ret.distracted_pose = sigmoid(s->output[36]); - ret.distracted_eyes = sigmoid(s->output[37]); - ret.occluded_prob = sigmoid(s->output[38]); - ret.dsp_execution_time = (t2 - t1) / 1000.; - return ret; + DMonitoringModelResult model_res = {0}; + parse_driver_data(model_res.driver_state_lhd, s, 0); + parse_driver_data(model_res.driver_state_rhd, s, 41); + model_res.poor_vision_prob = sigmoid(s->output[82]); + model_res.wheel_on_right_prob = sigmoid(s->output[83]); + model_res.dsp_execution_time = (t2 - t1) / 1000.; + + return model_res; } -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr raw_pred) { +void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred) { // make msg MessageBuilder msg; - auto framed = msg.initEvent().initDriverState(); + auto framed = msg.initEvent().initDriverStateV2(); framed.setFrameId(frame_id); framed.setModelExecutionTime(execution_time); - framed.setDspExecutionTime(res.dsp_execution_time); - - framed.setFaceOrientation(res.face_orientation); - framed.setFaceOrientationStd(res.face_orientation_meta); - framed.setFacePosition(res.face_position); - framed.setFacePositionStd(res.face_position_meta); - framed.setFaceProb(res.face_prob); - framed.setLeftEyeProb(res.left_eye_prob); - framed.setRightEyeProb(res.right_eye_prob); - framed.setLeftBlinkProb(res.left_blink_prob); - framed.setRightBlinkProb(res.right_blink_prob); - framed.setSunglassesProb(res.sg_prob); - framed.setPoorVision(res.poor_vision); - framed.setPartialFace(res.partial_face); - framed.setDistractedPose(res.distracted_pose); - framed.setDistractedEyes(res.distracted_eyes); - framed.setOccludedProb(res.occluded_prob); - framed.setReadyProb(res.ready_prob); - framed.setNotReadyProb(res.not_ready_prob); + framed.setDspExecutionTime(model_res.dsp_execution_time); + + framed.setPoorVisionProb(model_res.poor_vision_prob); + framed.setWheelOnRightProb(model_res.wheel_on_right_prob); + fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd); + fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd); + if (send_raw_pred) { framed.setRawPredictions(raw_pred.asBytes()); } - pm.send("driverState", msg); + pm.send("driverStateV2", msg); } void dmonitoring_free(DMonitoringModelState* s) { diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h index a1be91e3bb..874722cd93 100644 --- a/selfdrive/modeld/models/dmonitoring.h +++ b/selfdrive/modeld/models/dmonitoring.h @@ -9,44 +9,43 @@ #define CALIB_LEN 3 -#define OUTPUT_SIZE 45 +#define OUTPUT_SIZE 84 #define REG_SCALE 0.25f -typedef struct DMonitoringResult { +typedef struct DriverStateResult { float face_orientation[3]; - float face_orientation_meta[3]; + float face_orientation_std[3]; float face_position[2]; - float face_position_meta[2]; + float face_position_std[2]; float face_prob; float left_eye_prob; float right_eye_prob; float left_blink_prob; float right_blink_prob; - float sg_prob; - float poor_vision; - float partial_face; - float distracted_pose; - float distracted_eyes; + float sunglasses_prob; float occluded_prob; float ready_prob[4]; float not_ready_prob[2]; +} DriverStateResult; + +typedef struct DMonitoringModelResult { + DriverStateResult driver_state_lhd; + DriverStateResult driver_state_rhd; + float poor_vision_prob; + float wheel_on_right_prob; float dsp_execution_time; -} DMonitoringResult; +} DMonitoringModelResult; typedef struct DMonitoringModelState { RunModel *m; bool is_rhd; float output[OUTPUT_SIZE]; - std::vector resized_buf; - std::vector cropped_buf; - std::vector premirror_cropped_buf; - std::vector net_input_buf; + std::vector net_input_buf; float calib[CALIB_LEN]; - float tensor[UINT8_MAX + 1]; } DMonitoringModelState; void dmonitoring_init(DMonitoringModelState* s); -DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); -void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr raw_pred); +DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); +void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr raw_pred); void dmonitoring_free(DMonitoringModelState* s); diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index 74bcfe17a4..d1e7d1136f 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -a8236e30-5bee-4689-8ea0-fc102e2770e5 -d508c79bae1c1c451f3af3e2bc231ce33678cb43 \ No newline at end of file +ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4 +cac8f7b69d420506707ff7a19d573d5011ef2533 \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 51b0d1ed76..4cbd6bb7dd 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308 -size 3679940 +oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d +size 9157561 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 2e54f7ee4b..94632030ed 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6 -size 1145921 +oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5 +size 2636965 diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index e282a66b66..ac7cc68814 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -9,20 +9,24 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE" import onnxruntime as ort # pylint: disable=import-error -def read(sz): +def read(sz, tf8=False): dd = [] gt = 0 - while gt < sz * 4: - st = os.read(0, sz * 4 - gt) + szof = 1 if tf8 else 4 + while gt < sz * szof: + st = os.read(0, sz * szof - gt) assert(len(st) > 0) dd.append(st) gt += len(st) - return np.frombuffer(b''.join(dd), dtype=np.float32) + r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32) + if tf8: + r = r / 255. + return r def write(d): os.write(1, d.tobytes()) -def run_loop(m): +def run_loop(m, tf8_input=False): ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] keys = [x.name for x in m.get_inputs()] @@ -33,10 +37,10 @@ def run_loop(m): print("ready to run onnx model", keys, ishapes, file=sys.stderr) while 1: inputs = [] - for shp in ishapes: + for k, shp in zip(keys, ishapes): ts = np.product(shp) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) - inputs.append(read(ts).reshape(shp)) + inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp)) ret = m.run(None, dict(zip(keys, inputs))) #print(ret, file=sys.stderr) for r in ret: @@ -44,6 +48,7 @@ def run_loop(m): if __name__ == "__main__": + print(sys.argv, file=sys.stderr) print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) options = ort.SessionOptions() options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL @@ -63,6 +68,6 @@ if __name__ == "__main__": print("Onnx selected provider: ", [provider], file=sys.stderr) ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) print("Onnx using ", ort_session.get_providers(), file=sys.stderr) - run_loop(ort_session) + run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv)) except KeyboardInterrupt: pass diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 9b4d6fd015..1f9f551abc 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -14,12 +14,13 @@ #include "common/swaglog.h" #include "common/util.h" -ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) { +ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) { LOGD("loading model %s", path); output = _output; output_size = _output_size; use_extra = _use_extra; + use_tf8 = _use_tf8; int err = pipe(pipein); assert(err == 0); @@ -28,11 +29,12 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; + std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; proc_pid = fork(); if (proc_pid == 0) { LOGD("spawning onnx process %s", onnx_runner.c_str()); - char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr}; + char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr}; dup2(pipein[0], 0); dup2(pipeout[1], 1); close(pipein[0]); diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 567d81d29e..4ac599e2af 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -6,7 +6,7 @@ class ONNXModel : public RunModel { public: - ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false); + ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false); ~ONNXModel(); void addRecurrent(float *state, int state_size); void addDesire(float *state, int state_size); @@ -31,6 +31,7 @@ private: int calib_size; float *image_input_buf = NULL; int image_buf_size; + bool use_tf8; float *extra_input_buf = NULL; int extra_buf_size; bool use_extra; diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 1861494d59..4d6917e894 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -14,10 +14,11 @@ void PrintErrorStringAndExit() { std::exit(EXIT_FAILURE); } -SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) { +SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) { output = loutput; output_size = loutput_size; use_extra = luse_extra; + use_tf8 = luse_tf8; #ifdef QCOM2 if (runtime==USE_GPU_RUNTIME) { Runtime = zdl::DlSystem::Runtime_t::GPU; @@ -70,14 +71,16 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int printf("model: %s -> %s\n", input_tensor_name, output_tensor_name); zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat; + zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1 zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); + size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float); // create input buffer { const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name); const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt; std::vector strides(bufferShape.rank()); - strides[strides.size() - 1] = sizeof(float); + strides[strides.size() - 1] = size_of_input; size_t product = 1; for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i]; size_t stride = strides[strides.size() - 1]; @@ -86,7 +89,10 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int strides[i-1] = stride; } printf("input product is %lu\n", product); - inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat); + inputBuffer = ubFactory.createUserBuffer(NULL, + product*size_of_input, + strides, + use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat); inputMap.add(input_tensor_name, inputBuffer.get()); } diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index ba51fdced0..ed9d58d1e1 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -23,7 +23,7 @@ class SNPEModel : public RunModel { public: - SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false); + SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false); void addRecurrent(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addCalib(float *state, int state_size); @@ -52,6 +52,7 @@ private: std::unique_ptr inputBuffer; float *input; size_t input_size; + bool use_tf8; // snpe output stuff zdl::DlSystem::UserBufferMap outputMap; diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 9a3196030b..c31e9da43b 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None): pm = messaging.PubMaster(['driverMonitoringState']) if sm is None: - sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState']) + sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) driver_status = DriverStatus(rhd=Params().get_bool("IsRHD")) @@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None): while True: sm.update() - if not sm.updated['driverState']: + if not sm.updated['driverStateV2']: continue # Get interaction @@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None): # Get data from dmonitoringmodeld events = Events() - driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) + driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) # Block engaging after max number of distrations if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ @@ -79,6 +79,7 @@ def dmonitoringd_thread(sm=None, pm=None): "isLowStd": driver_status.pose.low_std, "hiStdCount": driver_status.hi_stds, "isActiveMode": driver_status.active_monitoring_mode, + "isRHD": driver_status.wheel_on_right, } pm.send('driverMonitoringState', dat) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 662e0d76ce..f2d0524422 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -5,6 +5,7 @@ from common.numpy_fast import interp from common.realtime import DT_DMON from common.filter_simple import FirstOrderFilter from common.stat_live import RunningStatFilter +from common.transformations.camera import tici_d_frame_size EventName = car.CarEvent.EventName @@ -25,33 +26,30 @@ class DRIVER_MONITOR_SETTINGS(): self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8. self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. - self._FACE_THRESHOLD = 0.5 - self._PARTIAL_FACE_THRESHOLD = 0.8 + self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 - self._SG_THRESHOLD = 0.925 - self._BLINK_THRESHOLD = 0.8 - self._BLINK_THRESHOLD_SLACK = 0.9 - self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD + self._SG_THRESHOLD = 0.9 + self._BLINK_THRESHOLD = 0.87 self._EE_THRESH11 = 0.75 self._EE_THRESH12 = 3.25 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 - self._POSE_PITCH_THRESHOLD = 0.3237 - self._POSE_PITCH_THRESHOLD_SLACK = 0.3657 + self._POSE_PITCH_THRESHOLD = 0.3133 + self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 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 = 0.4020 + self._POSE_YAW_THRESHOLD_SLACK = 0.5042 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_NATURAL_OFFSET = 0.029 # initial value before offset is learned + self._YAW_NATURAL_OFFSET = 0.097 # 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 = 0.315 + self._POSESTD_THRESHOLD = 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 @@ -59,6 +57,9 @@ class DRIVER_MONITOR_SETTINGS(): self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory" + self._WHEELPOS_THRESHOLD = 0.5 + self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON) + self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change @@ -66,9 +67,9 @@ class DRIVER_MONITOR_SETTINGS(): self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts -# model output refers to center of cropped image, so need to apply the x displacement offset -RESIZED_FOCAL = 320.0 -H, W, FULL_W = 320, 160, 426 +# model output refers to center of undistorted+leveled image +EFL = 598.0 # focal length in K +W, H = tici_d_frame_size # corrected image has same size as raw class DistractedType: NOT_DISTRACTED = 0 @@ -76,22 +77,22 @@ class DistractedType: DISTRACTED_BLINK = 2 DISTRACTED_E2E = 4 -def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd): +def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): # the output of these angles are in device frame # so from driver's perspective, pitch is up and yaw is right pitch_net, yaw_net, roll_net = angles_desc - face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H) - yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL) - pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL) + face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H) + yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL) + pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL) pitch = pitch_net + pitch_focal_angle yaw = -yaw_net + yaw_focal_angle # no calib for roll pitch -= rpy_calib[1] - yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> += + yaw -= rpy_calib[2] return roll_net, pitch, yaw class DriverPose(): @@ -112,7 +113,6 @@ class DriverBlink(): def __init__(self): self.left_blink = 0. self.right_blink = 0. - self.cfactor = 1. class DriverStatus(): def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): @@ -120,7 +120,7 @@ class DriverStatus(): self.settings = settings # init driver status - self.is_rhd_region = rhd + # self.wheelpos_learner = RunningStatFilter() self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose_calibrated = False self.blink = DriverBlink() @@ -137,8 +137,8 @@ class DriverStatus(): self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) + self.wheel_on_right = rhd self.face_detected = False - self.face_partial = False self.terminal_alert_cnt = 0 self.terminal_time = 0 self.step_change = 0. @@ -197,7 +197,7 @@ class DriverStatus(): yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: distracted_types.append(DistractedType.DISTRACTED_POSE) - if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor: + if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: @@ -214,13 +214,7 @@ class DriverStatus(): return distracted_types 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], @@ -231,28 +225,36 @@ class DriverStatus(): self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD def update_states(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, - driver_state.readyProb, driver_state.notReadyProb)): + # rhd_pred = driver_state.wheelOnRightProb + # if car_speed > 0.01: + # self.wheelpos_learner.push_and_update(rhd_pred) + # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: + # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD + # else: + # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD + driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData + if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, + driver_data.faceOrientationStd, driver_data.facePositionStd, + driver_data.readyProb, driver_data.notReadyProb)): return - self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD - self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial - self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region) - self.pose.pitch_std = driver_state.faceOrientationStd[0] - self.pose.yaw_std = driver_state.faceOrientationStd[1] - # self.pose.roll_std = driver_state.faceOrientationStd[2] + self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD + self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) + if self.wheel_on_right: + self.pose.yaw *= -1 + self.pose.pitch_std = driver_data.faceOrientationStd[0] + self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) - self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial - self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD) - self.eev1 = driver_state.notReadyProb[1] - self.eev2 = driver_state.readyProb[0] + self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD + self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.eev1 = driver_data.notReadyProb[1] + self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ - driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std + driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) # update offseter diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index a84ed242ba..43b5e7747e 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1 def make_msg(face_detected, distracted=False, model_uncertain=False): - ds = log.DriverState.new_message() - ds.faceOrientation = [0., 0., 0.] - ds.facePosition = [0., 0.] - ds.faceProb = 1. * face_detected - ds.leftEyeProb = 1. - ds.rightEyeProb = 1. - ds.leftBlinkProb = 1. * distracted - ds.rightBlinkProb = 1. * distracted - ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] - ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] + ds = log.DriverStateV2.new_message() + ds.leftDriverData.faceOrientation = [0., 0., 0.] + ds.leftDriverData.facePosition = [0., 0.] + ds.leftDriverData.faceProb = 1. * face_detected + ds.leftDriverData.leftEyeProb = 1. + ds.leftDriverData.rightEyeProb = 1. + ds.leftDriverData.leftBlinkProb = 1. * distracted + ds.leftDriverData.rightBlinkProb = 1. * distracted + ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] + ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] # TODO: test both separately when e2e is used - ds.readyProb = [0., 0., 0., 0.] - ds.notReadyProb = [0., 0.] + ds.leftDriverData.readyProb = [0., 0., 0., 0.] + ds.leftDriverData.notReadyProb = [0., 0.] return ds diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index f3bb286635..bccad5d92c 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -52,7 +52,7 @@ def model_replay(lr, frs): vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size)) vipc_server.start_listener() - sm = messaging.SubMaster(['modelV2', 'driverState']) + sm = messaging.SubMaster(['modelV2', 'driverStateV2']) pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) try: @@ -112,7 +112,7 @@ def model_replay(lr, frs): if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: recv = "modelV2" elif msg.which() == 'driverCameraState': - recv = "driverState" + recv = "driverStateV2" # wait for a response with Timeout(15, f"timed out waiting for {recv}"): @@ -170,8 +170,8 @@ if __name__ == "__main__": 'logMonoTime', 'modelV2.frameDropPerc', 'modelV2.modelExecutionTime', - 'driverState.modelExecutionTime', - 'driverState.dspExecutionTime' + 'driverStateV2.modelExecutionTime', + 'driverStateV2.dspExecutionTime' ] # TODO this tolerence is absurdly large tolerance = 5e-1 if PC else None diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 54c2ed54ad..0c4c2305eb 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -629eaa7b26d1721a71547f9de880f99732cb27f3 +5434b3c1696554e9a889e77f794d80cd1cb0a7ec diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c368e6b575..62c5eb4826 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -293,7 +293,7 @@ CONFIGS = [ ProcessConfig( proc_name="dmonitoringd", pub_sub={ - "driverState": ["driverMonitoringState"], + "driverStateV2": ["driverMonitoringState"], "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [], }, ignore=["logMonoTime", "valid"], diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 3586f86f12..f10c79313b 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -33,7 +33,7 @@ PROCS = { "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, "./boardd": 3.63, - "./_dmonitoringmodeld": 10.0, + "./_dmonitoringmodeld": 5.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "./_soundd": 1.0, @@ -60,7 +60,7 @@ TIMINGS = { "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], "modelV2": [2.5, 0.35], - "driverState": [2.5, 0.40], + "driverStateV2": [2.5, 0.40], "liveLocationKalman": [2.5, 0.35], "wideRoadCameraState": [1.5, 0.35], } @@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase): # TODO: this went up when plannerd cpu usage increased, why? cfgs = [ ("modelV2", 0.050, 0.036), - ("driverState", 0.050, 0.026), + ("driverStateV2", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 06578b455a..dc9f292df1 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { emit done(); } -DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) { +DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } @@ -57,43 +57,36 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { return; } - const int width = 4 * height() / 3; - const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()}; - const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()}; + cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); + cereal::DriverStateV2::DriverData::Reader driver_data; - // blackout - const QColor bg(0, 0, 0, 140); - const QRect& blackout_rect = rect(); - p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg); - p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg); - p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz + // is_rhd = driver_state.getWheelOnRightProb() > 0.5; + driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); - // face bounding box - cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState(); - bool face_detected = driver_state.getFaceProb() > 0.5; + bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { - auto fxy_list = driver_state.getFacePosition(); - auto std_list = driver_state.getFaceOrientationStd(); + auto fxy_list = driver_data.getFacePosition(); + auto std_list = driver_data.getFaceOrientationStd(); float face_x = fxy_list[0]; float face_y = fxy_list[1]; float face_std = std::max(std_list[0], std_list[1]); float alpha = 0.7; - if (face_std > 0.08) { - alpha = std::max(0.7 - (face_std-0.08)*7, 0.0); + if (face_std > 0.15) { + alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0); } - const int box_size = 0.6 * rect2.height() / 2; - const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored - int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width(); - int fbox_y = valid_rect.center().y() + face_y * valid_rect.height(); + const int box_size = 220; + // use approx instead of distort_points + int fbox_x = 1080.0 - 1714.0 * face_x; + int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y; p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10)); p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0); } // icon - const int img_offset = 30; - 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); + const int img_offset = 60; + const int img_x = rect().left() + img_offset; + const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; + p.setOpacity(face_detected ? 1.0 : 0.2); p.drawPixmap(img_x, img_y, face_img); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 000ac48475..8666eb1d4e 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -67,16 +67,15 @@ const mat4 device_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; - const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width; + const float driver_view_ratio = 2.0; + const float yscale = stream_height * driver_view_ratio / stream_width; const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; mat4 transform = (mat4){{ - 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, + xscale, 0.0, 0.0, 0.0, + 0.0, yscale, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; - return transform; } diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index b6b5c735fa..4277bb9273 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -21,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), Proc('modeld', 1.0, atol=0.15), - Proc('dmonitoringmodeld', 0.25), + Proc('dmonitoringmodeld', 0.35), Proc('encoderd', 0.23), ] From 2e2118dac33f51b5f03d7e2a5512fc9154c12122 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Jun 2022 16:32:59 -0700 Subject: [PATCH 127/226] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 05bbdafb67..c6acc0698a 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 05bbdafb67060ffb62e6e0af812935494ad91933 +Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3 From 5e0713122115604ccdbbb3844a6ab8d49657bc6a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Jun 2022 19:16:49 -0700 Subject: [PATCH 128/226] Toyota: international corolla cross is supported --- docs/CARS.md | 3 ++- selfdrive/car/toyota/values.py | 1 + 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 77b1c5e787..7c73bd3403 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -35,7 +35,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** -# Gold - 28 cars +# Gold - 29 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -58,6 +58,7 @@ How We Rate The Cars |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| |Toyota|Corolla 2020-22|All|||||| +|Toyota|Corolla Cross 2020-21 (Non-US only)|All|||||| |Toyota|Corolla Hatchback 2019-22|All|||||| |Toyota|Corolla Hybrid 2020-22|All|||||| |Toyota|Highlander 2020-22|All|||||| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2c151266cf..b1c6da922b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -119,6 +119,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"), ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ], CAR.COROLLAH_TSS2: [ From 04b8e1b6a03aa0ad39b424f6c899365d0bc98604 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Jun 2022 19:37:02 -0700 Subject: [PATCH 129/226] FPv2: log correct response address (#24918) log correct response address (29 bit addresses have a different standard) --- selfdrive/car/fw_versions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 81883cecaa..a03b6b881d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -350,7 +350,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr f.ecu = ecu_types[addr] f.fwVersion = version f.address = addr[0] - f.responseAddress = addr[0] + rx_offset + f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset) f.request = request if addr[1] is not None: From 59055724d6069471618a7090270797e50d59f798 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Jun 2022 20:20:24 -0700 Subject: [PATCH 130/226] 22 civic hatcback is supported --- docs/CARS.md | 3 ++- selfdrive/car/honda/values.py | 5 ++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 7c73bd3403..73ffcc0e0a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -150,7 +150,7 @@ How We Rate The Cars |Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 70 cars +# Bronze - 71 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -171,6 +171,7 @@ How We Rate The Cars |Honda|Civic 2019-20|All|||[2](#footnotes)||| |Honda|Civic 2022|All|||||| |Honda|Civic Hatchback 2017-21|Honda Sensing|||||| +|Honda|Civic Hatchback 2022|All|||||| |Honda|CR-V 2015-16|Touring|||||| |Honda|CR-V 2017-21|Honda Sensing|||||| |Honda|CR-V Hybrid 2017-19|Honda Sensing|||||| diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 0bdb8ccd91..c6e20f2d83 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -119,7 +119,10 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform - CAR.CIVIC_2022: HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + CAR.CIVIC_2022: [ + HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a), From cccab50b166272d13ab51eab1eb10e21beca604e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Jun 2022 22:14:13 -0700 Subject: [PATCH 131/226] FPv2: log all present ECU addresses (#24916) * eliminate brands based on ECUs that respond to tester present * make it work * Add type hint for can message Use make_can_msg * Only query for addresses in fingerprints, and account for different busses * These need to be addresses, not response addresses * We need to listen to response addresses, not query addresses * add to files_common * Unused Optional Drain sock raw * add logging * only query essential ecus comments * simplify get_brand_candidates(), keep track of multiple request variants per make and request each subaddress * fixes make dat bytes bus is src Fix check * (addr, subaddr, bus) can be common across brands, add a match to each brand * fix length * query subaddrs in sequence * fix * candidate if a platform is a subset of responding ecu addresses comment comment * do logging for shadow mode * log responses so we can calculate candidates offline * get has_subaddress from response set * one liner * fix mypy * set to default at top * always log for now * log to make sure it's taking exactly timeout time * import time * fix logging * 0.1 timeout * clean up Co-authored-by: Greg Hogan --- release/files_common | 1 + selfdrive/car/car_helpers.py | 8 ++-- selfdrive/car/ecu_addrs.py | 90 ++++++++++++++++++++++++++++++++++++ selfdrive/car/fw_versions.py | 42 +++++++++++++++-- 4 files changed, 135 insertions(+), 6 deletions(-) create mode 100755 selfdrive/car/ecu_addrs.py diff --git a/release/files_common b/release/files_common index 7274ee9bf6..96649b9f16 100644 --- a/release/files_common +++ b/release/files_common @@ -101,6 +101,7 @@ selfdrive/car/interfaces.py selfdrive/car/vin.py selfdrive/car/disable_ecu.py selfdrive/car/fw_versions.py +selfdrive/car/ecu_addrs.py selfdrive/car/isotp_parallel_query.py selfdrive/car/tests/__init__.py selfdrive/car/tests/test_car_interfaces.py diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 3bfd99f88d..8c0fd7c90d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr 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 +from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint @@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names) def fingerprint(logcan, sendcan): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) + ecu_responses = set() if not fixed_fingerprint and not skip_fw_query: # Vin query only reliably works thorugh OBDII @@ -97,6 +98,7 @@ def fingerprint(logcan, sendcan): else: cloudlog.warning("Getting VIN & FW versions") _, vin = get_vin(logcan, sendcan, bus) + ecu_responses = get_present_ecus(logcan, sendcan) car_fw = get_fw_versions(logcan, sendcan) exact_fw_match, fw_candidates = match_fw_to_car(car_fw) @@ -163,8 +165,8 @@ def fingerprint(logcan, sendcan): car_fingerprint = fixed_fingerprint source = car.CarParams.FingerprintSource.fixed - cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, - source=source, fuzzy=not exact_match, fw_count=len(car_fw)) + cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, + fw_count=len(car_fw), ecu_responses=ecu_responses, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py new file mode 100755 index 0000000000..267701509a --- /dev/null +++ b/selfdrive/car/ecu_addrs.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +import capnp +import time +import traceback +from typing import Optional, Set, Tuple + +import cereal.messaging as messaging +from panda.python.uds import SERVICE_TYPE +from selfdrive.car import make_can_msg +from selfdrive.boardd.boardd import can_list_to_can_capnp +from system.swaglog import cloudlog + + +def make_tester_present_msg(addr, bus, subaddr=None): + dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] + if subaddr is not None: + dat.insert(0, subaddr) + + dat.extend([0x0] * (8 - len(dat))) + return make_can_msg(addr, bytes(dat), bus) + + +def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool: + # ISO-TP messages are always padded to 8 bytes + # tester present response is always a single frame + dat_offset = 1 if subaddr is not None else 0 + if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7: + # success response + if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40): + return True + # error response + if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT: + return True + return False + + +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]: + addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] + queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list} + responses = queries + return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) + + +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]], + responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]: + ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),) + try: + msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] + + messaging.drain_sock_raw(logcan) + sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) + start_time = time.monotonic() + while time.monotonic() - start_time < timeout: + can_packets = messaging.drain_sock(logcan, wait_for_one=True) + for packet in can_packets: + for msg in packet.can: + subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] + if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): + if debug: + print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}") + if (msg.address, subaddr, msg.src) in ecu_responses: + print(f"Duplicate ECU address: {hex(msg.address)}") + ecu_responses.add((msg.address, subaddr, msg.src)) + except Exception: + cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}") + return ecu_responses + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(description='Get addresses of all ECUs') + parser.add_argument('--debug', action='store_true') + args = parser.parse_args() + + logcan = messaging.sub_sock('can') + sendcan = messaging.pub_sock('sendcan') + + time.sleep(1.0) + + print("Getting ECU addresses ...") + ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug) + + print() + print("Found ECUs on addresses:") + for addr, subaddr, bus in ecu_addrs: + msg = f" 0x{hex(addr)}" + if subaddr is not None: + msg += f" (sub-address: 0x{hex(subaddr)})" + print(msg) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index a03b6b881d..66f0564fca 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -3,11 +3,12 @@ import struct import traceback from collections import defaultdict from dataclasses import dataclass, field -from typing import Any, List +from typing import Any, List, Optional, Set, Tuple from tqdm import tqdm import panda.python.uds as uds from cereal import car +from selfdrive.car.ecu_addrs import get_ecu_addrs from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -15,6 +16,7 @@ from selfdrive.car.toyota.values import CAR as TOYOTA from system.swaglog import cloudlog Ecu = car.CarParams.Ecu +ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] def p16(val): @@ -261,7 +263,6 @@ def match_fw_to_car_exact(fw_versions_dict): ecu_type = ecu[0] 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: continue @@ -299,11 +300,46 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True): return exact_match, matches +def get_present_ecus(logcan, sendcan): + queries = list() + parallel_queries = list() + responses = set() + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + + for r in REQUESTS: + if r.brand not in versions: + continue + + for brand_versions in versions[r.brand].values(): + for ecu_type, addr, sub_addr in brand_versions: + # Only query ecus in whitelist if whitelist is not empty + if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: + a = (addr, sub_addr, r.bus) + # Build set of queries + if sub_addr is None: + if a not in parallel_queries: + parallel_queries.append(a) + else: # subaddresses must be queried one by one + if [a] not in queries: + queries.append([a]) + + # Build set of expected responses to filter + response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) + responses.add((response_addr, sub_addr, r.bus)) + + queries.insert(0, parallel_queries) + + ecu_responses: Set[Tuple[int, Optional[int], int]] = set() + for query in queries: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + return ecu_responses + + def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False): ecu_types = {} # Extract ECU addresses to query from fingerprints - # ECUs using a subadress need be queried one by one, the rest can be done in parallel + # ECUs using a subaddress need be queried one by one, the rest can be done in parallel addrs = [] parallel_addrs = [] From bd782c982f17221a33b660d82dab7aa297e10c60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Jun 2022 23:23:14 -0700 Subject: [PATCH 132/226] Mazda: log standstill bit (#24923) * set standstill bit for mazda * use bit in carcontroller * Revert "use bit in carcontroller" This reverts commit f38210a191bcd6e34ff81626e857f778207a55e7. --- selfdrive/car/mazda/carstate.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 6e1ad3e481..944d79809b 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -79,6 +79,7 @@ class CarState(CarStateBase): # it should be used for carState.cruiseState.nonAdaptive instead ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1 ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1 + ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1 ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS if ret.cruiseState.enabled: From 5ce9b5d38cbba4d59935ef8504ec2a8cfb0eb149 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 21 Jun 2022 00:11:13 -0700 Subject: [PATCH 133/226] Bump laika (#24920) --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index 44f048bc1f..824b49327a 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 44f048bc1f58ae9e28dfdeb98e40aea3e0f2b699 +Subproject commit 824b49327aa2f41eb0dafbe3806e6c4841b19f11 From e45eb1bd28623571079122030392fa0fe03e7a42 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 Jun 2022 00:11:55 -0700 Subject: [PATCH 134/226] test_models: check cruiseState.available (#24924) * check available is true if enabled is true * remove extra line --- selfdrive/car/tests/test_models.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 27dc4ba776..cb4b868582 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -221,6 +221,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: check rest of panda's carstate (steering, ACC main on, etc.) checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() + checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available # TODO: remove this exception once this mismatch is resolved brake_pressed = CS.brakePressed From d261ff6d0395f3344e41fbf47b6d9aa149ac642f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 21 Jun 2022 11:01:44 +0200 Subject: [PATCH 135/226] bump laika --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index 824b49327a..27a0d8a776 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 824b49327aa2f41eb0dafbe3806e6c4841b19f11 +Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0 From f7205f3b07d15ff4e9d840a689792d7f5b5be0d8 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 21 Jun 2022 11:14:25 +0200 Subject: [PATCH 136/226] ui: metric wider set speed box (#24890) --- selfdrive/ui/qt/onroad.cc | 3 ++- selfdrive/ui/qt/onroad.h | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 45bf41ba2d..482f04c032 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -196,6 +196,7 @@ void NvgWindow::updateState(const UIState &s) { setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); setProperty("is_cruise_set", cruise_set); + setProperty("is_metric", s.scene.is_metric); setProperty("speed", cur_speed); setProperty("setSpeed", set_speed); setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); @@ -225,8 +226,8 @@ void NvgWindow::drawHud(QPainter &p) { // Draw outer box + border to contain set speed and speed limit int default_rect_width = 172; int rect_width = default_rect_width; + if (is_metric || has_eu_speed_limit) rect_width = 200; if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223; - else if (has_eu_speed_limit) rect_width = 200; int rect_height = 204; if (has_us_speed_limit) rect_height = 402; diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index e58d7a7972..4cd88fc9e3 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -34,6 +34,7 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit); Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit); + Q_PROPERTY(bool is_metric MEMBER is_metric); Q_PROPERTY(bool engageable MEMBER engageable); Q_PROPERTY(bool dmActive MEMBER dmActive); @@ -57,6 +58,7 @@ private: float setSpeed; float speedLimit; bool is_cruise_set = false; + bool is_metric = false; bool engageable = false; bool dmActive = false; bool hideDM = false; From 21dd464fd3b0e23e2277479532c56230fe1e66bd Mon Sep 17 00:00:00 2001 From: sshane Date: Tue, 21 Jun 2022 03:22:38 -0700 Subject: [PATCH 137/226] Revert "VW FPv2: reduce number of ECU queries (#24706)" This reverts commit 6c02e554e7174745c7605f4e8f0e3c1aea637091. --- selfdrive/car/fw_versions.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 66f0564fca..758485c393 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -148,14 +148,12 @@ REQUESTS: List[Request] = [ "volkswagen", [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], rx_offset=VOLKSWAGEN_RX_OFFSET, ), Request( "volkswagen", [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission], ), # Mazda Request( From 278f7b9e8a54839989d6a5bd8d37d6aeca789d2a Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 21 Jun 2022 13:15:26 +0200 Subject: [PATCH 138/226] ui: draw MAX above set speed (#24930) --- selfdrive/ui/qt/onroad.cc | 44 ++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 21 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 482f04c032..d92cf36b89 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -241,26 +241,6 @@ void NvgWindow::drawHud(QPainter &p) { p.setBrush(blackColor(166)); drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius); - // Draw set speed - if (is_cruise_set) { - if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) { - p.setPen(interpColor( - setSpeed, - {speedLimit + 5, speedLimit + 15, speedLimit + 25}, - {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)} - )); - } else { - p.setPen(whiteColor()); - } - } else { - p.setPen(QColor(0x72, 0x72, 0x72, 0xff)); - } - configFont(p, "Open Sans", 90, "Bold"); - QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr); - speed_rect.moveCenter({set_speed_rect.center().x(), 0}); - speed_rect.moveTop(set_speed_rect.top() + 8); - p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr); - // Draw MAX if (is_cruise_set) { if (status == STATUS_DISENGAGED) { @@ -282,9 +262,31 @@ void NvgWindow::drawHud(QPainter &p) { configFont(p, "Open Sans", 40, "SemiBold"); QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX"); max_rect.moveCenter({set_speed_rect.center().x(), 0}); - max_rect.moveTop(set_speed_rect.top() + 123); + max_rect.moveTop(set_speed_rect.top() + 23); p.drawText(max_rect, Qt::AlignCenter, "MAX"); + // Draw set speed + if (is_cruise_set) { + if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) { + p.setPen(interpColor( + setSpeed, + {speedLimit + 5, speedLimit + 15, speedLimit + 25}, + {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)} + )); + } else { + p.setPen(whiteColor()); + } + } else { + p.setPen(QColor(0x72, 0x72, 0x72, 0xff)); + } + configFont(p, "Open Sans", 90, "Bold"); + QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr); + speed_rect.moveCenter({set_speed_rect.center().x(), 0}); + speed_rect.moveTop(set_speed_rect.top() + 67); + p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr); + + + // US/Canada (MUTCD style) sign if (has_us_speed_limit) { const int border_width = 6; From 67b601e0efb5f33697cadadb50d32debb4325d60 Mon Sep 17 00:00:00 2001 From: Anton Rudomanenko Date: Tue, 21 Jun 2022 16:23:43 +0300 Subject: [PATCH 139/226] replay: handle missing socket while replaying route log with --allow flag (#24933) * fix: fix the problem with replay routes locally * fix: Exception with --allow flag in replay.cc Co-authored-by: Anton Rudomaneko --- selfdrive/ui/replay/replay.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/replay/replay.cc b/selfdrive/ui/replay/replay.cc index 5eb7469c92..cf7520b361 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/selfdrive/ui/replay/replay.cc @@ -360,7 +360,8 @@ void Replay::stream() { setCurrentSegment(toSeconds(cur_mono_time_) / 60); // migration for pandaState -> pandaStates to keep UI working for old segments - if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) { + if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && + sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { MessageBuilder msg; auto ps = msg.initEvent().initPandaStates(1); ps[0].setIgnitionLine(true); From 95d8517a81d23e0c385b5f931e7e89a3d3e52b17 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 21 Jun 2022 16:26:40 +0200 Subject: [PATCH 140/226] car_bug_report.yml: fix labels --- .github/ISSUE_TEMPLATE/car_bug_report.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/ISSUE_TEMPLATE/car_bug_report.yml b/.github/ISSUE_TEMPLATE/car_bug_report.yml index 23527c3a43..7f368f11b4 100644 --- a/.github/ISSUE_TEMPLATE/car_bug_report.yml +++ b/.github/ISSUE_TEMPLATE/car_bug_report.yml @@ -1,6 +1,6 @@ name: Car bug report description: For issues with a particular car make or model -labels: ["car bug"] +labels: ["car", "bug"] body: - type: markdown From 0e0b5c4e24a8da64362c8dbf851dbe0f806916c0 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 21 Jun 2022 12:07:00 -0700 Subject: [PATCH 141/226] Revert "Rocket league model (#24869)" (#24936) * Revert rocket league * revert ref commit * New model ref commit --- selfdrive/modeld/models/driving.h | 2 +- selfdrive/modeld/models/supercombo.dlc | 4 ++-- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/modeld/thneed/compile.cc | 2 +- selfdrive/modeld/thneed/optimizer.cc | 8 ++++---- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index a691051636..97e65fbc0e 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -245,7 +245,7 @@ struct ModelOutput { constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); #ifdef TEMPORAL - constexpr int TEMPORAL_SIZE = 512+256; + constexpr int TEMPORAL_SIZE = 512; #else constexpr int TEMPORAL_SIZE = 0; #endif diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc index 90f7a2e65b..23f6d904fb 100644 --- a/selfdrive/modeld/models/supercombo.dlc +++ b/selfdrive/modeld/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44 -size 101662751 +oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff +size 76725611 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 0493398560..9023c18dd7 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49 -size 102570834 +oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499 +size 77472267 diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc index a2f55ffd97..f76c63b2b9 100644 --- a/selfdrive/modeld/thneed/compile.cc +++ b/selfdrive/modeld/thneed/compile.cc @@ -5,7 +5,7 @@ #include "selfdrive/modeld/thneed/thneed.h" #include "system/hardware/hw.h" -#define TEMPORAL_SIZE 512+256 +#define TEMPORAL_SIZE 512 #define DESIRE_LEN 8 #define TRAFFIC_CONVENTION_LEN 2 diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc index 39737d3d76..03d20ff386 100644 --- a/selfdrive/modeld/thneed/optimizer.cc +++ b/selfdrive/modeld/thneed/optimizer.cc @@ -9,7 +9,7 @@ extern map g_program_source; -/*static int is_same_size_image(cl_mem a, cl_mem b) { +static int is_same_size_image(cl_mem a, cl_mem b) { size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch; clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL); clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL); @@ -29,7 +29,7 @@ extern map g_program_source; return (a_width == b_width) && (a_height == b_height) && (a_depth == b_depth) && (a_array_size == b_array_size) && (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch); -}*/ +} static cl_mem make_image_like(cl_context context, cl_mem val) { cl_image_format format; @@ -138,7 +138,7 @@ int Thneed::optimize() { // delete useless copy layers // saves ~0.7 ms - /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { + if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { string in = kq[i]->args[kq[i]->get_arg_num("input")]; string out = kq[i]->args[kq[i]->get_arg_num("output")]; if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) { @@ -148,7 +148,7 @@ int Thneed::optimize() { kq.erase(kq.begin()+i); --i; } - }*/ + } // NOTE: if activations/accumulation are done in the wrong order, this will be wrong diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 0c4c2305eb..9f9b822693 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -5434b3c1696554e9a889e77f794d80cd1cb0a7ec +df0ce74929dd6b5fa7a55224baefeff4bac6d785 From 1d447441239b3086e1f37185e2e5d210c80c8164 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Jun 2022 19:26:20 -0700 Subject: [PATCH 142/226] jenkins: set successful boot flag --- selfdrive/test/setup_device_ci.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 99acc050ea..2e5ffeacc6 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -36,6 +36,8 @@ fi tee $CONTINUE_PATH << EOF #!/usr/bin/bash +sudo abctl --set_success + while true; do if ! sudo systemctl is-active -q ssh; then sudo systemctl start ssh From 4efb28766e386de3117819b8a128aa782aaadf2a Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 22 Jun 2022 01:17:13 -0400 Subject: [PATCH 143/226] Honda Longitudinal: fix HUD max distance setting (#24915) Fix max distance setting on display --- selfdrive/car/honda/hondacan.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 6a1fb2e459..5de29b4f37 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -111,7 +111,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc acc_hud_values = { 'CRUISE_SPEED': hud.v_cruise, 'ENABLE_MINI_CAR': 1, - 'HUD_DISTANCE': 3, # max distance setting on display + 'HUD_DISTANCE': 0, # max distance setting on display 'IMPERIAL_UNIT': int(not is_metric), 'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0, 'SET_ME_X01_2': 1, From dd67853526cc2cda20edc51c45bd9c65a1fa931b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 Jun 2022 22:40:16 -0700 Subject: [PATCH 144/226] 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 8ed68d5bdd..b2623dc8dc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b +4efb28766e386de3117819b8a128aa782aaadf2a \ No newline at end of file From f99a091eaaaa65c4a7ec3e2e22e045e6263f6bcd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Jun 2022 23:39:26 -0700 Subject: [PATCH 145/226] update camerad gitignores --- .gitignore | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 334b1b4fed..0092c4dc94 100644 --- a/.gitignore +++ b/.gitignore @@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd selfdrive/loggerd/bootlog selfdrive/sensord/_gpsd selfdrive/sensord/_sensord -selfdrive/camerad/camerad -selfdrive/camerad/test/ae_gray_test +system/camerad/camerad +system/camerad/test/ae_gray_test selfdrive/modeld/_modeld selfdrive/modeld/_dmonitoringmodeld /src/ From 789f2d195cee7b7dd8dd07d36a4e2e9b6b442e38 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 Jun 2022 01:03:29 -0700 Subject: [PATCH 146/226] compatibility docs: fixup steering torque star (#24940) * Ascent has good torque, hard code Toyota, print all unexpected torque star cars * update docs * Use subtests * hardcode CHR for now generate * Hard code Impreza * update refs --- docs/CARS.md | 32 ++++++++++---------- selfdrive/car/subaru/values.py | 2 +- selfdrive/car/tests/test_docs.py | 37 ++++++++++++++---------- selfdrive/car/torque_data.json | 2 +- selfdrive/car/toyota/values.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 41 insertions(+), 35 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 73ffcc0e0a..de7dbacf28 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -35,7 +35,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** -# Gold - 29 cars +# Gold - 33 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -52,9 +52,13 @@ How We Rate The Cars |Lexus|ES 2019-21|All|||||| |Lexus|ES Hybrid 2019-22|All|||||| |Lexus|NX 2020|All|||||| +|Lexus|NX Hybrid 2020|All|||||| |Lexus|RX 2020-22|All|||||| |Lexus|UX Hybrid 2019-21|All|||||| +|Toyota|Alphard 2019-20|All|||||| +|Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Avalon 2022|All|||||| +|Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| |Toyota|Corolla 2020-22|All|||||| @@ -104,13 +108,15 @@ How We Rate The Cars |Kia|Sorento 2018|SCC + LKAS|||||| |Kia|Sorento 2019|SCC + LKAS|||||| |Kia|Stinger 2018|SCC + LKAS|||||| +|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| +|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|NX 2018-19|All|[3](#footnotes)||||| |Lexus|NX Hybrid 2018-19|All|[3](#footnotes)||||| -|Lexus|NX Hybrid 2020|All|||||| |Lexus|RX Hybrid 2020-21|All|||||| |Mazda|CX-5 2022|All|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| +|Subaru|Ascent 2019-20|All|||||| |Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Forester 2019-21|All|||||| |Subaru|Impreza 2020-21|EyeSight|||||| @@ -121,10 +127,8 @@ How We Rate The Cars |Škoda|Octavia RS 2016|Driver Assistance|||||| |Škoda|Scala 2020|Driver Assistance|||||| |Škoda|Superb 2015-18|Driver Assistance|||||| -|Toyota|Alphard 2019-20|All|||||| -|Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2022|All|||||| +|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| |Toyota|Highlander 2017-19|All|[3](#footnotes)||||| @@ -150,7 +154,7 @@ How We Rate The Cars |Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 71 cars +# Bronze - 67 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -197,10 +201,8 @@ How We Rate The Cars |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| |Kia|Optima 2017|SCC + LKAS|||||| -|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| -|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| -|Lexus|IS 2017-19|All|||||| -|Lexus|RC 2020|All|||||| +|Lexus|IS 2017-19|All|||||| +|Lexus|RC 2020|All|||||| |Lexus|RX 2016-18|All|[3](#footnotes)||||| |Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| |Mazda|CX-9 2021|All|||||| @@ -208,13 +210,11 @@ How We Rate The Cars |Nissan|Leaf 2018-22|ProPILOT|||||| |Nissan|Rogue 2018-20|ProPILOT|||||| |Nissan|X-Trail 2017|ProPILOT|||||| -|Subaru|Ascent 2019-20|All|||||| -|Subaru|Crosstrek 2018-19|EyeSight|||||| -|Subaru|Impreza 2017-19|EyeSight|||||| -|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| +|Subaru|Crosstrek 2018-19|EyeSight|||||| +|Subaru|Impreza 2017-19|EyeSight|||||| +|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|C-HR 2017-21|All|||||| -|Toyota|C-HR Hybrid 2017-19|All|||||| +|Toyota|C-HR Hybrid 2017-19|All|||||| |Toyota|Corolla 2017-19|All|[3](#footnotes)||||| |Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 45358eb3a4..9badc3ca50 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { - CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"), + CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index b4bc14ef00..98c909a9be 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -16,32 +16,37 @@ class TestCarDocs(unittest.TestCase): current_cars_md = f.read() self.assertEqual(generated_cars_md, current_cars_md, - "Run selfdrive/car/docs.py to generate new supported cars documentation") + "Run selfdrive/car/docs.py to update the compatibility documentation") def test_missing_car_info(self): all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys() for platform in sorted(interfaces.keys()): - if platform not in all_car_info_platforms: - self.fail("Platform: {} doesn't exist in CarInfo".format(platform)) + with self.subTest(platform=platform): + self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform)) def test_naming_conventions(self): - # Asserts market-standard car naming conventions by make + # Asserts market-standard car naming conventions by brand for car in self.all_cars: - tokens = car.model.lower().split(" ") - if car.car_name == "hyundai": - self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`") - self.assertNotIn("hev", tokens, "Use `Hybrid`") - self.assertNotIn("ev", tokens, "Use `Electric`") - if "plug-in hybrid" in car.model.lower(): - self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization") - elif car.car_name == "toyota": - if "rav4" in tokens: - self.assertIn("RAV4", car.model, "Use correct capitalization") + with self.subTest(car=car): + tokens = car.model.lower().split(" ") + if car.car_name == "hyundai": + self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`") + self.assertNotIn("hev", tokens, "Use `Hybrid`") + self.assertNotIn("ev", tokens, "Use `Electric`") + if "plug-in hybrid" in car.model.lower(): + self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization") + elif car.car_name == "toyota": + if "rav4" in tokens: + self.assertIn("RAV4", car.model, "Use correct capitalization") def test_torque_star(self): + # Asserts brand-specific assumptions around steering torque star for car in self.all_cars: - if car.car_name == "honda": - self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star") + with self.subTest(car=car): + if car.car_name == "honda": + self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star") + elif car.car_name in ("toyota", "hyundai"): + self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star") if __name__ == "__main__": diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json index 63ee0e9bcd..4917cba9bc 100644 --- a/selfdrive/car/torque_data.json +++ b/selfdrive/car/torque_data.json @@ -1 +1 @@ -{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 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HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}} \ No newline at end of file diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b1c6da922b..32f66b6fa0 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -99,6 +99,7 @@ class Footnote(Enum): class ToyotaCarInfo(CarInfo): package: str = "All" harness: Enum = Harness.toyota + good_torque: bool = True CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b2623dc8dc..05d016911b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4efb28766e386de3117819b8a128aa782aaadf2a \ No newline at end of file +2d736ca51acc1ac06216631b0529b50d9a6d2170 \ No newline at end of file From 88f246b909e3e111ac84e964bb811efefd923163 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 22 Jun 2022 11:45:38 +0200 Subject: [PATCH 147/226] ui: change alerts to Inter (#24937) * ui: change alerts to Inter * fix up test --- selfdrive/controls/tests/test_alerts.py | 17 +++++++---------- selfdrive/ui/qt/onroad.cc | 10 +++++----- 2 files changed, 12 insertions(+), 15 deletions(-) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 2bd904b575..79c56d6bc0 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -48,20 +48,17 @@ class TestAlerts(unittest.TestCase): # ensure alert text doesn't exceed allowed width def test_alert_text_length(self): font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts") - regular_font_path = os.path.join(font_path, "opensans_semibold.ttf") - bold_font_path = os.path.join(font_path, "opensans_semibold.ttf") - semibold_font_path = os.path.join(font_path, "opensans_semibold.ttf") - - max_text_width = 1920 - 300 # full screen width is useable, minus sidebar - # TODO: get exact scale factor. found this empirically, works well enough - font_scale_factor = 1.55 # factor to scale from nanovg units to PIL + regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf") + bold_font_path = os.path.join(font_path, "Inter-Bold.ttf") + semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf") + max_text_width = 2160 - 300 # full screen width is useable, minus sidebar draw = ImageDraw.Draw(Image.new('RGB', (0, 0))) fonts = { - AlertSize.small: [ImageFont.truetype(semibold_font_path, int(40 * font_scale_factor))], - AlertSize.mid: [ImageFont.truetype(bold_font_path, int(48 * font_scale_factor)), - ImageFont.truetype(regular_font_path, int(36 * font_scale_factor))], + AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)], + AlertSize.mid: [ImageFont.truetype(bold_font_path, 88), + ImageFont.truetype(regular_font_path, 66)], } for alert in ALERTS: diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index d92cf36b89..98b70c6b6e 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -146,18 +146,18 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { p.setPen(QColor(0xff, 0xff, 0xff)); p.setRenderHint(QPainter::TextAntialiasing); if (alert.size == cereal::ControlsState::AlertSize::SMALL) { - configFont(p, "Open Sans", 74, "SemiBold"); + configFont(p, "Inter", 74, "SemiBold"); p.drawText(r, Qt::AlignCenter, alert.text1); } else if (alert.size == cereal::ControlsState::AlertSize::MID) { - configFont(p, "Open Sans", 88, "Bold"); + configFont(p, "Inter", 88, "Bold"); p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1); - configFont(p, "Open Sans", 66, "Regular"); + configFont(p, "Inter", 66, "Regular"); p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2); } else if (alert.size == cereal::ControlsState::AlertSize::FULL) { bool l = alert.text1.length() > 15; - configFont(p, "Open Sans", l ? 132 : 177, "Bold"); + configFont(p, "Inter", l ? 132 : 177, "Bold"); p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1); - configFont(p, "Open Sans", 88, "Regular"); + configFont(p, "Inter", 88, "Regular"); p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2); } } From 963de402115a4eb8eb7944c5f5233e47dea31543 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 22 Jun 2022 11:46:00 +0200 Subject: [PATCH 148/226] ui: change sidebar font to Inter (#24931) * change sidebar to inter * clean up metric color rect radius * fix text placement * simplify rect placement --- selfdrive/ui/qt/sidebar.cc | 39 ++++++++++++++++++++++---------------- selfdrive/ui/qt/sidebar.h | 4 ++-- 2 files changed, 25 insertions(+), 18 deletions(-) diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 312d8d8a59..00e72b352c 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -4,13 +4,13 @@ #include "selfdrive/ui/qt/util.h" -void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) { - const QRect rect = {30, y, 240, label.contains("\n") ? 124 : 100}; +void Sidebar::drawMetric(QPainter &p, const QPair &label, QColor c, int y) { + const QRect rect = {30, y, 240, 126}; p.setPen(Qt::NoPen); p.setBrush(QBrush(c)); - p.setClipRect(rect.x() + 6, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip); - p.drawRoundedRect(QRect(rect.x() + 6, rect.y() + 6, 100, rect.height() - 12), 10, 10); + p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip); + p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18); p.setClipping(false); QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55)); @@ -20,9 +20,16 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) { p.drawRoundedRect(rect, 20, 20); p.setPen(QColor(0xff, 0xff, 0xff)); - configFont(p, "Open Sans", 35, "Bold"); - const QRect r = QRect(rect.x() + 30, rect.y(), rect.width() - 40, rect.height()); - p.drawText(r, Qt::AlignCenter, label); + configFont(p, "Inter", 35, "SemiBold"); + + QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first); + label_rect.setWidth(218); + label_rect.moveLeft(rect.left() + 22); + label_rect.moveTop(rect.top() + 19); + p.drawText(label_rect, Qt::AlignCenter, label.first); + + label_rect.moveTop(rect.top() + 65); + p.drawText(label_rect, Qt::AlignCenter, label.second); } Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { @@ -57,26 +64,26 @@ void Sidebar::updateState(const UIState &s) { ItemStatus connectStatus; auto last_ping = deviceState.getLastAthenaPingTime(); if (last_ping == 0) { - connectStatus = ItemStatus{"CONNECT\nOFFLINE", warning_color}; + connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color}; } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{"CONNECT\nONLINE", good_color} : ItemStatus{"CONNECT\nERROR", danger_color}; + connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); - ItemStatus tempStatus = {"TEMP\nHIGH", danger_color}; + ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color}; auto ts = deviceState.getThermalStatus(); if (ts == cereal::DeviceState::ThermalStatus::GREEN) { - tempStatus = {"TEMP\nGOOD", good_color}; + tempStatus = {{"TEMP", "GOOD"}, good_color}; } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) { - tempStatus = {"TEMP\nOK", warning_color}; + tempStatus = {{"TEMP", "OK"}, warning_color}; } setProperty("tempStatus", QVariant::fromValue(tempStatus)); - ItemStatus pandaStatus = {"VEHICLE\nONLINE", good_color}; + ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color}; if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) { - pandaStatus = {"NO\nPANDA", danger_color}; + pandaStatus = {{"NO", "PANDA"}, danger_color}; } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) { - pandaStatus = {"GPS\nSEARCH", warning_color}; + pandaStatus = {{"GPS", "SEARCH"}, warning_color}; } setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); } @@ -103,7 +110,7 @@ void Sidebar::paintEvent(QPaintEvent *event) { x += 37; } - configFont(p, "Open Sans", 35, "Regular"); + configFont(p, "Inter", 35, "Regular"); p.setPen(QColor(0xff, 0xff, 0xff)); const QRect r = QRect(50, 247, 100, 50); p.drawText(r, Qt::AlignCenter, net_type); diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index ab3e990e61..98ae6564d6 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -6,7 +6,7 @@ #include "common/params.h" #include "selfdrive/ui/ui.h" -typedef QPair ItemStatus; +typedef QPair, QColor> ItemStatus; Q_DECLARE_METATYPE(ItemStatus); class Sidebar : public QFrame { @@ -30,7 +30,7 @@ public slots: protected: void paintEvent(QPaintEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; - void drawMetric(QPainter &p, const QString &label, QColor c, int y); + void drawMetric(QPainter &p, const QPair &label, QColor c, int y); QPixmap home_img, settings_img; const QMap network_type = { From 05e7ce731f4259a569f5d28392a0d576e90dec1b Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 22 Jun 2022 11:46:16 +0200 Subject: [PATCH 149/226] ui: change set speed, speed limit and current speed to Inter (#24932) * ui: change set speed/speed limit to Inter * switch current speed to Inter --- selfdrive/ui/qt/onroad.cc | 28 +++++++++++++--------------- 1 file changed, 13 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 98b70c6b6e..2759416236 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -259,10 +259,10 @@ void NvgWindow::drawHud(QPainter &p) { } else { p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff)); } - configFont(p, "Open Sans", 40, "SemiBold"); + configFont(p, "Inter", 40, "SemiBold"); QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX"); max_rect.moveCenter({set_speed_rect.center().x(), 0}); - max_rect.moveTop(set_speed_rect.top() + 23); + max_rect.moveTop(set_speed_rect.top() + 27); p.drawText(max_rect, Qt::AlignCenter, "MAX"); // Draw set speed @@ -279,10 +279,10 @@ void NvgWindow::drawHud(QPainter &p) { } else { p.setPen(QColor(0x72, 0x72, 0x72, 0xff)); } - configFont(p, "Open Sans", 90, "Bold"); + configFont(p, "Inter", 90, "Bold"); QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr); speed_rect.moveCenter({set_speed_rect.center().x(), 0}); - speed_rect.moveTop(set_speed_rect.top() + 67); + speed_rect.moveTop(set_speed_rect.top() + 77); p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr); @@ -306,23 +306,23 @@ void NvgWindow::drawHud(QPainter &p) { p.drawRoundedRect(sign_rect, 16, 16); // "SPEED" - configFont(p, "Open Sans", 28, "SemiBold"); + configFont(p, "Inter", 28, "SemiBold"); QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED"); text_speed_rect.moveCenter({sign_rect.center().x(), 0}); - text_speed_rect.moveTop(sign_rect_outer.top() + 20); + text_speed_rect.moveTop(sign_rect_outer.top() + 22); p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED"); // "LIMIT" QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT"); text_limit_rect.moveCenter({sign_rect.center().x(), 0}); - text_limit_rect.moveTop(sign_rect_outer.top() + 48); + text_limit_rect.moveTop(sign_rect_outer.top() + 51); p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT"); // Speed limit value - configFont(p, "Open Sans", 70, "Bold"); + configFont(p, "Inter", 70, "Bold"); QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); speed_limit_rect.moveCenter({sign_rect.center().x(), 0}); - speed_limit_rect.moveTop(sign_rect.top() + 70); + speed_limit_rect.moveTop(sign_rect_outer.top() + 85); p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr); } @@ -343,10 +343,8 @@ void NvgWindow::drawHud(QPainter &p) { p.drawEllipse(center, inner_radius_2, inner_radius_2); // Speed limit value - if (speedLimit < 1 ) center -= {0, 2}; // Make sure dash is centered if no speed limit available - - int font_size = (speedLimitStr.size() >= 3) ? 62 : 70; - configFont(p, "Open Sans", font_size, "Bold"); + int font_size = (speedLimitStr.size() >= 3) ? 60 : 70; + configFont(p, "Inter", font_size, "Bold"); QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr); speed_limit_rect.moveCenter(center); p.setPen(blackColor()); @@ -354,9 +352,9 @@ void NvgWindow::drawHud(QPainter &p) { } // current speed - configFont(p, "Open Sans", 176, "Bold"); + configFont(p, "Inter", 176, "Bold"); drawText(p, rect().center().x(), 210, speedStr); - configFont(p, "Open Sans", 66, "Regular"); + configFont(p, "Inter", 66, "Regular"); drawText(p, rect().center().x(), 290, speedUnit, 200); // engage-ability icon From 1908b89e29a968a3f1b8dd8cdd8213570e02c186 Mon Sep 17 00:00:00 2001 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z*rRD3|FCPez5UI)nIHUqU)6iDw-($R80Ov(z3id`S2cFuQ|$Tg8)tlQp7z){-+SJ? z`_KA%{)69i211{7Ke%>Zd&$^g!&XRI47&mJ>&!_R7L{C_JyG*ThaD$Xk% z&{bMzV3Z_v_1T~5s%&%=v@_1%WAwGy5jJRv7+zG9m;r7ZEWwzN7cl*h#qK`hf7Y8F@ z`lvQN$+=hNc@D)>yq-B?=ptD*eV*F+jJBOX7XJeI-wuy1soHvJ_>@5Qv#*UhKd*3e zL;kHT?rjY(P2E)T(iJz(`D9FO=EU)S-@}zR?K^kJ;*X>AT(_i*EFIrAYtkWG?z`fd zeQAZK#@?B`kpp%@l$;d zeHB{JKJnV!r#^7|Z|ncKw0em5xf2?^3ANimYIiyfcd3KrV4U-lp-Ji)MwL8tgnpbs zx2vtiTMIYlC&oQ?TRsg<4}zcO(UJs739ol<@(oumT^N%^E#4*paYe{w~km~n*Uup1M?Dx>3Bxe=rQqUeH_EP`G1+X>CMjak)z-K(?_QbdHUfi|J=6wlU*0T+Z|iJ z|BFABm3(x|acL*rKX={wlTNI!{d}DJo1qt{KRa&B;;PZtpZ(dl=U;orSJ{Pclx5vk zbxCXW)T@8E+H9Eh>w?bSVHedogc=dWF{YgN_mtlK|d zHhKCxPi;14*Nbb`?7M0H9hndRaZ+mLLzk@oa@eQ$Z@KsCt6pv{%lY(u?mBdex9l7< zfAjMj-}u|o{J!HpxH$ZFl{sIFJoDmNuP(mns+*2~vSC8kmV>SL@Bgc7S?PqFyuW+a zi%ycoHqMx_?#cgeWseX0g`f}2Q*G@vh7D>FSspphFeW)`lrB73gAVJYa|6vM(=&u7 zCV5X7)e2{nT|Uw|@HNw4CVWhg7Zk-3zjBqCjVp7 Date: Wed, 22 Jun 2022 13:51:37 -0700 Subject: [PATCH 151/226] DM: track RHD predictions (#24947) * driverview * auto choose * useless * remove * modeld not use toggle * remove from params * Revert "remove from params" This reverts commit a08df0b4921e03deac24f4da2c0f1e9e9255a717. * Revert "modeld not use toggle" This reverts commit 2730bf8f57c8b057db2e4a76541e92880506cedd. * Revert "remove" This reverts commit 21f7cfaaee5452e53ee719762078cb153b3cc766. * Revert "driverview" This reverts commit 222d129711e6aa34c0468294b94f60ebbd1bb126. * semi revert --- selfdrive/modeld/models/dmonitoring.cc | 1 - selfdrive/modeld/models/dmonitoring.h | 1 - selfdrive/monitoring/driver_monitor.py | 21 +++++++++++---------- 3 files changed, 11 insertions(+), 12 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index 8c7e14edb2..e7e6d46612 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -20,7 +20,6 @@ static inline T *get_buffer(std::vector &buf, const size_t size) { } void dmonitoring_init(DMonitoringModelState* s) { - s->is_rhd = Params().getBool("IsRHD"); #ifdef USE_ONNX_MODEL s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h index 874722cd93..ae2bf05394 100644 --- a/selfdrive/modeld/models/dmonitoring.h +++ b/selfdrive/modeld/models/dmonitoring.h @@ -38,7 +38,6 @@ typedef struct DMonitoringModelResult { typedef struct DMonitoringModelState { RunModel *m; - bool is_rhd; float output[OUTPUT_SIZE]; std::vector net_input_buf; float calib[CALIB_LEN]; diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index f2d0524422..48d4303aa5 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -120,7 +120,7 @@ class DriverStatus(): self.settings = settings # init driver status - # self.wheelpos_learner = RunningStatFilter() + self.wheelpos_learner = RunningStatFilter() self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose_calibrated = False self.blink = DriverBlink() @@ -137,7 +137,8 @@ class DriverStatus(): self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) - self.wheel_on_right = rhd + self.wheel_on_right = False + self.rhd_toggled = rhd self.face_detected = False self.terminal_alert_cnt = 0 self.terminal_time = 0 @@ -225,14 +226,14 @@ class DriverStatus(): self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): - # rhd_pred = driver_state.wheelOnRightProb - # if car_speed > 0.01: - # self.wheelpos_learner.push_and_update(rhd_pred) - # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: - # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD - # else: - # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD - driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData + rhd_pred = driver_state.wheelOnRightProb + if car_speed > 0.01: + self.wheelpos_learner.push_and_update(rhd_pred) + if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: + self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD + else: + self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD + driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, driver_data.faceOrientationStd, driver_data.facePositionStd, driver_data.readyProb, driver_data.notReadyProb)): From fb949779ae151d9597cd70b5435f87edbffb1f53 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 Jun 2022 15:13:09 -0700 Subject: [PATCH 152/226] Chrysler: fill cruiseState.available (#24907) * Update some signals to unified names and definitions Co-authored-by: Jonathan * steering looks good * Fix cp signals * Do steering signal changes separately * bump opendbc to master * fix fix * check available is true if enabled is true * fix * already added * bump opendbc, better cruise status names * bump opendbc * bump opendbc to master * bump panda Co-authored-by: Jonathan --- opendbc | 2 +- panda | 2 +- selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++--------------- 3 files changed, 18 insertions(+), 17 deletions(-) diff --git a/opendbc b/opendbc index 5e2a820268..e7cd3ebc89 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4 +Subproject commit e7cd3ebc893047bf6eb947c60d8e3196b506e8d3 diff --git a/panda b/panda index e1b2f1253c..4bc85ad40a 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e1b2f1253cb7f05f39d4afa21500565bb8b955d2 +Subproject commit 4bc85ad40ad032672008eb75567892ba45e0b932 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index e3ee4753cc..f71a300263 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -18,10 +18,10 @@ class CarState(CarStateBase): self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) - ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"], - cp.vl["DOORS"]["DOOR_OPEN_FR"], - cp.vl["DOORS"]["DOOR_OPEN_RL"], - cp.vl["DOORS"]["DOOR_OPEN_RR"]]) + ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], + cp.vl["BCM_1"]["DOOR_OPEN_FR"], + cp.vl["BCM_1"]["DOOR_OPEN_RL"], + cp.vl["BCM_1"]["DOOR_OPEN_RR"]]) ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal @@ -51,12 +51,12 @@ class CarState(CarStateBase): ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) - ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green. - ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled + ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white + ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green 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.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0 + ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] @@ -82,10 +82,10 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address ("PRNDL", "GEAR"), - ("DOOR_OPEN_FL", "DOORS"), - ("DOOR_OPEN_FR", "DOORS"), - ("DOOR_OPEN_RL", "DOORS"), - ("DOOR_OPEN_RR", "DOORS"), + ("DOOR_OPEN_FL", "BCM_1"), + ("DOOR_OPEN_FR", "BCM_1"), + ("DOOR_OPEN_RL", "BCM_1"), + ("DOOR_OPEN_RR", "BCM_1"), ("Brake_Pedal_State", "ESP_1"), ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), @@ -97,8 +97,9 @@ class CarState(CarStateBase): ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), - ("ACC_STATUS_2", "ACC_2"), - ("ACC_FAULTED", "ACC_2"), + ("ACC_AVAILABLE", "DAS_3"), + ("ACC_ACTIVE", "DAS_3"), + ("ACC_FAULTED", "DAS_3"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), ("CRUISE_STATE", "DASHBOARD"), @@ -118,14 +119,14 @@ class CarState(CarStateBase): ("SPEED_1", 100), ("WHEEL_SPEEDS", 50), ("STEERING", 100), - ("ACC_2", 50), + ("DAS_3", 50), ("GEAR", 50), ("ECM_5", 50), ("WHEEL_BUTTONS", 50), ("DASHBOARD", 15), ("STEERING_LEVERS", 10), ("SEATBELT_STATUS", 2), - ("DOORS", 1), + ("BCM_1", 1), ("TRACTION_BUTTON", 1), ] From 569a39ff768ff1704bbf478719253b365070c98f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 22 Jun 2022 15:38:38 -0700 Subject: [PATCH 153/226] CANParser: invalid until valid (#24945) * CANParser: invalid until valid * bump opendbc * bump opendbc * fix counter in sim --- opendbc | 2 +- tools/sim/lib/can.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index e7cd3ebc89..82be71072c 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e7cd3ebc893047bf6eb947c60d8e3196b506e8d3 +Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11 diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index 2b1048fef2..939d081a80 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -63,7 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged): msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx)) msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx)) msg.append(packer.make_can_msg("HUD_SETTING", 0, {})) - msg.append(packer.make_can_msg("CAR_SPEED", 0, {})) + msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx)) # *** cam bus *** msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx)) From 2deaf69789fee9a048256a832ffddbda95242815 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 22 Jun 2022 15:58:06 -0700 Subject: [PATCH 154/226] Refactor torque stuff (#24921) * Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update --- .pre-commit-config.yaml | 2 +- docs/CARS.md | 70 ++++++++-------- release/files_common | 4 +- selfdrive/car/interfaces.py | 26 +++++- selfdrive/car/tests/test_car_interfaces.py | 1 + selfdrive/car/torque_data.json | 1 - selfdrive/car/torque_data/override.yaml | 29 +++++++ selfdrive/car/torque_data/params.yaml | 96 ++++++++++++++++++++++ selfdrive/car/torque_data/substitute.yaml | 75 +++++++++++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 10 files changed, 263 insertions(+), 43 deletions(-) delete mode 100644 selfdrive/car/torque_data.json create mode 100644 selfdrive/car/torque_data/override.yaml create mode 100644 selfdrive/car/torque_data/params.yaml create mode 100644 selfdrive/car/torque_data/substitute.yaml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 81ce927f65..b901e07721 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -20,7 +20,7 @@ repos: hooks: - id: mypy exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/' - additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi'] + additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi'] args: - --warn-redundant-casts - --warn-return-any diff --git a/docs/CARS.md b/docs/CARS.md index de7dbacf28..fb163b44e0 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -35,7 +35,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** -# Gold - 33 cars +# Gold - 31 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -55,8 +55,6 @@ How We Rate The Cars |Lexus|NX Hybrid 2020|All|||||| |Lexus|RX 2020-22|All|||||| |Lexus|UX Hybrid 2019-21|All|||||| -|Toyota|Alphard 2019-20|All|||||| -|Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Avalon 2022|All|||||| |Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| @@ -73,13 +71,12 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 76 cars +# Silver - 67 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| |Audi|A3 2014-19|ACC + Lane Assist|||||| |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| -|Audi|Q2 2018|ACC + Lane Assist|||||| |Audi|RS3 2018|ACC + Lane Assist|||||| |Audi|S3 2015-17|ACC + Lane Assist|||||| |Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| @@ -113,22 +110,18 @@ How We Rate The Cars |Lexus|NX 2018-19|All|[3](#footnotes)||||| |Lexus|NX Hybrid 2018-19|All|[3](#footnotes)||||| |Lexus|RX Hybrid 2020-21|All|||||| -|Mazda|CX-5 2022|All|||||| +|Nissan|Altima 2019-20|ProPILOT|||||| +|Nissan|Leaf 2018-22|ProPILOT|||||| +|Nissan|Rogue 2018-20|ProPILOT|||||| +|Nissan|X-Trail 2017|ProPILOT|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| |Subaru|Ascent 2019-20|All|||||| |Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Forester 2019-21|All|||||| |Subaru|Impreza 2020-21|EyeSight|||||| -|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|||||| -|Škoda|Karoq 2019|Driver Assistance|||||| -|Škoda|Kodiaq 2018-19|Driver Assistance|||||| -|Škoda|Octavia 2015, 2018-19|Driver Assistance|||||| -|Škoda|Octavia RS 2016|Driver Assistance|||||| -|Škoda|Scala 2020|Driver Assistance|||||| -|Škoda|Superb 2015-18|Driver Assistance|||||| -|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| +|Toyota|Alphard 2019-20|All|||||| +|Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| |Toyota|Highlander 2017-19|All|[3](#footnotes)||||| @@ -138,7 +131,6 @@ How We Rate The Cars |Toyota|RAV4 2022|All|||||| |Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 Hybrid 2022|All|||||| -|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| |Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| |Volkswagen|Golf 2015-20|Driver Assistance|||||| @@ -148,23 +140,21 @@ How We Rate The Cars |Volkswagen|Golf R 2016-19|Driver Assistance|||||| |Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| |Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| +|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| |Volkswagen|Polo 2020|Driver Assistance|||||| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 67 cars +# Bronze - 78 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|||||| |Acura|RDX 2016-18|AcuraWatch Plus|||||| |Acura|RDX 2019-21|All|||||| +|Audi|Q2 2018|ACC + Lane Assist|||||| |Audi|Q3 2020-21|ACC + Lane Assist|||||| -|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| +|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica 2020|Adaptive Cruise|||||| +|Chrysler|Pacifica 2020|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| @@ -189,14 +179,14 @@ How We Rate The Cars |Honda|Passport 2019-21|All|||||| |Honda|Pilot 2016-21|Honda Sensing|||||| |Honda|Ridgeline 2017-22|Honda Sensing|||||| -|Hyundai|Elantra 2017-19|SCC + LKAS|||||| +|Hyundai|Elantra 2017-19|SCC + LKAS|||||| |Hyundai|Genesis 2015-16|SCC + LKAS|||||| |Hyundai|Ioniq Electric 2019|SCC + LKAS|||||| |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| |Hyundai|Sonata 2018-19|SCC + LKAS|||||| |Hyundai|Tucson 2021|SCC + LKAS|||||| -|Hyundai|Veloster 2019-20|SCC + LKAS|||||| +|Hyundai|Veloster 2019-20|SCC + LKAS|||||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| @@ -205,26 +195,36 @@ How We Rate The Cars |Lexus|RC 2020|All|||||| |Lexus|RX 2016-18|All|[3](#footnotes)||||| |Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| -|Mazda|CX-9 2021|All|||||| -|Nissan|Altima 2019-20|ProPILOT|||||| -|Nissan|Leaf 2018-22|ProPILOT|||||| -|Nissan|Rogue 2018-20|ProPILOT|||||| -|Nissan|X-Trail 2017|ProPILOT|||||| -|Subaru|Crosstrek 2018-19|EyeSight|||||| -|Subaru|Impreza 2017-19|EyeSight|||||| +|Mazda|CX-5 2022|All|||||| +|Mazda|CX-9 2021|All|||||| +|Subaru|Crosstrek 2018-19|EyeSight|||||| +|Subaru|Impreza 2017-19|EyeSight|||||| +|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|||||| +|Škoda|Karoq 2019|Driver Assistance|||||| +|Škoda|Kodiaq 2018-19|Driver Assistance|||||| +|Škoda|Octavia 2015, 2018-19|Driver Assistance|||||| +|Škoda|Octavia RS 2016|Driver Assistance|||||| +|Škoda|Scala 2020|Driver Assistance|||||| +|Škoda|Superb 2015-18|Driver Assistance|||||| |Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| +|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| |Toyota|C-HR 2017-21|All|||||| |Toyota|C-HR Hybrid 2017-19|All|||||| |Toyota|Corolla 2017-19|All|[3](#footnotes)||||| |Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| +|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| |Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Jetta 2018-21|Driver Assistance|||||| |Volkswagen|Jetta GLI 2021|Driver Assistance|||||| -|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| +|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Touran 2017|Driver Assistance|||||| diff --git a/release/files_common b/release/files_common index 96649b9f16..0ace73623f 100644 --- a/release/files_common +++ b/release/files_common @@ -105,7 +105,9 @@ selfdrive/car/ecu_addrs.py selfdrive/car/isotp_parallel_query.py selfdrive/car/tests/__init__.py selfdrive/car/tests/test_car_interfaces.py -selfdrive/car/torque_data.json +selfdrive/car/torque_data/params.yaml +selfdrive/car/torque_data/substitute.yaml +selfdrive/car/torque_data/override.yaml selfdrive/car/body/*.py selfdrive/car/chrysler/*.py diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 9220aee522..c6a64fe919 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,4 +1,4 @@ -import json +import yaml import os import time from abc import abstractmethod, ABC @@ -20,7 +20,9 @@ EventName = car.CarEvent.EventName MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 -TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json') +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') +TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') +TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') # generic car and radar interfaces @@ -109,9 +111,25 @@ class CarInterfaceBase(ABC): @staticmethod def get_torque_params(candidate, default=float('NaN')): + with open(TORQUE_SUBSTITUTE_PATH) as f: + sub = yaml.load(f, Loader=yaml.FullLoader) + if candidate in sub: + candidate = sub[candidate] + with open(TORQUE_PARAMS_PATH) as f: - data = json.load(f) - return {key: data[key].get(candidate, default) for key in data} + params = yaml.load(f, Loader=yaml.FullLoader) + with open(TORQUE_OVERRIDE_PATH) as f: + params_override = yaml.load(f, Loader=yaml.FullLoader) + + assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0 + + if candidate in params_override: + out = params_override[candidate] + elif candidate in params: + out = params[candidate] + else: + raise NotImplementedError(f"Did not find torque params for {candidate}") + return {key:out[i] for i, key in enumerate(params['legend'])} @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 15df1aafef..412874c813 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -33,6 +33,7 @@ class TestCarInterfaces(unittest.TestCase): assert car_interface self.assertGreater(car_params.mass, 1) + self.assertGreater(car_params.maxLateralAccel, 0) if car_params.steerControlType != car.CarParams.SteerControlType.angle: tuning = car_params.lateralTuning.which() diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json deleted file mode 100644 index 4917cba9bc..0000000000 --- a/selfdrive/car/torque_data.json +++ /dev/null @@ -1 +0,0 @@ -{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA 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0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml new file mode 100644 index 0000000000..fb086fd13f --- /dev/null +++ b/selfdrive/car/torque_data/override.yaml @@ -0,0 +1,29 @@ +legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] +### angle control +# Nissan appears to have torque +NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] +NISSAN ALTIMA 2020: [.nan, 1.5, .nan] +NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] +NISSAN LEAF 2018: [.nan, 1.5, .nan] +NISSAN ROGUE 2019: [.nan, 1.5, .nan] + +# Tesla has high torque +TESLA AP1 MODEL S: [.nan, 2.5, .nan] +TESLA AP2 MODEL S: [.nan, 2.5, .nan] + +# Guess +FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] +FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] +### + +# No steering wheel +COMMA BODY: [.nan, 1000, .nan] + +# Totally new car +KIA EV6 2022: [3.0, 2.5, 0.05] + +# Dashcam or fallback configured as ideal car +mock: [10.0, 10, 0.0] + +# Manually checked +HONDA CIVIC 2022: [2.5, 1.2, 0.15] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml new file mode 100644 index 0000000000..160f605488 --- /dev/null +++ b/selfdrive/car/torque_data/params.yaml @@ -0,0 +1,96 @@ +ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028] +ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022] +CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085] +CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627] +CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823] +CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716] +GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644] +HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] +HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] +HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284] +HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171] +HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] +HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] +HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] +HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884] +HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] +HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] +HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] +HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728] +HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] +JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] +KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] +KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554] +LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212] +LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838] +LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017] +LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] +LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659] +LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] +LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] +MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062] +TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] +TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] +TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] +TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317] +TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526] +TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] +TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] +TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] +TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993] +TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724] +TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664] +TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368] +TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918] +TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198] +TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632] +TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137] +TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774] +TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653] +TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] +TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198] +VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712] +VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] +legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml new file mode 100644 index 0000000000..d368b2c672 --- /dev/null +++ b/selfdrive/car/torque_data/substitute.yaml @@ -0,0 +1,75 @@ +MAZDA 3: MAZDA CX-9 2021 +MAZDA 6: MAZDA CX-9 2021 +MAZDA CX-5: MAZDA CX-9 2021 +MAZDA CX-5 2022: MAZDA CX-9 2021 +MAZDA CX-9: MAZDA CX-9 2021 + +TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018 +TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 +TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 +TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022 +TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018 +LEXUS IS 2018: LEXUS NX 2018 +LEXUS CT HYBRID 2018 : LEXUS NX 2018 +LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 +LEXUS NX HYBRID 2020: LEXUS NX 2020 +LEXUS RC 2020: LEXUS NX 2020 +TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 +TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 + +KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020 +KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 +KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 +KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 +KIA SELTOS 2021: HYUNDAI SONATA 2020 +KIA NIRO HYBRID 2019: KIA NIRO EV 2020 +KIA NIRO HYBRID 2021: KIA NIRO EV 2020 +HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 +HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 +HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 +HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 +HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 +HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 +HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 +HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020 +HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 +HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 +GENESIS G90 2017: GENESIS G70 2018 +GENESIS G80 2017: GENESIS G70 2018 +GENESIS G70 2020: HYUNDAI SONATA 2020 + +HONDA FREED 2020: HONDA ODYSSEY 2018 +HONDA CR-V EU 2016: HONDA CR-V 2016 +HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 +HONDA E 2020: HONDA CIVIC (BOSCH) 2019 +HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 + +BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 +CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 +CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 +CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 +HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 + +SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN +SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN +SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN +SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN +SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN +VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN +AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN +VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN +SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN +SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN + +# Old subarus don't have much data guessing it's like low torque impreza +SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019 +SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019 +SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019 +SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019 +SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 05d016911b..662f8cc5b8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2d736ca51acc1ac06216631b0529b50d9a6d2170 \ No newline at end of file +41161c8d151b0c2017214cad0aad3156533ab868 From d8bfe2f0052390b8864910b00e43f61c0eeb9ff7 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 22 Jun 2022 19:20:07 -0700 Subject: [PATCH 155/226] Cleanup car interfaces (#24948) * remove interface overrides * Fix test * set torque tune for ev6 --- selfdrive/car/hyundai/interface.py | 6 +----- selfdrive/car/interfaces.py | 10 ++++++---- selfdrive/car/toyota/interface.py | 7 ------- 3 files changed, 7 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 2739ebd8cc..7cfce55100 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA) set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 @@ -245,10 +244,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] tire_stiffness_factor = 0.65 - - ret.maxLateralAccel = 2. - # TODO override until there is more data - set_torque_tune(ret.lateralTuning, 2.0, 0.05) + set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index c6a64fe919..ced2ce8e61 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -119,12 +119,14 @@ class CarInterfaceBase(ABC): with open(TORQUE_PARAMS_PATH) as f: params = yaml.load(f, Loader=yaml.FullLoader) with open(TORQUE_OVERRIDE_PATH) as f: - params_override = yaml.load(f, Loader=yaml.FullLoader) + override = yaml.load(f, Loader=yaml.FullLoader) - assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0 + # Ensure no overlap + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') - if candidate in params_override: - out = params_override[candidate] + if candidate in override: + out = override[candidate] elif candidate in params: out = params[candidate] else: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d0f4789775..75f2ab3033 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -54,9 +54,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG - # TODO override until there is enough data - ret.maxLateralAccel = 1.8 - torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS) set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) elif candidate in (CAR.RAV4, CAR.RAV4H): @@ -132,10 +129,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - # TODO: remove once there's data - if candidate == CAR.RAV4_TSS2_2022: - ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED'] - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: From 221086857aac770f5d22273119e6175eeb06c729 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 23 Jun 2022 13:58:01 -0700 Subject: [PATCH 156/226] EV6: adjust steering thresholds (#24901) * EV6: adjust steering thresholds * Is there any friction * bump panda * no friction Co-authored-by: Harald Schafer --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 8 +++++--- selfdrive/car/hyundai/values.py | 26 ++++++++++++++----------- selfdrive/car/torque_data/override.yaml | 4 ++-- 4 files changed, 23 insertions(+), 17 deletions(-) diff --git a/panda b/panda index 4bc85ad40a..2652453892 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4bc85ad40ad032672008eb75567892ba45e0b932 +Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 9d864faac4..6c82c33856 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -5,7 +5,7 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons +from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 4 @@ -32,6 +32,8 @@ class CarState(CarStateBase): self.park_brake = False self.buttons_counter = 0 + self.params = CarControllerParams(CP) + def update(self, cp, cp_cam): if self.CP.carFingerprint in HDA2_CAR: return self.update_hda2(cp, cp_cam) @@ -61,7 +63,7 @@ class CarState(CarStateBase): 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] - ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 # cruise state @@ -157,7 +159,7 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] - ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cf47501588..219e1619c0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -13,21 +13,27 @@ class CarControllerParams: ACCEL_MAX = 2.0 # m/s def __init__(self, CP): + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 7 + self.STEER_DRIVER_ALLOWANCE = 50 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_DRIVER_FACTOR = 1 + self.STEER_THRESHOLD = 150 + + if CP.carFingerprint in HDA2_CAR: + self.STEER_MAX = 270 + self.STEER_DRIVER_ALLOWANCE = 250 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_THRESHOLD = 250 + # 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 HDA2_CAR: - self.STEER_MAX = 150 elif 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.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, - CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): + CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, + CAR.KIA_OPTIMA_H, 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 - self.STEER_DRIVER_MULTIPLIER = 2 - self.STEER_DRIVER_FACTOR = 1 class CAR: @@ -1268,5 +1274,3 @@ DBC = { CAR.KIA_EV6: dbc_dict('kia_ev6', None), CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), } - -STEER_THRESHOLD = 150 diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index fb086fd13f..a2200926c0 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -1,7 +1,7 @@ legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] ### angle control # Nissan appears to have torque -NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] +NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] NISSAN ALTIMA 2020: [.nan, 1.5, .nan] NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] @@ -20,7 +20,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new car -KIA EV6 2022: [3.0, 2.5, 0.05] +KIA EV6 2022: [3.0, 2.5, 0.0] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From 1dffd48a2bab07512af71cfa73e572d602977340 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 23 Jun 2022 15:07:34 -0700 Subject: [PATCH 157/226] count_events improvements --- selfdrive/debug/count_events.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index c3870e0f9e..93dd5bdc47 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -1,8 +1,11 @@ #!/usr/bin/env python3 import sys +import math +import datetime from collections import Counter from pprint import pprint from tqdm import tqdm +from typing import cast from cereal.services import service_list from tools.lib.route import Route @@ -17,6 +20,8 @@ if __name__ == "__main__": cams = [s for s in service_list if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) + start_time = math.inf + end_time = -math.inf for q in tqdm(r.qlog_paths()): if q is None: continue @@ -31,6 +36,10 @@ if __name__ == "__main__": if not msg.valid: cnt_valid[msg.which()] += 1 + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) + + duration = (end_time - start_time) / 1e9 print("Events") pprint(cnt_events) @@ -42,4 +51,9 @@ if __name__ == "__main__": print("\n") print("Cameras") for k, v in cnt_cameras.items(): - print(" ", k.ljust(20), v) + s = service_list[k] + expected_frames = int(s.frequency * duration / cast(float, s.decimation)) + print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected") + + print("\n") + print("Route duration", datetime.timedelta(seconds=duration)) From 3b495fcb0b004fd00d12bf059473d9d0b7f7c0b9 Mon Sep 17 00:00:00 2001 From: Ayushman Kumar <41910134+ayushmankumar7@users.noreply.github.com> Date: Fri, 24 Jun 2022 14:32:48 +0530 Subject: [PATCH 158/226] Navd added to README (#24953) (#24954) * Navd added to README * Update README.md Co-authored-by: Willem Melching --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index c426b839d5..34b17625f9 100755 --- a/README.md +++ b/README.md @@ -121,6 +121,7 @@ Directory Structure ├── modeld # Driving and monitoring model runners ├── proclogd # Logs information from proc ├── sensord # IMU interface code + ├── navd # Turn-by-turn navigation ├── test # Unit tests, system tests, and a car simulator └── ui # The UI From 5cd8bef921c886e17ea6afc9fcdad44be72a998c Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Fri, 24 Jun 2022 12:37:30 +0200 Subject: [PATCH 159/226] use correct tty device for serial --- tools/serial/connect.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/serial/connect.sh b/tools/serial/connect.sh index 037152019f..a073310b0a 100755 --- a/tools/serial/connect.sh +++ b/tools/serial/connect.sh @@ -1,8 +1,8 @@ #!/bin/bash while true; do - if ls /dev/ttyUSB* 2> /dev/null; then - sudo screen /dev/ttyUSB* 115200 + if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then + sudo screen /dev/serial/by-id/usb-FTDI_FT230X* 115200 fi sleep 0.005 done From b854e67e91105da7301936aab8fd55f94dd46fbb Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 24 Jun 2022 17:56:33 +0200 Subject: [PATCH 160/226] Laikad: minor refactor (#24956) extract code to get_est_pos func --- selfdrive/locationd/laikad.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index f1997bceb0..ba665b7530 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -62,6 +62,16 @@ class Laikad: cls=CacheSerializer)) self.last_cached_t = t + def get_est_pos(self, t, processed_measurements): + if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 + pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) + if len(pos_fix) > 0: + self.last_pos_fix = pos_fix[:3] + self.last_pos_residual = pos_fix_residual + self.last_pos_fix_t = t + return self.last_pos_fix + def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': t = ublox_mono_time * 1e-9 @@ -73,17 +83,11 @@ class Laikad: new_meas = read_raw_ublox(report) processed_measurements = process_measurements(new_meas, self.astro_dog) - if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: - min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 - pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) - if len(pos_fix) > 0: - self.last_pos_fix = pos_fix[:3] - self.last_pos_residual = pos_fix_residual - self.last_pos_fix_t = t + est_pos = self.get_est_pos(t, processed_measurements) - corrected_measurements = correct_measurements(processed_measurements, self.last_pos_fix, self.astro_dog) if self.last_pos_fix_t is not None else [] + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else [] - self.update_localizer(self.last_pos_fix, t, corrected_measurements) + self.update_localizer(est_pos, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() @@ -116,7 +120,7 @@ class Laikad: valid = self.kf_valid(t) if not all(valid): if not valid[0]: - cloudlog.info("Init gnss kalman filter") + cloudlog.info("Kalman filter uninitialized") elif not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: @@ -133,7 +137,7 @@ class Laikad: # Ensure gnss filter is updated even with no new measurements self.gnss_kf.predict(t) - def kf_valid(self, t: float): + def kf_valid(self, t: float) -> List[bool]: filter_time = self.gnss_kf.filter.filter_time return [filter_time is not None, filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, From e26db5dc91e2dd6348cb1dd79ce1549b74f39309 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 24 Jun 2022 15:32:01 -0400 Subject: [PATCH 161/226] VW MQB: Add FW for 2016 Volkswagen Passat (#24957) * VW MQB: Add FW for 2016 Passat B8 Passat B8 TDi 2.0 240HP DSG 7 Europe * mechanical sort Co-authored-by: Pierre Christen --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 9b6f6a16c3..0148a138a2 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -438,6 +438,7 @@ FW_VERSIONS = { }, CAR.PASSAT_MK8: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', b'\xf1\x8704L906026ET\xf1\x891990', b'\xf1\x8704L906026GA\xf1\x892013', @@ -450,17 +451,20 @@ FW_VERSIONS = { b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', + b'\xf1\x870DL300011H \xf1\x895201', b'\xf1\x870GC300042H \xf1\x891404', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', + b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', From 062a8bcdbd78826cbb035c1dabc6ebd18a9367dd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 24 Jun 2022 13:01:49 -0700 Subject: [PATCH 162/226] cleanup torque tuning config (#24951) --- selfdrive/car/hyundai/interface.py | 12 ++--- selfdrive/car/interfaces.py | 59 +++++++++++++-------- selfdrive/car/toyota/interface.py | 8 ++- selfdrive/car/toyota/tunes.py | 6 +-- selfdrive/controls/lib/latcontrol_torque.py | 10 ---- 5 files changed, 45 insertions(+), 50 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7cfce55100..58a67f58ce 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -7,7 +7,6 @@ from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu -from selfdrive.controls.lib.latcontrol_torque import set_torque_tune ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase): ret.stopAccel = 0.0 ret.longitudinalActuatorDelayUpperBound = 1.0 # s - torque_params = CarInterfaceBase.get_torque_params(candidate) 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 @@ -66,7 +64,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SONATA_LF: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG @@ -96,13 +94,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA_HEV_2021: ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG @@ -204,7 +202,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG @@ -244,7 +242,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index ced2ce8e61..e0b38d9e20 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -20,11 +20,36 @@ EventName = car.CarEvent.EventName MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 + TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') +def get_torque_params(candidate, default=float('NaN')): + with open(TORQUE_SUBSTITUTE_PATH) as f: + sub = yaml.load(f, Loader=yaml.FullLoader) + if candidate in sub: + candidate = sub[candidate] + + with open(TORQUE_PARAMS_PATH) as f: + params = yaml.load(f, Loader=yaml.FullLoader) + with open(TORQUE_OVERRIDE_PATH) as f: + override = yaml.load(f, Loader=yaml.FullLoader) + + # Ensure no overlap + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') + + if candidate in override: + out = override[candidate] + elif candidate in params: + out = params[candidate] + else: + raise NotImplementedError(f"Did not find torque params for {candidate}") + return {key:out[i] for i, key in enumerate(params['legend'])} + + # generic car and radar interfaces class CarInterfaceBase(ABC): @@ -85,7 +110,7 @@ class CarInterfaceBase(ABC): ret.steerControlType = car.CarParams.SteerControlType.torque ret.minSteerSpeed = 0. ret.wheelSpeedFactor = 1.0 - ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] + ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this @@ -110,28 +135,16 @@ class CarInterfaceBase(ABC): return ret @staticmethod - def get_torque_params(candidate, default=float('NaN')): - with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.FullLoader) - if candidate in sub: - candidate = sub[candidate] - - with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.FullLoader) - with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.FullLoader) - - # Ensure no overlap - if sum([candidate in x for x in [sub, params, override]]) > 1: - raise RuntimeError(f'{candidate} is defined twice in torque config') - - if candidate in override: - out = override[candidate] - elif candidate in params: - out = params[candidate] - else: - raise NotImplementedError(f"Did not find torque params for {candidate}") - return {key:out[i] for i, key in enumerate(params['legend'])} + def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0): + params = get_torque_params(candidate) + + tune.init('torque') + tune.torque.useSteeringAngle = True + tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR'] + tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR'] + tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR'] + tune.torque.friction = params['FRICTION'] + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 75f2ab3033..fdb923f693 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,6 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.controls.lib.latcontrol_torque import set_torque_tune from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config @@ -32,9 +31,8 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False - torque_params = CarInterfaceBase.get_torque_params(candidate) steering_angle_deadzone_deg = 0.0 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True @@ -46,7 +44,7 @@ class CarInterface(CarInterfaceBase): for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': steering_angle_deadzone_deg = 1.0 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -54,7 +52,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index 3de6daae21..a8b8758d89 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 from enum import Enum -from selfdrive.controls.lib.latcontrol_torque import set_torque_tune class LongTunes(Enum): PEDAL = 0 @@ -24,7 +23,6 @@ class LatTunes(Enum): PID_L = 13 PID_M = 14 PID_N = 15 - TORQUE = 16 ###### LONG ###### @@ -51,9 +49,7 @@ def set_long_tune(tune, name): ###### LAT ###### def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - if name == LatTunes.TORQUE: - set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg) - elif 'PID' in str(name): + if 'PID' in str(name): tune.init('pid') tune.pid.kiBP = [0.0] tune.pid.kpBP = [0.0] diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f72ffc4b88..014c3480b8 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -22,16 +22,6 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY FRICTION_THRESHOLD = 0.2 -def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0): - tune.init('torque') - tune.torque.useSteeringAngle = True - tune.torque.kp = 1.0 / MAX_LAT_ACCEL - tune.torque.kf = 1.0 / MAX_LAT_ACCEL - tune.torque.ki = 0.1 / MAX_LAT_ACCEL - tune.torque.friction = FRICTION - tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg - - class LatControlTorque(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) From 6721f0ef57fd5bda5045e80edac815adcfdef380 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 24 Jun 2022 14:29:46 -0700 Subject: [PATCH 163/226] fix carla test fake driverState (#24959) use driverstatev2 --- tools/sim/bridge.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index faf67c3ef5..17dc2c7a62 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -198,12 +198,12 @@ def gps_callback(gps, vehicle_state): def fake_driver_monitoring(exit_event: threading.Event): - pm = messaging.PubMaster(['driverState', 'driverMonitoringState']) + pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState']) while not exit_event.is_set(): # dmonitoringmodeld output - dat = messaging.new_message('driverState') - dat.driverState.faceProb = 1.0 - pm.send('driverState', dat) + dat = messaging.new_message('driverStateV2') + dat.driverStateV2.leftDriverData.faceProb = 1.0 + pm.send('driverStateV2', dat) # dmonitoringd output dat = messaging.new_message('driverMonitoringState') From 10fb2b9456b9d0d065b411ac64fd97831ee2fa8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Jun 2022 15:16:46 -0700 Subject: [PATCH 164/226] Speed up YAML parsing with CSafeLoader (#24958) Use CSafeLoader --- selfdrive/car/interfaces.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e0b38d9e20..136337c5a4 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -26,16 +26,16 @@ TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') -def get_torque_params(candidate, default=float('NaN')): +def get_torque_params(candidate): with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.FullLoader) + sub = yaml.load(f, Loader=yaml.CSafeLoader) if candidate in sub: candidate = sub[candidate] with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.FullLoader) + params = yaml.load(f, Loader=yaml.CSafeLoader) with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.FullLoader) + override = yaml.load(f, Loader=yaml.CSafeLoader) # Ensure no overlap if sum([candidate in x for x in [sub, params, override]]) > 1: @@ -47,7 +47,7 @@ def get_torque_params(candidate, default=float('NaN')): out = params[candidate] else: raise NotImplementedError(f"Did not find torque params for {candidate}") - return {key:out[i] for i, key in enumerate(params['legend'])} + return {key: out[i] for i, key in enumerate(params['legend'])} # generic car and radar interfaces From 379dc24ecad7f1bdc9c11fbb2416cc2d68b3a297 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Jun 2022 16:49:56 -0700 Subject: [PATCH 165/226] can replay: get logs in parallel (#24960) * get can replay segs in parallel * total not needed --- tools/replay/can_replay.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index b212abc431..0b8b4fe0a1 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -2,6 +2,7 @@ import os import time import threading +import multiprocessing from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' @@ -9,7 +10,7 @@ os.environ['FILEREADER_CACHE'] = '1' from common.basedir import BASEDIR from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from selfdrive.boardd.boardd import can_capnp_to_can_list -from tools.lib.logreader import LogReader +from tools.plotjuggler.juggle import load_segment from panda import Panda try: @@ -94,11 +95,10 @@ if __name__ == "__main__": ROUTE = "77611a1fac303767/2020-03-24--09-50-38" REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available CAN_MSGS = [] - for i in tqdm(REPLAY_SEGS): - log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" - lr = LogReader(log_url) - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] - + logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] + with multiprocessing.Pool(24) as pool: + for lr in tqdm(pool.map(load_segment, logs)): + CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) From 72edc309327e8f6a1630e06d27cb21d16ba1e3ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 25 Jun 2022 03:07:29 -0700 Subject: [PATCH 166/226] Hyundai: remove bad esp fingerprint (#24952) Remove unknown "esp" fp --- selfdrive/car/hyundai/values.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 219e1619c0..645d2f523b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1146,9 +1146,6 @@ FW_VERSIONS = { b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', ], - (Ecu.esp, 0x7b0, None): [ - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', From 461f747247add7d4c50344042997427cdb2a90fa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 27 Jun 2022 17:18:56 +0800 Subject: [PATCH 167/226] logger.cc: remove unused function append_property (#24966) remove append_property --- selfdrive/loggerd/logger.cc | 9 --------- 1 file changed, 9 deletions(-) diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc index 5aed47e291..8038f1926c 100644 --- a/selfdrive/loggerd/logger.cc +++ b/selfdrive/loggerd/logger.cc @@ -19,15 +19,6 @@ #include "common/swaglog.h" #include "common/version.h" -// ***** logging helpers ***** - -void append_property(const char* key, const char* value, void *cookie) { - std::vector > *properties = - (std::vector > *)cookie; - - properties->push_back(std::make_pair(std::string(key), std::string(value))); -} - // ***** log metadata ***** kj::Array logger_build_init_data() { MessageBuilder msg; From 748bbac3444cc30e6dafc2f0bda60b46f3fc8d5a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 27 Jun 2022 17:19:46 +0800 Subject: [PATCH 168/226] loggerd: remove rotate_lock (#24969) remove lock --- selfdrive/loggerd/loggerd.cc | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index 4086f4991e..a75ab2c92b 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -6,7 +6,6 @@ ExitHandler do_exit; struct LoggerdState { LoggerState logger = {}; char segment_path[4096]; - std::mutex rotate_lock; std::atomic rotate_segment; std::atomic last_camera_seen_tms; std::atomic ready_to_rotate; // count of encoders ready to rotate @@ -15,15 +14,12 @@ struct LoggerdState { }; void logger_rotate(LoggerdState *s) { - { - std::unique_lock lk(s->rotate_lock); - int segment = -1; - int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment); - assert(err == 0); - s->rotate_segment = segment; - s->ready_to_rotate = 0; - s->last_rotate_tms = millis_since_boot(); - } + int segment = -1; + int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment); + assert(err == 0); + s->rotate_segment = segment; + s->ready_to_rotate = 0; + s->last_rotate_tms = millis_since_boot(); LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path); } From 0aa9ae21d4068d1e8099ff4256d86a204ec31c1c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 27 Jun 2022 17:20:13 +0800 Subject: [PATCH 169/226] FfmpegEncoder: free codec_ctx in encoder_close (#24967) free context --- selfdrive/loggerd/encoder/ffmpeg_encoder.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc index 22587819a4..5f8d140e8b 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc +++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc @@ -68,7 +68,9 @@ void FfmpegEncoder::encoder_open(const char* path) { void FfmpegEncoder::encoder_close() { if (!is_open) return; + writer_close(); + avcodec_free_context(&codec_ctx); is_open = false; } From 684d4b75a1c2f349da1e00dae9a40c39e3bb3607 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 27 Jun 2022 15:33:46 +0200 Subject: [PATCH 170/226] Log SOM power draw (#24975) * log SOM power draw * bump cereal Co-authored-by: Comma Device Co-authored-by: Willem Melching --- cereal | 2 +- selfdrive/thermald/thermald.py | 13 +++++++------ system/hardware/base.py | 4 ++++ system/hardware/pc/hardware.py | 3 +++ system/hardware/tici/hardware.py | 3 +++ 5 files changed, 18 insertions(+), 7 deletions(-) diff --git a/cereal b/cereal index c6acc0698a..3fef4f7861 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3 +Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1 diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 6cf5c428a8..f20c649b4e 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -348,12 +348,13 @@ def thermald_thread(end_event, hw_queue): power_monitor.calculate(peripheralState, onroad_conditions["ignition"]) msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used() msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity()) - current_power_draw = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none - if current_power_draw is not None: - statlog.sample("power_draw", current_power_draw) - msg.deviceState.powerDrawW = current_power_draw - else: - msg.deviceState.powerDrawW = 0 + current_power_draw = HARDWARE.get_current_power_draw() + statlog.sample("power_draw", current_power_draw) + msg.deviceState.powerDrawW = current_power_draw + + som_power_draw = HARDWARE.get_som_power_draw() + statlog.sample("som_power_draw", som_power_draw) + msg.deviceState.somPowerDrawW = som_power_draw # Check if we need to disable charging (handled by boardd) msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts) diff --git a/system/hardware/base.py b/system/hardware/base.py index 8684386f62..b052a48c5b 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -86,6 +86,10 @@ class HardwareBase(ABC): def get_current_power_draw(self): pass + @abstractmethod + def get_som_power_draw(self): + pass + @abstractmethod def shutdown(self): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index b2c4a4343b..60d14e4a6b 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -55,6 +55,9 @@ class Pc(HardwareBase): def get_current_power_draw(self): return 0 + + def get_som_power_draw(self): + return 0 def shutdown(self): print("SHUTDOWN!") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index a69d3eb743..66cb98c606 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -362,6 +362,9 @@ class Tici(HardwareBase): def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) + def get_som_power_draw(self): + return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12) + def shutdown(self): # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT! os.system("sudo poweroff") From de0c12e5af0e550c194510a19253dd9100b1a9f7 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 15:34:36 +0200 Subject: [PATCH 171/226] calibrationd: start faster by not waiting for carParams (#24976) * calibrationd: start faster by not waiting for carParams * fix process replay * update ref --- selfdrive/locationd/calibrationd.py | 10 ++++++---- selfdrive/test/process_replay/process_replay.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index e092c939ae..81bcc6ce1c 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -12,7 +12,7 @@ import capnp import numpy as np from typing import List, NoReturn, Optional -from cereal import car, log +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV from common.params import Params, put_nonblocking @@ -62,7 +62,7 @@ class Calibrator: def __init__(self, param_put: bool = False): self.param_put = param_put - self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) + self.not_car = False # Read saved calibration params = Params() @@ -192,7 +192,7 @@ class Calibrator: liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() - if self.CP.notCar: + if self.not_car: extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height) liveCalibration.validBlocks = INPUTS_NEEDED liveCalibration.calStatus = Calibration.CALIBRATED @@ -212,7 +212,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m set_realtime_priority(1) if sm is None: - sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry']) + sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) if pm is None: pm = messaging.PubMaster(['liveCalibration']) @@ -223,6 +223,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m timeout = 0 if sm.frame == -1 else 100 sm.update(timeout) + calibrator.not_car = sm['carParams'].notCar + if sm.updated['cameraOdometry']: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 62c5eb4826..228f07c4c2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -282,7 +282,8 @@ CONFIGS = [ proc_name="calibrationd", pub_sub={ "carState": ["liveCalibration"], - "cameraOdometry": [] + "cameraOdometry": [], + "carParams": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 662f8cc5b8..292c41b978 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -41161c8d151b0c2017214cad0aad3156533ab868 +b55de9fdb2416e63ab554c95233a78219d8d3db9 \ No newline at end of file From 240c44e50c4dd44c2237f4f37d716fd898160917 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 27 Jun 2022 06:36:27 -0700 Subject: [PATCH 172/226] snapshot: fix rgb overflow (#24963) clamp rgb --- system/camerad/snapshot/snapshot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 9a81937eec..946c220a77 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -39,7 +39,7 @@ def yuv_to_rgb(y, u, v): [0.00000, -0.39465, 2.03211], [1.13983, -0.58060, 0.00000], ]) - rgb = np.dot(yuv, m) + rgb = np.dot(yuv, m).clip(0, 255) return rgb.astype(np.uint8) From 915b4928ff044302bba0e8bdf15f154646f528e6 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 16:03:26 +0200 Subject: [PATCH 173/226] ui: use current calibration to center vanishing point (#24955) * compute x and y offsets using calibration * fix default calibration * clamp to max values * only use when valid * not while calibrating * less diff * cleanup zoom --- selfdrive/ui/qt/onroad.cc | 21 +++++----- selfdrive/ui/qt/onroad.h | 2 +- selfdrive/ui/qt/widgets/cameraview.cc | 55 +++++++++++++++++---------- selfdrive/ui/qt/widgets/cameraview.h | 12 +++++- selfdrive/ui/ui.cc | 1 + selfdrive/ui/ui.h | 8 ++-- 6 files changed, 62 insertions(+), 37 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 2759416236..ecd6d61471 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -208,6 +208,12 @@ void NvgWindow::updateState(const UIState &s) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); } + + if (s.scene.calibration_valid) { + CameraViewWidget::updateCalibration(s.scene.view_from_calib); + } else { + CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION); + } } void NvgWindow::drawHud(QPainter &p) { @@ -399,23 +405,20 @@ void NvgWindow::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void NvgWindow::updateFrameMat(int w, int h) { - CameraViewWidget::updateFrameMat(w, h); - +void NvgWindow::updateFrameMat() { + CameraViewWidget::updateFrameMat(); UIState *s = uiState(); + int w = width(), h = height(); + s->fb_w = w; s->fb_h = h; - auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - float zoom = ZOOM / intrinsic_matrix.v[0]; - if (s->wide_camera) { - zoom *= 0.5; - } + // Apply transformation such that video pixel coordinates match video // 1) Put (0, 0) in the middle of the video // 2) Apply same scaling as video // 3) Put (0, 0) in top left corner of video s->car_space_transform.reset(); - s->car_space_transform.translate(w / 2, h / 2 + y_offset) + s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset) .scale(zoom, zoom) .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 4cd88fc9e3..dc1e69da2a 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -70,7 +70,7 @@ protected: void paintGL() override; void initializeGL() override; void showEvent(QShowEvent *event) override; - void updateFrameMat(int w, int h) override; + void updateFrameMat() override; void drawLaneLines(QPainter &painter, const UIState *s); void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd); void drawHud(QPainter &p); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8666eb1d4e..a80672f2c3 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -6,6 +6,8 @@ #include #endif +#include + #include #include @@ -59,13 +61,6 @@ const char frame_fragment_shader[] = "}\n"; #endif -const mat4 device_transform = {{ - 1.0, 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, -}}; - mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { const float driver_view_ratio = 2.0; const float yscale = stream_height * driver_view_ratio / stream_width; @@ -185,35 +180,55 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { } } -void CameraViewWidget::updateFrameMat(int w, int h) { +void CameraViewWidget::updateFrameMat() { + int w = width(), h = height(); + if (zoomed_view) { if (stream_type == VISION_STREAM_DRIVER) { - frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height)); + frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } else { - auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - float zoom = ZOOM / intrinsic_matrix.v[0]; - if (stream_type == VISION_STREAM_WIDE_ROAD) { - zoom *= 0.5; - } + intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; + zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1; + + // Project point at "infinity" to compute x and y offsets + // to ensure this ends up in the middle of the screen + // TODO: use proper perspective transform? + const vec3 inf = {{1000., 0., 0.}}; + const vec3 Ep = matvecmul3(calibration, inf); + const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); + + float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom; + float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom; + + float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5; + float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5; + + x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset); + y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset); + float zx = zoom * 2 * intrinsic_matrix.v[2] / width(); float zy = zoom * 2 * intrinsic_matrix.v[5] / height(); - const mat4 frame_transform = {{ - zx, 0.0, 0.0, 0.0, - 0.0, zy, 0.0, -y_offset / height() * 2, + zx, 0.0, 0.0, -x_offset / width() * 2, + 0.0, zy, 0.0, y_offset / height() * 2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; - frame_mat = matmul(device_transform, frame_transform); + frame_mat = frame_transform; } } else if (stream_width > 0 && stream_height > 0) { // fit frame to widget size float widget_aspect_ratio = (float)width() / height(); float frame_aspect_ratio = (float)stream_width / stream_height; - frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio)); + frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio); } } +void CameraViewWidget::updateCalibration(const mat3 &calib) { + calibration = calib; + updateFrameMat(); +} + void CameraViewWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); @@ -311,7 +326,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { assert(glGetError() == GL_NO_ERROR); #endif - updateFrameMat(width(), height()); + updateFrameMat(); } void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 42e9043602..cc11ec2c27 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -42,11 +42,12 @@ signals: protected: void paintGL() override; void initializeGL() override; - void resizeGL(int w, int h) override { updateFrameMat(w, h); } + void resizeGL(int w, int h) override { updateFrameMat(); } void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } - virtual void updateFrameMat(int w, int h); + virtual void updateFrameMat(); + void updateCalibration(const mat3 &calib); void vipcThread(); bool zoomed_view; @@ -68,6 +69,13 @@ protected: std::atomic stream_type; QThread *vipc_thread = nullptr; + // Calibration + float x_offset = 0; + float y_offset = 0; + float zoom = 1.0; + mat3 calibration = DEFAULT_CALIBRATION; + mat3 intrinsic_matrix = fcam_intrinsic_matrix; + std::deque> frames; uint32_t draw_frame_id = 0; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4d1e1ab746..c8fc645cf2 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -140,6 +140,7 @@ static void update_state(UIState *s) { scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); } } + scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; } if (s->worldObjectsVisible()) { if (sm.updated("modelV2")) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index cbf3921e4e..7364b81a40 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -22,10 +22,7 @@ const int footer_h = 280; const int UI_FREQ = 20; // Hz typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; -// TODO: this is also hardcoded in common/transformations/camera.py -// TODO: choose based on frame input size -const float y_offset = 150.0; -const float ZOOM = 2912.8; +const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; struct Alert { QString text1; @@ -93,7 +90,8 @@ typedef struct { } line_vertices_data; typedef struct UIScene { - mat3 view_from_calib; + bool calibration_valid = false; + mat3 view_from_calib = DEFAULT_CALIBRATION; cereal::PandaState::PandaType pandaType; // modelV2 From b95e68778271cccf558452686e022ae57f25a701 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 21:31:54 +0200 Subject: [PATCH 174/226] split locationd and liblocationd tests (#24977) * laikad: use cython version of gnss kf * fix import error * test liblocationd separate * Revert "laikad: use cython version of gnss kf" This reverts commit bdd769b9554e7e45e976dabd6595403943e864bb. --- .github/workflows/selfdrive_tests.yaml | 3 +- .../locationd/test/_test_locationd_lib.py | 106 ++++++++++++++++++ selfdrive/locationd/test/test_locationd.py | 94 ---------------- 3 files changed, 108 insertions(+), 95 deletions(-) create mode 100755 selfdrive/locationd/test/_test_locationd_lib.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fedeaa734b..52dd012baa 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -299,6 +299,7 @@ jobs: $UNIT_TEST selfdrive/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + selfdrive/locationd/test/_test_locationd_lib.py && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST selfdrive/hardware/tici && \ @@ -364,7 +365,7 @@ jobs: CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - + model_replay_onnx: name: model replay onnx runs-on: ubuntu-20.04 diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py new file mode 100755 index 0000000000..8a0ed3ef05 --- /dev/null +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +"""This test can't be run together with other locationd tests. +cffi.dlopen breaks the list of registered filters.""" +import os +import random +import unittest + +from cffi import FFI + +import cereal.messaging as messaging +from cereal import log + +SENSOR_DECIMATION = 1 +VISION_DECIMATION = 1 + +LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) + + +class TestLocationdLib(unittest.TestCase): + def setUp(self): + header = '''typedef ...* Localizer_t; +Localizer_t localizer_init(); +void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); +void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' + + self.ffi = FFI() + self.ffi.cdef(header) + self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) + + self.localizer = self.lib.localizer_init() + + self.buff_size = 2048 + self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') + + def localizer_handle_msg(self, msg_builder): + bytstr = msg_builder.to_bytes() + self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) + + def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): + self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) + return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) + + def test_liblocalizer(self): + msg = messaging.new_message('liveCalibration') + msg.liveCalibration.validBlocks = random.randint(1, 10) + msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] + + self.localizer_handle_msg(msg) + 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 + msg.sensorEvents[0].timestamp = msg.logMonoTime + msg.sensorEvents[0].type = 1 + msg.sensorEvents[0].init('acceleration') + msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertTrue(ret.liveLocationKalman.deviceStable) + + msg = messaging.new_message('sensorEvents', 1) + msg.sensorEvents[0].sensor = 1 + msg.sensorEvents[0].timestamp = msg.logMonoTime + msg.sensorEvents[0].type = 1 + msg.sensorEvents[0].init('acceleration') + msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertFalse(ret.liveLocationKalman.deviceStable) + + def test_posenet_spike(self): + for _ in range(SENSOR_DECIMATION): + msg = messaging.new_message('carState') + msg.carState.vEgo = 6.0 # more than 5 m/s + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertTrue(ret.liveLocationKalman.posenetOK) + + for _ in range(20 * VISION_DECIMATION): # size of hist_old + msg = messaging.new_message('cameraOdometry') + msg.cameraOdometry.rot = [0.0, 0.0, 0.0] + msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] + msg.cameraOdometry.trans = [0.0, 0.0, 0.0] + msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] + self.localizer_handle_msg(msg) + + for _ in range(20 * VISION_DECIMATION): # size of hist_new + msg = messaging.new_message('cameraOdometry') + msg.cameraOdometry.rot = [0.0, 0.0, 0.0] + msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] + msg.cameraOdometry.trans = [0.0, 0.0, 0.0] + msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertFalse(ret.liveLocationKalman.posenetOK) + +if __name__ == "__main__": + unittest.main() + diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 7f5d752100..29036b8387 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -1,110 +1,16 @@ #!/usr/bin/env python3 -import os import json import random import unittest import time import capnp -from cffi import FFI -from cereal import log import cereal.messaging as messaging from cereal.services import service_list from common.params import Params from selfdrive.manager.process_config import managed_processes -SENSOR_DECIMATION = 1 -VISION_DECIMATION = 1 - -LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) - - -class TestLocationdLib(unittest.TestCase): - def setUp(self): - header = '''typedef ...* Localizer_t; -Localizer_t localizer_init(); -void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); -void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' - - self.ffi = FFI() - self.ffi.cdef(header) - self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) - - self.localizer = self.lib.localizer_init() - - self.buff_size = 2048 - self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') - - def localizer_handle_msg(self, msg_builder): - bytstr = msg_builder.to_bytes() - self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) - - def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): - self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) - return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) - - def test_liblocalizer(self): - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = random.randint(1, 10) - msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] - - self.localizer_handle_msg(msg) - 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 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.deviceStable) - - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.deviceStable) - - def test_posenet_spike(self): - for _ in range(SENSOR_DECIMATION): - msg = messaging.new_message('carState') - msg.carState.vEgo = 6.0 # more than 5 m/s - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.posenetOK) - - for _ in range(20 * VISION_DECIMATION): # size of hist_old - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] - self.localizer_handle_msg(msg) - - for _ in range(20 * VISION_DECIMATION): # size of hist_new - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.posenetOK) - class TestLocationdProc(unittest.TestCase): MAX_WAITS = 1000 From aaca31b73eb109a053e94b2153eb3068a0976c95 Mon Sep 17 00:00:00 2001 From: "Shafiqur R. Khan" <37314609+shfqrkhn@users.noreply.github.com> Date: Mon, 27 Jun 2022 14:10:57 -0600 Subject: [PATCH 175/226] 2022 RAV4 XLE engine FW (#24973) Update values.py Added ecu.engine address for 2022 RAV4 XLE (ICE) bought in Edmonton, Canada --- 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 32f66b6fa0..76f84302ce 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1296,6 +1296,7 @@ FW_VERSIONS = { b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896634AA0000\x00\x00\x00\x00', b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', ], From b3226d505b9260ec8565acfda7138601a76039a6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 27 Jun 2022 15:25:47 -0700 Subject: [PATCH 176/226] Torque control: higher low speed gains and better steering angle deadzone logic (#24980) * Try no friction and no deadzone * Learn fromd ata * update refs --- selfdrive/controls/lib/latcontrol_torque.py | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 014c3480b8..46caa41a90 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -56,15 +56,15 @@ class LatControlTorque(LatControl): lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0]) + low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone) + error = setpoint - measurement pid_log.error = error ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY # convert friction into lateral accel units for feedforward - friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) + friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(error, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 292c41b978..1402284b96 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b55de9fdb2416e63ab554c95233a78219d8d3db9 \ No newline at end of file +a16ca1082cd493f6cea5252eaaba9f8c6574334a From 3a2bcc092c74925edb161959cdcc66073a9cd8f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 01:08:11 -0700 Subject: [PATCH 177/226] onroad UI: fix onroad double tap (#24982) * The default implementation calls mousePressEvent(). * no sidebar when entering body * wrong one * you can't double tap with body anyway (fixes inconsistencies with prime vs not prime) * hide sidebar --- selfdrive/ui/qt/home.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index e522d6160d..aec9bffbc0 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -85,6 +85,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) { } void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { + HomeWindow::mousePressEvent(e); const SubMaster &sm = *(uiState()->sm); if (sm["carParams"].getCarParams().getNotCar()) { if (onroad->isVisible()) { @@ -92,6 +93,7 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { } else if (body->isVisible()) { slayout->setCurrentWidget(onroad); } + showSidebar(false); } } From d693285b02a0f005ce1d29793c8672ab2fe24a24 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 01:09:52 -0700 Subject: [PATCH 178/226] Power Monitoring test: fix exceptions (#24981) * fix missing POWER_DRAW * think should be 0 --- selfdrive/thermald/tests/test_power_monitoring.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index c0524add69..efe607155a 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -119,7 +119,8 @@ class TestPowerMonitoring(unittest.TestCase): @parameterized.expand(ALL_PANDA_TYPES) def test_max_time_offroad(self, hw_type): MOCKED_MAX_OFFROAD_TIME = 3600 - with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None): + POWER_DRAW = 0 # To stop shutting down for other reasons + with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh start_time = ssb From fdc22554b8c2a2e4b9e0df91beddf469d735b399 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 28 Jun 2022 11:32:51 +0200 Subject: [PATCH 179/226] Update rednose: use EKF_sym_pyx (#24978) * Update rednose * Update rednose * cleanup --- rednose_repo | 2 +- selfdrive/locationd/models/car_kf.py | 4 ++-- selfdrive/locationd/models/gnss_kf.py | 16 +++++++++++----- 3 files changed, 14 insertions(+), 8 deletions(-) diff --git a/rednose_repo b/rednose_repo index 7663289f1e..3a6f937ad1 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586 +Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085 diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index fe7d2e650b..3faf4f8d4e 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -15,7 +15,7 @@ if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym # pylint: disable=no-name-in-module, import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module, import-error i = 0 @@ -171,7 +171,7 @@ class CarKalman(KalmanFilter): 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) + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) if __name__ == "__main__": diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index ce0ff84dc2..5c9cb4b3d1 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -3,12 +3,17 @@ import sys from typing import List import numpy as np -import sympy as sp -from rednose.helpers.ekf_sym import EKF_sym, gen_code from selfdrive.locationd.models.constants import ObservationKind from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +if __name__ == '__main__': # Generating sympy + import sympy as sp + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module,import-error + from rednose.helpers.ekf_sym import EKF_sym # pylint: disable=no-name-in-module,import-error + class States(): ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters @@ -115,12 +120,13 @@ class GNSSKalman(): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - def __init__(self, generated_dir): + def __init__(self, generated_dir, cython=False): self.dim_state = self.x_initial.shape[0] # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, - self.dim_state, maha_test_kinds=self.maha_test_kinds) + filter_cls = EKF_sym_pyx if cython else EKF_sym + self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, + self.dim_state, maha_test_kinds=self.maha_test_kinds) self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial) @property From 4cf63f4758c937a169962f325517b442f6c9492f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 11:59:15 +0200 Subject: [PATCH 180/226] bump rednose --- rednose_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rednose_repo b/rednose_repo index 3a6f937ad1..a79a87300a 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085 +Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20 From 3823f55476b56fd3db0afe686b1d2f3d508817bc Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 13:43:15 +0200 Subject: [PATCH 181/226] add laikad to process replay (#24889) * merge * Fix closing process executor after fetching orbits * cleanup * Add ref commit and revert test_processes hack * Fix * Fix ref * Fix test * Temp * Temp * Trying * Trying * Cleanup and change test * add ref commit * remove print * fix test getting stuck * cleanup fetch_orbits Co-authored-by: Gijs Koning --- selfdrive/locationd/laikad.py | 50 ++++++++++++------- selfdrive/locationd/test/test_laikad.py | 27 ++++++++-- selfdrive/test/process_replay/README.md | 3 +- .../test/process_replay/process_replay.py | 18 +++++++ selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/profiling/profiler.py | 3 ++ 6 files changed, 81 insertions(+), 22 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ba665b7530..60028b637a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import json +import os import time from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor @@ -32,8 +33,10 @@ class Laikad: save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR) - self.orbit_fetch_executor = ProcessPoolExecutor() + + self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None + self.last_fetch_orbits_t = None self.last_cached_t = None self.save_ephemeris = save_ephemeris @@ -44,9 +47,13 @@ class Laikad: self.last_pos_fix_t = None def load_cache(self): + if not self.save_ephemeris: + return + cache = Params().get(EPHEMERIS_CACHE) if not cache: return + try: cache = json.loads(cache, object_hook=deserialize_hook) self.astro_dog.add_orbits(cache['orbits']) @@ -71,7 +78,7 @@ class Laikad: self.last_pos_residual = pos_fix_residual self.last_pos_fix_t = t return self.last_pos_fix - + def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': t = ublox_mono_time * 1e-9 @@ -152,17 +159,22 @@ class Laikad: def fetch_orbits(self, t: GPSTime, block): if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types - if self.orbit_fetch_future is None: + + ret = None + + if block: + ret = get_orbit_data(t, *astro_dog_vars) + elif self.orbit_fetch_future is None: + self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1) self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) - if block: - self.orbit_fetch_future.result() - if self.orbit_fetch_future.done(): - ret = self.orbit_fetch_future.result() + elif self.orbit_fetch_future.done(): self.last_fetch_orbits_t = t - if ret: - self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret - self.cache_ephemeris(t=t) - self.orbit_fetch_future = None + ret = self.orbit_fetch_future.result() + self.orbit_fetch_executor = self.orbit_fetch_future = None + + if ret is not None: + self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret + self.cache_ephemeris(t=t) def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): @@ -174,7 +186,7 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): astro_dog.get_orbit_data(t, only_predictions=True) data = (astro_dog.orbits, astro_dog.orbit_fetched_times) except RuntimeError as e: - cloudlog.info(f"No orbit data found. {e}") + cloudlog.warning(f"No orbit data found. {e}") cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") return data @@ -255,17 +267,21 @@ class EphemerisSourceType(IntEnum): glonassIacUltraRapid = 2 -def main(): - sm = messaging.SubMaster(['ubloxGnss']) - pm = messaging.PubMaster(['gnssMeasurements']) +def main(sm=None, pm=None): + if sm is None: + sm = messaging.SubMaster(['ubloxGnss']) + if pm is None: + pm = messaging.PubMaster(['gnssMeasurements']) + + replay = "REPLAY" in os.environ # todo get last_known_position - laikad = Laikad(save_ephemeris=True) + laikad = Laikad(save_ephemeris=not replay) while True: sm.update() if sm.updated['ubloxGnss']: ublox_msg = sm['ubloxGnss'] - msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) + msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay) if msg is not None: pm.send('gnssMeasurements', msg) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 3a72303b0c..c353da9624 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -7,6 +7,7 @@ from unittest import mock from unittest.mock import Mock, patch from common.params import Params +from laika.constants import SECS_IN_DAY from laika.ephemeris import EphemerisType, GPSEphemeris from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder @@ -62,6 +63,26 @@ class TestLaikad(unittest.TestCase): def setUp(self): Params().delete(EPHEMERIS_CACHE) + def test_fetch_orbits_non_blocking(self): + gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) + laikad = Laikad() + laikad.fetch_orbits(gpstime, block=False) + laikad.orbit_fetch_future.result(5) + # Get results and save orbits to laikad: + laikad.fetch_orbits(gpstime, block=False) + + ephem = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + + laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False) + laikad.orbit_fetch_future.result(5) + # Get results and save orbits to laikad: + laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False) + + ephem2 = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + self.assertNotEqual(ephem, ephem2) + def test_ephemeris_source_in_msg(self): data_mock = defaultdict(str) data_mock['sv_id'] = 1 @@ -155,7 +176,7 @@ class TestLaikad(unittest.TestCase): while Params().get(EPHEMERIS_CACHE) is None: time.sleep(0.1) max_time -= 0.1 - if max_time == 0: + if max_time < 0: self.fail("Cache has not been written after 2 seconds") # Test cache with no ephemeris @@ -170,7 +191,7 @@ class TestLaikad(unittest.TestCase): wait_for_cache() # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True) # Verify orbits and nav are loaded from cache self.dict_has_values(laikad.astro_dog.orbits) self.dict_has_values(laikad.astro_dog.nav) @@ -185,7 +206,7 @@ class TestLaikad(unittest.TestCase): mock_method.assert_not_called() # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) msg = verify_messages(self.logs, laikad, return_one_success=True) self.assertIsNotNone(msg) # Verify orbit data is not downloaded diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 9fa4ca644a..531ddb3a02 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated. Use `test_processes.py` to run the test locally. -Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. +Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. Currently the following processes are tested: @@ -15,6 +15,7 @@ Currently the following processes are tested: * calibrationd * dmonitoringd * locationd +* laikad * paramsd * ubloxd diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 228f07c4c2..def61a10a1 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -236,6 +236,13 @@ def ublox_rcv_callback(msg): return [] +def laika_rcv_callback(msg, CP, cfg, fsm): + if msg.ubloxGnss.which() == "measurementReport": + return ["gnssMeasurements"], True + else: + return [], False + + CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -338,6 +345,17 @@ CONFIGS = [ tolerance=None, fake_pubsubmaster=False, ), + ProcessConfig( + proc_name="laikad", + pub_sub={ + "ubloxGnss": ["gnssMeasurements"], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=laika_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + ), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1402284b96..3e02830bf4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a16ca1082cd493f6cea5252eaaba9f8c6574334a +2ee969b34585f8055bb3eabab2dcc4061cc4bef9 \ No newline at end of file diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 5f73176fab..91226fc577 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'): msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1")) os.environ['FINGERPRINT'] = fingerprint + os.environ['REPLAY'] = "1" def run(sm, pm, can_sock): try: @@ -81,12 +82,14 @@ if __name__ == '__main__': from selfdrive.controls.radard import radard_thread from selfdrive.locationd.paramsd import main as paramsd_thread from selfdrive.controls.plannerd import main as plannerd_thread + from selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, 'controlsd': controlsd_thread, 'paramsd': paramsd_thread, 'plannerd': plannerd_thread, + 'laikad': laikad_thread, } proc = sys.argv[1] From 005bc44df692acb3389924d362f5b761987c7c9d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 14:29:41 +0200 Subject: [PATCH 182/226] laikad: use cython filter (#24983) use cython filter --- selfdrive/locationd/laikad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 60028b637a..5098b25d38 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -32,7 +32,7 @@ class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) - self.gnss_kf = GNSSKalman(GENERATED_DIR) + self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None @@ -145,7 +145,7 @@ class Laikad: self.gnss_kf.predict(t) def kf_valid(self, t: float) -> List[bool]: - filter_time = self.gnss_kf.filter.filter_time + filter_time = self.gnss_kf.filter.get_filter_time() return [filter_time is not None, filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] From 338df150d5112d4c6772edb797cb45370fdc3599 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 15:48:57 +0200 Subject: [PATCH 183/226] ui: disable sync with model until more stable (#24984) --- selfdrive/ui/qt/widgets/cameraview.cc | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index a80672f2c3..0bc90b5307 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -235,10 +235,21 @@ void CameraViewWidget::paintGL() { if (frames.empty()) return; - int frame_idx; - for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - if (frames[frame_idx].first == draw_frame_id) break; + int frame_idx = frames.size() - 1; + + // Always draw latest frame until sync logic is more stable + // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { + // if (frames[frame_idx].first == draw_frame_id) break; + // } + + // Log duplicate/dropped frames + static int prev_id = 0; + if (frames[frame_idx].first == prev_id) { + qInfo() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_id + 1) { + qInfo() << "Skipped frame" << frames[frame_idx].first; } + prev_id = frames[frame_idx].first; glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); From fd5b3d76036b78864111790931a3abcb1d11ee0f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Jun 2022 22:12:42 +0800 Subject: [PATCH 184/226] move replay from selfdrive/ui/replay to tools/replay (#24971) * mv to tools/replay * change folder * add .gitignore * fix build doc * disable warning * enable warning after build * build qt/util.cc qt/api.cc to library * cleanup --- .github/workflows/selfdrive_tests.yaml | 2 +- SConstruct | 2 ++ docs/c_docs.rst | 2 +- release/files_common | 4 ++-- selfdrive/loggerd/tests/test_logger.cc | 2 +- selfdrive/ui/SConscript | 20 +++++-------------- tools/CTF.md | 2 +- tools/replay/.gitignore | 5 +++++ tools/replay/README.md | 14 ++++++------- tools/replay/SConscript | 19 ++++++++++++++++++ {selfdrive/ui => tools}/replay/camera.cc | 4 ++-- {selfdrive/ui => tools}/replay/camera.h | 4 ++-- {selfdrive/ui => tools}/replay/consoleui.cc | 2 +- {selfdrive/ui => tools}/replay/consoleui.h | 2 +- {selfdrive/ui => tools}/replay/filereader.cc | 4 ++-- {selfdrive/ui => tools}/replay/filereader.h | 0 {selfdrive/ui => tools}/replay/framereader.cc | 4 ++-- {selfdrive/ui => tools}/replay/framereader.h | 2 +- {selfdrive/ui => tools}/replay/logreader.cc | 4 ++-- {selfdrive/ui => tools}/replay/logreader.h | 2 +- {selfdrive/ui => tools}/replay/main.cc | 4 ++-- {selfdrive/ui => tools}/replay/replay.cc | 4 ++-- {selfdrive/ui => tools}/replay/replay.h | 4 ++-- {selfdrive/ui => tools}/replay/route.cc | 6 +++--- {selfdrive/ui => tools}/replay/route.h | 6 +++--- .../ui => tools}/replay/tests/test_replay.cc | 4 ++-- .../ui => tools}/replay/tests/test_runner.cc | 0 {selfdrive/ui => tools}/replay/util.cc | 2 +- {selfdrive/ui => tools}/replay/util.h | 0 29 files changed, 73 insertions(+), 57 deletions(-) create mode 100644 tools/replay/.gitignore create mode 100644 tools/replay/SConscript rename {selfdrive/ui => tools}/replay/camera.cc (96%) rename {selfdrive/ui => tools}/replay/camera.h (92%) rename {selfdrive/ui => tools}/replay/consoleui.cc (99%) rename {selfdrive/ui => tools}/replay/consoleui.h (96%) rename {selfdrive/ui => tools}/replay/filereader.cc (94%) rename {selfdrive/ui => tools}/replay/filereader.h (100%) rename {selfdrive/ui => tools}/replay/framereader.cc (98%) rename {selfdrive/ui => tools}/replay/framereader.h (97%) rename {selfdrive/ui => tools}/replay/logreader.cc (97%) rename {selfdrive/ui => tools}/replay/logreader.h (97%) rename {selfdrive/ui => tools}/replay/main.cc (96%) rename {selfdrive/ui => tools}/replay/replay.cc (99%) rename {selfdrive/ui => tools}/replay/replay.h (97%) rename {selfdrive/ui => tools}/replay/route.cc (97%) rename {selfdrive/ui => tools}/replay/route.h (92%) rename {selfdrive/ui => tools}/replay/tests/test_replay.cc (98%) rename {selfdrive/ui => tools}/replay/tests/test_runner.cc (100%) rename {selfdrive/ui => tools}/replay/util.cc (99%) rename {selfdrive/ui => tools}/replay/util.h (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 52dd012baa..a40aa31341 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -310,7 +310,7 @@ jobs: ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ - ./selfdrive/ui/replay/tests/test_replay && \ + ./tools/replay/tests/test_replay && \ ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" diff --git a/SConstruct b/SConstruct index b243a4dc45..425ce3d761 100644 --- a/SConstruct +++ b/SConstruct @@ -411,6 +411,8 @@ SConscript(['selfdrive/locationd/SConscript']) SConscript(['selfdrive/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) +SConscript(['tools/replay/SConscript']) + if GetOption('test'): SConscript('panda/tests/safety/SConscript') diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 4e1e8a247a..5638b40bf0 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -54,7 +54,7 @@ soundd replay """""" .. autodoxygenindex:: - :project: selfdrive_ui_replay + :project: tools_replay qt "" diff --git a/release/files_common b/release/files_common index 0ace73623f..7e8dbd37a6 100644 --- a/release/files_common +++ b/release/files_common @@ -296,8 +296,8 @@ selfdrive/ui/qt/offroad/*.qml selfdrive/ui/qt/widgets/*.cc selfdrive/ui/qt/widgets/*.h -selfdrive/ui/replay/*.cc -selfdrive/ui/replay/*.h +tools/replay/*.cc +tools/replay/*.h selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc index 11a50fa2e7..c8f6620924 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/selfdrive/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" #include "selfdrive/loggerd/logger.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 28fcc5f56f..970f715f54 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -18,10 +18,11 @@ if arch == "Darwin": del base_libs[base_libs.index('OpenCL')] qt_env['FRAMEWORKS'] += ['OpenCL'] -widgets_src = ["ui.cc", "qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", +qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) +widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", - "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc", + "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"] qt_env['CPPDEFINES'] = [] @@ -31,7 +32,7 @@ if maps: qt_env['CPPDEFINES'] += ["ENABLE_MAPS"] widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) -qt_libs = [widgets] + base_libs +qt_libs = [widgets, qt_util] + base_libs # build assets assets = "#selfdrive/assets/assets.cc" @@ -107,17 +108,6 @@ if GetOption('extras'): # keep installers small assert f[0].get_size() < 300*1e3 - -# build headless replay +# build watch3 if arch in ['x86_64', 'Darwin'] or GetOption('extras'): - qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] - - replay_lib_src = ["replay/replay.cc", "replay/consoleui.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"] - - replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs) - replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs - qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs) 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/tools/CTF.md b/tools/CTF.md index 396e7575a4..a14a41d55d 100644 --- a/tools/CTF.md +++ b/tools/CTF.md @@ -12,7 +12,7 @@ Welcome to the first part of the comma CTF! getting started ```bash # start the route reply -cd selfdrive/ui/replay +cd tools/replay ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam # start the UI in another terminal diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore new file mode 100644 index 0000000000..83f0e99a8b --- /dev/null +++ b/tools/replay/.gitignore @@ -0,0 +1,5 @@ +moc_* +*.moc + +replay +tests/test_replay diff --git a/tools/replay/README.md b/tools/replay/README.md index 759a448d73..b705fb60db 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -9,12 +9,12 @@ python lib/auth.py # Start a replay -selfdrive/ui/replay/replay +tools/replay/replay # Example: -# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' # or use --demo to replay the default demo route: -# selfdrive/ui/replay/replay --demo +# tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui @@ -25,8 +25,8 @@ python replay/ui.py ## usage ``` bash -$ selfdrive/ui/replay/replay -h -Usage: selfdrive/ui/replay/replay [options] route +$ tools/replay/replay -h +Usage: tools/replay/replay [options] route Mock openpilot components by publishing logged messages. Options: @@ -51,7 +51,7 @@ simply replay a route using the `--dcam` and `--ecam` flags: ```bash # start a replay -cd selfdrive/ui/replay && ./replay --demo --dcam --ecam +cd tools/replay && ./replay --demo --dcam --ecam # then start watch3 cd selfdrive/ui && ./watch3 @@ -70,5 +70,5 @@ In order to replay specific route: MOCK=1 selfdrive/boardd/tests/boardd_old.py # In another terminal: -selfdrive/ui/replay/replay +tools/replay/replay ``` diff --git a/tools/replay/SConscript b/tools/replay/SConscript new file mode 100644 index 0000000000..4a85f46d61 --- /dev/null +++ b/tools/replay/SConscript @@ -0,0 +1,19 @@ +import os +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', + 'cereal', 'transformations') + +base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', + 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + +qt_libs = ['qt_util'] + base_libs +if arch in ['x86_64', 'Darwin'] or GetOption('extras'): + qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + + replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] + + replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs) + replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs + qt_env.Program("replay", ["main.cc"], LIBS=replay_libs) + + if GetOption('test'): + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) diff --git a/selfdrive/ui/replay/camera.cc b/tools/replay/camera.cc similarity index 96% rename from selfdrive/ui/replay/camera.cc rename to tools/replay/camera.cc index 2e8b68a415..87afe63a2a 100644 --- a/selfdrive/ui/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,5 +1,5 @@ -#include "selfdrive/ui/replay/camera.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/camera.h" +#include "tools/replay/util.h" #include diff --git a/selfdrive/ui/replay/camera.h b/tools/replay/camera.h similarity index 92% rename from selfdrive/ui/replay/camera.h rename to tools/replay/camera.h index 7f078511cf..66d33142fb 100644 --- a/selfdrive/ui/replay/camera.h +++ b/tools/replay/camera.h @@ -3,8 +3,8 @@ #include #include "cereal/visionipc/visionipc_server.h" #include "common/queue.h" -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/logreader.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" class CameraServer { public: diff --git a/selfdrive/ui/replay/consoleui.cc b/tools/replay/consoleui.cc similarity index 99% rename from selfdrive/ui/replay/consoleui.cc rename to tools/replay/consoleui.cc index 05eb09c9ed..e4a3146a69 100644 --- a/selfdrive/ui/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/consoleui.h" +#include "tools/replay/consoleui.h" #include #include diff --git a/selfdrive/ui/replay/consoleui.h b/tools/replay/consoleui.h similarity index 96% rename from selfdrive/ui/replay/consoleui.h rename to tools/replay/consoleui.h index bce1146d46..20e07524dd 100644 --- a/selfdrive/ui/replay/consoleui.h +++ b/tools/replay/consoleui.h @@ -7,7 +7,7 @@ #include #include -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/replay.h" #include class ConsoleUI : public QObject { diff --git a/selfdrive/ui/replay/filereader.cc b/tools/replay/filereader.cc similarity index 94% rename from selfdrive/ui/replay/filereader.cc rename to tools/replay/filereader.cc index 5f862bec35..88879067c9 100644 --- a/selfdrive/ui/replay/filereader.cc +++ b/tools/replay/filereader.cc @@ -1,9 +1,9 @@ -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" #include #include "common/util.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" std::string cacheFilePath(const std::string &url) { static std::string cache_path = [] { diff --git a/selfdrive/ui/replay/filereader.h b/tools/replay/filereader.h similarity index 100% rename from selfdrive/ui/replay/filereader.h rename to tools/replay/filereader.h diff --git a/selfdrive/ui/replay/framereader.cc b/tools/replay/framereader.cc similarity index 98% rename from selfdrive/ui/replay/framereader.cc rename to tools/replay/framereader.cc index 38d98bddc5..bfa85a0625 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -1,5 +1,5 @@ -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/framereader.h" +#include "tools/replay/util.h" #include #include "libyuv.h" diff --git a/selfdrive/ui/replay/framereader.h b/tools/replay/framereader.h similarity index 97% rename from selfdrive/ui/replay/framereader.h rename to tools/replay/framereader.h index 443636e27d..10bf34a24e 100644 --- a/selfdrive/ui/replay/framereader.h +++ b/tools/replay/framereader.h @@ -4,7 +4,7 @@ #include #include -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" extern "C" { #include diff --git a/selfdrive/ui/replay/logreader.cc b/tools/replay/logreader.cc similarity index 97% rename from selfdrive/ui/replay/logreader.cc rename to tools/replay/logreader.cc index 579fe50644..f27224ac53 100644 --- a/selfdrive/ui/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -1,7 +1,7 @@ -#include "selfdrive/ui/replay/logreader.h" +#include "tools/replay/logreader.h" #include -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" Event::Event(const kj::ArrayPtr &amsg, bool frame) : reader(amsg), frame(frame) { words = kj::ArrayPtr(amsg.begin(), reader.getEnd()); diff --git a/selfdrive/ui/replay/logreader.h b/tools/replay/logreader.h similarity index 97% rename from selfdrive/ui/replay/logreader.h rename to tools/replay/logreader.h index b4a38a5721..fb63bf3913 100644 --- a/selfdrive/ui/replay/logreader.h +++ b/tools/replay/logreader.h @@ -7,7 +7,7 @@ #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; const int MAX_CAMERAS = std::size(ALL_CAMERAS); diff --git a/selfdrive/ui/replay/main.cc b/tools/replay/main.cc similarity index 96% rename from selfdrive/ui/replay/main.cc rename to tools/replay/main.cc index e09587023c..d3d6894877 100644 --- a/selfdrive/ui/replay/main.cc +++ b/tools/replay/main.cc @@ -1,8 +1,8 @@ #include #include -#include "selfdrive/ui/replay/consoleui.h" -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/consoleui.h" +#include "tools/replay/replay.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; diff --git a/selfdrive/ui/replay/replay.cc b/tools/replay/replay.cc similarity index 99% rename from selfdrive/ui/replay/replay.cc rename to tools/replay/replay.cc index cf7520b361..c886a7e186 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/tools/replay/replay.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/replay.h" #include #include @@ -8,7 +8,7 @@ #include "common/params.h" #include "common/timing.h" #include "system/hardware/hw.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { diff --git a/selfdrive/ui/replay/replay.h b/tools/replay/replay.h similarity index 97% rename from selfdrive/ui/replay/replay.h rename to tools/replay/replay.h index c89a835f64..13269d3ec9 100644 --- a/selfdrive/ui/replay/replay.h +++ b/tools/replay/replay.h @@ -4,8 +4,8 @@ #include -#include "selfdrive/ui/replay/camera.h" -#include "selfdrive/ui/replay/route.h" +#include "tools/replay/camera.h" +#include "tools/replay/route.h" // one segment uses about 100M of memory constexpr int FORWARD_SEGS = 5; diff --git a/selfdrive/ui/replay/route.cc b/tools/replay/route.cc similarity index 97% rename from selfdrive/ui/replay/route.cc rename to tools/replay/route.cc index 3d595141cd..5b47090229 100644 --- a/selfdrive/ui/replay/route.cc +++ b/tools/replay/route.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/route.h" +#include "tools/replay/route.h" #include #include @@ -11,8 +11,8 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/replay/replay.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/replay.h" +#include "tools/replay/util.h" Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) { route_ = parseRoute(route); diff --git a/selfdrive/ui/replay/route.h b/tools/replay/route.h similarity index 92% rename from selfdrive/ui/replay/route.h rename to tools/replay/route.h index ac8fba75ca..6ca9c3b883 100644 --- a/selfdrive/ui/replay/route.h +++ b/tools/replay/route.h @@ -2,9 +2,9 @@ #include -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/logreader.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" +#include "tools/replay/util.h" struct RouteIdentifier { QString dongle_id; diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc similarity index 98% rename from selfdrive/ui/replay/tests/test_replay.cc rename to tools/replay/tests/test_replay.cc index bf984f5f3d..bd5dee013c 100644 --- a/selfdrive/ui/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -6,8 +6,8 @@ #include "catch2/catch.hpp" #include "common/util.h" -#include "selfdrive/ui/replay/replay.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/replay.h" +#include "tools/replay/util.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; diff --git a/selfdrive/ui/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc similarity index 100% rename from selfdrive/ui/replay/tests/test_runner.cc rename to tools/replay/tests/test_runner.cc diff --git a/selfdrive/ui/replay/util.cc b/tools/replay/util.cc similarity index 99% rename from selfdrive/ui/replay/util.cc rename to tools/replay/util.cc index 099219ccde..a6ebbec615 100644 --- a/selfdrive/ui/replay/util.cc +++ b/tools/replay/util.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" #include #include diff --git a/selfdrive/ui/replay/util.h b/tools/replay/util.h similarity index 100% rename from selfdrive/ui/replay/util.h rename to tools/replay/util.h From 42d51a1b959fbd00cd43b7fb36cd5dce00f22c55 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 17:20:37 +0200 Subject: [PATCH 185/226] Properly pass KF dependencies to rednose (#24985) * Fix rednose dependencies * bump rednose * bump rednose --- SConstruct | 21 +++++++++++++-------- rednose_repo | 2 +- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/SConstruct b/SConstruct index 425ce3d761..1209894ba4 100644 --- a/SConstruct +++ b/SConstruct @@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc') # Build rednose library and ekf models +rednose_deps = [ + "#selfdrive/locationd/models/constants.py", + "#selfdrive/locationd/models/gnss_helpers.py", +] + rednose_config = { 'generated_folder': '#selfdrive/locationd/models/generated', 'to_build': { - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []), - 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']), - 'car': ('#selfdrive/locationd/models/car_kf.py', True, []), + 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps), + 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps), + 'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps), }, } if arch != "larch64": rednose_config['to_build'].update({ - 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []), - 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []), - 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []), - 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []), - 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []), + 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), + 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), + 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), + 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), + 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps), }) Export('rednose_config') diff --git a/rednose_repo b/rednose_repo index a79a87300a..225dbacbaa 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20 +Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47 From 712445c5314d0634e1f6a78a95901dd14ac6bc57 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 17:39:22 +0200 Subject: [PATCH 186/226] build.py: remove retry logic (#24986) --- selfdrive/manager/build.py | 101 ++++++++++++++++--------------------- 1 file changed, 43 insertions(+), 58 deletions(-) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 10b4c0a4b8..12f894061a 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -1,8 +1,6 @@ #!/usr/bin/env python3 import os import subprocess -import sys -import time import textwrap from pathlib import Path @@ -28,62 +26,49 @@ def build(spinner: Spinner, dirty: bool = False) -> None: nproc = os.cpu_count() j_flag = "" if nproc is None else f"-j{nproc - 1}" - for retry in [True, False]: - scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) - assert scons.stderr is not None - - compile_output = [] - - # Read progress from stderr and update spinner - while scons.poll() is None: - try: - line = scons.stderr.readline() - if line is None: - continue - line = line.rstrip() - - prefix = b'progress: ' - if line.startswith(prefix): - i = int(line[len(prefix):]) - spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) - elif len(line): - compile_output.append(line) - print(line.decode('utf8', 'replace')) - except Exception: - pass - - if scons.returncode != 0: - # Read remaining output - r = scons.stderr.read().split(b'\n') - compile_output += r - - if retry and (not dirty): - if not os.getenv("CI"): - print("scons build failed, cleaning in") - for i in range(3, -1, -1): - print("....%d" % i) - time.sleep(1) - subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env) - else: - print("scons build failed after retry") - sys.exit(1) - else: - # Build failed log errors - errors = [line.decode('utf8', 'replace') for line in compile_output - if any(err in line for err in [b'error: ', b'not found, needed by target'])] - error_s = "\n".join(errors) - add_file_handler(cloudlog) - cloudlog.error("scons build failed\n" + error_s) - - # Show TextWindow - spinner.close() - if not os.getenv("CI"): - error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) - with TextWindow("openpilot failed to build\n \n" + error_s) as t: - t.wait_for_exit() - exit(1) - else: - break + scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None + + compile_output = [] + + # Read progress from stderr and update spinner + while scons.poll() is None: + try: + line = scons.stderr.readline() + if line is None: + continue + line = line.rstrip() + + prefix = b'progress: ' + if line.startswith(prefix): + i = int(line[len(prefix):]) + spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) + elif len(line): + compile_output.append(line) + print(line.decode('utf8', 'replace')) + except Exception: + pass + + if scons.returncode != 0: + # Read remaining output + r = scons.stderr.read().split(b'\n') + compile_output += r + + # Build failed log errors + errors = [line.decode('utf8', 'replace') for line in compile_output + if any(err in line for err in [b'error: ', b'not found, needed by target'])] + error_s = "\n".join(errors) + add_file_handler(cloudlog) + cloudlog.error("scons build failed\n" + error_s) + + # Show TextWindow + spinner.close() + if not os.getenv("CI"): + error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) + with TextWindow("openpilot failed to build\n \n" + error_s) as t: + t.wait_for_exit() + exit(1) + # enforce max cache size cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()] From 75f5282e832a844aafccac3bfa53ffb029c53a2b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 14:19:17 -0700 Subject: [PATCH 187/226] Chrysler: fix steering angle signals (#24926) * Chrysler_Update * only steering * revert other changes for now only steering * bump * Update ref_commit * bump opendbc * update refs Co-authored-by: Jonathan --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 82be71072c..47b79c4d5a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11 +Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index f71a300263..202526df05 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -47,8 +47,6 @@ class CarState(CarStateBase): ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1 ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2 - ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] - ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white @@ -58,6 +56,8 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 + ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] + ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3e02830bf4..946ddce19e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ee969b34585f8055bb3eabab2dcc4061cc4bef9 \ No newline at end of file +a0b5ce7b2e0b9c073e51ac8908402d53e1d99722 \ No newline at end of file From 4db3ca4cf2eca777c1cff7cb5a3010569f6cc7d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 20:38:08 -0700 Subject: [PATCH 188/226] Toyota: Add missing 2021 RAV4 TSS2 esp FW (#24989) Add missing Canadian TRD 2021 RAV4 --- 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 76f84302ce..c7a26257f3 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1262,6 +1262,7 @@ FW_VERSIONS = { b'\x01F152642711\x00\x00\x00\x00\x00\x00', b'\x01F152642750\x00\x00\x00\x00\x00\x00', b'\x01F152642751\x00\x00\x00\x00\x00\x00', + b'\x01F15260R292\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B42170\x00\x00\x00\x00\x00\x00', From e0cd3bf5fc56229c2a0b835d0ef43a0bf683bfa5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Jun 2022 17:27:37 +0800 Subject: [PATCH 189/226] framereader.cc: remove nv12toyuv_buffer (#24991) remove nv12toyuv_buffer --- tools/replay/framereader.cc | 9 +++------ tools/replay/framereader.h | 1 - 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index bfa85a0625..ecde9ad5d2 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -117,8 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s if (has_hw_decoder && !no_hw_decoder) { if (!initHardwareDecoder(HW_DEVICE_TYPE)) { rWarning("No device with hardware decoder found. fallback to CPU decoding."); - } else { - nv12toyuv_buffer.resize(getYUVSize()); } } @@ -227,17 +225,16 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) { } bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) { + assert(f != nullptr && yuv != nullptr); + uint8_t *y = yuv; + uint8_t *uv = y + width * height; if (hw_pix_fmt == HW_PIX_FMT) { - uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data(); - uint8_t *uv = y + width * height; for (int i = 0; i < height/2; i++) { memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width); memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width); memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width); } } else { - uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data(); - uint8_t *uv = y + width * height; libyuv::I420ToNV12(f->data[0], f->linesize[0], f->data[1], f->linesize[1], f->data[2], f->linesize[2], diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index 10bf34a24e..e50b61d7f4 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -46,7 +46,6 @@ private: AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE; AVBufferRef *hw_device_ctx = nullptr; - std::vector nv12toyuv_buffer; int prev_idx = -1; inline static std::atomic has_hw_decoder = true; }; From 67cf20977d8fc250ac9d43261554712e1b74c689 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Jun 2022 11:36:03 +0200 Subject: [PATCH 190/226] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 3fef4f7861..df08568318 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1 +Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4 From bef5350fa3cc99a79af75a108f50d6a76ce07988 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Jun 2022 12:19:37 +0200 Subject: [PATCH 191/226] don't log LaikadEphemeris in initData --- common/params.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index b8526bc231..f93c87cd98 100644 --- a/common/params.cc +++ b/common/params.cc @@ -128,7 +128,7 @@ std::unordered_map keys = { {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemeris", PERSISTENT}, + {"LaikadEphemeris", PERSISTENT | DONT_LOG}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, From 879a7c3201a037c27c92ad6b92143114f52f29d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 29 Jun 2022 14:47:46 -0700 Subject: [PATCH 192/226] UI: wrap all text for translation (#24961) * rough multiple language demo * more wrappings * stash * add some bad translations * updates * map from french to spanish still has same problem of needing to call setText on everything * add files * restart UI * use return code * relative path * more translations * don't loop restart * Toggle and prime translations * try on device * try QComboBox with readable style * stash * not yet scrollable * stash * dynamic translations (doesn't work for dynamic widget strings yet) * clean up multiple option selector * store languages in json * try transparent * Try transparent popup * see how this looks * tweaks * clean up * clean up * clean up 2 and missing tr * wrap more strings * missing updater * fixes * add basic test to ensure all strings wrapped * try in CI * clean up * test name * fix test * always install qt dev tools * fix deps * fast test * add section so it prints multiple errors * debug * debug get rid of those * make any difference? * comment * oh... * run with offscreen platform * try out section * clean up * fix missing wrappings (it works!) * move down * space * clear relevant params, set TICI=1 --- .github/workflows/selfdrive_tests.yaml | 2 + selfdrive/ui/SConscript | 3 + selfdrive/ui/installer/installer.cc | 8 +- selfdrive/ui/qt/home.cc | 4 +- selfdrive/ui/qt/maps/map_settings.cc | 16 +-- selfdrive/ui/qt/offroad/driverview.cc | 2 +- selfdrive/ui/qt/offroad/networking.cc | 32 ++--- selfdrive/ui/qt/offroad/onboarding.cc | 14 +-- selfdrive/ui/qt/offroad/settings.cc | 110 +++++++++--------- selfdrive/ui/qt/onroad.cc | 14 +-- selfdrive/ui/qt/setup/reset.cc | 18 +-- selfdrive/ui/qt/setup/setup.cc | 42 +++---- selfdrive/ui/qt/setup/updater.cc | 16 +-- selfdrive/ui/qt/sidebar.cc | 16 +-- selfdrive/ui/qt/text.cc | 4 +- selfdrive/ui/qt/util.cc | 8 +- selfdrive/ui/qt/widgets/drive_stats.cc | 8 +- selfdrive/ui/qt/widgets/drive_stats.h | 2 +- selfdrive/ui/qt/widgets/input.cc | 10 +- selfdrive/ui/qt/widgets/offroad_alerts.cc | 6 +- selfdrive/ui/qt/widgets/prime.cc | 28 ++--- selfdrive/ui/qt/widgets/ssh_keys.cc | 18 +-- selfdrive/ui/qt/widgets/ssh_keys.h | 2 +- selfdrive/ui/tests/.gitignore | 1 + .../ui/tests/create_test_translations.sh | 18 +++ selfdrive/ui/tests/test_runner.cc | 19 ++- selfdrive/ui/tests/test_translations.cc | 51 ++++++++ tools/ubuntu_setup.sh | 1 + 28 files changed, 282 insertions(+), 191 deletions(-) create mode 100755 selfdrive/ui/tests/create_test_translations.sh create mode 100644 selfdrive/ui/tests/test_translations.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a40aa31341..f5edfe5929 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -305,6 +305,8 @@ jobs: $UNIT_TEST selfdrive/hardware/tici && \ $UNIT_TEST selfdrive/modeld && \ $UNIT_TEST tools/lib/tests && \ + ./selfdrive/ui/tests/create_test_translations.sh && \ + QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 970f715f54..0835c16372 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -58,6 +58,9 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) +if GetOption('test'): + qt_src.remove("main.cc") # replaced by test_runner + qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) # setup and factory resetter diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 3588026ba6..fe31a2dcb1 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -53,7 +53,7 @@ Installer::Installer(QWidget *parent) : QWidget(parent) { layout->setContentsMargins(150, 290, 150, 150); layout->setSpacing(0); - QLabel *title = new QLabel("Installing..."); + QLabel *title = new QLabel(tr("Installing...")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); layout->addWidget(title, 0, Qt::AlignTop); @@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) { void Installer::readProgress() { const QVector> stages = { // prefix, weight in percentage - {"Receiving objects: ", 91}, - {"Resolving deltas: ", 2}, - {"Updating files: ", 7}, + {tr("Receiving objects: "), 91}, + {tr("Resolving deltas: "), 2}, + {tr("Updating files: "), 7}, }; auto line = QString(proc.readAllStandardError()); diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index aec9bffbc0..0edeb252b7 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -111,7 +111,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { date = new QLabel(); header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft); - update_notif = new QPushButton("UPDATE"); + update_notif = new QPushButton(tr("UPDATE")); update_notif->setVisible(false); update_notif->setStyleSheet("background-color: #364DEF;"); QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); @@ -202,6 +202,6 @@ void OffroadHome::refresh() { update_notif->setVisible(updateAvailable); alert_notif->setVisible(alerts); if (alerts) { - alert_notif->setText(QString::number(alerts) + (alerts > 1 ? " ALERTS" : " ALERT")); + alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT"))); } } diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 674c7fa7cb..eaa8b1f703 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -59,11 +59,11 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { current_widget = new QWidget(this); QVBoxLayout *current_layout = new QVBoxLayout(current_widget); - QLabel *title = new QLabel("Current Destination"); + QLabel *title = new QLabel(tr("Current Destination")); title->setStyleSheet("font-size: 55px"); current_layout->addWidget(title); - current_route = new ButtonControl("", "CLEAR"); + current_route = new ButtonControl("", tr("CLEAR")); current_route->setStyleSheet("padding-left: 40px;"); current_layout->addWidget(current_route); QObject::connect(current_route, &ButtonControl::clicked, [=]() { @@ -78,7 +78,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { main_layout->addWidget(current_widget); // Recents - QLabel *recents_title = new QLabel("Recent Destinations"); + QLabel *recents_title = new QLabel(tr("Recent Destinations")); recents_title->setStyleSheet("font-size: 55px"); main_layout->addWidget(recents_title); main_layout->addSpacing(20); @@ -92,7 +92,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { QWidget * no_prime_widget = new QWidget; { QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget); - QLabel *signup_header = new QLabel("Try the Navigation Beta"); + QLabel *signup_header = new QLabel(tr("Try the Navigation Beta")); signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)"); signup_header->setAlignment(Qt::AlignCenter); @@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation)); no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter); - QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"); + QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai")); signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)"); signup->setAlignment(Qt::AlignCenter); @@ -161,12 +161,12 @@ void MapPanel::showEvent(QShowEvent *event) { void MapPanel::clear() { home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png")); home_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - home_address->setText("No home\nlocation set"); + home_address->setText(tr("No home\nlocation set")); home_button->disconnect(); work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png")); work_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - work_address->setText("No work\nlocation set"); + work_address->setText(tr("No work\nlocation set")); work_button->disconnect(); clearLayout(recent_layout); @@ -279,7 +279,7 @@ void MapPanel::parseResponse(const QString &response, bool success) { } if (!has_recents) { - QLabel *no_recents = new QLabel("no recent destinations"); + QLabel *no_recents = new QLabel(tr("no recent destinations")); no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)"); recent_layout->addWidget(no_recents); } diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index dc9f292df1..5bf70584a1 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -53,7 +53,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); configFont(p, "Inter", 100, "Bold"); - p.drawText(geometry(), Qt::AlignCenter, "camera starting"); + p.drawText(geometry(), Qt::AlignCenter, tr("camera starting")); return; } diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 418ccd3179..536ca495ca 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -27,7 +27,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen); vlayout->setContentsMargins(20, 20, 20, 20); if (show_advanced) { - QPushButton* advancedSettings = new QPushButton("Advanced"); + QPushButton* advancedSettings = new QPushButton(tr("Advanced")); advancedSettings->setObjectName("advanced_btn"); advancedSettings->setStyleSheet("margin-right: 30px;"); advancedSettings->setFixedSize(400, 100); @@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) { } else if (n.security_type == SecurityType::OPEN) { wifi->connect(n); } else if (n.security_type == SecurityType::WPA) { - QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8); + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) { void Networking::wrongPassword(const QString &ssid) { if (wifi->seenNetworks.contains(ssid)) { const Network &n = wifi->seenNetworks.value(ssid); - QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8); + QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -118,7 +118,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid main_layout->setSpacing(20); // Back button - QPushButton* back = new QPushButton("Back"); + QPushButton* back = new QPushButton(tr("Back")); back->setObjectName("back_btn"); back->setFixedSize(400, 100); connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); @@ -126,14 +126,14 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid ListWidget *list = new ListWidget(this); // Enable tethering layout - tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled()); + tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled()); list->addItem(tetheringToggle); QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering); // Change tethering password - ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT"); + ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT")); connect(editPasswordButton, &ButtonControl::clicked, [=]() { - QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword()); + QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword()); if (!pass.isEmpty()) { wifi->changeTetheringPassword(pass); } @@ -141,7 +141,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(editPasswordButton); // IP address - ipLabel = new LabelControl("IP Address", wifi->ipv4_address); + ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address); list->addItem(ipLabel); // SSH keys @@ -150,7 +150,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Roaming toggle const bool roamingEnabled = params.getBool("GsmRoaming"); - ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled); + ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) { params.putBool("GsmRoaming", state); wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn"))); @@ -158,11 +158,11 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(roamingToggle); // APN settings - ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT"); + ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); connect(editApnButton, &ButtonControl::clicked, [=]() { const bool roamingEnabled = params.getBool("GsmRoaming"); const QString cur_apn = QString::fromStdString(params.get("GsmApn")); - QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed(); + QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed(); if (apn.isEmpty()) { params.remove("GsmApn"); @@ -207,7 +207,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation); circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation); - QLabel *scanning = new QLabel("Scanning for networks..."); + QLabel *scanning = new QLabel(tr("Scanning for networks...")); scanning->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanning, 0, Qt::AlignCenter); @@ -260,7 +260,7 @@ void WifiUI::refresh() { clearLayout(main_layout); if (wifi->seenNetworks.size() == 0) { - QLabel *scanning = new QLabel("Scanning for networks..."); + QLabel *scanning = new QLabel(tr("Scanning for networks...")); scanning->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanning, 0, Qt::AlignCenter); return; @@ -286,17 +286,17 @@ void WifiUI::refresh() { hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1); if (network.connected == ConnectedType::CONNECTING) { - QPushButton *connecting = new QPushButton("CONNECTING..."); + QPushButton *connecting = new QPushButton(tr("CONNECTING...")); connecting->setObjectName("connecting"); hlayout->addWidget(connecting, 2, Qt::AlignLeft); } // Forget button if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) { - QPushButton *forgetBtn = new QPushButton("FORGET"); + QPushButton *forgetBtn = new QPushButton(tr("FORGET")); forgetBtn->setObjectName("forgetBtn"); QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) { wifi->forgetConnection(network.ssid); } }); diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index d32cc26e43..77e84293b2 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -76,7 +76,7 @@ void TermsPage::showEvent(QShowEvent *event) { main_layout->setContentsMargins(45, 35, 45, 45); main_layout->setSpacing(0); - QLabel *title = new QLabel("Terms & Conditions"); + QLabel *title = new QLabel(tr("Terms & Conditions")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); main_layout->addWidget(title); @@ -104,11 +104,11 @@ void TermsPage::showEvent(QShowEvent *event) { buttons->setSpacing(45); main_layout->addLayout(buttons); - QPushButton *decline_btn = new QPushButton("Decline"); + QPushButton *decline_btn = new QPushButton(tr("Decline")); buttons->addWidget(decline_btn); QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms); - accept_btn = new QPushButton("Scroll to accept"); + accept_btn = new QPushButton(tr("Scroll to accept")); accept_btn->setEnabled(false); accept_btn->setStyleSheet(R"( QPushButton { @@ -123,7 +123,7 @@ void TermsPage::showEvent(QShowEvent *event) { } void TermsPage::enableAccept() { - accept_btn->setText("Agree"); + accept_btn->setText(tr("Agree")); accept_btn->setEnabled(true); } @@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) { main_layout->setSpacing(40); QLabel *text = new QLabel(this); - text->setText("You must accept the Terms and Conditions in order to use openpilot."); + text->setText(tr("You must accept the Terms and Conditions in order to use openpilot.")); text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)"); text->setWordWrap(true); main_layout->addWidget(text, 0, Qt::AlignCenter); @@ -146,12 +146,12 @@ void DeclinePage::showEvent(QShowEvent *event) { buttons->setSpacing(45); main_layout->addLayout(buttons); - QPushButton *back_btn = new QPushButton("Back"); + QPushButton *back_btn = new QPushButton(tr("Back")); buttons->addWidget(back_btn); QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack); - QPushButton *uninstall_btn = new QPushButton(QString("Decline, uninstall %1").arg(getBrand())); + QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand())); uninstall_btn->setStyleSheet("background-color: #B73D3D"); buttons->addWidget(uninstall_btn); QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 175e6cf5a3..392287d65d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -29,45 +29,45 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector> toggles{ { "OpenpilotEnabledToggle", - "Enable openpilot", - "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.", + tr("Enable openpilot"), + tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), "../assets/offroad/icon_openpilot.png", }, { "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 31 mph (50 km/h).", + tr("Enable Lane Departure Warnings"), + tr("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", }, { "IsRHD", - "Enable Right-Hand Drive", - "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.", + tr("Enable Right-Hand Drive"), + tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."), "../assets/offroad/icon_openpilot_mirrored.png", }, { "IsMetric", - "Use Metric System", - "Display speed in km/h instead of mph.", + tr("Use Metric System"), + tr("Display speed in km/h instead of mph."), "../assets/offroad/icon_metric.png", }, { "RecordFront", - "Record and Upload Driver Camera", - "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", + tr("Record and Upload Driver Camera"), + tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/offroad/icon_monitoring.png", }, { "DisengageOnAccelerator", - "Disengage On Accelerator Pedal", - "When enabled, pressing the accelerator pedal will disengage openpilot.", + tr("Disengage On Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", }, #ifdef ENABLE_MAPS { "NavSettingTime24h", - "Show ETA in 24h format", - "Use 24h format instead of am/pm", + tr("Show ETA in 24h format"), + tr("Use 24h format instead of am/pm"), "../assets/offroad/icon_metric.png", }, #endif @@ -79,8 +79,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { if (params.getBool("DisableRadar_Allow")) { toggles.push_back({ "DisableRadar", - "openpilot Longitudinal Control", - "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!", + tr("openpilot Longitudinal Control"), + tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"), "../assets/offroad/icon_speed_limit.png", }); } @@ -95,29 +95,29 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { setSpacing(50); - addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A"))); - addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str())); + addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); + addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); // offroad-only buttons - auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW", - "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"); + auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"), + tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)")); connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); }); addItem(dcamBtn); - auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " "); + auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) { params.remove("CalibrationParams"); } }); addItem(resetCalibBtn); if (!params.getBool("Passive")) { - auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot"); + auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) { emit reviewTrainingGuide(); } }); @@ -125,7 +125,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { } if (Hardware::TICI()) { - auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", ""); + auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); connect(regulatoryBtn, &ButtonControl::clicked, [=]() { const std::string txt = util::read_file("../assets/offroad/fcc.html"); RichTextDialog::alert(QString::fromStdString(txt), this); @@ -143,12 +143,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { QHBoxLayout *power_layout = new QHBoxLayout(); power_layout->setSpacing(30); - QPushButton *reboot_btn = new QPushButton("Reboot"); + QPushButton *reboot_btn = new QPushButton(tr("Reboot")); reboot_btn->setObjectName("reboot_btn"); power_layout->addWidget(reboot_btn); QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot); - QPushButton *poweroff_btn = new QPushButton("Power Off"); + QPushButton *poweroff_btn = new QPushButton(tr("Power Off")); poweroff_btn->setObjectName("poweroff_btn"); power_layout->addWidget(poweroff_btn); QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff); @@ -168,8 +168,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { void DevicePanel::updateCalibDescription() { QString desc = - "openpilot requires the device to be mounted within 4° left or right and " - "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."; + tr("openpilot requires the device to be mounted within 4° left or right and " + "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."); std::string calib_bytes = Params().get("CalibrationParams"); if (!calib_bytes.empty()) { try { @@ -179,9 +179,9 @@ void DevicePanel::updateCalibDescription() { if (calib.getCalStatus() != 0) { 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 ? "down" : "up", - QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right"); + desc += QString(tr(" Your device is pointed %1° %2 and %3° %4.")) + .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), + QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); } } catch (kj::Exception) { qInfo() << "invalid CalibrationParams"; @@ -192,51 +192,51 @@ void DevicePanel::updateCalibDescription() { void DevicePanel::reboot() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoReboot", true); } } } else { - ConfirmationDialog::alert("Disengage to Reboot", this); + ConfirmationDialog::alert(tr("Disengage to Reboot"), this); } } void DevicePanel::poweroff() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoShutdown", true); } } } else { - ConfirmationDialog::alert("Disengage to Power Off", this); + ConfirmationDialog::alert(tr("Disengage to Power Off"), this); } } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - gitBranchLbl = new LabelControl("Git Branch"); - gitCommitLbl = new LabelControl("Git Commit"); - osVersionLbl = new LabelControl("OS Version"); - versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); - lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off."); - updateBtn = new ButtonControl("Check for Update", ""); + gitBranchLbl = new LabelControl(tr("Git Branch")); + gitCommitLbl = new LabelControl(tr("Git Commit")); + osVersionLbl = new LabelControl(tr("OS Version")); + versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); + lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off.")); + updateBtn = new ButtonControl(tr("Check for Update"), ""); connect(updateBtn, &ButtonControl::clicked, [=]() { if (params.getBool("IsOffroad")) { fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); - updateBtn->setText("CHECKING"); + updateBtn->setText(tr("CHECKING")); updateBtn->setEnabled(false); } std::system("pkill -1 -f selfdrive.updated"); }); - auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL"); + auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { params.putBool("DoUninstall", true); } }); @@ -250,8 +250,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { fs_watch = new QFileSystemWatcher(this); QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) { - lastUpdateLbl->setText("failed to fetch update"); - updateBtn->setText("CHECK"); + lastUpdateLbl->setText(tr("failed to fetch update")); + updateBtn->setText(tr("CHECK")); updateBtn->setEnabled(true); } else if (path.contains("LastUpdateTime")) { updateLabels(); @@ -272,7 +272,7 @@ void SoftwarePanel::updateLabels() { versionLbl->setText(getBrandVersion()); lastUpdateLbl->setText(lastUpdate); - updateBtn->setText("CHECK"); + updateBtn->setText(tr("CHECK")); updateBtn->setEnabled(true); gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch"))); gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10)); @@ -301,7 +301,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { )"); // close button - QPushButton *close_btn = new QPushButton("×"); + QPushButton *close_btn = new QPushButton(tr("×")); close_btn->setStyleSheet(R"( QPushButton { font-size: 140px; @@ -327,15 +327,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView); QList> panels = { - {"Device", device}, - {"Network", network_panel(this)}, - {"Toggles", new TogglesPanel(this)}, - {"Software", new SoftwarePanel(this)}, + {tr("Device"), device}, + {tr("Network"), network_panel(this)}, + {tr("Toggles"), new TogglesPanel(this)}, + {tr("Software"), new SoftwarePanel(this)}, }; #ifdef ENABLE_MAPS auto map_panel = new MapPanel(this); - panels.push_back({"Navigation", map_panel}); + panels.push_back({tr("Navigation"), map_panel}); QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); #endif @@ -367,7 +367,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { 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 + const int lr_margin = name != tr("Network") ? 50 : 0; // Network panel handles its own margins panel->setContentsMargins(lr_margin, 25, lr_margin, 25); ScrollView *panel_frame = new ScrollView(panel, this); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ecd6d61471..7032fc7518 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -199,7 +199,7 @@ void NvgWindow::updateState(const UIState &s) { setProperty("is_metric", s.scene.is_metric); setProperty("speed", cur_speed); setProperty("setSpeed", set_speed); - setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); + setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); @@ -266,10 +266,10 @@ void NvgWindow::drawHud(QPainter &p) { p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff)); } configFont(p, "Inter", 40, "SemiBold"); - QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX"); + QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX")); max_rect.moveCenter({set_speed_rect.center().x(), 0}); max_rect.moveTop(set_speed_rect.top() + 27); - p.drawText(max_rect, Qt::AlignCenter, "MAX"); + p.drawText(max_rect, Qt::AlignCenter, tr("MAX")); // Draw set speed if (is_cruise_set) { @@ -313,16 +313,16 @@ void NvgWindow::drawHud(QPainter &p) { // "SPEED" configFont(p, "Inter", 28, "SemiBold"); - QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED"); + QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED")); text_speed_rect.moveCenter({sign_rect.center().x(), 0}); text_speed_rect.moveTop(sign_rect_outer.top() + 22); - p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED"); + p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED")); // "LIMIT" - QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT"); + QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT")); text_limit_rect.moveCenter({sign_rect.center().x(), 0}); text_limit_rect.moveTop(sign_rect_outer.top() + 51); - p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT"); + p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT")); // Speed limit value configFont(p, "Inter", 70, "Bold"); diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 9ffcf7f6cf..582217c1d7 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -26,16 +26,16 @@ void Reset::doReset() { if (rm == 0 || fmt == 0) { std::system("sudo reboot"); } - body->setText("Reset failed. Reboot to try again."); + body->setText(tr("Reset failed. Reboot to try again.")); rebootBtn->show(); } void Reset::confirm() { - const QString confirm_txt = "Are you sure you want to reset your device?"; + const QString confirm_txt = tr("Are you sure you want to reset your device?"); if (body->text() != confirm_txt) { body->setText(confirm_txt); } else { - body->setText("Resetting device..."); + body->setText(tr("Resetting device...")); rejectBtn->hide(); rebootBtn->hide(); confirmBtn->hide(); @@ -50,13 +50,13 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->setContentsMargins(45, 220, 45, 45); main_layout->setSpacing(0); - QLabel *title = new QLabel("System Reset"); + QLabel *title = new QLabel(tr("System Reset")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); main_layout->addSpacing(60); - body = new QLabel("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."); + body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -65,11 +65,11 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->addLayout(blayout); blayout->setSpacing(50); - rejectBtn = new QPushButton("Cancel"); + rejectBtn = new QPushButton(tr("Cancel")); blayout->addWidget(rejectBtn); QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit); - rebootBtn = new QPushButton("Reboot"); + rebootBtn = new QPushButton(tr("Reboot")); blayout->addWidget(rebootBtn); #ifdef __aarch64__ QObject::connect(rebootBtn, &QPushButton::clicked, [=]{ @@ -77,7 +77,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { }); #endif - confirmBtn = new QPushButton("Confirm"); + confirmBtn = new QPushButton(tr("Confirm")); confirmBtn->setStyleSheet("background-color: #465BEA;"); blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); @@ -85,7 +85,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { rejectBtn->setVisible(!recover); rebootBtn->setVisible(recover); if (recover) { - body->setText("Unable to mount data partition. Press confirm to reset your device."); + body->setText(tr("Unable to mount data partition. Press confirm to reset your device.")); } setStyleSheet(R"( diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 10a2d05f34..69dafcf741 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -70,13 +70,13 @@ QWidget * Setup::low_voltage() { inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(80); - QLabel *title = new QLabel("WARNING: Low Voltage"); + QLabel *title = new QLabel(tr("WARNING: Low Voltage")); title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(25); - QLabel *body = new QLabel("Power your device in a car with a harness or proceed at your own risk."); + QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk.")); body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300;"); @@ -89,14 +89,14 @@ QWidget * Setup::low_voltage() { blayout->setSpacing(50); main_layout->addLayout(blayout, 0); - QPushButton *poweroff = new QPushButton("Power off"); + QPushButton *poweroff = new QPushButton(tr("Power off")); poweroff->setObjectName("navBtn"); blayout->addWidget(poweroff); QObject::connect(poweroff, &QPushButton::clicked, this, [=]() { Hardware::poweroff(); }); - QPushButton *cont = new QPushButton("Continue"); + QPushButton *cont = new QPushButton(tr("Continue")); cont->setObjectName("navBtn"); blayout->addWidget(cont); QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); @@ -114,12 +114,12 @@ QWidget * Setup::getting_started() { vlayout->setContentsMargins(165, 280, 100, 0); main_layout->addLayout(vlayout); - QLabel *title = new QLabel("Getting Started"); + QLabel *title = new QLabel(tr("Getting Started")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); vlayout->addSpacing(90); - QLabel *desc = new QLabel("Before we get on the road, let’s finish installation and cover some details."); + QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details.")); desc->setWordWrap(true); desc->setStyleSheet("font-size: 80px; font-weight: 300;"); vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft); @@ -144,7 +144,7 @@ QWidget * Setup::network_setup() { main_layout->setContentsMargins(55, 50, 55, 50); // title - QLabel *title = new QLabel("Connect to Wi-Fi"); + QLabel *title = new QLabel(tr("Connect to Wi-Fi")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); @@ -162,7 +162,7 @@ QWidget * Setup::network_setup() { main_layout->addLayout(blayout); blayout->setSpacing(50); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); blayout->addWidget(back); @@ -179,9 +179,9 @@ QWidget * Setup::network_setup() { cont->setEnabled(success); if (success) { const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL; - cont->setText(cell ? "Continue without Wi-Fi" : "Continue"); + cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue")); } else { - cont->setText("Waiting for internet"); + cont->setText(tr("Waiting for internet")); } repaint(); }); @@ -235,7 +235,7 @@ QWidget * Setup::software_selection() { main_layout->setSpacing(0); // title - QLabel *title = new QLabel("Choose Software to Install"); + QLabel *title = new QLabel(tr("Choose Software to Install")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); @@ -245,12 +245,12 @@ QWidget * Setup::software_selection() { QButtonGroup *group = new QButtonGroup(widget); group->setExclusive(true); - QWidget *dashcam = radio_button("Dashcam", group); + QWidget *dashcam = radio_button(tr("Dashcam"), group); main_layout->addWidget(dashcam); main_layout->addSpacing(30); - QWidget *custom = radio_button("Custom Software", group); + QWidget *custom = radio_button(tr("Custom Software"), group); main_layout->addWidget(custom); main_layout->addStretch(); @@ -260,12 +260,12 @@ QWidget * Setup::software_selection() { main_layout->addLayout(blayout); blayout->setSpacing(50); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); blayout->addWidget(back); - QPushButton *cont = new QPushButton("Continue"); + QPushButton *cont = new QPushButton(tr("Continue")); cont->setObjectName("navBtn"); cont->setEnabled(false); cont->setProperty("primary", true); @@ -278,7 +278,7 @@ QWidget * Setup::software_selection() { }); QString url = DASHCAM_URL; if (group->checkedButton() != dashcam) { - url = InputDialog::getText("Enter URL", this, "for Custom Software"); + url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); } if (!url.isEmpty()) { QTimer::singleShot(1000, this, [=]() { @@ -300,7 +300,7 @@ QWidget * Setup::software_selection() { QWidget * Setup::downloading() { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); - QLabel *txt = new QLabel("Downloading..."); + QLabel *txt = new QLabel(tr("Downloading...")); txt->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(txt, 0, Qt::AlignCenter); return widget; @@ -312,13 +312,13 @@ QWidget * Setup::download_failed() { main_layout->setContentsMargins(55, 225, 55, 55); main_layout->setSpacing(0); - QLabel *title = new QLabel("Download Failed"); + QLabel *title = new QLabel(tr("Download Failed")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); main_layout->addSpacing(67); - QLabel *body = new QLabel("Ensure the entered URL is valid, and the device’s internet connection is good."); + QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); @@ -331,14 +331,14 @@ QWidget * Setup::download_failed() { blayout->setSpacing(50); main_layout->addLayout(blayout, 0); - QPushButton *reboot = new QPushButton("Reboot device"); + QPushButton *reboot = new QPushButton(tr("Reboot device")); reboot->setObjectName("navBtn"); blayout->addWidget(reboot); QObject::connect(reboot, &QPushButton::clicked, this, [=]() { Hardware::reboot(); }); - QPushButton *restart = new QPushButton("Start over"); + QPushButton *restart = new QPushButton(tr("Start over")); restart->setObjectName("navBtn"); restart->setProperty("primary", true); blayout->addWidget(restart); diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index 6e8189f4ba..fd7148c534 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -20,13 +20,13 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid QVBoxLayout *layout = new QVBoxLayout(prompt); layout->setContentsMargins(100, 250, 100, 100); - QLabel *title = new QLabel("Update Required"); + QLabel *title = new QLabel(tr("Update Required")); title->setStyleSheet("font-size: 80px; font-weight: bold;"); layout->addWidget(title); layout->addSpacing(75); - QLabel *desc = new QLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."); + QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.")); desc->setWordWrap(true); desc->setStyleSheet("font-size: 65px;"); layout->addWidget(desc); @@ -37,14 +37,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid hlayout->setSpacing(30); layout->addLayout(hlayout); - QPushButton *connect = new QPushButton("Connect to Wi-Fi"); + QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi")); connect->setObjectName("navBtn"); QObject::connect(connect, &QPushButton::clicked, [=]() { setCurrentWidget(wifi); }); hlayout->addWidget(connect); - QPushButton *install = new QPushButton("Install"); + QPushButton *install = new QPushButton(tr("Install")); install->setObjectName("navBtn"); install->setStyleSheet("background-color: #465BEA;"); QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); @@ -61,7 +61,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }"); layout->addWidget(networking, 1); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); back->setStyleSheet("padding-left: 60px; padding-right: 60px;"); QObject::connect(back, &QPushButton::clicked, [=]() { @@ -77,7 +77,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid layout->setContentsMargins(150, 330, 150, 150); layout->setSpacing(0); - text = new QLabel("Loading..."); + text = new QLabel(tr("Loading...")); text->setStyleSheet("font-size: 90px; font-weight: 600;"); layout->addWidget(text, 0, Qt::AlignTop); @@ -91,7 +91,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid layout->addStretch(); - reboot = new QPushButton("Reboot"); + reboot = new QPushButton(tr("Reboot")); reboot->setObjectName("navBtn"); reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;"); QObject::connect(reboot, &QPushButton::clicked, [=]() { @@ -161,7 +161,7 @@ void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) { if (exitCode == 0) { Hardware::reboot(); } else { - text->setText("Update failed"); + text->setText(tr("Update failed")); reboot->show(); } } diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 00e72b352c..accab67bf0 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -64,26 +64,26 @@ void Sidebar::updateState(const UIState &s) { ItemStatus connectStatus; auto last_ping = deviceState.getLastAthenaPingTime(); if (last_ping == 0) { - connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color}; + connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color}; + connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); - ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color}; + ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color}; auto ts = deviceState.getThermalStatus(); if (ts == cereal::DeviceState::ThermalStatus::GREEN) { - tempStatus = {{"TEMP", "GOOD"}, good_color}; + tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color}; } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) { - tempStatus = {{"TEMP", "OK"}, warning_color}; + tempStatus = {{tr("TEMP"), tr("OK")}, warning_color}; } setProperty("tempStatus", QVariant::fromValue(tempStatus)); - ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color}; + ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color}; if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) { - pandaStatus = {{"NO", "PANDA"}, danger_color}; + pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color}; } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) { - pandaStatus = {{"GPS", "SEARCH"}, warning_color}; + pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color}; } setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); } diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc index ac8e7bcd18..21ec5eedcf 100644 --- a/selfdrive/ui/qt/text.cc +++ b/selfdrive/ui/qt/text.cc @@ -33,12 +33,12 @@ int main(int argc, char *argv[]) { QPushButton *btn = new QPushButton(); #ifdef __aarch64__ - btn->setText("Reboot"); + btn->setText(QObject::tr("Reboot")); QObject::connect(btn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); #else - btn->setText("Exit"); + btn->setText(QObject::tr("Exit")); QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit); #endif main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 366aa76f49..f82d9bf496 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -15,7 +15,7 @@ QString getVersion() { } QString getBrand() { - return Params().getBool("Passive") ? "dashcam" : "openpilot"; + return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); } QString getBrandVersion() { @@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) { s = "now"; } else if (diff < 60 * 60) { int minutes = diff / 60; - s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : ""); + s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : ""); } else if (diff < 60 * 60 * 24) { int hours = diff / (60 * 60); - s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : ""); + s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : ""); } else if (diff < 3600 * 24 * 7) { int days = diff / (60 * 60 * 24); - s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : ""); + s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : ""); } else { s = date.date().toString(); } diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc index 61d47db1c3..31009f03ca 100644 --- a/selfdrive/ui/qt/widgets/drive_stats.cc +++ b/selfdrive/ui/qt/widgets/drive_stats.cc @@ -34,16 +34,16 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) { grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); - grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft); + grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft); grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); - grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft); + grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); main_layout->addLayout(grid_layout); }; - add_stats_layouts("ALL TIME", all_); + add_stats_layouts(tr("ALL TIME"), all_); main_layout->addStretch(); - add_stats_layouts("PAST WEEK", week_); + add_stats_layouts(tr("PAST WEEK"), week_); if (auto dongleId = getDongleId()) { QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats"; diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h index 9446294516..5e2d96b240 100644 --- a/selfdrive/ui/qt/widgets/drive_stats.h +++ b/selfdrive/ui/qt/widgets/drive_stats.h @@ -12,7 +12,7 @@ public: private: void showEvent(QShowEvent *event) override; void updateStats(); - inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; } + inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); } bool metric_; QJsonDocument stats_; diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 8a5d492804..755ccfe8c5 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -67,7 +67,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft); } - QPushButton* cancel_btn = new QPushButton("Cancel"); + QPushButton* cancel_btn = new QPushButton(tr("Cancel")); cancel_btn->setFixedSize(386, 125); cancel_btn->setStyleSheet(R"( font-size: 48px; @@ -164,7 +164,7 @@ void InputDialog::handleEnter() { done(QDialog::Accepted); emitText(line->text()); } else { - setMessage("Need at least "+QString::number(minLength)+" characters!", false); + setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false); } } @@ -217,12 +217,12 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString } bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent); return d.exec(); } bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent); return d.exec(); } @@ -254,6 +254,6 @@ RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_te } bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) { - auto d = RichTextDialog(prompt_text, "Ok", parent); + auto d = RichTextDialog(prompt_text, tr("Ok"), parent); return d.exec(); } diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 433193df5d..937ea02f86 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -22,12 +22,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent QHBoxLayout *footer_layout = new QHBoxLayout(); main_layout->addLayout(footer_layout); - QPushButton *dismiss_btn = new QPushButton("Close"); + QPushButton *dismiss_btn = new QPushButton(tr("Close")); dismiss_btn->setFixedSize(400, 125); footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft); QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); - snooze_btn = new QPushButton("Snooze Update"); + snooze_btn = new QPushButton(tr("Snooze Update")); snooze_btn->setVisible(false); snooze_btn->setFixedSize(550, 125); footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight); @@ -38,7 +38,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)"); if (hasRebootBtn) { - QPushButton *rebootBtn = new QPushButton("Reboot and Update"); + QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update")); rebootBtn->setFixedSize(600, 125); footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight); QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 8a208bf3cf..d2529821f4 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -83,18 +83,18 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { vlayout->addSpacing(30); - QLabel *title = new QLabel("Pair your device to your comma account", this); + QLabel *title = new QLabel(tr("Pair your device to your comma account"), this); title->setStyleSheet("font-size: 75px; color: black;"); title->setWordWrap(true); vlayout->addWidget(title); - QLabel *instructions = new QLabel(R"( + QLabel *instructions = new QLabel(tr(R"(

  1. Go to https://connect.comma.ai on your phone
  2. Click "add new device" and scan the QR code on the right
  3. Bookmark connect.comma.ai to your home screen to use it like an app
- )", this); + )"), this); instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;"); instructions->setWordWrap(true); vlayout->addWidget(instructions); @@ -120,19 +120,19 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { primeLayout->setMargin(0); primeWidget->setContentsMargins(60, 50, 60, 50); - QLabel* subscribed = new QLabel("✓ SUBSCRIBED"); + QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); primeLayout->addWidget(subscribed, 0, Qt::AlignTop); primeLayout->addSpacing(60); - QLabel* commaPrime = new QLabel("comma prime"); + QLabel* commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); primeLayout->addSpacing(20); - QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI"); + QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); @@ -145,7 +145,7 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { pointsLayout->setMargin(0); pointsWidget->setContentsMargins(60, 50, 60, 50); - QLabel* commaPoints = new QLabel("COMMA POINTS"); + QLabel* commaPoints = new QLabel(tr("COMMA POINTS")); commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); @@ -181,24 +181,24 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->setContentsMargins(80, 90, 80, 60); main_layout->setSpacing(0); - QLabel *upgrade = new QLabel("Upgrade Now"); + QLabel *upgrade = new QLabel(tr("Upgrade Now")); upgrade->setStyleSheet("font-size: 75px; font-weight: bold;"); main_layout->addWidget(upgrade, 0, Qt::AlignTop); main_layout->addSpacing(50); - QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai"); + QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai")); description->setStyleSheet("font-size: 60px; font-weight: light; color: white;"); description->setWordWrap(true); main_layout->addWidget(description, 0, Qt::AlignTop); main_layout->addStretch(); - QLabel *features = new QLabel("PRIME FEATURES:"); + QLabel *features = new QLabel(tr("PRIME FEATURES:")); features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;"); main_layout->addWidget(features, 0, Qt::AlignBottom); main_layout->addSpacing(30); - QVector bullets = {"Remote access", "1 year of storage", "Developer perks"}; + QVector bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")}; for (auto &b: bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); @@ -227,20 +227,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { finishRegistationLayout->setContentsMargins(30, 75, 30, 45); finishRegistationLayout->setSpacing(0); - QLabel* registrationTitle = new QLabel("Finish Setup"); + QLabel* registrationTitle = new QLabel(tr("Finish Setup")); registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;"); finishRegistationLayout->addWidget(registrationTitle); finishRegistationLayout->addSpacing(30); - QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."); + QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); - QPushButton* pair = new QPushButton("Pair device"); + QPushButton* pair = new QPushButton(tr("Pair device")); pair->setFixedHeight(220); pair->setStyleSheet(R"( QPushButton { diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 46ccf6aee3..1f48c72735 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -4,16 +4,16 @@ #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/widgets/input.h" -SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") { +SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter); username_label.setStyleSheet("color: #aaaaaa"); hlayout->insertWidget(1, &username_label); QObject::connect(this, &ButtonControl::clicked, [=]() { - if (text() == "ADD") { - QString username = InputDialog::getText("Enter your GitHub username", this); + if (text() == tr("ADD")) { + QString username = InputDialog::getText(tr("Enter your GitHub username"), this); if (username.length() > 0) { - setText("LOADING"); + setText(tr("LOADING")); setEnabled(false); getUserKeys(username); } @@ -31,10 +31,10 @@ void SshControl::refresh() { QString param = QString::fromStdString(params.get("GithubSshKeys")); if (param.length()) { username_label.setText(QString::fromStdString(params.get("GithubUsername"))); - setText("REMOVE"); + setText(tr("REMOVE")); } else { username_label.setText(""); - setText("ADD"); + setText(tr("ADD")); } setEnabled(true); } @@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) { params.put("GithubUsername", username.toStdString()); params.put("GithubSshKeys", resp.toStdString()); } else { - ConfirmationDialog::alert(QString("Username '%1' has no keys on GitHub").arg(username), this); + ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this); } } else { if (request->timeout()) { - ConfirmationDialog::alert("Request timed out", this); + ConfirmationDialog::alert(tr("Request timed out"), this); } else { - ConfirmationDialog::alert(QString("Username '%1' doesn't exist on GitHub").arg(username), this); + ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this); } } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 596d1d83b9..01e2ab83ce 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -10,7 +10,7 @@ class SshToggle : public ToggleControl { Q_OBJECT public: - SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) { + SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) { QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) { Hardware::set_ssh_enabled(state); }); diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 7765bab17d..26335744f3 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -1,3 +1,4 @@ test playsound test_sound +test_translations diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh new file mode 100755 index 0000000000..451a3cbfb0 --- /dev/null +++ b/selfdrive/ui/tests/create_test_translations.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +set -e + +UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/.. +TEST_TEXT="(WRAPPED_SOURCE_TEXT)" +TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts +TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm + +# translation strings +UNFINISHED="<\/translation>" +TRANSLATED="$TEST_TEXT<\/translation>" + +mkdir -p $UI_DIR/translations +rm -f $TEST_TS_FILE $TEST_QM_FILE +lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE +sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE +lrelease $TEST_TS_FILE diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc index b20ac86c64..ac63139d17 100644 --- a/selfdrive/ui/tests/test_runner.cc +++ b/selfdrive/ui/tests/test_runner.cc @@ -1,10 +1,25 @@ #define CATCH_CONFIG_RUNNER #include "catch2/catch.hpp" -#include + +#include +#include +#include +#include int main(int argc, char **argv) { // unit tests for Qt - QCoreApplication app(argc, argv); + QApplication app(argc, argv); + + QString language_file = "main_test_en"; + qDebug() << "Loading language:" << language_file; + + QTranslator translator; + QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations"); + if (!translator.load(language_file, translationsPath)) { + qDebug() << "Failed to load translation file!"; + } + app.installTranslator(&translator); + const int res = Catch::Session().run(argc, argv); return (res < 0xff ? res : 0xff); } diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc new file mode 100644 index 0000000000..fecb9da44a --- /dev/null +++ b/selfdrive/ui/tests/test_translations.cc @@ -0,0 +1,51 @@ +#include "catch2/catch.hpp" + +#include "common/params.h" +#include "selfdrive/ui/qt/window.h" + +const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)"; // what each string should be translated to +QRegExp RE_NUM("\\d*"); + +QStringList getParentWidgets(QWidget* widget){ + QStringList parentWidgets; + while (widget->parentWidget() != Q_NULLPTR) { + widget = widget->parentWidget(); + parentWidgets.append(widget->metaObject()->className()); + } + return parentWidgets; +} + +template +void checkWidgetTrWrap(MainWindow &w) { + int i = 0; + for (auto widget : w.findChildren()) { + const QString text = widget->text(); + SECTION(text.toStdString() + "-" + std::to_string(i)) { + bool isNumber = RE_NUM.exactMatch(text); + bool wrapped = text.contains(TEST_TEXT); + QString parentWidgets = getParentWidgets(widget).join("->"); + + if (!text.isEmpty() && !isNumber && !wrapped) { + FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString()); + } + + // warn if source string wrapped, but UI adds text + // TODO: add way to ignore this + if (wrapped && text != TEST_TEXT) { + WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString()); + } + } + i++; + } +} + +// Tests all strings in the UI are wrapped with tr() +TEST_CASE("UI: test all strings wrapped") { + Params().remove("HardwareSerial"); + Params().remove("DongleId"); + qputenv("TICI", "1"); + + MainWindow w; + checkWidgetTrWrap(w); + checkWidgetTrWrap(w); +} diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 60d41a4771..5bc3630766 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -59,6 +59,7 @@ function install_ubuntu_common_requirements() { qtmultimedia5-dev \ qtlocation5-dev \ qtpositioning5-dev \ + qttools5-dev-tools \ libqt5sql5-sqlite \ libqt5svg5-dev \ libqt5x11extras5-dev \ From f79b068a71607700c4bbcc9e33f1bb2d10bb8e60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 29 Jun 2022 20:31:22 -0700 Subject: [PATCH 193/226] Honda Civic 2022: remove LKAS fault reinitialization (#24979) * no lkas problem * remove frame --- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/honda/hondacan.py | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 4d04927b2f..14049c9997 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -241,7 +241,7 @@ class CarController: idx = (self.frame // 10) % 4 hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 5de29b4f37..7246b98686 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx) -def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame): +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl @@ -141,8 +141,6 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc if CP.carFingerprint in HONDA_BOSCH_RADARLESS: lkas_hud_values['LANE_LINES'] = 3 lkas_hud_values['DASHED_LANES'] = hud.lanes_visible - # TODO: understand this better, does car need to see it fall after start up? - lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1 if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): lkas_hud_values['SET_ME_X48'] = 0x48 From e643f8e6815eee04511dceecd23b434e5255f15b Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Thu, 30 Jun 2022 01:52:56 -0700 Subject: [PATCH 194/226] docs: ssh.comma.ai (#25000) --- tools/ssh/README.md | 49 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 49 insertions(+) diff --git a/tools/ssh/README.md b/tools/ssh/README.md index 66f030de52..29d3349328 100644 --- a/tools/ssh/README.md +++ b/tools/ssh/README.md @@ -22,3 +22,52 @@ The public keys are only fetched from your GitHub account once. In order to upda The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed. See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. + +# Connecting to ssh.comma.ai +SSH into your comma device from anywhere with `ssh.comma.ai`. + +## Setup + +With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. + +Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM. + +## Recommended .ssh/config + +With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`. + +``` +Host comma-* + Port 22 + User comma + IdentityFile ~/.ssh/my_github_key + ProxyCommand ssh %h@ssh.comma.ai -W %h:%p +Host ssh.comma.ai + Hostname ssh.comma.ai + Port 22 + IdentityFile ~/.ssh/my_github_key +``` + +## One-off connection + +``` +ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff +``` +(Replace `ffffffffffffffff` with your dongle_id) + +## ssh.comma.ai host key fingerprint + +``` +Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 ++---[RSA 4096]----+ +| | +| | +| . | +| + o | +| S = + +..| +| + @ = .=| +| . B @ ++=| +| o * B XE| +| .o o OB/| ++----[SHA256]-----+ +``` From 8d53e2c2b4e549119538d1baf36d202dbe33d012 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:55:49 +0800 Subject: [PATCH 195/226] Multilang: remove redundant QString() around tr() (#25003) remove qstring --- selfdrive/ui/qt/offroad/onboarding.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/util.cc | 6 +++--- selfdrive/ui/qt/widgets/ssh_keys.cc | 4 ++-- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index 77e84293b2..f3e50b572b 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -151,7 +151,7 @@ void DeclinePage::showEvent(QShowEvent *event) { QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack); - QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand())); + QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand())); uninstall_btn->setStyleSheet("background-color: #B73D3D"); buttons->addWidget(uninstall_btn); QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 392287d65d..547ad168f1 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -179,7 +179,7 @@ void DevicePanel::updateCalibDescription() { if (calib.getCalStatus() != 0) { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); - desc += QString(tr(" Your device is pointed %1° %2 and %3° %4.")) + desc += tr(" Your device is pointed %1° %2 and %3° %4.") .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); } diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index f82d9bf496..cab7299cd6 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) { s = "now"; } else if (diff < 60 * 60) { int minutes = diff / 60; - s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : ""); + s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : ""); } else if (diff < 60 * 60 * 24) { int hours = diff / (60 * 60); - s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : ""); + s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : ""); } else if (diff < 3600 * 24 * 7) { int days = diff / (60 * 60 * 24); - s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : ""); + s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : ""); } else { s = date.date().toString(); } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 1f48c72735..f17604b3e5 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) { params.put("GithubUsername", username.toStdString()); params.put("GithubSshKeys", resp.toStdString()); } else { - ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this); + ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this); } } else { if (request->timeout()) { ConfirmationDialog::alert(tr("Request timed out"), this); } else { - ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this); + ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this); } } From 867a1cf35a200c10c9ea513140b74be04ce4bb83 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:57:47 +0800 Subject: [PATCH 196/226] ui: replace line_vertices_data with QPolygonF (#25001) use QPolygonF use push_front --- selfdrive/ui/qt/onroad.cc | 6 +++--- selfdrive/ui/ui.cc | 20 +++++++------------- selfdrive/ui/ui.h | 12 ++++-------- 3 files changed, 14 insertions(+), 24 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 7032fc7518..604d3c09a9 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -430,13 +430,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { // lanelines for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) { painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); - painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt); + painter.drawPolygon(scene.lane_line_vertices[i]); } // road edges for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) { painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp(1.0 - scene.road_edge_stds[i], 0.0, 1.0))); - painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt); + painter.drawPolygon(scene.road_edge_vertices[i]); } // paint path @@ -455,7 +455,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35)); bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0)); painter.setBrush(bg); - painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt); + painter.drawPolygon(scene.track_vertices); painter.restore(); } diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c8fc645cf2..f6193f97a6 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta } static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, - float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) { + float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - std::vector left_points, right_points; + QPolygonF left_points, right_points; + left_points.reserve(max_idx + 1); + right_points.reserve(max_idx + 1); + for (int i = 0; i <= max_idx; i++) { QPointF left, right; bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); @@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa continue; } left_points.push_back(left); - right_points.push_back(right); + right_points.push_front(right); } } - - pvd->cnt = 2 * left_points.size(); - assert(left_points.size() == right_points.size()); - assert(pvd->cnt <= std::size(pvd->v)); - - for (int left_idx = 0; left_idx < left_points.size(); left_idx++){ - int right_idx = 2 * left_points.size() - left_idx - 1; - pvd->v[left_idx] = left_points[left_idx]; - pvd->v[right_idx] = right_points[left_idx]; - } + *pvd = left_points + right_points; } static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 7364b81a40..1aee3df9a1 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -8,6 +8,7 @@ #include #include #include +#include #include #include "cereal/messaging/messaging.h" @@ -84,11 +85,6 @@ const QColor bg_colors [] = { [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1), }; -typedef struct { - QPointF v[TRAJECTORY_SIZE * 2]; - int cnt; -} line_vertices_data; - typedef struct UIScene { bool calibration_valid = false; mat3 view_from_calib = DEFAULT_CALIBRATION; @@ -97,9 +93,9 @@ typedef struct UIScene { // modelV2 float lane_line_probs[4]; float road_edge_stds[2]; - line_vertices_data track_vertices; - line_vertices_data lane_line_vertices[4]; - line_vertices_data road_edge_vertices[2]; + QPolygonF track_vertices; + QPolygonF lane_line_vertices[4]; + QPolygonF road_edge_vertices[2]; // lead QPointF lead_vertices[2]; From b3f4e94169f459fc5cd6ad45fd69baffdef838da Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:58:37 +0800 Subject: [PATCH 197/226] remove selfdrive/common (#24997) --- selfdrive/common/tests/.gitignore | 2 -- 1 file changed, 2 deletions(-) delete mode 100644 selfdrive/common/tests/.gitignore diff --git a/selfdrive/common/tests/.gitignore b/selfdrive/common/tests/.gitignore deleted file mode 100644 index 1350b3b825..0000000000 --- a/selfdrive/common/tests/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -test_util -test_swaglog From 1ac1fe632f8945a24c12413cfad7aa93fac17f9b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:59:08 +0800 Subject: [PATCH 198/226] swaglog.cc/cloudlog_common: pass json object by reference (#24996) * pass json object by reference * space between functions --- common/swaglog.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/common/swaglog.cc b/common/swaglog.cc index 6b0028326a..22682dc54c 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func char levelnum_c = levelnum; zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK); } + static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, - char* msg_buf, json11::Json::object msg_j={}) { + char* msg_buf, const json11::Json::object &msg_j={}) { std::lock_guard lk(s.lock); if (!s.initialized) s.initialize(); From 7178800d844469601cb779d8f76b568ff82ac766 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 02:02:53 -0700 Subject: [PATCH 199/226] Multilang prerequisites (#24999) * some supporting code for multilang * for now just english * test for missing language files * test for checking if ts file is up to date * Skip test if causes exception, other test catches this Test test Should also work should now fail revert rmn * add to files_common * fix files_common * newlines * no need to not update * comment * only english * double quotes * switch around --- .github/workflows/selfdrive_tests.yaml | 1 + release/files_common | 7 ++-- selfdrive/ui/tests/test_translations.py | 50 ++++++++++++++++++++++++ selfdrive/ui/translations/languages.json | 3 ++ selfdrive/ui/update_translations.py | 37 ++++++++++++++++++ 5 files changed, 94 insertions(+), 4 deletions(-) create mode 100755 selfdrive/ui/tests/test_translations.py create mode 100644 selfdrive/ui/translations/languages.json create mode 100755 selfdrive/ui/update_translations.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index f5edfe5929..0ff0092b02 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -307,6 +307,7 @@ jobs: $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ + ./selfdrive/ui/tests/test_translations.py && \ ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ diff --git a/release/files_common b/release/files_common index 7e8dbd37a6..acf74e2137 100644 --- a/release/files_common +++ b/release/files_common @@ -60,6 +60,8 @@ release/* tools/lib/* tools/joystick/* +tools/replay/*.cc +tools/replay/*.h selfdrive/__init__.py selfdrive/sentry.py @@ -287,6 +289,7 @@ selfdrive/ui/soundd/*.cc selfdrive/ui/soundd/*.h selfdrive/ui/soundd/soundd selfdrive/ui/soundd/.gitignore +selfdrive/ui/translations/* selfdrive/ui/qt/*.cc selfdrive/ui/qt/*.h @@ -295,10 +298,6 @@ selfdrive/ui/qt/offroad/*.h selfdrive/ui/qt/offroad/*.qml selfdrive/ui/qt/widgets/*.cc selfdrive/ui/qt/widgets/*.h - -tools/replay/*.cc -tools/replay/*.h - selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py new file mode 100755 index 0000000000..ccea748e24 --- /dev/null +++ b/selfdrive/ui/tests/test_translations.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +import json +import os +import unittest + +from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations + + +class TestTranslations(unittest.TestCase): + @classmethod + def setUpClass(cls): + with open(LANGUAGES_FILE, "r") as f: + cls.translation_files = json.load(f) + + def test_missing_translation_files(self): + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + if not len(file): + self.skipTest(f"{name} translation has no file") + + self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")), + f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") + self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")), + f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release") + + def test_translations_updated(self): + suffix = "_test" + update_translations(suffix=suffix) + + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts") + new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts") + + if not len(file): + self.skipTest(f"{name} translation has no file") + elif not os.path.exists(cur_tr_file): + self.skipTest(f"{name} missing translation file") # caught by test_missing_translation_files + + with open(cur_tr_file, "r") as f: + cur_translations = f.read() + with open(new_tr_file, "r") as f: + new_translations = f.read() + + self.assertEqual(cur_translations, new_translations, + f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json new file mode 100644 index 0000000000..f2f9400d64 --- /dev/null +++ b/selfdrive/ui/translations/languages.json @@ -0,0 +1,3 @@ +{ + "English": "" +} diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py new file mode 100755 index 0000000000..5d57fa39d2 --- /dev/null +++ b/selfdrive/ui/update_translations.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +import argparse +import os +import json + +from common.basedir import BASEDIR + +UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") +TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") +LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") + + +def update_translations(release=False, suffix=""): + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f) + + for name, file in translation_files.items(): + if not len(file): + print(f"{name} has no translation file, skipping...") + continue + + tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts") + ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}") + assert ret == 0 + + if release: + ret = os.system(f"lrelease {tr_file}") + assert ret == 0 + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Update translation files for UI", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI") + args = parser.parse_args() + + update_translations(args.release) From e20d2cfa9b80e41c6af3b7879c15c6df1cfb81c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 17:05:49 +0800 Subject: [PATCH 200/226] Camerad: small cleanup (#24992) * remove CameraExpInfo * remove release callback --- system/camerad/cameras/camera_common.cc | 7 ++----- system/camerad/cameras/camera_common.h | 10 +--------- 2 files changed, 3 insertions(+), 14 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 34dde9389c..506b3fb995 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -66,11 +66,10 @@ private: bool hdr_; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) { +void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) { vipc_server = v; this->rgb_type = init_rgb_type; this->yuv_type = init_yuv_type; - this->release_callback = init_release_callback; const CameraInfo *ci = &s->ci; camera_state = s; @@ -169,9 +168,7 @@ bool CameraBuf::acquire() { } void CameraBuf::release() { - if (release_callback) { - release_callback((void*)camera_state, cur_buf_idx); - } + // Empty } void CameraBuf::queue(size_t buf_idx) { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 6b483372bb..4695d4e2c9 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -48,8 +48,6 @@ const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; -typedef void (*release_cb)(void *cookie, int buf_idx); - typedef struct CameraInfo { uint32_t frame_width, frame_height; uint32_t frame_stride; @@ -85,11 +83,6 @@ typedef struct FrameMetadata { float processing_time; } FrameMetadata; -typedef struct CameraExpInfo { - int op_id; - float grey_frac; -} CameraExpInfo; - struct MultiCameraState; struct CameraState; class Debayer; @@ -108,7 +101,6 @@ private: SafeQueue safe_queue; int frame_buf_count; - release_cb release_callback; public: cl_command_queue q; @@ -124,7 +116,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type); bool acquire(); void release(); void queue(size_t buf_idx); From d13137a83f2036d436c4bc56b4a65fa6962b519d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 17:29:25 +0800 Subject: [PATCH 201/226] camerad: reduce cpu usage (#24993) wait for 50ms --- system/camerad/cameras/camera_common.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 506b3fb995..04f3136485 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -126,7 +126,7 @@ CameraBuf::~CameraBuf() { } bool CameraBuf::acquire() { - if (!safe_queue.try_pop(cur_buf_idx, 1)) return false; + if (!safe_queue.try_pop(cur_buf_idx, 50)) return false; if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { LOGE("no frame data? wtf"); From 30ddadc8b4d510c824221d2010e4aef853741a92 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jun 2022 13:25:42 +0200 Subject: [PATCH 202/226] test onroad: lower camerad cpu usage --- 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 f10c79313b..a7ab55fe2a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -24,7 +24,7 @@ PROCS = { "selfdrive.controls.controlsd": 35.0, "./loggerd": 10.0, "./encoderd": 12.5, - "./camerad": 16.5, + "./camerad": 14.5, "./locationd": 9.1, "selfdrive.controls.plannerd": 11.7, "./_ui": 19.2, From af7d3c115a4780ad734c3f3a8d0084dd506aefec Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jun 2022 14:22:55 +0200 Subject: [PATCH 203/226] cameraview.cc: prev_frame_id static -> class member --- selfdrive/ui/qt/widgets/cameraview.cc | 7 +++---- selfdrive/ui/qt/widgets/cameraview.h | 1 + 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 0bc90b5307..305f8a3abb 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -243,13 +243,12 @@ void CameraViewWidget::paintGL() { // } // Log duplicate/dropped frames - static int prev_id = 0; - if (frames[frame_idx].first == prev_id) { + if (frames[frame_idx].first == prev_frame_id) { qInfo() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_id + 1) { + } else if (frames[frame_idx].first != prev_frame_id + 1) { qInfo() << "Skipped frame" << frames[frame_idx].first; } - prev_id = frames[frame_idx].first; + prev_frame_id = frames[frame_idx].first; glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index cc11ec2c27..016522b05c 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -78,6 +78,7 @@ protected: std::deque> frames; uint32_t draw_frame_id = 0; + int prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); From ca800da8951f83892a3593b2203e74be6af53844 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jun 2022 14:25:32 +0200 Subject: [PATCH 204/226] cameraview.cc: qInfo -> qDebug --- selfdrive/ui/qt/widgets/cameraview.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 305f8a3abb..63d15660a0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -244,9 +244,9 @@ void CameraViewWidget::paintGL() { // Log duplicate/dropped frames if (frames[frame_idx].first == prev_frame_id) { - qInfo() << "Drawing same frame twice" << frames[frame_idx].first; + qDebug() << "Drawing same frame twice" << frames[frame_idx].first; } else if (frames[frame_idx].first != prev_frame_id + 1) { - qInfo() << "Skipped frame" << frames[frame_idx].first; + qDebug() << "Skipped frame" << frames[frame_idx].first; } prev_frame_id = frames[frame_idx].first; From c49f997be505760a18e85a241e6d45b98952c894 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 30 Jun 2022 17:39:12 +0200 Subject: [PATCH 205/226] Add laikadOffline subtest to process replay. (#24995) * Add subtests to process replay. Adds laikadOffline subtest * Update cpp. * Update ref * Update ref again * Update ref again * update ref * Fix disabling fetching orbits * Add proc name to event exception * update ref * Update setup_env * Fix offline test and update refs --- selfdrive/locationd/laikad.py | 15 ++++--- .../test/process_replay/process_replay.py | 41 +++++++++++++++---- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 4 +- 4 files changed, 47 insertions(+), 15 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 5098b25d38..d51ac10816 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import json +import math import os import time from collections import defaultdict @@ -29,11 +30,12 @@ CACHE_VERSION = 0.1 class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), + def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) + self.auto_fetch_orbits = auto_fetch_orbits self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None @@ -41,6 +43,7 @@ class Laikad: self.last_cached_t = None self.save_ephemeris = save_ephemeris self.load_cache() + self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} self.last_pos_fix = last_known_position if last_known_position is not None else [] self.last_pos_residual = [] @@ -85,7 +88,8 @@ class Laikad: report = ublox_msg.measurementReport if report.gpsWeek > 0: latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) - self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) + if self.auto_fetch_orbits: + self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) new_meas = read_raw_ublox(report) processed_measurements = process_measurements(new_meas, self.astro_dog) @@ -146,8 +150,8 @@ class Laikad: def kf_valid(self, t: float) -> List[bool]: filter_time = self.gnss_kf.filter.get_filter_time() - return [filter_time is not None, - filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, + return [not math.isnan(filter_time), + abs(t - filter_time) < MAX_TIME_GAP, all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] def init_gnss_localizer(self, est_pos): @@ -275,7 +279,8 @@ def main(sm=None, pm=None): replay = "REPLAY" in os.environ # todo get last_known_position - laikad = Laikad(save_ephemeris=not replay) + use_internet = "LAIKAD_NO_INTERNET" not in os.environ + laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) while True: sm.update() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index def61a10a1..fc83b4b61f 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -27,14 +27,14 @@ TIMEOUT = 15 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config'], defaults=({},)) +ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, "")) def wait_for_event(evt): if not evt.wait(TIMEOUT): if threading.currentThread().getName() == "MainThread": # tested process likely died. don't let test just hang - raise Exception("Timeout reached. Tested process likely crashed.") + raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.") else: # done testing this process, let it die sys.exit(0) @@ -190,6 +190,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint): _, CP = get_car(can, sendcan) Params().put("CarParams", CP.to_bytes()) + def controlsd_rcv_callback(msg, CP, cfg, fsm): # no sendcan until controlsd is initialized socks = [s for s in cfg.pub_sub[msg.which()] if @@ -198,6 +199,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm): socks.remove("sendcan") return socks, len(socks) > 0 + def radar_rcv_callback(msg, CP, cfg, fsm): if msg.which() != "can": return [], False @@ -240,7 +242,7 @@ def laika_rcv_callback(msg, CP, cfg, fsm): if msg.ubloxGnss.which() == "measurementReport": return ["gnssMeasurements"], True else: - return [], False + return [], True CONFIGS = [ @@ -345,6 +347,19 @@ CONFIGS = [ tolerance=None, fake_pubsubmaster=False, ), + ProcessConfig( + proc_name="laikad", + subtest_name="Offline", + pub_sub={ + "ubloxGnss": ["gnssMeasurements"], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=laika_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + environ={"LAIKAD_NO_INTERNET": "1"}, + ), ProcessConfig( proc_name="laikad", pub_sub={ @@ -366,7 +381,8 @@ def replay_process(cfg, lr, fingerprint=None): else: return cpp_replay_process(cfg, lr, fingerprint) -def setup_env(simulation=False, CP=None): + +def setup_env(simulation=False, CP=None, cfg=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -380,6 +396,16 @@ def setup_env(simulation=False, CP=None): os.environ['SKIP_FW_QUERY'] = "" os.environ['FINGERPRINT'] = "" + if cfg is not None: + # Clear all custom processConfig environment variables + for cfg in CONFIGS: + for k, _ in cfg.environ.items(): + if k in os.environ: + del os.environ[k] + + os.environ.update(cfg.environ) + os.environ['PROC_NAME'] = cfg.proc_name + if simulation: os.environ["SIMULATION"] = "1" elif "SIMULATION" in os.environ: @@ -396,6 +422,7 @@ def setup_env(simulation=False, CP=None): os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = CP.carFingerprint + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] @@ -413,10 +440,10 @@ def python_replay_process(cfg, lr, fingerprint=None): if fingerprint is not None: os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = fingerprint - setup_env() + setup_env(cfg=cfg) else: CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP) + setup_env(CP=CP, cfg=cfg) assert(type(managed_processes[cfg.proc_name]) is PythonProcess) managed_processes[cfg.proc_name].prepare() @@ -477,7 +504,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None): log_msgs = [] # We need to fake SubMaster alive since we can't inject a fake clock - setup_env(simulation=True) + setup_env(simulation=True, cfg=cfg) managed_processes[cfg.proc_name].prepare() managed_processes[cfg.proc_name].start() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 946ddce19e..c3e8eca42d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a0b5ce7b2e0b9c073e51ac8908402d53e1d99722 \ No newline at end of file +a9adebff7ce27d6233d443217a30337b761898ee \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 25fbd210cc..4e7ba4a6dd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -200,11 +200,11 @@ if __name__ == "__main__": if cfg.proc_name not in tested_procs: continue - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2") if args.update_refs: # reference logs will not exist if routes were just regenerated ref_log_path = get_url(*segment.rsplit("--", 1)) else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2") ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) dat = None if args.upload_only else log_data[segment] From dd43ae2856e144ec13eff462556d8e681aa57789 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 30 Jun 2022 14:49:17 -0700 Subject: [PATCH 206/226] Full localizer: Use standard naming conventions (#25007) Use standard naming conventions --- selfdrive/locationd/models/loc_kf.py | 32 ++++++++++++++-------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index 6b08828695..b1ed8599f1 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -25,15 +25,15 @@ class States(): ODO_SCALE_UNUSED = slice(18, 19) # odometer scale ACCELERATION = slice(19, 22) # Acceleration in device frame in m/s**2 FOCAL_SCALE_UNUSED = slice(22, 23) # focal length scale - IMU_OFFSET = slice(23, 26) # imu offset angles in radians + IMU_FROM_DEVICE_EULER = slice(23, 26) # imu offset angles in radians GLONASS_BIAS = slice(26, 27) # GLONASS bias in m expressed as bias + freq_num*freq_slope GLONASS_FREQ_SLOPE = slice(27, 28) # GLONASS bias in m expressed as bias + freq_num*freq_slope CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2, ACCELEROMETER_SCALE_UNUSED = slice(29, 30) # scale of mems accelerometer ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer # TODO the offset is likely a translation of the sensor, not a rotation of the camera - WIDE_CAM_OFFSET = slice(33, 36) # wide camera offset angles in radians (tici only) - # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET). + WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) + # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE # Error-state has different slices because it is an ESKF @@ -47,13 +47,13 @@ class States(): ODO_SCALE_ERR_UNUSED = slice(17, 18) ACCELERATION_ERR = slice(18, 21) FOCAL_SCALE_ERR_UNUSED = slice(21, 22) - IMU_OFFSET_ERR = slice(22, 25) + IMU_FROM_DEVICE_EULER_ERR = slice(22, 25) GLONASS_BIAS_ERR = slice(25, 26) GLONASS_FREQ_SLOPE_ERR = slice(26, 27) CLOCK_ACCELERATION_ERR = slice(27, 28) ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29) ACCELEROMETER_BIAS_ERR = slice(29, 32) - WIDE_CAM_OFFSET_ERR = slice(32, 35) + WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35) class LocKalman(): @@ -140,15 +140,15 @@ class LocKalman(): cd = state[States.CLOCK_DRIFT, :] roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] acceleration = state[States.ACCELERATION, :] - imu_angles = state[States.IMU_OFFSET, :] - imu_angles[0, 0] = 0 # not observable enough - imu_angles[2, 0] = 0 # not observable enough + imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :] + imu_from_device_euler[0, 0] = 0 # not observable enough + imu_from_device_euler[2, 0] = 0 # not observable enough glonass_bias = state[States.GLONASS_BIAS, :] glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :] ca = state[States.CLOCK_ACCELERATION, :] accel_bias = state[States.ACCELEROMETER_BIAS, :] - wide_cam_angles = state[States.WIDE_CAM_OFFSET, :] - wide_cam_angles[0, 0] = 0 # not observable enough + wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :] + wide_from_device_euler[0, 0] = 0 # not observable enough dt = sp.Symbol('dt') @@ -273,15 +273,15 @@ class LocKalman(): los_vector[2] * (sat_vz - vz) + cd[0]]) - imu_rot = euler_rotate(*imu_angles) - h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias, + imu_from_device = euler_rotate(*imu_from_device_euler) + h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias, vpitch + pitch_bias, vyaw + yaw_bias]) pos = sp.Matrix([x, y, z]) # add 1 for stability, prevent division by 0 gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos) - h_acc_sym = imu_rot * (gravity + acceleration + accel_bias) + h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias) h_acc_stationary_sym = acceleration h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) h_relative_motion = sp.Matrix(quat_rot.T * v) @@ -297,7 +297,7 @@ class LocKalman(): [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]] - wide_cam_rot = euler_rotate(*wide_cam_angles) + wide_from_device = euler_rotate(*wide_from_device_euler) # MSCKF configuration if N > 0: # experimentally found this is correct value for imx298 with 910 focal length @@ -312,7 +312,7 @@ class LocKalman(): track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym + track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), @@ -329,7 +329,7 @@ class LocKalman(): quat_rot = quat_rotate(*q) track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym + track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), From f0062f624260bcbdadeec643c993ac597b73c4fc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 15:01:52 -0700 Subject: [PATCH 207/226] Toyota: fix BSM detection (#24964) * revert to 1 second * Revert "revert to 1 second" This reverts commit 6ab3f75cb73fdfe254431c479b6d337030b0d538. * Revert "remove toyota can fingerprinting exceptions (#22803)" This reverts commit d8f5e8b7a4b6c9132ce2515a9106aeb971ee2579. fix static analysis * Revert "Revert "remove toyota can fingerprinting exceptions (#22803)"" This reverts commit fc359fc9b2db146d77b6533be9e7434f08a665df. * 1 second for all brands * update refs Co-authored-by: Adeeb Shihadeh --- selfdrive/car/car_helpers.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 8c0fd7c90d..7f83732153 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -115,7 +115,7 @@ def fingerprint(logcan, sendcan): finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 frame = 0 - frame_fingerprint = 25 # 0.25s + frame_fingerprint = 100 # 1s car_fingerprint = None done = False diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c3e8eca42d..b9ba47e8f7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a9adebff7ce27d6233d443217a30337b761898ee \ No newline at end of file +a98dfc72bb4c5624c2223ca65d52b151f419460c \ No newline at end of file From 2027d5311d419addfb67ad94d45a198592b2e459 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 30 Jun 2022 15:03:15 -0700 Subject: [PATCH 208/226] tools: add support for nv12 in compressed_vipc (#24962) reshape for nv12 --- tools/camerastream/compressed_vipc.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 290610e45f..d321d6fd2b 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -73,6 +73,10 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): continue assert len(frames) == 1 img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten() + uv_offset = H*W + y = img_yuv[:uv_offset] + uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F') + img_yuv = np.hstack((y, uv)) vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9)) cnt += 1 From 8b32e1b060e8c2c3c084393a569d4e78992ca598 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 30 Jun 2022 18:26:25 -0400 Subject: [PATCH 209/226] GM: Lower LKA loopback CAN Error timing threshold to accommodate dropped packets (#24927) * LKA loopback timing to 10Hz * Typo Co-authored-by: Willem Melching Co-authored-by: Willem Melching --- selfdrive/car/gm/carstate.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 48b9f25444..3605dab486 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -133,7 +133,9 @@ class CarState(CarStateBase): ] checks = [ - ("ASCMLKASteeringCmd", 50), + ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). + # While active 50 Hz (every 20 ms) is normal + # EPS will tolerate around 200ms when active before faulting ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK) From 11b5d51da61cac111fb4e5af3b1df6091d860dfc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Jun 2022 15:36:40 -0700 Subject: [PATCH 210/226] remove mypy ignore from a few scripts --- selfdrive/debug/check_freq.py | 11 +++++++---- selfdrive/debug/check_lag.py | 4 ++-- selfdrive/debug/check_timings.py | 5 +++-- 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index 424ad67b6d..b6f3c91bd0 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 -# type: ignore - import argparse import numpy as np from collections import defaultdict, deque +from typing import DefaultDict, Deque + from common.realtime import sec_since_boot import cereal.messaging as messaging @@ -19,8 +19,8 @@ if __name__ == "__main__": socket_names = args.socket sockets = {} - rcv_times = defaultdict(lambda: deque(maxlen=100)) - valids = defaultdict(lambda: deque(maxlen=100)) + rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) + valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) t = sec_since_boot() for name in socket_names: @@ -31,6 +31,9 @@ if __name__ == "__main__": while True: for socket in poller.poll(100): msg = messaging.recv_one(socket) + if msg is None: + continue + name = msg.which() t = sec_since_boot() diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py index c922642982..141156db91 100755 --- a/selfdrive/debug/check_lag.py +++ b/selfdrive/debug/check_lag.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -# type: ignore +from typing import Dict import cereal.messaging as messaging from cereal.services import service_list @@ -10,7 +10,7 @@ TO_CHECK = ['carState'] if __name__ == "__main__": sm = messaging.SubMaster(TO_CHECK) - prev_t = {} + prev_t: Dict[str, float] = {} while True: sm.update() diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 03e39fd70d..69304f97b5 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -1,14 +1,15 @@ #!/usr/bin/env python3 -# type: ignore + import sys import time import numpy as np +from typing import DefaultDict, Deque from collections import defaultdict, deque import cereal.messaging as messaging socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} -ts = defaultdict(lambda: deque(maxlen=100)) +ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) if __name__ == "__main__": while True: From 9279c02258e7ab2f60b4e5ea0198bdcb757bf533 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 30 Jun 2022 18:47:26 -0400 Subject: [PATCH 211/226] GM: prep and cleanup for future ports (#24910) * Interface radarOffCan set, comments * pass pcmCruise value to common events * add transType and networkLoc to iface * carstate use transtype to detect EV * ctrl: limit sends by config * Add clarifying comments for new vals * clean up * comment on new line * these have the same frequency * remove 25hz * add to upper comment * update refs * update refs * move into same block move into same block Co-authored-by: Shane Smiskol --- selfdrive/car/gm/carcontroller.py | 94 ++++++++++++------------ selfdrive/car/gm/carstate.py | 8 +- selfdrive/car/gm/interface.py | 19 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 67 insertions(+), 56 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index ae2a188e3f..8ad5049e32 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -8,10 +8,12 @@ from selfdrive.car.gm import gmcan from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert +NetworkLocation = car.CarParams.NetworkLocation class CarController: def __init__(self, dbc_name, CP, VM): + self.CP = CP self.start_time = 0. self.apply_steer_last = 0 self.apply_gas = 0 @@ -24,9 +26,9 @@ class CarController: self.params = CarControllerParams() - self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt']) - self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar']) - self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis']) + self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt']) + self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) + self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) def update(self, CC, CS): actuators = CC.actuators @@ -60,48 +62,48 @@ class CarController: can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled)) - # Gas/regen and brakes - all at 25Hz - if (self.frame % 4) == 0: - if not CC.longActive: - # Stock ECU sends max regen when not enabled - self.apply_gas = self.params.MAX_ACC_REGEN - self.apply_brake = 0 - else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) - - idx = (self.frame // 4) % 4 - - at_full_stop = CC.longActive and CS.out.standstill - near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) - # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation - can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.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)) - - # Send dashboard UI commands (ACC status), 25hz - if (self.frame % 4) == 0: - send_fcw = hud_alert == VisualAlert.fcw - can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, - hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw)) - - # Radar needs to know current speed and yaw rate (50hz), - # and that ADAS is alive (10hz) - time_and_headlights_step = 10 - tt = self.frame * DT_CTRL - - if self.frame % time_and_headlights_step == 0: - idx = (self.frame // time_and_headlights_step) % 4 - can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) - can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) - - speed_and_accelerometer_step = 2 - if self.frame % speed_and_accelerometer_step == 0: - idx = (self.frame // speed_and_accelerometer_step) % 4 - can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) - can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) - - if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0: - can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) + if self.CP.openpilotLongitudinalControl: + # Gas/regen, brakes, and UI commands - all at 25Hz + if self.frame % 4 == 0: + if not CC.longActive: + # Stock ECU sends max regen when not enabled + self.apply_gas = self.params.MAX_ACC_REGEN + self.apply_brake = 0 + else: + self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + + idx = (self.frame // 4) % 4 + + at_full_stop = CC.longActive and CS.out.standstill + near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) + # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation + can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.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)) + + # Send dashboard UI commands (ACC status) + send_fcw = hud_alert == VisualAlert.fcw + can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, + hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw)) + + # Radar needs to know current speed and yaw rate (50hz), + # and that ADAS is alive (10hz) + if not self.CP.radarOffCan: + tt = self.frame * DT_CTRL + time_and_headlights_step = 10 + if self.frame % time_and_headlights_step == 0: + idx = (self.frame // time_and_headlights_step) % 4 + can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) + can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) + + speed_and_accelerometer_step = 2 + if self.frame % speed_and_accelerometer_step == 0: + idx = (self.frame // speed_and_accelerometer_step) % 4 + can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) + can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) + + if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0: + can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. @@ -110,7 +112,7 @@ class CarController: lka_active = CS.lkas_status == 1 lka_critical = lka_active and abs(actuators.steer) > 0.9 lka_icon_status = (lka_active, lka_critical) - if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last: + if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): 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/carstate.py b/selfdrive/car/gm/carstate.py index 3605dab486..c28abc6036 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -3,7 +3,9 @@ from common.numpy_fast import mean from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD +from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD + +TransmissionType = car.CarParams.TransmissionType class CarState(CarStateBase): @@ -35,7 +37,7 @@ class CarState(CarStateBase): ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10 # Regen braking is braking - if self.car_fingerprint == CAR.VOLT: + if self.CP.transmissionType == TransmissionType.direct: ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. @@ -120,7 +122,7 @@ class CarState(CarStateBase): ("EBCMBrakePedalPosition", 100), ] - if CP.carFingerprint == CAR.VOLT: + if CP.transmissionType == TransmissionType.direct: signals.append(("RegenPaddle", "EBCMRegenPaddle")) checks.append(("EBCMRegenPaddle", 50)) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 9c1744dfb4..282844d095 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -9,6 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName +TransmissionType = car.CarParams.TransmissionType +NetworkLocation = car.CarParams.NetworkLocation BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} @@ -45,7 +47,11 @@ class CarInterface(CarInterfaceBase): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] - ret.pcmCruise = False # stock cruise control is kept off + ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off + ret.radarOffCan = False # For ASCM, radar exists + ret.transmissionType = TransmissionType.automatic + # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM + ret.networkLocation = NetworkLocation.gateway # 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 @@ -77,17 +83,18 @@ class CarInterface(CarInterfaceBase): ret.minEnableSpeed = 18 * CV.MPH_TO_MS if candidate == CAR.VOLT: + ret.transmissionType = TransmissionType.direct ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 17.7 # Stock 15.7, LiveParameters - tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters - ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh + tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters + ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kiV = [0.] - ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() + ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() ret.steerActuatorDelay = 0.2 elif candidate == CAR.MALIBU: @@ -160,7 +167,7 @@ class CarInterface(CarInterfaceBase): ret.buttonEvents = [be] - events = self.create_common_events(ret, pcm_enable=False) + events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise) if ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) @@ -170,7 +177,7 @@ class CarInterface(CarInterfaceBase): events.add(car.CarEvent.EventName.belowSteerSpeed) # handle button presses - events.events.extend(create_button_enable_events(ret.buttonEvents)) + events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise)) ret.events = events.to_msg() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b9ba47e8f7..a1cb2bf362 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a98dfc72bb4c5624c2223ca65d52b151f419460c \ No newline at end of file +d7c610172f3ff10b68403abc19b260c91c848ebb \ No newline at end of file From 61d21ff00ae6d4b5f510c5880d2ca747272da754 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Jun 2022 15:52:53 -0700 Subject: [PATCH 212/226] update release notes --- RELEASES.md | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 5d81b43085..5b71fc3375 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,5 @@ -Version 0.8.15 (2022-XX-XX) +Version 0.8.15 (2022-07-XX) ======================== -* New driving model * New lateral controller based on physical wheel torque model * Much smoother control, consistent across the speed range * Effective feedforward that uses road roll @@ -10,8 +9,12 @@ Version 0.8.15 (2022-XX-XX) * takes a larger input frame * outputs a driver state for both driver and passenger * automatically determines which side the driver is on (soon) -* Display speed limit while navigating * Reduced power usage: device runs cooler and fan spins less +* Minor UI updates + * New font + * Refreshed max speed design + * Speed limits shown while navigating + * More consistent camera view perspective across cars * AGNOS 5 * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! From d2c2154a32db0876036f4f6b61b912de0c90fc5a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 17:23:12 -0700 Subject: [PATCH 213/226] Clean up CarControllers (#25008) * do VW * Do the rest * unused * ford cc formatting * final clean ups * also just return update output --- selfdrive/car/body/carcontroller.py | 4 +-- selfdrive/car/ford/carcontroller.py | 15 +++++---- selfdrive/car/ford/interface.py | 4 +-- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/gm/interface.py | 3 +- selfdrive/car/hyundai/carcontroller.py | 6 ++-- selfdrive/car/hyundai/interface.py | 3 +- selfdrive/car/mazda/carcontroller.py | 31 ++++++++++-------- selfdrive/car/mazda/interface.py | 4 +-- selfdrive/car/nissan/carcontroller.py | 33 ++++++++++--------- selfdrive/car/nissan/interface.py | 11 ++----- selfdrive/car/subaru/carcontroller.py | 21 +++++++----- selfdrive/car/subaru/interface.py | 10 ++---- selfdrive/car/tesla/interface.py | 3 +- selfdrive/car/toyota/interface.py | 3 +- selfdrive/car/volkswagen/carcontroller.py | 40 +++++++++++++---------- selfdrive/car/volkswagen/interface.py | 10 +----- 17 files changed, 97 insertions(+), 106 deletions(-) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 5714445f67..c13acebacb 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,8 +1,8 @@ import numpy as np from common.realtime import DT_CTRL -from selfdrive.car.body import bodycan from opendbc.can.packer import CANPacker +from selfdrive.car.body import bodycan from selfdrive.car.body.values import SPEED_FROM_RPM from selfdrive.controls.lib.pid import PIDController @@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2 # meters MAX_TURN_INTEGRATOR = 0.1 # meters -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.frame = 0 self.packer = CANPacker(dbc_name) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index c2f87a4806..d7666c1d65 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,8 +1,8 @@ from cereal import car from common.numpy_fast import clip, interp +from opendbc.can.packer import CANPacker from selfdrive.car.ford import fordcan from selfdrive.car.ford.values import CarControllerParams -from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -17,11 +17,12 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo): return apply_steer -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) + self.frame = 0 self.apply_steer_last = 0 self.steer_rate_limited = False @@ -29,7 +30,7 @@ class CarController(): self.lkas_enabled_last = False self.steer_alert_last = False - def update(self, CC, CS, frame): + def update(self, CC, CS): can_sends = [] actuators = CC.actuators @@ -48,7 +49,7 @@ class CarController(): self.steer_rate_limited = new_steer != apply_steer # send steering commands at 20Hz - if (frame % CarControllerParams.LKAS_STEER_STEP) == 0: + if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0: lca_rq = 1 if CC.latActive else 0 # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented @@ -69,15 +70,14 @@ class CarController(): can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, path_offset, path_angle, curvature_rate, curvature)) - send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui command at 1Hz or if ui state changes - if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: + if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values)) # send acc ui command at 20Hz or if ui state changes - if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: + if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values)) self.main_on_last = main_on @@ -87,4 +87,5 @@ class CarController(): new_actuators = actuators.copy() new_actuators.steeringAngleDeg = apply_steer + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index c608cc08d9..1af04bee41 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -78,6 +78,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS, self.frame) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 8ad5049e32..f763a58532 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car from common.conversions import Conversions as CV -from common.realtime import DT_CTRL from common.numpy_fast import interp +from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.gm import gmcan diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 282844d095..e0dd10d4a8 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -184,5 +184,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index fb3579464a..4fbb5ce0e1 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.realtime import DT_CTRL -from common.numpy_fast import clip, interp from common.conversions import Conversions as CV +from common.numpy_fast import clip, interp +from common.realtime import DT_CTRL +from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.hyundai import hda2can, hyundaican from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR -from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 58a67f58ce..97119c77b7 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -349,5 +349,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index d003079d63..0e43a11ceb 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,46 +1,48 @@ from cereal import car from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.mazda import mazdacan from selfdrive.car.mazda.values import CarControllerParams, Buttons -from selfdrive.car import apply_std_steer_torque_limits VisualAlert = car.CarControl.HUDControl.VisualAlert -class CarController(): + +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 self.packer = CANPacker(dbc_name) self.steer_rate_limited = False self.brake_counter = 0 + self.frame = 0 - def update(self, c, CS, frame): + def update(self, CC, CS): can_sends = [] apply_steer = 0 self.steer_rate_limited = False - if c.latActive: + if CC.latActive: # calculate steer and also set limits due to driver torque - new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX)) + new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams) self.steer_rate_limited = new_steer != apply_steer - if c.enabled: - if CS.out.standstill and frame % 5 == 0: + if CC.enabled: + if CS.out.standstill and self.frame % 5 == 0: # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds # Send Resume button at 20hz if we're engaged at standstill to support full stop and go! # TODO: improve the resume trigger logic by looking at actual radar data can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) - if c.cruiseControl.cancel: + if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid # a race condition with the stock system, where the second cancel from openpilot # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to # read 3 messages and most likely sync state before we attempt cancel. self.brake_counter = self.brake_counter + 1 - if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): + if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): # Cancel Stock ACC if it's enabled while OP is disengaged # Send at a rate of 10hz until we sync with stock ACC state can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL)) @@ -50,18 +52,19 @@ class CarController(): self.apply_steer_last = apply_steer # send HUD alerts - if frame % 50 == 0: - ldw = c.hudControl.visualAlert == VisualAlert.ldw - steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired + if self.frame % 50 == 0: + ldw = CC.hudControl.visualAlert == VisualAlert.ldw + steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired # TODO: find a way to silence audible warnings so we can add more hud alerts steer_required = steer_required and CS.lkas_allowed_speed can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required)) # send steering command can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint, - frame, apply_steer, CS.cam_lkas)) + self.frame, apply_steer, CS.cam_lkas)) - new_actuators = c.actuators.copy() + new_actuators = CC.actuators.copy() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index cbeb910de2..35e3c1bb01 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -90,6 +90,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS, self.frame) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 4ceb142d45..7d9dad6693 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -1,25 +1,27 @@ from cereal import car from common.numpy_fast import clip, interp -from selfdrive.car.nissan import nissancan from opendbc.can.packer import CANPacker +from selfdrive.car.nissan import nissancan from selfdrive.car.nissan.values import CAR, CarControllerParams - VisualAlert = car.CarControl.HUDControl.VisualAlert -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.car_fingerprint = CP.carFingerprint + self.frame = 0 self.lkas_max_torque = 0 self.last_angle = 0 self.packer = CANPacker(dbc_name) - def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert, - left_line, right_line, left_lane_depart, right_lane_depart): + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel can_sends = [] @@ -28,9 +30,9 @@ 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_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 - if c.latActive: + if CC.latActive: # # windup slower if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle): angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V) @@ -57,25 +59,25 @@ class CarController(): self.last_angle = apply_angle - 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)) + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd: + can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.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: - can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel)) + if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0: + can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd)) can_sends.append(nissancan.create_steering_control( - self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque)) + self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque)) if lkas_hud_msg and lkas_hud_info_msg: - if frame % 2 == 0: + if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart)) + self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - if frame % 50 == 0: + if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( self.packer, lkas_hud_info_msg, steer_hud_alert )) @@ -83,4 +85,5 @@ class CarController(): new_actuators = actuators.copy() new_actuators.steeringAngleDeg = apply_angle + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 436cef68bf..9c04d975f9 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.nissan.values import CAR from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.nissan.values import CAR + class CarInterface(CarInterfaceBase): @@ -67,10 +68,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - hud_control = c.hudControl - ret = self.CC.update(c, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index d37b82eed7..dca86c30a6 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,10 +1,10 @@ +from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.subaru import subarucan from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams -from opendbc.can.packer import CANPacker -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 @@ -12,16 +12,20 @@ class CarController(): self.es_lkas_cnt = -1 self.cruise_button_prev = 0 self.steer_rate_limited = False + self.frame = 0 self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) - def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel can_sends = [] # *** steering *** - if (frame % self.p.STEER_STEP) == 0: + if (self.frame % self.p.STEER_STEP) == 0: apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) @@ -31,13 +35,13 @@ class CarController(): 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 c.latActive: + if not CC.latActive: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP)) self.apply_steer_last = apply_steer @@ -70,10 +74,11 @@ class CarController(): self.es_distance_cnt = CS.es_distance_msg["Counter"] if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]: - can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart)) + can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) self.es_lkas_cnt = CS.es_lkas_msg["Counter"] new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8c5cab86e8..952885a751 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS + class CarInterface(CarInterfaceBase): @@ -117,9 +118,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - hud_control = c.hudControl - ret = self.CC.update(c, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index d4eda38e64..5e78c72b60 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -64,5 +64,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index fdb923f693..337c039565 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -274,5 +274,4 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 842eb6d139..4614463c6e 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -1,15 +1,17 @@ from cereal import car +from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.volkswagen import volkswagencan from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P -from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert -class CarController(): + +class CarController: def __init__(self, dbc_name, CP, VM): - self.apply_steer_last = 0 self.CP = CP + self.apply_steer_last = 0 + self.frame = 0 self.packer_pt = CANPacker(DBC_FILES.mqb) @@ -22,14 +24,15 @@ class CarController(): self.steer_rate_limited = False - def update(self, c, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart): - """ Controls thread """ + def update(self, CC, CS, ext_bus): + actuators = CC.actuators + hud_control = CC.hudControl can_sends = [] # **** Steering Controls ************************************************ # - if frame % P.HCA_STEP == 0: + if self.frame % P.HCA_STEP == 0: # Logic to avoid HCA state 4 "refused": # * Don't steer unless HCA is in state 3 "ready" or 5 "active" # * Don't steer at standstill @@ -40,7 +43,7 @@ class CarController(): # torque value. Do that anytime we happen to have 0 torque, or failing that, # when exceeding ~1/3 the 360 second timer. - if c.latActive: + if CC.latActive: new_steer = int(round(actuators.steer * P.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P) self.steer_rate_limited = new_steer != apply_steer @@ -66,34 +69,34 @@ class CarController(): apply_steer = 0 self.apply_steer_last = apply_steer - idx = (frame / P.HCA_STEP) % 16 + idx = (self.frame / P.HCA_STEP) % 16 can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, idx, hcaEnabled)) # **** HUD Controls ***************************************************** # - if frame % P.LDW_STEP == 0: - if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw): + if self.frame % P.LDW_STEP == 0: + if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"] else: hud_alert = MQB_LDW_MESSAGES["none"] - can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled, - CS.out.steeringPressed, hud_alert, left_lane_visible, - right_lane_visible, CS.ldw_stock_values, - left_lane_depart, right_lane_depart)) + can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled, + CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, CS.ldw_stock_values, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) # **** ACC Button Controls ********************************************** # # FIXME: this entire section is in desperate need of refactoring if self.CP.pcmCruise: - if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP: - if c.cruiseControl.cancel: + if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP: + if CC.cruiseControl.cancel: # Cancel ACC if it's engaged with OP disengaged. self.graButtonStatesToSend = BUTTON_STATES.copy() self.graButtonStatesToSend["cancel"] = True - elif c.enabled and CS.out.cruiseState.standstill: + elif CC.enabled and CS.out.cruiseState.standstill: # Blip the Resume button if we're engaged at standstill. # FIXME: This is a naive implementation, improve with visiond or radar input. self.graButtonStatesToSend = BUTTON_STATES.copy() @@ -103,7 +106,7 @@ class CarController(): self.graMsgBusCounterPrev = CS.graMsgBusCounter if self.graButtonStatesToSend is not None: if self.graMsgSentCount == 0: - self.graMsgStartFramePrev = frame + self.graMsgStartFramePrev = self.frame idx = (CS.graMsgBusCounter + 1) % 16 can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx)) self.graMsgSentCount += 1 @@ -114,4 +117,5 @@ class CarController(): new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / P.STEER_MAX + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 6782105c16..c2b077b6db 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -193,12 +193,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - hud_control = c.hudControl - ret = self.CC.update(c, self.CS, self.frame, self.ext_bus, c.actuators, - hud_control.visualAlert, - hud_control.leftLaneVisible, - hud_control.rightLaneVisible, - hud_control.leftLaneDepart, - hud_control.rightLaneDepart) - self.frame += 1 - return ret + return self.CC.update(c, self.CS, self.ext_bus) From 38ff2982eb2e72b634af26e2adb0ac7a363999ce Mon Sep 17 00:00:00 2001 From: realfast Date: Thu, 30 Jun 2022 19:27:35 -0500 Subject: [PATCH 214/226] Chrysler: carState signals update (#24760) * carstate update * update refs Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/chrysler/carcontroller.py | 4 +- selfdrive/car/chrysler/carstate.py | 58 ++++++++++++------------ selfdrive/car/chrysler/chryslercan.py | 9 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 37 insertions(+), 38 deletions(-) diff --git a/opendbc b/opendbc index 47b79c4d5a..7fbf7c2a68 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49 +Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278 diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 3d6295d77d..49525646ca 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car from opendbc.can.packer import CANPacker from selfdrive.car import apply_toyota_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons +from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import CAR, CarControllerParams @@ -49,7 +49,7 @@ class CarController: # *** control msgs *** if CC.cruiseControl.cancel: - can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True)) + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True)) # LKAS_HEARTBIT is forwarded by Panda so no need to send it here. # frame is 100Hz (0.01s period) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 202526df05..444557191a 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -16,13 +16,13 @@ class CarState(CarStateBase): ret = car.CarState.new_message() - self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) + self.frame = int(cp.vl["EPS_2"]["COUNTER"]) ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], cp.vl["BCM_1"]["DOOR_OPEN_FR"], cp.vl["BCM_1"]["DOOR_OPEN_RL"], cp.vl["BCM_1"]["DOOR_OPEN_RR"]]) - ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 + ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal ret.brake = 0 @@ -35,10 +35,10 @@ class CarState(CarStateBase): ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1) ret.wheelSpeeds = self.get_wheel_speeds( - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + cp.vl["ESP_6"]["WHEEL_SPEED_FL"], + cp.vl["ESP_6"]["WHEEL_SPEED_FR"], + cp.vl["ESP_6"]["WHEEL_SPEED_RL"], + cp.vl["ESP_6"]["WHEEL_SPEED_RR"], unit=1, ) ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2. @@ -51,17 +51,17 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green - ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS + ret.cruiseState.speed = cp.vl["DAS_4"]["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["DAS_4"]["CRUISE_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] - ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] - ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] + ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] + ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"] + steer_state = cp.vl["EPS_2"]["LKAS_STATE"] ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"]) @@ -73,7 +73,7 @@ class CarState(CarStateBase): self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"] self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] - self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"] + self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] return ret @@ -90,10 +90,10 @@ class CarState(CarStateBase): ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), ("SPEED_RIGHT", "SPEED_1"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FL", "ESP_6"), + ("WHEEL_SPEED_RR", "ESP_6"), + ("WHEEL_SPEED_RL", "ESP_6"), + ("WHEEL_SPEED_FR", "ESP_6"), ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), @@ -101,31 +101,31 @@ class CarState(CarStateBase): ("ACC_ACTIVE", "DAS_3"), ("ACC_FAULTED", "DAS_3"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), - ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), - ("CRUISE_STATE", "DASHBOARD"), - ("TORQUE_DRIVER", "EPS_STATUS"), - ("TORQUE_MOTOR", "EPS_STATUS"), - ("LKAS_STATE", "EPS_STATUS"), - ("COUNTER", "EPS_STATUS",), + ("ACC_SPEED_CONFIG_KPH", "DAS_4"), + ("CRUISE_STATE", "DAS_4"), + ("COLUMN_TORQUE", "EPS_2"), + ("EPS_TORQUE_MOTOR", "EPS_2"), + ("LKAS_STATE", "EPS_2"), + ("COUNTER", "EPS_2",), ("TRACTION_OFF", "TRACTION_BUTTON"), - ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"), - ("COUNTER", "WHEEL_BUTTONS"), + ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), + ("COUNTER", "CRUISE_BUTTONS"), ] checks = [ # sig_address, frequency ("ESP_1", 50), - ("EPS_STATUS", 100), + ("EPS_2", 100), ("SPEED_1", 100), - ("WHEEL_SPEEDS", 50), + ("ESP_6", 50), ("STEERING", 100), ("DAS_3", 50), ("GEAR", 50), ("ECM_5", 50), - ("WHEEL_BUTTONS", 50), - ("DASHBOARD", 15), + ("CRUISE_BUTTONS", 50), + ("DAS_4", 15), ("STEERING_LEVERS", 10), - ("SEATBELT_STATUS", 2), + ("ORC_1", 2), ("BCM_1", 1), ("TRACTION_BUTTON", 1), ] diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 896a6b15da..53b79cab73 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -48,10 +48,9 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame): return packer.make_can_msg("LKAS_COMMAND", 0, values) -def create_wheel_buttons(packer, frame, cancel=False): - # WHEEL_BUTTONS (571) Message sent to cancel ACC. +def create_cruise_buttons(packer, frame, cancel=False): values = { - "ACC_CANCEL": cancel, - "COUNTER": frame % 0x10 + "ACC_Cancel": cancel, + "COUNTER": frame % 0x10, } - return packer.make_can_msg("WHEEL_BUTTONS", 0, values) + return packer.make_can_msg("CRUISE_BUTTONS", 0, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a1cb2bf362..90444b1fa7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d7c610172f3ff10b68403abc19b260c91c848ebb \ No newline at end of file +806984d4206056fb132625c5dad6c0ca1835a2d6 \ No newline at end of file From ab8592187f36ea9fda6767e86a0651366c12c487 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 17:55:22 -0700 Subject: [PATCH 215/226] Chrysler Pacifica 2019 is supported (#25010) 19 is secretly supported --- docs/CARS.md | 2 +- selfdrive/car/chrysler/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index fb163b44e0..25de6a2549 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -154,7 +154,7 @@ How We Rate The Cars |Audi|Q3 2020-21|ACC + Lane Assist|||||| |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica 2020|Adaptive Cruise|||||| +|Chrysler|Pacifica 2019-20|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index bdd80757f4..6faa76a479 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -39,7 +39,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2018_HYBRID: None, # same platforms CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), - CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"), + CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), } From c21ee5b76411de1bea1b95a0d71b48be879d7734 Mon Sep 17 00:00:00 2001 From: TheWizard1328 Date: Thu, 30 Jun 2022 21:06:49 -0600 Subject: [PATCH 216/226] Chrysler: add missing 2022 Pacifica Hybrid fingerprint (#24685) * Added 2022 PacHy info Didn't really need to add this but thought it would be useful. * Added 2022 PacHy info * Added 2022 PacHy info Added 2022 PacHy FP * add to current platform * generate docs * should only need this Co-authored-by: Shane Smiskol --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 6faa76a479..d624bd2727 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -88,7 +88,7 @@ FINGERPRINTS = { }, # Based on "8190c7275a24557b|2020-02-24--09-57-23" { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 }], CAR.JEEP_CHEROKEE: [{ 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 From b51a90b5a87e0b6388191f7cc5857af8d72e79de Mon Sep 17 00:00:00 2001 From: Yu Yamaguchi Date: Fri, 1 Jul 2022 15:35:37 +0900 Subject: [PATCH 217/226] Mazda: add missing FW version for CX-5 2022 (#24925) --- selfdrive/car/mazda/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 5c80303dbc..f5d63418f1 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -65,6 +65,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -77,6 +78,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.CX5: { From 20ccfed9c1d75de2a589294a5407e15304fd3f4a Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 16:43:36 +0200 Subject: [PATCH 218/226] laikad: Improve logging, fix warning and more exception handling (#25005) * change logs and add some debugging. Add test * Less logging and better check for exceptions when parsing orbits * Fix debug log and fix kf initialization --- selfdrive/locationd/laikad.py | 28 ++++++++++++++++--------- selfdrive/locationd/laikad_helpers.py | 2 +- selfdrive/locationd/test/test_laikad.py | 12 +++++++++++ 3 files changed, 31 insertions(+), 11 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index d51ac10816..427eb3dbe0 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -31,7 +31,14 @@ CACHE_VERSION = 0.1 class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), - save_ephemeris=False, last_known_position=None): + save_ephemeris=False): + """ + valid_const: GNSS constellation which can be used + auto_fetch_orbits: If true fetch orbits from internet when needed + auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere. + valid_ephem_types: Valid ephemeris types to be used by AstroDog + save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. + """ self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) @@ -45,7 +52,7 @@ class Laikad: self.load_cache() self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} - self.last_pos_fix = last_known_position if last_known_position is not None else [] + self.last_pos_fix = [] self.last_pos_residual = [] self.last_pos_fix_t = None @@ -64,12 +71,16 @@ class Laikad: self.last_fetch_orbits_t = cache['last_fetch_orbits_t'] except json.decoder.JSONDecodeError: cloudlog.exception("Error parsing cache") + timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan' + cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " + + f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}") def cache_ephemeris(self, t: GPSTime): if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): put_nonblocking(EPHEMERIS_CACHE, json.dumps( {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav}, cls=CacheSerializer)) + cloudlog.debug("Cache saved") self.last_cached_t = t def get_est_pos(self, t, processed_measurements): @@ -130,9 +141,8 @@ class Laikad: # Check time and outputs are valid valid = self.kf_valid(t) if not all(valid): - if not valid[0]: - cloudlog.info("Kalman filter uninitialized") - elif not valid[1]: + + if not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") @@ -140,7 +150,6 @@ class Laikad: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: - cloudlog.info("Could not reset kalman filter") return if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) @@ -189,8 +198,8 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): try: astro_dog.get_orbit_data(t, only_predictions=True) data = (astro_dog.orbits, astro_dog.orbit_fetched_times) - except RuntimeError as e: - cloudlog.warning(f"No orbit data found. {e}") + except (RuntimeError, ValueError, IOError) as e: + cloudlog.warning(f"No orbit data found or parsing failure: {e}") cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") return data @@ -241,7 +250,7 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS] ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS] for kind, data in ekf_data.items(): - if len(data) >0: + if len(data) > 0: gnss_kf.predict_and_observe(t, kind, data) @@ -278,7 +287,6 @@ def main(sm=None, pm=None): pm = messaging.PubMaster(['gnssMeasurements']) replay = "REPLAY" in os.environ - # todo get last_known_position use_internet = "LAIKAD_NO_INTERNET" not in os.environ laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) while True: diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py index 81f5ac3dd6..f13e8e73bb 100644 --- a/selfdrive/locationd/laikad_helpers.py +++ b/selfdrive/locationd/laikad_helpers.py @@ -86,4 +86,4 @@ def get_posfix_sympy_fun(constellation): res = [res] + [sympy.diff(res, v) for v in var] - return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res) + return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res, modules=["numpy"]) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index c353da9624..26c1d28820 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -120,6 +120,18 @@ class TestLaikad(unittest.TestCase): self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + def test_kf_becomes_valid(self): + laikad = Laikad(auto_update=False) + m = self.logs[0] + self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9))) + kf_valid = False + for m in self.logs: + laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True) + kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9)) + if kf_valid: + break + self.assertTrue(kf_valid) + def test_laika_online_nav_only(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) # Disable fetch_orbits to test NAV only From c8e5912b6173c64fae18f79109eb72e8499908c9 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 1 Jul 2022 16:43:44 +0200 Subject: [PATCH 219/226] bump laika --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index 27a0d8a776..6e87f536db 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0 +Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d From 12f8237bfbdea668ae96ce6389cbe33ce1bea7f3 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 16:50:18 +0200 Subject: [PATCH 220/226] process replay: Fix setting environment vars (#25015) Fix setting environments in process replay --- selfdrive/test/process_replay/process_replay.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index fc83b4b61f..9c45281b0c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -398,8 +398,8 @@ def setup_env(simulation=False, CP=None, cfg=None): if cfg is not None: # Clear all custom processConfig environment variables - for cfg in CONFIGS: - for k, _ in cfg.environ.items(): + for config in CONFIGS: + for k, _ in config.environ.items(): if k in os.environ: del os.environ[k] From f10283072e4519ad95566dd0d54dbc7f52566f6d Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 16:49:56 +0200 Subject: [PATCH 221/226] Laikad: dont log when filter is not initialized --- selfdrive/locationd/laikad.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 427eb3dbe0..da00c7aa6f 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -141,8 +141,9 @@ class Laikad: # Check time and outputs are valid valid = self.kf_valid(t) if not all(valid): - - if not valid[1]: + if not valid[0]: # Filter not initialized + pass + elif not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") From cdc7a6dbea75f10316e45833be6bade9f2e1694d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 1 Jul 2022 17:26:41 +0200 Subject: [PATCH 222/226] enable laikad (#25013) * enable laikad * increase logprint for onroad test --- selfdrive/controls/controlsd.py | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_onroad.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 67eaf1588b..cceb47947a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -38,7 +38,7 @@ REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ NOSENSOR = "NOSENSOR" in os.environ IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd", - "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \ + "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \ {k for k, v in managed_processes.items() if not v.enabled} ThermalStatus = log.DeviceState.ThermalStatus diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7e4029664d..dec51966a4 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -41,6 +41,7 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), + PythonProcess("laikad", "selfdrive.locationd.laikad"), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), @@ -57,7 +58,6 @@ procs = [ # Experimental PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")), - PythonProcess("laikad", "selfdrive.locationd.laikad", enabled=os.path.isfile("/persist/comma/use-laikad")), ] managed_processes = {p.name: p for p in procs} diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index a7ab55fe2a..8007afb84c 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -118,6 +118,7 @@ class TestOnroad(unittest.TestCase): os.environ['REPLAY'] = "1" os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" + os.environ['LOGPRINT'] = 'debug' params = Params() params.clear_all() From 8d6799d95a0a0ab9b2b0bc4ed6998abf6cabf266 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 17:44:10 +0200 Subject: [PATCH 223/226] Laikad: Allow fetching orbits every minute (#25016) * Allow fetching orbits every minute * Small cleanup --- selfdrive/locationd/laikad.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index da00c7aa6f..0df48dd893 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -13,7 +13,7 @@ import numpy as np from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog -from laika.constants import SECS_IN_HR, SECS_IN_MIN +from laika.constants import SECS_IN_MIN from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId @@ -171,7 +171,7 @@ class Laikad: self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) def fetch_orbits(self, t: GPSTime, block): - if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR): + if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types ret = None @@ -195,14 +195,12 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") start_time = time.monotonic() - data = None try: astro_dog.get_orbit_data(t, only_predictions=True) - data = (astro_dog.orbits, astro_dog.orbit_fetched_times) + cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") + return astro_dog.orbits, astro_dog.orbit_fetched_times except (RuntimeError, ValueError, IOError) as e: cloudlog.warning(f"No orbit data found or parsing failure: {e}") - cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") - return data def create_measurement_msg(meas: GNSSMeasurement): From fcc5b3d70c14b05e642eda93a528f7583f986468 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Fri, 1 Jul 2022 16:45:32 -0400 Subject: [PATCH 224/226] GM: values.py cleanup & minor updates (#24908) * Comment update on static limits * Astra FP cleanup * DBC autogen & customizable * Add new Escalade FP, disable bad * Add DROPPED CanBus value * Update/cleanup CarInfo * DBC -> defaultdict * Fix DBC typing issue * Revert Escalade fix * clean up * comment spacing * revert this for now Co-authored-by: Shane Smiskol --- selfdrive/car/gm/values.py | 43 ++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 8ef33e8297..328ca7c286 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,4 +1,5 @@ -from dataclasses import dataclass +from collections import defaultdict +from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Union @@ -9,9 +10,9 @@ Ecu = car.CarParams.Ecu class CarControllerParams: - STEER_MAX = 300 # Safety limit, not LKA max. Trucks use 600. - STEER_STEP = 2 # control frames per command - STEER_DELTA_UP = 7 + STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output + STEER_STEP = 2 # Control frames per command (50hz) + STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness STEER_DELTA_DOWN = 17 MIN_STEER_SPEED = 3. # m/s STEER_DRIVER_ALLOWANCE = 50 @@ -24,19 +25,20 @@ class CarControllerParams: CAMERA_KEEPALIVE_STEP = 100 # Volt gasbrake lookups - MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. - ZERO_GAS = 2048 # Coasting - MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen + # TODO: These values should be confirmed on non-Volt vehicles + MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. + ZERO_GAS = 2048 # Coasting + MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen + MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # perform the closed loop control, and might need some # to apply some more braking if we're on a downhill slope. # Our controller should still keep the 2 second average above # -3.5 m/s^2 as per planner limits - ACCEL_MAX = 2. # m/s^2 - ACCEL_MIN = -4. # m/s^2 + ACCEL_MAX = 2. # m/s^2 + ACCEL_MIN = -4. # m/s^2 - MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS] BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] @@ -67,16 +69,17 @@ class Footnote(Enum): class GMCarInfo(CarInfo): package: str = "Adaptive Cruise" harness: Enum = Harness.none + footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom), - CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.custom), + CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom), CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom), - CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]), + CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), - CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]), + CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS"), } @@ -100,10 +103,12 @@ class CanBus: CHASSIS = 2 SW_GMLAN = 3 LOOPBACK = 128 + DROPPED = 192 FINGERPRINTS = { + CAR.HOLDEN_ASTRA: [ # Astra BK MY17, ASCM unplugged - CAR.HOLDEN_ASTRA: [{ + { 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7, }], CAR.VOLT: [ @@ -145,12 +150,4 @@ FINGERPRINTS = { }], } -DBC = { - CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.VOLT: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.MALIBU: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.ACADIA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), -} +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) From e11bb76a6408c0ceeacd0b4dd7e6ccb7a133387a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Jul 2022 19:11:28 -0700 Subject: [PATCH 225/226] car docs: remove steering torque hard-coding (#25019) remove good torque hardcoding --- selfdrive/car/docs_definitions.py | 4 ++-- selfdrive/car/hyundai/values.py | 1 - selfdrive/car/mazda/values.py | 4 ++-- selfdrive/car/subaru/values.py | 2 +- selfdrive/car/toyota/values.py | 1 - selfdrive/car/volkswagen/values.py | 1 - 6 files changed, 5 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 618c986d18..1efa23037f 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -55,7 +55,6 @@ class CarInfo: footnotes: Optional[List[Enum]] = None min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None - good_torque: bool = False harness: Optional[Enum] = None def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]): @@ -82,10 +81,11 @@ class CarInfo: Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, - Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY, # TODO: remove hardcoding and use maxLateralAccel + # Column.STEERING_TORQUE set below Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY, } + # Set steering torque star from max lateral acceleration if not math.isnan(CP.maxLateralAccel): if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD: self.row[Column.STEERING_TORQUE] = Star.FULL diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 645d2f523b..0717ed1fbe 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -89,7 +89,6 @@ class HyundaiCarInfo(CarInfo): # TODO: we can probably remove LKAS. LKAS is standard on many # HKG and for others, it's likely packaged together with SCC package: str = "SCC + LKAS" - good_torque: bool = True CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index f5d63418f1..09b9b7732b 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -40,8 +40,8 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"), CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True), + CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"), + CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), } diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 9badc3ca50..45358eb3a4 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { - CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True), + CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index c7a26257f3..43d923338e 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -99,7 +99,6 @@ class Footnote(Enum): class ToyotaCarInfo(CarInfo): package: str = "All" harness: Enum = Harness.toyota - good_torque: bool = True CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 0148a138a2..6e64f705b0 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -114,7 +114,6 @@ class Footnote(Enum): @dataclass class VWCarInfo(CarInfo): package: str = "Driver Assistance" - good_torque: bool = True harness: Enum = Harness.vw From 0c95493dc0cbc5d3dec59a50ac5476573041942d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 1 Jul 2022 19:14:21 -0700 Subject: [PATCH 226/226] Torque control: max torque warning (#25018) * New steer torque warning * typo --- selfdrive/controls/controlsd.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cceb47947a..3ee47c620b 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -317,7 +317,7 @@ class Controls: self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): self.events.add(EventName.commIssueAvgFreq) - else: # invalid or can_rcv_error. + else: # invalid or can_rcv_error. self.events.add(EventName.commIssue) logs = { @@ -598,7 +598,14 @@ class Controls: lac_log.saturated = abs(actuators.steer) >= 0.9 # Send a "steering required alert" if saturation count has reached the limit - if lac_log.active and lac_log.saturated and not CS.steeringPressed: + if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque': + undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 + turning = abs(lac_log.desiredLateralAccel) > 1.0 + good_speed = CS.vEgo > 5 + max_torque = abs(self.last_actuators.steer) > 0.99 + if undershooting and turning and good_speed and max_torque: + self.events.add(EventName.steerSaturated) + elif lac_log.active and lac_log.saturated and not CS.steeringPressed: dpath_points = lat_plan.dPathPoints if len(dpath_points): # Check if we deviated from the path